demo_2robots.launch.py

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# ROS2 launch file
 
from launch import LaunchDescription
from launch.substitutions import TextSubstitution
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from ament_index_python import get_package_share_directory
import os
 
 
def generate_launch_description():
    mvsimDir = get_package_share_directory("mvsim")
    # print('mvsimDir: ' + mvsimDir)
 
    # args that can be set from the command line or a default will be used
    world_file_launch_arg = DeclareLaunchArgument(
        "world_file", default_value=TextSubstitution(
            text=os.path.join(mvsimDir, 'mvsim_tutorial', 'demo_2robots.world.xml')))
    do_fake_localization_arg = DeclareLaunchArgument(
        "do_fake_localization", default_value='True', description='publish tf odom -> base_link')
 
    mvsim_node = Node(
        package='mvsim',
        executable='mvsim_node',
        name='mvsim',
        output='screen',
        parameters=[
            os.path.join(mvsimDir, 'mvsim_tutorial', 'mvsim_ros2_params.yaml'),
            {
                "world_file": LaunchConfiguration('world_file'),
                "do_fake_localization": LaunchConfiguration('do_fake_localization'),
            }]
    )
 
    rviz2_r1_node = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        namespace='r1',
        arguments=[
                '-d', [os.path.join(mvsimDir, 'mvsim_tutorial', 'demo_2robots_r1_ros2.rviz')]],
        output='screen',
        remappings=[('/map', 'map'),
                    ('/tf', 'tf'),
                    ('/tf_static', 'tf_static'),
                    ('/goal_pose', 'goal_pose'),
                    ('/clicked_point', 'clicked_point'),
                    ('/initialpose', 'initialpose')]
    )
 
    rviz2_r2_node = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        namespace='r2',
        arguments=[
                '-d', [os.path.join(mvsimDir, 'mvsim_tutorial', 'demo_2robots_r2_ros2.rviz')]],
        output='screen',
        remappings=[('/map', 'map'),
                    ('/tf', 'tf'),
                    ('/tf_static', 'tf_static'),
                    ('/goal_pose', 'goal_pose'),
                    ('/clicked_point', 'clicked_point'),
                    ('/initialpose', 'initialpose')]
    )
 
    return LaunchDescription([
        world_file_launch_arg,
        do_fake_localization_arg,
        mvsim_node,
        rviz2_r1_node,
        rviz2_r2_node
    ])