Port demos to the generic ros2 launch file so all rosargs are now exp…

…osed in all demos

docs/mvsim_node.rst

@@ -1,15 +1,149 @@
-mvsim ROS node
+Use from ROS
 ===================
 
-This page describes the ROS 1 and ROS 2 node for MVSim, which 
-is an executable named `mvsim_node` that is shipped with the 
-ROS package named `mvsim`.
+MVSim comes with a ROS 1 and ROS 2 **node** (an executable named `mvsim_node`),
+which is shipped with the **ROS package** named `mvsim`.
 
 .. note::
    You can also use the cli application ``mvsim`` if you want to test or run your world without launching a whole ROS system.
    See :ref:`mvsim cli`.
 
 
+Generic launch file
+-------------------------
+This launch file can be used to launch a simulated world integrated with ROS from the command line,
+or can be also included into your own launch file by setting its **ROS launch arguments**.
 
-Write me!
+|
 
+Basic usage from the command line
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. tab-set::
+    .. tab-item:: ROS 1
+
+        .. code-block:: bash
+
+            roslaunch mvsim launch_world.launch \
+              XX
+
+    .. tab-item:: ROS 2
+        :selected:
+
+        .. code-block:: bash
+
+            ros2 launch mvsim launch_world.launch.py \
+              world_file:=/path/to/your/my.world.xml
+
+|
+
+All launch parameters
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. tab-set::
+    .. tab-item:: ROS 1
+
+        .. code-block:: bash
+
+            xxx
+
+    .. tab-item:: ROS 2
+        :selected:
+
+        .. code-block:: bash
+
+            $ ros2 launch mvsim launch_world.launch.py --show-args
+            Arguments (pass arguments as '<name>:=<value>'):
+
+               'world_file':
+                  Path to the *.world.xml file to load
+
+               'headless':
+                  no description given
+                  (default: 'False')
+
+               'do_fake_localization':
+                  publish fake identity tf "map" -> "odom"
+                  (default: 'True')
+
+               'publish_tf_odom2baselink':
+                  publish tf "odom" -> "base_link"
+                  (default: 'True')
+
+               'force_publish_vehicle_namespace':
+                  Use vehicle name namespace even if there is only one vehicle
+                  (default: 'False')
+
+               'use_rviz':
+                  Whether to launch RViz2
+                  (default: 'True')
+
+               'rviz_config_file':
+                  If use_rviz:="True", the configuration file for rviz
+                  (default: '')
+
+|
+
+How to include it into your own launch
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+You can use this code to bootstrap your own launch files:
+
+
+.. tab-set::
+    .. tab-item:: ROS 1
+
+        .. code-block:: bash
+
+            xxx
+
+    .. tab-item:: ROS 2
+        :selected:
+
+        .. code-block:: python
+
+            import os
+            from launch import LaunchDescription
+            from launch.actions import IncludeLaunchDescription
+            from launch.substitutions import LaunchConfiguration
+            from launch.launch_description_sources import PythonLaunchDescriptionSource
+            from ament_index_python.packages import get_package_share_directory
+
+            def generate_launch_description():
+               # *** REMEMBER: Change this to your actual world file ***
+               world_file = os.path.join(
+                  get_package_share_directory('my_package'), 'mvsim', 'demo.world.xml')
+
+               # and replace this RViz file with yours as needed:
+               rviz_config_file = os.path.join(
+                  get_package_share_directory('mvsim'), 'mvsim_tutorial', 'demo_depth_camera_ros2.rviz')
+
+               headless = 'False'
+               do_fake_localization = 'True'
+               publish_tf_odom2baselink = 'True'
+               force_publish_vehicle_namespace = 'False'
+               use_rviz = 'True'
+
+
+               # Create LaunchDescription
+               ld = LaunchDescription()
+
+               # Add actions to LaunchDescription
+               ld.add_action(IncludeLaunchDescription(
+                  PythonLaunchDescriptionSource(
+                        os.path.join(get_package_share_directory('mvsim'), 'launch', 'launch_world.launch.py')
+                  ),
+                  launch_arguments={
+                        'world_file': world_file,
+                        'headless': headless,
+                        'do_fake_localization': do_fake_localization,
+                        'publish_tf_odom2baselink': publish_tf_odom2baselink,
+                        'force_publish_vehicle_namespace': force_publish_vehicle_namespace,
+                        'use_rviz': use_rviz,
+                        'rviz_config_file': rviz_config_file
+                  }.items()
+               ))
+
+               return ld
+
+
+|

launch/launch_world.launch.py

@@ -1,7 +1,6 @@
 # Generic 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

mvsim_tutorial/demo_1robot.launch.py

@@ -1,61 +1,70 @@
+# ROS2 launch file, invoking mvsim/launch/launch_world.launch.py
+# See: https://mvsimulator.readthedocs.io/en/latest/mvsim_node.html
 
-# ROS2 launch file
-
-from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
 from launch.substitutions import TextSubstitution
-from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 from launch.conditions import IfCondition
 from launch.actions import DeclareLaunchArgument
 from ament_index_python import get_package_share_directory
 import os
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
 
 
 def generate_launch_description():
+    # mvsim directory:
     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_1robot.world.xml')))
-    do_fake_localization_arg = DeclareLaunchArgument(
-        "do_fake_localization", default_value='True', description='publish tf odom -> base_link')
-    headless_launch_arg = DeclareLaunchArgument(
-        "headless", default_value='False')
-    use_rviz_arg = DeclareLaunchArgument(
-        'use_rviz', default_value='True',
-        description='Whether to launch RViz2'
-    )
-
-    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'),
-                "headless": LaunchConfiguration('headless'),
-                "do_fake_localization": LaunchConfiguration('do_fake_localization'),
-            }]
-    )
-
-    rviz2_node = Node(
-        package='rviz2',
-        executable='rviz2',
-        name='rviz2',
-        arguments=[
-                '-d', [os.path.join(mvsimDir, 'mvsim_tutorial', 'demo_1robot_ros2.rviz')]],
-        condition=IfCondition(LaunchConfiguration('use_rviz'))
-    )
-
-    return LaunchDescription([
-        world_file_launch_arg,
-        do_fake_localization_arg,
-        headless_launch_arg,
-        mvsim_node,
-        use_rviz_arg,
-        rviz2_node,
-    ])
+
+    # World to launch:
+    world_file = os.path.join(
+        mvsimDir, 'mvsim_tutorial', 'demo_1robot.world.xml')
+    rviz_config_file = os.path.join(
+        get_package_share_directory('mvsim'), 'mvsim_tutorial', 'demo_1robot_ros2.rviz')
+
+    # Configurable arguments
+    headless = LaunchConfiguration('headless', default='True')
+    do_fake_localization = LaunchConfiguration(
+        'do_fake_localization', default='False')
+    publish_tf_odom2baselink = LaunchConfiguration(
+        'publish_tf_odom2baselink', default='False')
+    force_publish_vehicle_namespace = LaunchConfiguration(
+        'force_publish_vehicle_namespace', default='True')
+    use_rviz = LaunchConfiguration('use_rviz', default='False')
+
+    # Create LaunchDescription
+    ld = LaunchDescription()
+
+    # Add arguments to LaunchDescription
+    ld.add_action(DeclareLaunchArgument('headless', default_value='False',
+                                        description='Run in headless mode'))
+    ld.add_action(DeclareLaunchArgument('do_fake_localization', default_value='True',
+                                        description='Publish fake identity tf "map" -> "odom"'))
+    ld.add_action(DeclareLaunchArgument('publish_tf_odom2baselink', default_value='True',
+                                        description='Publish tf "odom" -> "base_link"'))
+    ld.add_action(DeclareLaunchArgument('force_publish_vehicle_namespace', default_value='False',
+                                        description='Use vehicle name namespace even if there is only one vehicle'))
+    ld.add_action(DeclareLaunchArgument('use_rviz', default_value='True',
+                                        description='Whether to launch RViz2'))
+
+    # Include the original launch file
+    ld.add_action(IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('mvsim'),
+                         'launch', 'launch_world.launch.py')
+        ),
+        launch_arguments={
+            'world_file': world_file,
+            'headless': headless,
+            'do_fake_localization': do_fake_localization,
+            'publish_tf_odom2baselink': publish_tf_odom2baselink,
+            'force_publish_vehicle_namespace': force_publish_vehicle_namespace,
+            'use_rviz': use_rviz,
+            'rviz_config_file': rviz_config_file
+        }.items()
+    ))
+
+    return ld

mvsim_tutorial/demo_depth_camera.launch.py

@@ -1,51 +1,70 @@
+# ROS2 launch file, invoking mvsim/launch/launch_world.launch.py
+# See: https://mvsimulator.readthedocs.io/en/latest/mvsim_node.html
 
-# ROS2 launch file
-
-from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
 from launch.substitutions import TextSubstitution
-from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
+from launch.conditions import IfCondition
 from launch.actions import DeclareLaunchArgument
 from ament_index_python import get_package_share_directory
 import os
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
 
 
 def generate_launch_description():
+    # mvsim directory:
     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_depth_camera.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_node = Node(
-        package='rviz2',
-        executable='rviz2',
-        name='rviz2',
-        arguments=[
-                '-d', [os.path.join(mvsimDir, 'mvsim_tutorial', 'demo_depth_camera_ros2.rviz')]]
-    )
-
-    return LaunchDescription([
-        world_file_launch_arg,
-        do_fake_localization_arg,
-        mvsim_node,
-        rviz2_node
-    ])
+
+    # World to launch:
+    world_file = os.path.join(
+        mvsimDir, 'mvsim_tutorial', 'demo_depth_camera.world.xml')
+    rviz_config_file = os.path.join(
+        get_package_share_directory('mvsim'), 'mvsim_tutorial', 'demo_depth_camera_ros2.rviz')
+
+    # Configurable arguments
+    headless = LaunchConfiguration('headless', default='True')
+    do_fake_localization = LaunchConfiguration(
+        'do_fake_localization', default='False')
+    publish_tf_odom2baselink = LaunchConfiguration(
+        'publish_tf_odom2baselink', default='False')
+    force_publish_vehicle_namespace = LaunchConfiguration(
+        'force_publish_vehicle_namespace', default='True')
+    use_rviz = LaunchConfiguration('use_rviz', default='False')
+
+    # Create LaunchDescription
+    ld = LaunchDescription()
+
+    # Add arguments to LaunchDescription
+    ld.add_action(DeclareLaunchArgument('headless', default_value='False',
+                                        description='Run in headless mode'))
+    ld.add_action(DeclareLaunchArgument('do_fake_localization', default_value='True',
+                                        description='Publish fake identity tf "map" -> "odom"'))
+    ld.add_action(DeclareLaunchArgument('publish_tf_odom2baselink', default_value='True',
+                                        description='Publish tf "odom" -> "base_link"'))
+    ld.add_action(DeclareLaunchArgument('force_publish_vehicle_namespace', default_value='False',
+                                        description='Use vehicle name namespace even if there is only one vehicle'))
+    ld.add_action(DeclareLaunchArgument('use_rviz', default_value='True',
+                                        description='Whether to launch RViz2'))
+
+    # Include the original launch file
+    ld.add_action(IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('mvsim'),
+                         'launch', 'launch_world.launch.py')
+        ),
+        launch_arguments={
+            'world_file': world_file,
+            'headless': headless,
+            'do_fake_localization': do_fake_localization,
+            'publish_tf_odom2baselink': publish_tf_odom2baselink,
+            'force_publish_vehicle_namespace': force_publish_vehicle_namespace,
+            'use_rviz': use_rviz,
+            'rviz_config_file': rviz_config_file
+        }.items()
+    ))
+
+    return ld