From 746ae0f3cfccc81017fcc9fbab3beaeaa766e65f Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Wed, 25 Sep 2024 17:26:14 -0500
Subject: [PATCH] Add xml launch file to showcase `<ros_gz_bridge>` and
 `<gz_server>` (#9)

Signed-off-by: Addisu Z. Taddese <addisu@gmail.com>
---
 .../launch/ionic_navigation_demo_launch.py    |  2 +-
 .../launch/ionic_navigation_demo_launch.xml   | 13 +++++++
 ionic_demo/launch/tb4_spawn_launch.xml        | 38 +++++++++++++++++++
 ionic_demo/launch/world_launch.xml            |  6 +++
 4 files changed, 58 insertions(+), 1 deletion(-)
 create mode 100644 ionic_demo/launch/ionic_navigation_demo_launch.xml
 create mode 100644 ionic_demo/launch/tb4_spawn_launch.xml
 create mode 100644 ionic_demo/launch/world_launch.xml

diff --git a/ionic_demo/launch/ionic_navigation_demo_launch.py b/ionic_demo/launch/ionic_navigation_demo_launch.py
index c8868cc..f0943d4 100644
--- a/ionic_demo/launch/ionic_navigation_demo_launch.py
+++ b/ionic_demo/launch/ionic_navigation_demo_launch.py
@@ -33,7 +33,7 @@ def generate_launch_description():
     launch_dir = bringup_dir / 'launch'
     headless = LaunchConfiguration('headless')
     declare_headless_cmd = DeclareLaunchArgument(
-        'headless', default_value='True', description='Whether to execute gzclient)'
+        'headless', default_value='True', description='Whether to execute gzclient'
     )
 
     return LaunchDescription(
diff --git a/ionic_demo/launch/ionic_navigation_demo_launch.xml b/ionic_demo/launch/ionic_navigation_demo_launch.xml
new file mode 100644
index 0000000..e2052cb
--- /dev/null
+++ b/ionic_demo/launch/ionic_navigation_demo_launch.xml
@@ -0,0 +1,13 @@
+<launch>
+  <arg name="headless" default="True" description="Whether to execute gzclient" />
+
+  <include file="$(find-pkg-share ionic_demo)/launch/tb4_spawn_launch.xml" />
+  <include file="$(find-pkg-share ionic_demo)/launch/world_launch.xml" />
+
+  <executable cmd="gz sim -g -v4" output="screen" unless="$(var headless)" />
+
+  <include file="$(find-pkg-share nav2_bringup)/launch/rviz_launch.py">
+    <arg name="use_sim_time" value="True" />
+    <arg name="rviz_config" value="$(find-pkg-share nav2_bringup)/rviz/nav2_default_view.rviz" />
+  </include>
+</launch>
diff --git a/ionic_demo/launch/tb4_spawn_launch.xml b/ionic_demo/launch/tb4_spawn_launch.xml
new file mode 100644
index 0000000..5712075
--- /dev/null
+++ b/ionic_demo/launch/tb4_spawn_launch.xml
@@ -0,0 +1,38 @@
+<launch>
+  <include file="$(find-pkg-share nav2_bringup)/launch/bringup_launch.py">
+    <arg name="map" value="$(find-pkg-share ionic_demo)/maps/ionic_demo.yaml" />
+    <arg name="use_sim_time" value="True" />
+    <arg name="use_composition" value="True" />
+  </include>
+
+  <let name="robot_name" value="ionic_tb4" />
+  <let name="robot_sdf"
+    value="$(command '$(find-exec xacro) $(find-pkg-share ionic_demo)/models/ionic_tb4.urdf.xacro')" />
+
+  <node pkg="robot_state_publisher" exec="robot_state_publisher"
+    name="robot_state_publisher" output="screen">
+    <param name="use_sim_time" value="True" />
+    <param name="robot_description" value="$(var robot_sdf)" />
+    <remap from="/tf" to="tf" />
+    <remap from="/tf_static" to="tf_static" />
+  </node>
+
+  <ros_gz_bridge
+    bridge_name="tb4_bridge"
+    config_file="$(find-pkg-share nav2_minimal_tb4_sim)/configs/tb4_bridge.yaml"
+    use_composition='True'>
+  </ros_gz_bridge>
+  <ros_gz_bridge
+    bridge_name="tb4_camera_bridge"
+    config_file="$(find-pkg-share ionic_demo)/configs/tb4_camera_bridge.yaml"
+    use_composition='True'>
+  </ros_gz_bridge>
+
+  <node pkg="ros_gz_sim" exec="create" output="screen">
+    <param name="entity" value="$(var robot_name)" />
+    <param name="string" value="$(var robot_sdf)" />
+  </node>
+
+  <set_env name="GZ_SIM_RESOURCE_PATH" value="$(env GZ_SIM_RESOURCE_PATH):$(find-pkg-share nav2_minimal_tb4_description)/../" />
+
+</launch>
diff --git a/ionic_demo/launch/world_launch.xml b/ionic_demo/launch/world_launch.xml
new file mode 100644
index 0000000..2cda822
--- /dev/null
+++ b/ionic_demo/launch/world_launch.xml
@@ -0,0 +1,6 @@
+<launch>
+  <gz_server
+    world_sdf_file="$(find-pkg-share ionic_demo)/worlds/ionic.sdf"
+    use_composition="True"
+  />
+</launch>