Install Gazebo
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sudo apt install ros-iron-gazebo-ros-pkgs ros-iron-gazebo-ros2-control
Add A Launchfile
File Directory:
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├── launch
│ └── empty_world.launch.py
mkdir launch-
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data_files=[ ('share/ament_index/resource_index/packages', ['resource/' + package_name]), ('share/' + package_name, ['package.xml']), # Include all files in the launch directory (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')), ],
empty_world.launch.py
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from launch import LaunchDescription
from launch.actions import ExecuteProcess
def generate_launch_description():
return LaunchDescription([
ExecuteProcess(
cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'],
output='screen'
)
])
Add An Arg In Launch File
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def generate_launch_description():
# Declare launch arguments
no_rviz_arg = DeclareLaunchArgument(
'no_rviz',
default_value='false',
description='Flag to disable RViz'
)
no_rviz = LaunchConfiguration('no_rviz')
# register the arg and the node
ld.add_action(no_rviz_arg)
ld.add_action(rviz_node)
