Merge branch 'devel' into 'devel'

[scripts] Add python file to start simulation for 16.04

See merge request pyrene-dev/talos_data!12

scripts/start_talos_gazebo_16_04.py

+#!/usr/bin/env python
+# O. Stasse 17/01/2020
+# LAAS, CNRS
+
+# This file is a temporary fix for the ubuntu version 16.04 of the script start_talos_gazebo.py
+# The path to talos_data cannot be retreive using the rospkg.RosPack() and get_path('talos_data') in 16.04.
+# This should be investigated (see issue #4 "Hardcoded talos_data path for 16.04 in script start_talos_gazebo_16_04.py")
+
+import os
+import rospy
+import time
+import roslaunch
+from std_srvs.srv import Empty
+
+# Start roscore
+import subprocess
+roscore = subprocess.Popen('roscore')
+time.sleep(1)
+
+# Start talos_gazebo
+rospy.init_node('starting_talos_gazebo', anonymous=True)
+uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
+roslaunch.configure_logging(uuid)
+
+launch_gazebo_alone = roslaunch.parent.ROSLaunchParent(uuid, ["/opt/openrobots/share/talos_data/launch/talos_gazebo_alone.launch"])
+launch_gazebo_alone.start()
+rospy.loginfo("talos_gazebo_alone started")
+
+rospy.wait_for_service("/gazebo/pause_physics")
+gazebo_pause_physics = rospy.ServiceProxy('/gazebo/pause_physics', Empty)
+gazebo_pause_physics()
+
+time.sleep(3)
+# Spawn talos model in gazebo
+launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid, ["/opt/openrobots/share/talos_data/launch/talos_gazebo_spawn_hs.launch"])
+launch_gazebo_spawn_hs.start()
+rospy.loginfo("talos_gazebo_spawn_hs started")
+
+rospy.wait_for_service("/gains/arm_left_1_joint/set_parameters")
+time.sleep(3)
+gazebo_unpause_physics = rospy.ServiceProxy('/gazebo/unpause_physics', Empty)
+gazebo_unpause_physics()
+
+# Start roscontrol
+launch_bringup = roslaunch.parent.ROSLaunchParent(uuid, ["/opt/openrobots/share/talos_bringup/launch/talos_bringup.launch"])
+launch_bringup.start()
+rospy.loginfo("talos_bringup started")
+
+# # Start sot
+# Start sot in another terminal with "roslaunch roscontrol_sot_talos sot_talos_controller_gazebo.launch"
+# in order to have the logs saved. Otherwise the data are not correctly dumped when the process is killed.
+
+
+rospy.spin()
+