From a4fdb42c32e988782d0b43e30fa219ddeb8ac320 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Wed, 29 Jan 2020 15:23:08 +0100
Subject: [PATCH] [scripts] Fix start_talos_gazebo For now the arguments are
not working on bionic. It is not specific to python but rather seems to be
related to a new usage of roslaunch.
---
scripts/start_talos_gazebo.py | 12 ++++++++++--
1 file changed, 10 insertions(+), 2 deletions(-)
diff --git a/scripts/start_talos_gazebo.py b/scripts/start_talos_gazebo.py
index 7966da7..101e6b2 100755
--- a/scripts/start_talos_gazebo.py
+++ b/scripts/start_talos_gazebo.py
@@ -18,7 +18,14 @@ 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"])
+cli_args = ['/opt/openrobots/share/talos_data/launch/talos_gazebo_alone.launch',
+ 'world:=empty_forced',
+ 'enable_leg_passive:=false'
+ ]
+roslaunch_args = cli_args[1:]
+roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0], roslaunch_args)]
+
+launch_gazebo_alone = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
launch_gazebo_alone.start()
rospy.loginfo("talos_gazebo_alone started")
@@ -28,7 +35,8 @@ gazebo_pause_physics()
time.sleep(5)
# Spawn talos model in gazebo
-launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid, ["/opt/openrobots/share/talos_data/launch/talos_gazebo_spawn_hs_wide.launch"])
+launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid, ["/opt/openrobots/share/talos_data/launch/talos_gazebo_spawn_hs.launch"])
+#launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid, ["/opt/openrobots/share/talos_data/launch/talos_gazebo_spawn_hs_wide.launch"])
launch_gazebo_spawn_hs.start()
rospy.loginfo("talos_gazebo_spawn_hs started")
--
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