no_roof_small_warehouse.launch.py

# Copyright (c) 2018 Intel Corporation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.


from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    world = PathJoinSubstitution([
        FindPackageShare('aws_robomaker_small_warehouse_world'),
        'worlds',
        'no_roof_small_warehouse.sdf'
    ])

    gz_sim = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            PathJoinSubstitution([
                FindPackageShare('aws_robomaker_small_warehouse_world'),
                'launch',
                'small_warehouse.launch.py'
            ])
        ),
        launch_arguments={'world': world}.items()
    )

    return LaunchDescription([gz_sim])