Added launch file to start ros2 control

toid_navigation/launch/mock_control_launch.py

@@ -0,0 +1,100 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition, UnlessCondition 
+from launch.substitutions import Command, LaunchConfiguration
+from launch_ros.actions import Node, LifecycleNode
+from launch_ros.substitutions import FindPackageShare
+import os
+
+def generate_launch_description():
+    pkg_share = FindPackageShare("").find('toid_navigation')
+    params = os.path.join(pkg_share, 'params', 'toid_general_params.yaml')
+    map = os.path.join(pkg_share, 'maps', 'mapb2_5cm.yaml')
+    default_rviz_config_path = os.path.join(pkg_share, 'rviz', 'ros_control.rviz')
+    
+
+    description_pkg_share = FindPackageShare("").find('toid_bot_description')
+    default_model_path = os.path.join(
+        description_pkg_share, 
+        'src', 
+        'toid_bot_description.urdf'
+    )
+
+    starting_position = LaunchConfiguration("start_position")
+    visualize = LaunchConfiguration("visualize")
+
+    starting_position_arg = DeclareLaunchArgument(
+        'start_position',
+        default_value='0 0 0 0 0 0',
+        description="Set initial robot position" 
+    )
+
+    visualize_arg = DeclareLaunchArgument(
+        'visualize',
+        default_value='True',
+        description="Whether to launch rviz2" 
+    )
+
+    odom_broadcast = Node(
+        package='tf2_ros',
+        executable='static_transform_publisher',
+        name='map_to_odom_broadcaster',
+        arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom']
+    )
+
+    robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        parameters = [{'robot_description': Command(['xacro ', default_model_path])}]
+    )
+
+    controller_manager = Node(
+        package='controller_manager',
+        executable='ros2_control_node',
+        output='screen',
+        parameters = [params]
+    )
+
+    joint_state_broadcaster = Node(
+        package='controller_manager',
+        executable='spawner',
+        output='screen',
+        arguments= ["joint_state_broadcaster"]
+    )
+
+    diffbot_base_controller = Node(
+        package='controller_manager',
+        executable='spawner',
+        output='both',
+        arguments= [
+            "diffbot_base_controller",
+            "-p",
+            params,
+            "--controller-ros-args",
+            "-r diffbot_base_controller/cmd_vel:=/cmd_vel",
+            "--controller-ros-args",
+            "-r diffbot_base_controller/odom:=/odom"
+        ]
+    )
+
+    rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+        arguments=['-d', default_rviz_config_path],
+        condition=IfCondition(visualize)
+    )
+
+    return LaunchDescription([
+        starting_position_arg,
+        visualize_arg,
+        odom_broadcast,
+        robot_state_publisher,
+        controller_manager,
+        joint_state_broadcaster,
+        diffbot_base_controller,
+        rviz_node
+    ])