Hotfix to bring the demo launch files up to date with the main uuv_si…

…mulator repository, mainly to address issue uuvsimulator#31 in the rexrov2 package. Also included some additional convenience args to disable the Gazebo GUI client and to choose a Gazebo world from uuv_gazebo_worlds. Signed-off-by: Fletcher F. Thompson <fletcherthompsonx@gmail.com>
FletcherFT · Sep 28, 2019 · a79da7d · a79da7d
1 parent 33e5658
commit a79da7d
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Showing 5 changed files with 20 additions and 20 deletions.
diff --git a/rexrov2_gazebo/launch/start_demo_mb_fl_controller.launch b/rexrov2_gazebo/launch/start_demo_mb_fl_controller.launch
@@ -11,11 +11,11 @@
 
     <arg name="teleop_on" default="false" doc="If true, the teleop node will be started"/>
     <arg name="joy_id" default="0" doc="Joystick ID"/>
+    <arg name="use_gazebo_client" default="true" doc="If true, the gazebo visualisation client will be started"/>
+    <arg name="world_name" default="ocean_waves" doc="Name of world for gazebo to load. Can be from any of the launch files listed in uuv_gazebo_worlds without an extension."/>
 
-    <include file="$(find uuv_gazebo_worlds)/launch/ocean_waves.launch"/>
-
-    <include file="$(find uuv_simulation_wrapper)/launch/unpause_simulation.launch">
-        <arg name="timeout" value="5"/>
+    <include file="$(find uuv_gazebo_worlds)/launch/$(arg world_name).launch">
+        <arg name="gui" value="$(arg use_gazebo_client)"/>
     </include>
 
     <include file="$(find rexrov2_description)/launch/upload_rexrov2.launch">

diff --git a/rexrov2_gazebo/launch/start_demo_nmb_sm_controller.launch b/rexrov2_gazebo/launch/start_demo_nmb_sm_controller.launch
@@ -11,11 +11,11 @@
 
     <arg name="teleop_on" default="false" doc="If true, the teleop node will be started"/>
     <arg name="joy_id" default="0" doc="Joystick ID"/>
+    <arg name="use_gazebo_client" default="true" doc="If true, the gazebo visualisation client will be started"/>
+    <arg name="world_name" default="empty_underwater_world" doc="Name of world for gazebo to load. Can be from any of the launch files listed in uuv_gazebo_worlds without an extension."/>
 
-    <include file="$(find uuv_gazebo_worlds)/launch/empty_underwater_world.launch"/>
-
-    <include file="$(find uuv_simulation_wrapper)/launch/unpause_simulation.launch">
-        <arg name="timeout" value="5"/>
+    <include file="$(find uuv_gazebo_worlds)/launch/$(arg world_name).launch">
+        <arg name="gui" value="$(arg use_gazebo_client)"/>
     </include>
 
     <include file="$(find rexrov2_description)/launch/upload_rexrov2.launch">

diff --git a/rexrov2_gazebo/launch/start_demo_pd_grav_compensation_controller.launch b/rexrov2_gazebo/launch/start_demo_pd_grav_compensation_controller.launch
@@ -11,11 +11,11 @@
 
     <arg name="teleop_on" default="false" doc="If true, the teleop node will be started"/>
     <arg name="joy_id" default="0" doc="Joystick ID"/>
+    <arg name="use_gazebo_client" default="true" doc="If true, the gazebo visualisation client will be started"/>
+    <arg name="world_name" default="ocean_waves" doc="Name of world for gazebo to load. Can be from any of the launch files listed in uuv_gazebo_worlds without an extension."/>
 
-    <include file="$(find uuv_gazebo_worlds)/launch/ocean_waves.launch"/>
-
-    <include file="$(find uuv_simulation_wrapper)/launch/unpause_simulation.launch">
-        <arg name="timeout" value="5"/>
+    <include file="$(find uuv_gazebo_worlds)/launch/$(arg world_name).launch">
+        <arg name="gui" value="$(arg use_gazebo_client)"/>
     </include>
 
     <include file="$(find rexrov2_description)/launch/upload_rexrov2.launch">

diff --git a/rexrov2_gazebo/launch/start_demo_pid_controller.launch b/rexrov2_gazebo/launch/start_demo_pid_controller.launch
@@ -11,11 +11,11 @@
 
     <arg name="teleop_on" default="false" doc="If true, the teleop node will be started"/>
     <arg name="joy_id" default="0" doc="Joystick ID"/>
+    <arg name="use_gazebo_client" default="true" doc="If true, the gazebo visualisation client will be started"/>
+    <arg name="world_name" default="ocean_waves" doc="Name of world for gazebo to load. Can be from any of the launch files listed in uuv_gazebo_worlds without an extension."/>
 
-    <include file="$(find uuv_gazebo_worlds)/launch/ocean_waves.launch"/>
-
-    <include file="$(find uuv_simulation_wrapper)/launch/unpause_simulation.launch">
-        <arg name="timeout" value="5"/>
+    <include file="$(find uuv_gazebo_worlds)/launch/$(arg world_name).launch">
+        <arg name="gui" value="$(arg use_gazebo_client)"/>
     </include>
 
     <include file="$(find rexrov2_description)/launch/upload_rexrov2.launch">

diff --git a/rexrov2_gazebo/launch/start_demo_sf_controller.launch b/rexrov2_gazebo/launch/start_demo_sf_controller.launch
@@ -11,11 +11,11 @@
 
     <arg name="teleop_on" default="false" doc="If true, the teleop node will be started"/>
     <arg name="joy_id" default="0" doc="Joystick ID"/>
+    <arg name="use_gazebo_client" default="true" doc="If true, the gazebo visualisation client will be started"/>
+    <arg name="world_name" default="ocean_waves" doc="Name of world for gazebo to load. Can be from any of the launch files listed in uuv_gazebo_worlds without an extension."/>
 
-    <include file="$(find uuv_gazebo_worlds)/launch/ocean_waves.launch"/>
-
-    <include file="$(find uuv_simulation_wrapper)/launch/unpause_simulation.launch">
-        <arg name="timeout" value="5"/>
+    <include file="$(find uuv_gazebo_worlds)/launch/$(arg world_name).launch">
+        <arg name="gui" value="$(arg use_gazebo_client)"/>
     </include>
 
     <include file="$(find rexrov2_description)/launch/upload_rexrov2.launch">