fixing gz sim launch file by using gz directly (ros-navigation#4514)

Marc-Morcos · Jul 4, 2024 · 99cafa7 · 99cafa7
1 parent 10694f5
commit 99cafa7
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Showing 10 changed files with 8 additions and 19 deletions.
diff --git a/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py b/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
@@ -111,11 +111,10 @@ def generate_launch_description():
     world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
     world_sdf_xacro = ExecuteProcess(
         cmd=['xacro', '-o', world_sdf, ['headless:=', 'False'], world])
-    start_gazebo_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
-                         'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items())
+    start_gazebo_cmd = ExecuteProcess(
+        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        output='screen',
+    )
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[

diff --git a/...nch/unique_multi_tb4_simulation_launch.py → ...nch/unique_multi_tb3_simulation_launch.py b/...nch/unique_multi_tb4_simulation_launch.py → ...nch/unique_multi_tb3_simulation_launch.py
@@ -138,11 +138,10 @@ def generate_launch_description():
     world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
     world_sdf_xacro = ExecuteProcess(
         cmd=['xacro', '-o', world_sdf, ['headless:=', 'False'], world])
-    start_gazebo_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
-                         'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items())
+    start_gazebo_cmd = ExecuteProcess(
+        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        output='screen',
+    )
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[

diff --git a/nav2_system_tests/src/behaviors/assisted_teleop/test_assisted_teleop_behavior_launch.py b/nav2_system_tests/src/behaviors/assisted_teleop/test_assisted_teleop_behavior_launch.py
@@ -32,7 +32,6 @@
 from launch_testing.legacy import LaunchTestService
 
 from nav2_common.launch import RewrittenYaml
-from nav2_simple_commander.utils import kill_os_processes
 
 
 def generate_launch_description():

diff --git a/nav2_system_tests/src/costmap_filters/test_keepout_launch.py b/nav2_system_tests/src/costmap_filters/test_keepout_launch.py
@@ -35,7 +35,6 @@
 from launch_testing.legacy import LaunchTestService
 
 from nav2_common.launch import RewrittenYaml
-from nav2_simple_commander.utils import kill_os_processes
 
 
 def generate_launch_description():

diff --git a/nav2_system_tests/src/costmap_filters/test_speed_launch.py b/nav2_system_tests/src/costmap_filters/test_speed_launch.py
@@ -35,7 +35,6 @@
 from launch_testing.legacy import LaunchTestService
 
 from nav2_common.launch import RewrittenYaml
-from nav2_simple_commander.utils import kill_os_processes
 
 
 def generate_launch_description():

diff --git a/nav2_system_tests/src/localization/test_localization_launch.py b/nav2_system_tests/src/localization/test_localization_launch.py
@@ -27,8 +27,6 @@
 import launch_ros.actions
 from launch_testing.legacy import LaunchTestService
 
-from nav2_simple_commander.utils import kill_os_processes
-
 
 def main(argv=sys.argv[1:]):
     testExecutable = os.getenv('TEST_EXECUTABLE')

diff --git a/nav2_system_tests/src/system/test_system_launch.py b/nav2_system_tests/src/system/test_system_launch.py
@@ -35,7 +35,6 @@
 from launch_testing.legacy import LaunchTestService
 
 from nav2_common.launch import RewrittenYaml
-from nav2_simple_commander.utils import kill_os_processes
 
 
 def generate_launch_description():

diff --git a/nav2_system_tests/src/system/test_wrong_init_pose_launch.py b/nav2_system_tests/src/system/test_wrong_init_pose_launch.py
@@ -34,7 +34,6 @@
 from launch_testing.legacy import LaunchTestService
 
 from nav2_common.launch import RewrittenYaml
-from nav2_simple_commander.utils import kill_os_processes
 
 
 def generate_launch_description():

diff --git a/nav2_system_tests/src/system_failure/test_system_failure_launch.py b/nav2_system_tests/src/system_failure/test_system_failure_launch.py
@@ -35,7 +35,6 @@
 from launch_testing.legacy import LaunchTestService
 
 from nav2_common.launch import RewrittenYaml
-from nav2_simple_commander.utils import kill_os_processes
 
 
 def generate_launch_description():

diff --git a/nav2_system_tests/src/waypoint_follower/test_case_py.launch b/nav2_system_tests/src/waypoint_follower/test_case_py.launch
@@ -33,7 +33,6 @@ from launch_ros.actions import Node
 from launch_testing.legacy import LaunchTestService
 
 from nav2_common.launch import RewrittenYaml
-from nav2_simple_commander.utils import kill_os_processes
 
 
 def generate_launch_description():