diff --git a/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py b/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py index 54f9d60f809..bd001412d58 100644 --- 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/nav2_bringup/launch/unique_multi_tb4_simulation_launch.py b/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py similarity index 97% rename from nav2_bringup/launch/unique_multi_tb4_simulation_launch.py rename to nav2_bringup/launch/unique_multi_tb3_simulation_launch.py index 7eaaf1a97d6..ae5551d179a 100644 --- a/nav2_bringup/launch/unique_multi_tb4_simulation_launch.py +++ b/nav2_bringup/launch/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 index 83d76be9ad6..ece57eefed7 100755 --- 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 index deac64aba36..f0d7d924de7 100755 --- 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 index de0acd82764..38492a53bc6 100755 --- 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 index 0a357272e09..2c81b3228cc 100755 --- 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 index 52274d6e29b..439a82e8962 100755 --- 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 index a962b92b1bc..c6fbe3f9548 100755 --- 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 index 2b8c0a6c2b2..8adb3617977 100755 --- 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 index 93e0d47b804..7a19668050d 100755 --- 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():