create generic launch_world ros2 file

CMakeLists.txt

@@ -399,6 +399,7 @@ if (BUILD_FOR_ROS)
 		definitions
 		mvsim_tutorial
 		models
+		launch
 		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 	)
 

launch/launch_world.launch.py

@@ -0,0 +1,75 @@
+# Generic ROS2 launch file
+
+from launch import LaunchDescription
+from launch.substitutions import TextSubstitution
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+import os
+
+
+def generate_launch_description():
+
+    # args that can be set from the command line or a default will be used
+    world_file_launch_arg = DeclareLaunchArgument(
+        "world_file", description='Path to the *.world.xml file to load')
+
+    headless_launch_arg = DeclareLaunchArgument(
+        "headless", default_value='False')
+
+    do_fake_localization_arg = DeclareLaunchArgument(
+        "do_fake_localization", default_value='True', description='publish fake identity tf "map" -> "odom"')
+
+    publish_tf_odom2baselink_arg = DeclareLaunchArgument(
+        "publish_tf_odom2baselink", default_value='True', description='publish tf "odom" -> "base_link"')
+
+    force_publish_vehicle_namespace_arg = DeclareLaunchArgument(
+        "force_publish_vehicle_namespace", default_value='False',
+        description='Use vehicle name namespace even if there is only one vehicle')
+
+    use_rviz_arg = DeclareLaunchArgument(
+        'use_rviz', default_value='True',
+        description='Whether to launch RViz2'
+    )
+
+    rviz_config_file_arg = DeclareLaunchArgument(
+        'rviz_config_file', default_value='',
+        description='If use_rviz:="True", the configuration file for rviz'
+    )
+
+    mvsim_node = Node(
+        package='mvsim',
+        executable='mvsim_node',
+        name='mvsim',
+        output='screen',
+        parameters=[
+            {
+                "world_file": LaunchConfiguration('world_file'),
+                "headless": LaunchConfiguration('headless'),
+                "do_fake_localization": LaunchConfiguration('do_fake_localization'),
+                "publish_tf_odom2baselink": LaunchConfiguration('publish_tf_odom2baselink'),
+                "force_publish_vehicle_namespace": LaunchConfiguration('force_publish_vehicle_namespace'),
+            }]
+    )
+
+    rviz2_node = Node(
+        condition=IfCondition(LaunchConfiguration('use_rviz')),
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=[] if LaunchConfiguration('rviz_config_file') == '' else [
+                '-d', LaunchConfiguration('rviz_config_file')]
+    )
+
+    return LaunchDescription([
+        world_file_launch_arg,
+        headless_launch_arg,
+        do_fake_localization_arg,
+        publish_tf_odom2baselink_arg,
+        force_publish_vehicle_namespace_arg,
+        use_rviz_arg,
+        rviz_config_file_arg,
+        mvsim_node,
+        rviz2_node
+    ])