Skip to content

Commit

Permalink
Fix #133
Browse files Browse the repository at this point in the history
Signed-off-by: Caio Amaral <[email protected]>

Minor Fix
  • Loading branch information
caioaamaral committed Mar 30, 2021
1 parent 9ddfa24 commit e37b143
Show file tree
Hide file tree
Showing 2 changed files with 40 additions and 8 deletions.
45 changes: 37 additions & 8 deletions ros_ign_gazebo/launch/ign_gazebo.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -14,28 +14,57 @@

"""Launch Ignition Gazebo with command line arguments."""

from os import environ
import os

from ament_index_python.packages import get_package_share_directory
from catkin_pkg.package import parse_package

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import ExecuteProcess
from launch.actions import DeclareLaunchArgument, ExecuteProcess, OpaqueFunction
from launch.launch_context import LaunchContext
from launch.substitutions import LaunchConfiguration


def generate_launch_description():
env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH':
':'.join([environ.get('IGN_GAZEBO_SYSTEM_PLUGIN_PATH', default=''),
environ.get('LD_LIBRARY_PATH', default='')])}
':'.join([os.environ.get('IGN_GAZEBO_SYSTEM_PLUGIN_PATH', default=''),
os.environ.get('LD_LIBRARY_PATH', default='')])}

return LaunchDescription([
DeclareLaunchArgument('ign_args', default_value='',
description='Arguments to be passed to Ignition Gazebo'),
DeclareLaunchArgument(
'ign_args', default_value='',
description='Arguments to be passed to Ignition Gazebo'),
ExecuteProcess(
cmd=['ign gazebo',
LaunchConfiguration('ign_args'),
OpaqueFunction(__get_ign_args)
],
output='screen',
additional_env=env,
shell=True
)
])


def __get_ign_args(context: LaunchContext):
ign_args = LaunchConfiguration('ign_args').perform(context)
if '--force_version' not in ign_args:
ign_args += f' --force_version {IGN_GAZEBO_DEFAULT_VERSION}'

return ign_args


def __get_ign_gazebo_default_version():
manifest_path = os.path.join(*[get_package_share_directory('ros_ign_gazebo'), 'package.xml'])

# this will fail if workspace was built with '--merge-install'
this_pkg = parse_package(manifest_path)

this_pkg.evaluate_conditions(os.environ)
lookup_name = next(dep.name for dep in this_pkg.exec_depends
if dep.evaluated_condition
if 'ignition-gazebo' in dep.name)

return lookup_name.replace('ignition-gazebo', '')


IGN_GAZEBO_DEFAULT_VERSION = __get_ign_gazebo_default_version()
3 changes: 3 additions & 0 deletions ros_ign_gazebo/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,9 @@
<depend condition="$IGNITION_VERSION == citadel">ignition-gazebo3</depend>
<depend condition="$IGNITION_VERSION == ''">ignition-gazebo3</depend>

<exec_depend>ament_index_python</exec_depend>
<exec_depend>python3-catkin-pkg-modules</exec_depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

Expand Down

0 comments on commit e37b143

Please sign in to comment.