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ibraEssam/gazebo_ros.py

Created September 29, 2020 18:42
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  1. ibraEssam created this gist Sep 29, 2020.
    26 changes: 26 additions & 0 deletions gazebo_ros.py
    View file
    Original file line number Diff line number Diff line change
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    import subprocess
    import os
    import time
    class Gazebo:
    def on_start(self):
    """This block is used to launch gazebo in noVNC
    it builds the ros workspace, source it , then run a launch file
    which run gazebo ros and load the appropriate world file.
    """
    self.ws_path = self.get_property("ws_path") # Workspace Path
    self.pkg_name = self.get_property("pkg_name") # ROS package name
    self.launch_file = self.get_property("launch_file") # ROS launch file name
    subprocess.Popen("sh /usr/local/bin/start_desktop.sh", shell=True) # Start the desktop
    time.sleep(5) # sleep for some seconds until the desktop is started
    self.alert("Building the ROS Workspace", "INFO")
    subprocess.run(
    "cd {} && . /opt/ros/melodic/setup.sh && catkin_make".format(self.ws_path),
    shell=True,
    ) # build the ROS workspace
    self.alert("Starting Gazebo", "INFO")
    subprocess.Popen(
    "vglrun bash -c 'source {}devel/setup.bash && roslaunch {} {}'".format(
    os.path.join(self.ws_path, ""), self.pkg_name, self.launch_file
    ),
    shell=True,
    ) #run the launch file