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Launch Gazebo and spawn robot

ROS / ros eco / launch / python

Launch gazebo and spawn robot from urdf/xacro file

Basic

launch gazebo with custom world gazebo search for worlds using GZ_SIM_RESOURCE_PATH environment

Launch gazebo world

gazebo.launch.py
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Launch gazebo and spawn robot

sim.launch.py
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Declare GZ_SIM_RESOURCE_PATH

Use dsv to set environment variable

ament dsv

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.
├── CMakeLists.txt
├── hooks
│   ├── robot_loc_gazebo.dsv.in
│   └── robot_loc_gazebo.sh.in
robot_loc_gazebo.dsv.in
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prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share;@CMAKE_INSTALL_PREFIX@/share/robot_loc_gazebo/worlds
obot_loc_gazebo.sh.in
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ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/@PROJECT_NAME@/worlds"
CMakeLists.txt
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ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.sh.in")

ament_package()