Add a launch file for gazebo.

2 files changed, 22 insertions, 7 deletions

diff --git a/scripts/launch-robots.py b/launch-robots.py
index 8b09e0f..7cc7e16 100755
--- a/scripts/launch-robots.py
+++ b/launch-robots.py
@@ -1,6 +1,9 @@
 #!/usr/bin/env python3
 
+import argparse
 import math
+from shutil import which
+import subprocess
 import sys
 from typing import Tuple
 
@@ -46,13 +49,16 @@ def splice_robots(text : str, n : int) -> str:
 
 
 def main(filename : str, n : int):
-    with open(filename, 'r') as f:
-        print(splice_robots(f.read(), n))
+    out = None
+    with open(filename, 'r') as fd:
+        out = splice_robots(fd.read(), n)
+
+    subprocess.run([which('roslaunch'), '-'], input=out, text=True)
 
 
 if __name__ == '__main__':
-    if len(sys.argv) != 3:
-        sys.exit(1)
-    filename = sys.argv[1]
-    robots = int(sys.argv[2])
-    main(filename, robots)
+    parser = argparse.ArgumentParser(description='Launches gazebo')
+    parser.add_argument('--template', action='store', type=str, help='Template launch file.')
+    parser.add_argument('--robots', action='store', type=int, help='Number of robots.')
+    args, unknown = parser.parse_known_args()
+    main(args.template, args.robots)
diff --git a/launch/gazebo.launch b/launch/gazebo.launch
new file mode 100644
index 0000000..85f1829
--- /dev/null
+++ b/launch/gazebo.launch
@@ -0,0 +1,9 @@
+<launch>
+	<arg name="robots" />
+  <arg name="template" default="$(find murl)/launch/all-robots.launch.in" />
+	<node pkg="murl"
+        type="launch-robots.py"
+        name="launch_robots"
+        args="--template=$(arg template) --robots=$(arg robots)"
+        output="screen"/>
+</launch>