Issue with ros2 jazzy and gazebo harmonic ros integration

Help
, ,
1

Hello, I’m quite new wit ROS and gazebo and I have been having an issue for several days:
when following the tutorial : Spawn a Gazebo model from ROS 2 — Gazebo harmonic documentation

It doesn’t work, after trying many time to reinstall, I found out that I don’t have the needed files in /opt/ros/jazzy/share/ros_gz_sim/launch

looking at the github it seems the jazzy/harmonic branch doesn’t have those files ( ros_gz/ros_gz_sim/launch at jazzy · gazebosim/ros_gz · GitHub )

What should I do to be able to make it work ?

thanks

2

here is my launch file, you can adapt to yours.

import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource

from launch_ros.actions import Node

#获取当前包的安装地址
packagepath = get_package_share_directory('nav_car')  
print(packagepath)
print(os.path.dirname(__file__))

carmodel=packagepath+'/sdf/nav_car.sdf'
robot_desc=open(carmodel).read()

def generate_launch_description():
    gazebo_node = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(os.path.join(
            get_package_share_directory('ros_gz_sim'), 'launch',
            'gz_sim.launch.py')),
        launch_arguments=[('gz_args',packagepath+'/sdf/nav_world.sdf -r -v4 ')]
        )

    robot_to_gazebo = Node(
            package='ros_gz_sim',
            executable='create',
            arguments=[ '-string', robot_desc, '-x', '-2', '-y', '0', '-z','0.05' ,'-name', 'nav_car']
        )

    bridge_node=Node(
            package='ros_gz_bridge',
            executable='parameter_bridge',
            parameters=[ {'config_file':packagepath+'/sdf/nav_bridge.yaml'},],
        )

    image_bridge_node=Node(
        package='ros_gz_image',
        executable='image_bridge',
        arguments=['/camera']
    )

    robot_desc_node=Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        name='robot_state_publisher',
        output='both',
        parameters=[
            {'use_sim_time': True},
            {'robot_description': robot_desc},
        ]
        )

    rviz_node=Node(
        package='rviz2',
        executable='rviz2',
        name='rviz',
        arguments=[ '-d', packagepath+'/sdf/rviz.rviz', ]
    )

    slam_node = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([os.path.join(
            get_package_share_directory('slam_toolbox'), 'launch'),
            '/online_async_launch.py'])
        )
    
    nav_node = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([os.path.join(
            get_package_share_directory('nav2_bringup'), 'launch'),
            '/bringup_launch.py']),
            launch_arguments=[('use_sim_time','true')]
        )

    return LaunchDescription([
        gazebo_node,
        robot_to_gazebo,
        bridge_node,
        image_bridge_node,
        robot_desc_node,
        rviz_node,
        slam_node,
        nav_node,
    ])
3

Thanks! going to test it later today