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refactor: delegate MKMini Gazebo to simulator

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This commit is contained in:
chyoo
2026-08-06 14:07:48 +09:00
parent 75c5d08337
commit 976fd98827
1 changed files with 3 additions and 7 deletions
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src/vehicle_pkg/launch/vehicle.launch.py
+3 -7
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@@ -91,7 +91,9 @@ def build(context, *args, **kwargs):
sim = (sim_mode == 'true') sim = (sim_mode == 'true')
actions = [] actions = []
# (a) spawn: CARLA only. Gazebo simulator owns the TurtleBot3 entity. # (a) CARLA is still owned by this module. Gazebo is owned by the
# dedicated NAV2-Gazebo module so both vehicle profiles use the same
# simulation boundary. Real-vehicle paths remain unchanged.
if sim and plan['simulator'] == 'carla': if sim and plan['simulator'] == 'carla':
spawn_launch = os.path.join(pkg_share, 'launch', 'carla_spawn_hero.launch.py') spawn_launch = os.path.join(pkg_share, 'launch', 'carla_spawn_hero.launch.py')
actions.append(IncludeLaunchDescription( actions.append(IncludeLaunchDescription(
@@ -107,12 +109,6 @@ def build(context, *args, **kwargs):
('spawn_imu', spawn_imu), ('spawn_imu', spawn_imu),
], ],
)) ))
elif sim and plan['simulator'] == 'gazebo':
gazebo_launch = os.path.join(pkg_share, 'launch', 'mkmini_gazebo.launch.py')
actions.append(IncludeLaunchDescription(
PythonLaunchDescriptionSource(gazebo_launch),
launch_arguments=[('gui', gui)],
))
elif not sim: elif not sim:
actions.append(Node(package='vehicle_pkg', executable='pub_clock', actions.append(Node(package='vehicle_pkg', executable='pub_clock',
name='pub_clock', output='screen')) name='pub_clock', output='screen'))