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Keep Gazebo server running without GUI #67

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11 changes: 6 additions & 5 deletions examples/dave_demos/launch/dave_object.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,6 @@
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.conditions import IfCondition
from launch_ros.substitutions import FindPackageShare


Expand Down Expand Up @@ -33,7 +32,10 @@ def launch_setup(context, *args, **kwargs):
else:
gz_args = [world_name]

if headless.perform(context) == "true":
run_server_only = (
headless.perform(context).lower() == "true" or gui.perform(context).lower() == "false"
)
if run_server_only:
gz_args.append(" -s")
if paused.perform(context) == "false":
gz_args.append(" -r")
Expand All @@ -56,7 +58,6 @@ def launch_setup(context, *args, **kwargs):
launch_arguments=[
("gz_args", gz_args),
],
condition=IfCondition(gui),
)

object_launch = IncludeLaunchDescription(
Expand Down Expand Up @@ -99,7 +100,7 @@ def generate_launch_description():
DeclareLaunchArgument(
"gui",
default_value="true",
description="Flag to enable the gazebo gui",
description="Show the Gazebo graphical client; false runs server-only",
),
DeclareLaunchArgument(
"use_sim_time",
Expand All @@ -114,7 +115,7 @@ def generate_launch_description():
DeclareLaunchArgument(
"headless",
default_value="false",
description="Flag to enable the gazebo headless mode",
description="Run Gazebo server-only without the graphical client",
),
DeclareLaunchArgument(
"verbose",
Expand Down
11 changes: 6 additions & 5 deletions examples/dave_demos/launch/dave_robot.launch.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@
IncludeLaunchDescription,
OpaqueFunction,
)
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
Expand Down Expand Up @@ -48,7 +47,10 @@ def launch_setup(context, *args, **kwargs):

zoom_camera_value = "true" if selected_world_name == "dave_ocean_waves" else "false"

if headless.perform(context) == "true":
run_server_only = (
headless.perform(context).lower() == "true" or gui.perform(context).lower() == "false"
)
if run_server_only:
gz_args.append(" -s")
if paused.perform(context) == "false":
gz_args.append(" -r")
Expand All @@ -72,7 +74,6 @@ def launch_setup(context, *args, **kwargs):
launch_arguments=[
("gz_args", gz_args),
],
condition=IfCondition(gui),
)

# Include the second launch file with model name
Expand Down Expand Up @@ -129,7 +130,7 @@ def generate_launch_description():
DeclareLaunchArgument(
"gui",
default_value="true",
description="Flag to enable the gazebo gui",
description="Show the Gazebo graphical client; false runs server-only",
),
DeclareLaunchArgument(
"use_sim_time",
Expand All @@ -144,7 +145,7 @@ def generate_launch_description():
DeclareLaunchArgument(
"headless",
default_value="false",
description="Flag to enable the gazebo headless mode",
description="Run Gazebo server-only without the graphical client",
),
DeclareLaunchArgument(
"verbose",
Expand Down
11 changes: 6 additions & 5 deletions examples/dave_demos/launch/dave_sensor.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,6 @@
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.conditions import IfCondition
from launch_ros.substitutions import FindPackageShare


Expand Down Expand Up @@ -33,7 +32,10 @@ def launch_setup(context, *args, **kwargs):
else:
gz_args = [world_name]

if headless.perform(context) == "true":
run_server_only = (
headless.perform(context).lower() == "true" or gui.perform(context).lower() == "false"
)
if run_server_only:
gz_args.append(" -s")
if paused.perform(context) == "false":
gz_args.append(" -r")
Expand All @@ -55,7 +57,6 @@ def launch_setup(context, *args, **kwargs):
launch_arguments=[
("gz_args", gz_args),
],
condition=IfCondition(gui),
)

sensor_launch = IncludeLaunchDescription(
Expand Down Expand Up @@ -98,7 +99,7 @@ def generate_launch_description():
DeclareLaunchArgument(
"gui",
default_value="true",
description="Flag to enable the gazebo gui",
description="Show the Gazebo graphical client; false runs server-only",
),
DeclareLaunchArgument(
"use_sim_time",
Expand All @@ -113,7 +114,7 @@ def generate_launch_description():
DeclareLaunchArgument(
"headless",
default_value="false",
description="Flag to enable the gazebo headless mode",
description="Run Gazebo server-only without the graphical client",
),
DeclareLaunchArgument(
"verbosity_level",
Expand Down
7 changes: 1 addition & 6 deletions models/dave_object_models/launch/upload_object.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,6 @@ def validate_description(context, *args, **kwargs):


def generate_launch_description():
gui = LaunchConfiguration("gui")
use_sim_time = LaunchConfiguration("use_sim_time")
namespace = LaunchConfiguration("namespace")
x = LaunchConfiguration("x")
Expand Down Expand Up @@ -140,7 +139,6 @@ def generate_launch_description():
yaw,
],
output="both",
condition=IfCondition(gui),
parameters=[{"use_sim_time": use_sim_time}],
)

Expand All @@ -152,9 +150,6 @@ def generate_launch_description():
)
]

validate_object_description = OpaqueFunction(
function=validate_description,
condition=IfCondition(gui),
)
validate_object_description = OpaqueFunction(function=validate_description)

return LaunchDescription(args + [validate_object_description] + nodes + event_handlers)
2 changes: 0 additions & 2 deletions models/dave_sensor_models/launch/upload_sensor.launch.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,6 @@ def launch_setup(context, *args, **kwargs):


def generate_launch_description():
gui = LaunchConfiguration("gui")
use_sim_time = LaunchConfiguration("use_sim_time")
namespace = LaunchConfiguration("namespace")
x = LaunchConfiguration("x")
Expand Down Expand Up @@ -152,7 +151,6 @@ def generate_launch_description():
yaw,
],
output="both",
condition=IfCondition(gui),
parameters=[{"use_sim_time": use_sim_time}],
)

Expand Down
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