From d6afea798b8391534e48c7fb691a1c8c46e5c581 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Mon, 20 Mar 2023 02:48:41 -0300
Subject: [PATCH] Change Gazebo launch file in wam_bringup and bhand_bringup to
 support both Classic and Ignition.

---
 bhand_bringup/launch/gazebo.launch.xml   | 11 +++++--
 bhand_bringup/launch/ignition.launch.xml | 40 ------------------------
 wam_bringup/launch/gazebo.launch.xml     | 13 ++++++--
 wam_bringup/launch/ignition.launch.xml   | 52 --------------------------------
 4 files changed, 20 insertions(+), 96 deletions(-)
 delete mode 100644 bhand_bringup/launch/ignition.launch.xml
 delete mode 100644 wam_bringup/launch/ignition.launch.xml

diff --git a/bhand_bringup/launch/gazebo.launch.xml b/bhand_bringup/launch/gazebo.launch.xml
index 07dda4d..fe89bf5 100644
--- a/bhand_bringup/launch/gazebo.launch.xml
+++ b/bhand_bringup/launch/gazebo.launch.xml
@@ -1,7 +1,7 @@
 <!--******************************************************************************
 	                    Barret Hand Bringup
 	                     Gazebo Launch File
-          Copyright (C) 2018, 2021 Walter Fetter Lages <w.fetter@ieee.org>
+          Copyright (C) 2018..2023 Walter Fetter Lages <w.fetter@ieee.org>
 
         This program is free software: you can redistribute it and/or modify
         it under the terms of the GNU General Public License as published by
@@ -23,11 +23,18 @@
 	<arg name="pause" default="true"/>
 	<arg name="gui" default="true"/>
 	<arg name="use_sim_time" default="true"/>
+	<arg name="ignition" default="false"/>
 
 	<arg name="controller" default="bhand_controller"/>
 	<arg name="config" default="$(find-pkg-share bhand_bringup)/config/$(var controller).yaml"/>
 	
-	<include file="$(find-pkg-share bhand_description)/launch/gazebo.launch.xml" >
+	<include unless="$(var ignition)" file="$(find-pkg-share bhand_description)/launch/gazebo.launch.xml" >
+		<arg name="pause" value="$(var pause)"/>
+		<arg name="gui" value="$(var gui)"/>
+		<arg name="use_sim_time" value="$(var use_sim_time)"/>
+	</include>
+	
+	<include if="$(var ignition)" file="$(find-pkg-share bhand_description)/launch/ignition.launch.xml" >
 		<arg name="pause" value="$(var pause)"/>
 		<arg name="gui" value="$(var gui)"/>
 		<arg name="use_sim_time" value="$(var use_sim_time)"/>
diff --git a/bhand_bringup/launch/ignition.launch.xml b/bhand_bringup/launch/ignition.launch.xml
deleted file mode 100644
index a88bf87..0000000
--- a/bhand_bringup/launch/ignition.launch.xml
+++ /dev/null
@@ -1,40 +0,0 @@
-<!--******************************************************************************
-	                    Barret Hand Bringup
-	                     Ignition Launch File
-          Copyright (C) 2023 Walter Fetter Lages <w.fetter@ieee.org>
-
-        This program is free software: you can redistribute it and/or modify
-        it under the terms of the GNU General Public License as published by
-        the Free Software Foundation, either version 3 of the License, or
-        (at your option) any later version.
-
-        This program is distributed in the hope that it will be useful, but
-        WITHOUT ANY WARRANTY; without even the implied warranty of
-        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-        Geneal Public License for more details.
-
-        You should have received a copy of the GNU General Public License
-        along with this program.  If not, see
-        <http://www.gnu.org/licenses/>.
-        
-*******************************************************************************-->
-
-<launch>
-	<arg name="pause" default="true"/>
-	<arg name="gui" default="true"/>
-	<arg name="use_sim_time" default="true"/>
-
-	<arg name="controller" default="bhand_controller"/>
-	<arg name="config" default="$(find-pkg-share bhand_bringup)/config/$(var controller).yaml"/>
-	
-	<include file="$(find-pkg-share bhand_description)/launch/ignition.launch.xml" >
-		<arg name="pause" value="$(var pause)"/>
-		<arg name="gui" value="$(var gui)"/>
-		<arg name="use_sim_time" value="$(var use_sim_time)"/>
-	</include>
-
-	<include file="$(find-pkg-share bhand_bringup)/launch/$(var controller).launch.xml" >
-		<arg name="config" value="$(var config)"/>
-		<arg name="use_sim_time" value="$(var use_sim_time)"/>
-	</include>
-</launch>
diff --git a/wam_bringup/launch/gazebo.launch.xml b/wam_bringup/launch/gazebo.launch.xml
index 6bbedeb..454d592 100644
--- a/wam_bringup/launch/gazebo.launch.xml
+++ b/wam_bringup/launch/gazebo.launch.xml
@@ -1,7 +1,7 @@
 <!--******************************************************************************
 	                     Barrett WAM Bringup
 	                     Gazebo Launch File
-          Copyright (C) 2018, 2021 Walter Fetter Lages <w.fetter@ieee.org>
+          Copyright (C) 2018..2023 Walter Fetter Lages <w.fetter@ieee.org>
 
         This program is free software: you can redistribute it and/or modify
         it under the terms of the GNU General Public License as published by
@@ -25,12 +25,21 @@
 	<arg name="use_sim_time" default="true"/>
 	<arg name="table" default="true"/>
 	<arg name="bhand" default="true"/>
+	<arg name="ignition" default="false"/>
 
 	<!-- This is the default Barrett WAM Controller, used by libbarrett -->
 	<arg name="controller" default="pid_plus_gravity_controller"/>
 	<arg name="config" default="$(find-pkg-share wam_bringup)/config/$(var controller).yaml"/>
 	
-	<include file="$(find-pkg-share wam_description)/launch/gazebo.launch.xml" >
+	<include unless="$(var ignition)" file="$(find-pkg-share wam_description)/launch/gazebo.launch.xml" >
+		<arg name="pause" value="$(var pause)"/>
+		<arg name="gui" value="$(var gui)"/>
+		<arg name="use_sim_time" value="$(var use_sim_time)"/>
+		<arg name="table" value="$(var table)"/>
+		<arg name="bhand" value="$(var bhand)"/>
+	</include>
+	
+	<include if="$(var ignition)" file="$(find-pkg-share wam_description)/launch/ignition.launch.xml" >
 		<arg name="pause" value="$(var pause)"/>
 		<arg name="gui" value="$(var gui)"/>
 		<arg name="use_sim_time" value="$(var use_sim_time)"/>
diff --git a/wam_bringup/launch/ignition.launch.xml b/wam_bringup/launch/ignition.launch.xml
deleted file mode 100644
index b0dbf9d..0000000
--- a/wam_bringup/launch/ignition.launch.xml
+++ /dev/null
@@ -1,52 +0,0 @@
-<!--******************************************************************************
-	                     Barrett WAM Bringup
-	                     Ignition Launch File
-          Copyright (C) 2023 Walter Fetter Lages <w.fetter@ieee.org>
-
-        This program is free software: you can redistribute it and/or modify
-        it under the terms of the GNU General Public License as published by
-        the Free Software Foundation, either version 3 of the License, or
-        (at your option) any later version.
-
-        This program is distributed in the hope that it will be useful, but
-        WITHOUT ANY WARRANTY; without even the implied warranty of
-        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-        Geneal Public License for more details.
-
-        You should have received a copy of the GNU General Public License
-        along with this program.  If not, see
-        <http://www.gnu.org/licenses/>.
-        
-*******************************************************************************-->
-
-<launch>
-	<arg name="pause" default="true"/>
-	<arg name="gui" default="true"/>
-	<arg name="use_sim_time" default="true"/>
-	<arg name="table" default="true"/>
-	<arg name="bhand" default="true"/>
-
-	<!-- This is the default Barrett WAM Controller, used by libbarrett -->
-	<arg name="controller" default="pid_plus_gravity_controller"/>
-	<arg name="config" default="$(find-pkg-share wam_bringup)/config/$(var controller).yaml"/>
-	
-	<include file="$(find-pkg-share wam_description)/launch/ignition.launch.xml" >
-		<arg name="pause" value="$(var pause)"/>
-		<arg name="gui" value="$(var gui)"/>
-		<arg name="use_sim_time" value="$(var use_sim_time)"/>
-		<arg name="table" value="$(var table)"/>
-		<arg name="bhand" value="$(var bhand)"/>
-	</include>
-	
-	<include file="$(find-pkg-share wam_bringup)/launch/$(var controller).launch.xml" >
-		<arg name="config" value="$(var config)"/>
-		<arg name="use_sim_time" value="$(var use_sim_time)"/>
-	</include>
-
-	<group if="$(var bhand)">
-		<arg name="bhand_config" default="$(find-pkg-share bhand_bringup)/config/bhand_controller.yaml"/>
-	
-		<node name="bhand_controller_spawner" pkg="controller_manager" exec="spawner"
-			args="-t position_controllers/JointGroupPositionController -p $(var bhand_config) bhand_controller"/>
-	</group>
-</launch>
-- 
2.12.0