Import example code and basic prototype

launch/robots/robot_panda.launch.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env -S ros2 launch
+"""Launch script for spawning Franka Emika Panda into Ignition Gazebo world"""
+
+from typing import List
+
+from launch_ros.actions import Node
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description() -> LaunchDescription:
+
+    # Declare all launch arguments
+    declared_arguments = generate_declared_arguments()
+
+    # Get substitution for all arguments
+    model = LaunchConfiguration("model")
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    log_level = LaunchConfiguration("log_level")
+
+    # List of nodes to be launched
+    nodes = [
+        # ros_ign_gazebo_create
+        Node(
+            package="ros_ign_gazebo",
+            executable="create",
+            output="log",
+            arguments=["-file", model, "--ros-args", "--log-level", log_level],
+            parameters=[{"use_sim_time": use_sim_time}],
+        ),
+    ]
+
+    return LaunchDescription(declared_arguments + nodes)
+
+
+def generate_declared_arguments() -> List[DeclareLaunchArgument]:
+    """
+    Generate list of all launch arguments that are declared for this launch script.
+    """
+
+    return [
+        # Model for Ignition Gazebo
+        DeclareLaunchArgument(
+            "model",
+            default_value="panda",
+            description="Name or filepath of model to load.",
+        ),
+        # Miscellaneous
+        DeclareLaunchArgument(
+            "use_sim_time",
+            default_value="true",
+            description="If true, use simulated clock.",
+        ),
+        DeclareLaunchArgument(
+            "log_level",
+            default_value="warn",
+            description="The level of logging that is applied to all ROS 2 nodes launched by this script.",
+        ),
+    ]