Using roslaunch to simplify the program

We have learned how to use roslaunch. NOw we can use it on our turtlebot waypoint nevigation program.

First, get into the package launch directory

roscd techx2019/launch/

Create a new blank launch file called turtlebot3_waypoint.launch and edit it

touch turtlebot3_waypoint.launch
gedit turtlebot3_waypoint.launch

Copy and paste the following launch file code:

<launch>
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="x_pos" default="-2.0"/>
<arg name="y_pos" default="-0.5"/>
<arg name="z_pos" default="0.0"/>

<include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_world.world"/>
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
</include>

<param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

<node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf"  args="-urdf -model turtlebot3_$(arg model) -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
<node pkg="techx2019" name="waypoint" type="waypoint.py" output="screen"/>
</launch>

Save and close the file

Run the launch file

roslaunch turtlebot3_gazebo turtlebot3_waypoint.launch