$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

#!/usr/bin/env python3
#
# Copyright 2024 TechnoRoad Corp.
#
# Licensed under the Apache License, Version 2.0 (the “License”);
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an “AS IS” BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
#
# See the License for the specific language governing permissions and
# limitations under the License.
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration

def generate_launch_description():
    tb3_launch_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
    gz_ros_launch_dir = os.path.join(get_package_share_directory('gazebo_ros'), 'launch')
    world_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'worlds')

    # ①パラメータ設定
    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
    x_pose = LaunchConfiguration('x_pose', default='-2.0')
    y_pose = LaunchConfiguration('y_pose', default='-0.5')

    ld = LaunchDescription()

    # ②シミュレーションサーバの起動
    server_launch_path = os.path.join(gz_ros_launch_dir, 'gzserver.launch.py')
    world_file = os.path.join(world_file_dir, "turtlebot3_world.world")
    ld.add_action(IncludeLaunchDescription(
        PythonLaunchDescriptionSource(server_launch_path),
        launch_arguments={'world': world_file}.items()
    ))

    # ③シミュレーションクライアント(画面、GUI)の起動
    client_launch_path = os.path.join(gz_ros_launch_dir, 'gzclient.launch.py')
    ld.add_action(IncludeLaunchDescription(
        PythonLaunchDescriptionSource(client_launch_path)
    ))

    # ④ロボットのtf(各リンクの姿勢情報)を出力するノードの起動
    rb_state_pub_launch_path = os.path.join(tb3_launch_dir, 'robot_state_publisher.launch.py')
    ld.add_action(IncludeLaunchDescription(
        PythonLaunchDescriptionSource(rb_state_pub_launch_path),
        launch_arguments={'use_sim_time': use_sim_time}.items()
    ))

    # ⑤シミュレータ上にturtlebot3をスポーンさせるノードの起動
    spawn_tb3_launch_path = os.path.join(tb3_launch_dir, 'spawn_turtlebot3.launch.py')
    ld.add_action(IncludeLaunchDescription(
        PythonLaunchDescriptionSource(spawn_tb3_launch_path),
        launch_arguments={'x_pose': x_pose, 'y_pose': y_pose}.items()
    ))

    return ld

<?xml version='1.0' ?>
<!-- Copyright 2024 TechnoRoad Corp.

Licensed under the Apache License, Version 2.0 (the “License”);
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

    http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an “AS IS” BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License. -->
<launch>
  <arg name="launch_file_dir"   default="$(find-pkg-share turtlebot3_gazebo)/launch"/>
  <arg name="gz_ros_launch_dir" default="$(find-pkg-share gazebo_ros)/launch"/>
  <arg name="world_file_dir"    default="$(find-pkg-share turtlebot3_gazebo)/worlds"/>

  <!-- ①パラメータ設定 -->
  <arg name="use_sim_time" default="true"/>
  <arg name="x_pose"       default="-2.0"/>
  <arg name="y_pose"       default="-0.5"/>

  <!-- ②シミュレーションサーバの起動 -->
  <include file="$(var gz_ros_launch_dir)/gzserver.launch.py">
    <arg name="world" value="$(var world_file_dir)/turtlebot3_world.world"/>
  </include>

  <!-- ③シミュレーションクライアント(画面、GUI)の起動 -->
  <include file="$(var gz_ros_launch_dir)/gzclient.launch.py"/>

  <!-- ④ロボットのtf(各リンクの姿勢情報)を出力するノードの起動 -->
  <include file="$(var launch_file_dir)/robot_state_publisher.launch.py">
    <arg name="use_sim_time" value="$(var use_sim_time)"/>
  </include>

  <!-- ⑤シミュレータ上にturtlebot3をスポーンさせるノードの起動 -->
  <include file="$(var launch_file_dir)/spawn_turtlebot3.launch.py">
    <arg name="x_pose" value="$(var x_pose)"/>
    <arg name="y_pose" value="$(var y_pose)"/>
  </include>
</launch>

# Copyright 2024 TechnoRoad Corp.
#
# Licensed under the Apache License, Version 2.0 (the “License”);
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an “AS IS” BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
#
# See the License for the specific language governing permissions and
# limitations under the License.
launch:
- arg:
    name: "launch_file_dir"
    default: "$(find-pkg-share turtlebot3_gazebo)/launch"
- arg:
    name: "gz_ros_launch_dir"
    default: "$(find-pkg-share gazebo_ros)/launch"
- arg:
    name: "world_file_dir"
    default: "$(find-pkg-share turtlebot3_gazebo)/worlds"

# ①パラメータ設定
- arg:
    name: "use_sim_time"
    default: "true"
- arg:
    name: "x_pose"
    default: "-2.0"
- arg:
    name: "y_pose"
    default: "-0.5"

# ②シミュレーションサーバの起動
- include:
    file: "$(var gz_ros_launch_dir)/gzserver.launch.py"
    arg:
    -
        name: "world"
        value: "$(var world_file_dir)/turtlebot3_world.world"

# ③シミュレーションクライアント(画面、GUI)の起動
- include:
    file: "$(var gz_ros_launch_dir)/gzclient.launch.py"

# ④ロボットのtf(各リンクの姿勢情報)を出力するノードの起動
- include:
    file: "$(var launch_file_dir)/robot_state_publisher.launch.py"
    arg:
    -
        name: "use_sim_time"
        value: "$(var use_sim_time)"

# ⑤シミュレータ上にturtlebot3をスポーンさせるノードの起動
- include:
    file: "$(var launch_file_dir)/spawn_turtlebot3.launch.py"
    arg:
    -
        name: "x_pose"
        value: "$(var x_pose)"
    -
        name: "y_pose"
        value: "$(var y_pose)"

$ cd ~/turtlebot3_ws
$ colcon build