ROS2 Drones (PX4 + AS2) ILauncher

manager/manager/launcher/launcher_drones_ros2.py

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+import os
+import subprocess
+from src.manager.manager.launcher.launcher_interface import ILauncher, LauncherException
+from src.manager.manager.docker_thread.docker_thread import DockerThread
+from typing import List, Any
+import time
+
+class LauncherDronesRos2(ILauncher):
+    exercise_id: str
+    type: str
+    module: str
+    resource_folders: List[str]
+    model_folders: List[str]
+    plugin_folders: List[str]
+    world_file: str
+    running = False
+    threads: List[Any] = []
+
+    def run(self, callback):
+
+        # expand variables in configuration paths
+        self._set_environment()
+        world_file = os.path.expandvars(self.world_file)
+
+        # Launching MicroXRCE and Aerostack2 nodes
+        as2_launch_cmd = f"ros2 launch jderobot_drones as2_default_classic_gazebo.launch.py world_file:={world_file}"
+
+        as2_launch_thread = DockerThread(as2_launch_cmd)
+        as2_launch_thread.start()
+        self.threads.append(as2_launch_thread)
+
+        # Launching gzserver and PX4
+        px4_launch_cmd = f"$AS2_GZ_ASSETS_SCRIPT_PATH/default_run.sh {world_file}"
+
+        px4_launch_thread = DockerThread(px4_launch_cmd)
+        px4_launch_thread.start()
+        self.threads.append(px4_launch_thread)
+
+        self.running = True
+
+    def is_running(self):
+        return True
+
+    def terminate(self):
+        if self.is_running():
+            for thread in self.threads:
+                thread.terminate()
+                thread.join()
+            self.running = False
+
+    def _set_environment(self):
+        resource_folders = [os.path.expandvars(path) for path in self.resource_folders]
+        model_folders = [os.path.expandvars(path) for path in self.model_folders]
+        plugin_folders = [os.path.expandvars(path) for path in self.plugin_folders]
+
+        os.environ["GAZEBO_RESOURCE_PATH"] = f"{os.environ.get('GAZEBO_RESOURCE_PATH', '')}:{':'.join(resource_folders)}"
+        os.environ["GAZEBO_MODEL_PATH"] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(model_folders)}"
+        os.environ["GAZEBO_PLUGIN_PATH"] = f"{os.environ.get('GAZEBO_PLUGIN_PATH', '')}:{':'.join(plugin_folders)}"