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feat: add headless mode config #45

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Merged
merged 1 commit into from
Oct 10, 2025
Merged

feat: add headless mode config #45

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2 changes: 2 additions & 0 deletions robotnik_gazebo_ignition/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,8 @@ ros2 launch robotnik_gazebo_ignition spawn_world.launch.py world:=empty

Available worlds are located in the `worlds` folder of this package. You can replace `empty` with the name of any other world file (without the `.world` extension) to launch a different world.

Also, you can enable or disable the Gazebo GUI by setting the `gui:=true` or `gui:=false` parameter. By default, the GUI is enabled.

## Spawn Robot

Use the launch file to insert a robot into the Gazebo (Ignition) world.
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16 changes: 13 additions & 3 deletions robotnik_gazebo_ignition/launch/spawn_world.launch.py
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Expand Up @@ -25,10 +25,11 @@
import os
from launch import LaunchDescription
from launch.actions import GroupAction, IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration, Command, FindExecutable
from launch_ros.actions import Node, PushRosNamespace
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch_ros.descriptions import ParameterValue
from launch.conditions import IfCondition
from launch.substitutions import PythonExpression
from robotnik_common.launch import ExtendedArgument, AddArgumentParser
from launch.launch_description_sources import PythonLaunchDescriptionSource

Expand All @@ -55,6 +56,13 @@ def generate_launch_description():
)
add_to_launcher.add_arg(arg)

arg = ExtendedArgument(
name='gui',
description='Set to true to enable gazebo gui, headless mode (default: true)',
default_value='true',
)
add_to_launcher.add_arg(arg)

params = add_to_launcher.process_arg()

gazebo_ignition_launch_group = GroupAction(
Expand Down Expand Up @@ -96,6 +104,8 @@ def generate_launch_description():
],
'on_exit_shutdown':'true'
}.items(),
# gui is in (true, 1, yes, on) (case insensitive)
condition = IfCondition(PythonExpression(["'", params['gui'], "'.strip().lower() in ('true','1','yes','on')"])),
),
Node(
package="ros_gz_bridge",
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