Replacing gz sim launch file with gz directly to avoid zombie processes

nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py

@@ -111,11 +111,10 @@ def generate_launch_description():
     world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
     world_sdf_xacro = ExecuteProcess(
         cmd=['xacro', '-o', world_sdf, ['headless:=', 'False'], world])
-    start_gazebo_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
-                         'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items())
+    start_gazebo_cmd = ExecuteProcess(
+        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        output='screen',
+    )
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[

nav2_bringup/launch/tb3_simulation_launch.py

@@ -214,12 +214,11 @@ def generate_launch_description():
     world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
     world_sdf_xacro = ExecuteProcess(
         cmd=['xacro', '-o', world_sdf, ['headless:=', headless], world])
-    gazebo_server = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
-                         'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items(),
-        condition=IfCondition(use_simulator))
+    gazebo_server = ExecuteProcess(
+        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        output='screen',
+        condition=IfCondition(use_simulator)
+    )
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[

nav2_bringup/launch/tb4_simulation_launch.py

@@ -216,12 +216,11 @@ def generate_launch_description():
     world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
     world_sdf_xacro = ExecuteProcess(
         cmd=['xacro', '-o', world_sdf, ['headless:=', headless], world])
-    gazebo_server = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
-                         'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items(),
-        condition=IfCondition(use_simulator))
+    gazebo_server = ExecuteProcess(
+        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        output='screen',
+        condition=IfCondition(use_simulator)
+    )
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[

nav2_bringup/launch/unique_multi_tb4_simulation_launch.py → nav2_bringup/launch/unique_multi_tb3_simulation_launch.py

@@ -138,11 +138,10 @@ def generate_launch_description():
     world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
     world_sdf_xacro = ExecuteProcess(
         cmd=['xacro', '-o', world_sdf, ['headless:=', 'False'], world])
-    start_gazebo_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
-                         'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items())
+    start_gazebo_cmd = ExecuteProcess(
+        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        output='screen',
+    )
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[

nav2_system_tests/src/behaviors/assisted_teleop/test_assisted_teleop_behavior_launch.py

@@ -32,13 +32,11 @@
 from launch_testing.legacy import LaunchTestService
 
 from nav2_common.launch import RewrittenYaml
-from nav2_simple_commander.utils import kill_os_processes
 
 
 def generate_launch_description():
     sim_dir = get_package_share_directory('nav2_minimal_tb3_sim')
     nav2_bringup_dir = get_package_share_directory('nav2_bringup')
-    ros_gz_sim_dir = get_package_share_directory('ros_gz_sim')
 
     world_sdf_xacro = os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro')
     robot_sdf = os.path.join(sim_dir, 'urdf', 'gz_waffle.sdf.xacro')
@@ -73,11 +71,9 @@ def generate_launch_description():
                 'GZ_SIM_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
-            IncludeLaunchDescription(
-                PythonLaunchDescriptionSource(
-                    os.path.join(ros_gz_sim_dir, 'launch', 'gz_sim.launch.py')
-                ),
-                launch_arguments={'gz_args': ['-r -s ', world_sdf_xacro]}.items(),
+            ExecuteProcess(
+                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                output='screen',
             ),
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(
@@ -134,7 +130,6 @@ def main(argv=sys.argv[1:]):
     ls = LaunchService(argv=argv)
     ls.include_launch_description(ld)
     return_code = lts.run(ls)
-    kill_os_processes('gz sim')
     return return_code
 
 

nav2_system_tests/src/behaviors/spin/test_spin_behavior_launch.py

@@ -32,13 +32,11 @@
 from launch_testing.legacy import LaunchTestService
 
 from nav2_common.launch import RewrittenYaml
-from nav2_simple_commander.utils import kill_os_processes
 
 
 def generate_launch_description():
     sim_dir = get_package_share_directory('nav2_minimal_tb3_sim')
     nav2_bringup_dir = get_package_share_directory('nav2_bringup')
-    ros_gz_sim_dir = get_package_share_directory('ros_gz_sim')
 
     world_sdf_xacro = os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro')
     robot_sdf = os.path.join(sim_dir, 'urdf', 'gz_waffle.sdf.xacro')
@@ -75,11 +73,9 @@ def generate_launch_description():
                 'GZ_SIM_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
-            IncludeLaunchDescription(
-                PythonLaunchDescriptionSource(
-                    os.path.join(ros_gz_sim_dir, 'launch', 'gz_sim.launch.py')
-                ),
-                launch_arguments={'gz_args': ['-r -s ', world_sdf_xacro]}.items(),
+            ExecuteProcess(
+                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                output='screen',
             ),
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(
@@ -136,7 +132,6 @@ def main(argv=sys.argv[1:]):
     ls = LaunchService(argv=argv)
     ls.include_launch_description(ld)
     return_code = lts.run(ls)
-    kill_os_processes('gz sim')
     return return_code
 
 

nav2_system_tests/src/costmap_filters/test_keepout_launch.py

@@ -35,14 +35,12 @@
 from launch_testing.legacy import LaunchTestService
 
 from nav2_common.launch import RewrittenYaml
-from nav2_simple_commander.utils import kill_os_processes
 
 
 def generate_launch_description():
     sim_dir = get_package_share_directory('nav2_minimal_tb3_sim')
     nav2_bringup_dir = get_package_share_directory('nav2_bringup')
     nav2_sys_test_dir = get_package_share_directory('nav2_system_tests')
-    ros_gz_sim_dir = get_package_share_directory('ros_gz_sim')
 
     world_sdf_xacro = os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro')
     robot_sdf = os.path.join(sim_dir, 'urdf', 'gz_waffle.sdf.xacro')
@@ -90,11 +88,9 @@ def generate_launch_description():
                 'GZ_SIM_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
-            IncludeLaunchDescription(
-                PythonLaunchDescriptionSource(
-                    os.path.join(ros_gz_sim_dir, 'launch', 'gz_sim.launch.py')
-                ),
-                launch_arguments={'gz_args': ['-r -s ', world_sdf_xacro]}.items(),
+            ExecuteProcess(
+                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                output='screen',
             ),
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(
@@ -199,7 +195,6 @@ def main(argv=sys.argv[1:]):
     ls = LaunchService(argv=argv)
     ls.include_launch_description(ld)
     return_code = lts.run(ls)
-    kill_os_processes('gz sim')
     return return_code
 
 

nav2_system_tests/src/costmap_filters/test_speed_launch.py

@@ -35,14 +35,12 @@
 from launch_testing.legacy import LaunchTestService
 
 from nav2_common.launch import RewrittenYaml
-from nav2_simple_commander.utils import kill_os_processes
 
 
 def generate_launch_description():
     sim_dir = get_package_share_directory('nav2_minimal_tb3_sim')
     nav2_bringup_dir = get_package_share_directory('nav2_bringup')
     nav2_sys_test_dir = get_package_share_directory('nav2_system_tests')
-    ros_gz_sim_dir = get_package_share_directory('ros_gz_sim')
 
     world_sdf_xacro = os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro')
     robot_sdf = os.path.join(sim_dir, 'urdf', 'gz_waffle.sdf.xacro')
@@ -88,11 +86,9 @@ def generate_launch_description():
                 'GZ_SIM_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
-            IncludeLaunchDescription(
-                PythonLaunchDescriptionSource(
-                    os.path.join(ros_gz_sim_dir, 'launch', 'gz_sim.launch.py')
-                ),
-                launch_arguments={'gz_args': ['-r -s ', world_sdf_xacro]}.items(),
+            ExecuteProcess(
+                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                output='screen',
             ),
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(
@@ -190,7 +186,6 @@ def main(argv=sys.argv[1:]):
     ls = LaunchService(argv=argv)
     ls.include_launch_description(ld)
     return_code = lts.run(ls)
-    kill_os_processes('gz sim')
     return return_code
 
 

nav2_system_tests/src/localization/test_localization_launch.py

@@ -27,14 +27,11 @@
 import launch_ros.actions
 from launch_testing.legacy import LaunchTestService
 
-from nav2_simple_commander.utils import kill_os_processes
-
 
 def main(argv=sys.argv[1:]):
     testExecutable = os.getenv('TEST_EXECUTABLE')
     sim_dir = get_package_share_directory('nav2_minimal_tb3_sim')
     nav2_bringup_dir = get_package_share_directory('nav2_bringup')
-    ros_gz_sim_dir = get_package_share_directory('ros_gz_sim')
 
     world_sdf_xacro = os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro')
     robot_sdf = os.path.join(sim_dir, 'urdf', 'gz_waffle.sdf.xacro')
@@ -53,11 +50,9 @@ def main(argv=sys.argv[1:]):
         str(Path(os.path.join(sim_dir)).parent.resolve())
     )
 
-    start_gazebo_server = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(ros_gz_sim_dir, 'launch', 'gz_sim.launch.py')
-        ),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf_xacro]}.items(),
+    start_gazebo_server = ExecuteProcess(
+        cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+        output='screen',
     )
 
     spawn_robot = IncludeLaunchDescription(
@@ -123,7 +118,6 @@ def main(argv=sys.argv[1:]):
     ls = LaunchService(argv=argv)
     ls.include_launch_description(ld)
     return_code = lts.run(ls)
-    kill_os_processes('gz sim')
     return return_code
 
 

nav2_system_tests/src/system/test_system_launch.py

@@ -35,13 +35,11 @@
 from launch_testing.legacy import LaunchTestService
 
 from nav2_common.launch import RewrittenYaml
-from nav2_simple_commander.utils import kill_os_processes
 
 
 def generate_launch_description():
     sim_dir = get_package_share_directory('nav2_minimal_tb3_sim')
     nav2_bringup_dir = get_package_share_directory('nav2_bringup')
-    ros_gz_sim_dir = get_package_share_directory('ros_gz_sim')
 
     world_sdf_xacro = os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro')
     robot_sdf = os.path.join(sim_dir, 'urdf', 'gz_waffle.sdf.xacro')
@@ -97,11 +95,9 @@ def generate_launch_description():
                 'GZ_SIM_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
-            IncludeLaunchDescription(
-                PythonLaunchDescriptionSource(
-                    os.path.join(ros_gz_sim_dir, 'launch', 'gz_sim.launch.py')
-                ),
-                launch_arguments={'gz_args': ['-r -s ', world_sdf_xacro]}.items(),
+            ExecuteProcess(
+                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                output='screen',
             ),
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(
@@ -169,7 +165,6 @@ def main(argv=sys.argv[1:]):
     ls = LaunchService(argv=argv)
     ls.include_launch_description(ld)
     return_code = lts.run(ls)
-    kill_os_processes('gz sim')
     return return_code
 
 

nav2_system_tests/src/system/test_system_with_obstacle_launch.py

@@ -35,13 +35,11 @@
 from launch_testing.legacy import LaunchTestService
 
 from nav2_common.launch import RewrittenYaml
-from nav2_simple_commander.utils import kill_os_processes
 
 
 def generate_launch_description():
     sim_dir = get_package_share_directory('nav2_minimal_tb3_sim')
     nav2_bringup_dir = get_package_share_directory('nav2_bringup')
-    ros_gz_sim_dir = get_package_share_directory('ros_gz_sim')
     nav2_system_tests_dir = get_package_share_directory('nav2_system_tests')
 
     world_sdf_xacro = os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro')
@@ -100,11 +98,9 @@ def generate_launch_description():
                 'GZ_SIM_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
-            IncludeLaunchDescription(
-                PythonLaunchDescriptionSource(
-                    os.path.join(ros_gz_sim_dir, 'launch', 'gz_sim.launch.py')
-                ),
-                launch_arguments={'gz_args': ['-r -s ', world_sdf_xacro]}.items(),
+            ExecuteProcess(
+                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                output='screen',
             ),
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(
@@ -182,7 +178,6 @@ def main(argv=sys.argv[1:]):
     ls = LaunchService(argv=argv)
     ls.include_launch_description(ld)
     return_code = lts.run(ls)
-    kill_os_processes('gz sim')
     return return_code
 
 

nav2_system_tests/src/system/test_wrong_init_pose_launch.py

@@ -34,13 +34,11 @@
 from launch_testing.legacy import LaunchTestService
 
 from nav2_common.launch import RewrittenYaml
-from nav2_simple_commander.utils import kill_os_processes
 
 
 def generate_launch_description():
     sim_dir = get_package_share_directory('nav2_minimal_tb3_sim')
     nav2_bringup_dir = get_package_share_directory('nav2_bringup')
-    ros_gz_sim_dir = get_package_share_directory('ros_gz_sim')
 
     world_sdf_xacro = os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro')
     robot_sdf = os.path.join(sim_dir, 'urdf', 'gz_waffle.sdf.xacro')
@@ -96,11 +94,9 @@ def generate_launch_description():
                 'GZ_SIM_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
-            IncludeLaunchDescription(
-                PythonLaunchDescriptionSource(
-                    os.path.join(ros_gz_sim_dir, 'launch', 'gz_sim.launch.py')
-                ),
-                launch_arguments={'gz_args': ['-r -s ', world_sdf_xacro]}.items(),
+            ExecuteProcess(
+                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                output='screen',
             ),
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(
@@ -168,7 +164,6 @@ def main(argv=sys.argv[1:]):
     ls = LaunchService(argv=argv)
     ls.include_launch_description(ld)
     return_code = lts.run(ls)
-    kill_os_processes('gz sim')
     return return_code