Launch file with mecanum_drive joy configuration

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

examples/mecanum_drive_joy.ign

@@ -0,0 +1,142 @@
+<?xml version='1.0'?>
+<!-- Usage: ign launch gazebo_plugins.ign [worldName:=<worldName>]
+
+     The [worldName] command line argument is optional. If left blank, or not
+     specified, then "diff_drive" is used for the world name.
+
+    Example that loads the shapes.sdf world instead of diff_drive:
+
+      ign launch gazebo_plugins.ign worldName:=shapes
+-->
+<%
+  # Check if worldName is not defined or is empty/nil
+  if !defined?(worldName) || worldName == nil || worldName.empty?
+    worldName = "mecanum_drive"
+  end
+%>
+
+<!-- Requires ign-gazebo branch support_loading_plugins_programmatically -->
+<ignition version='1.0'>
+  <!-- Load a joystick plugin that will read from a device and output to a
+       topic -->
+  <plugin name="ignition::launch::Joystick"
+          filename="ignition-launch-joystick">
+    <device>/dev/input/js0</device>
+    <sticky_buttons>false</sticky_buttons>
+    <dead_zone>0.05</dead_zone>
+    <rate>60</rate>
+    <accumulation_rate>1000</accumulation_rate>
+  </plugin>
+
+  <!-- Load a plugin that transforms a joystick message to a
+       twist message -->
+  <plugin name="ignition::launch::JoyToTwist"
+          filename="ignition-launch-joytotwist">
+    <input_topic>/joy</input_topic>
+    <output_topic>/model/vehicle_blue/cmd_vel</output_topic>
+    <enable_button>4</enable_button>
+    <enable_turbo_button>5</enable_turbo_button>
+    <!-- axis 0 for lateral translation -->
+    <!-- axis 1 for longitudinal translation -->
+    <axis_linear>1 0 0</axis_linear>
+    <scale_linear>2 2 0</scale_linear>
+    <scale_linear_turbo>5 5 0</scale_linear_turbo>
+    <!-- axis 2 for yaw rotation -->
+    <axis_angular>0 0 2</axis_angular>
+    <scale_angular>0 0 2</scale_angular>
+    <scale_angular_turbo>0 0 5</scale_angular_turbo>
+  </plugin>
+
+  <!-- Run the gazebo server with a set of plugins -->
+  <plugin name="ignition::launch::GazeboServer"
+          filename="ignition-launch-gazebo">
+    <world_file><%= worldName %>.sdf</world_file>
+    <run>true</run>
+    <update_rate>1000</update_rate>
+  </plugin>
+
+  <executable_wrapper>
+    <plugin name="ignition::launch::GazeboGui"
+          filename="ignition-launch-gazebogui">
+
+      <!-- Override default window title (Gazebo) -->
+      <window_title>Ignition Launch</window_title>
+
+      <!-- Override default icon.
+           In this example, setting to a resource file shipped with Ignition GUI -->
+      <window_icon>:/qml/images/drawer.png</window_icon>
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.4 0.4 0.4</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-6 0 6 0 0.5 0</camera_pose>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+        <service>/world/<%= worldName %>/control</service>
+        <stats_topic>/world/<%= worldName %>/stats</stats_topic>
+
+      </plugin>
+
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/<%= worldName %>/stats</topic>
+      </plugin>
+
+      <!-- Entity tree -->
+      <plugin filename="EntityTree" name="Entity tree">
+        <ignition-gui>
+          <title>Entity tree</title>
+        </ignition-gui>
+      </plugin>
+
+      <!-- Transform Control -->
+      <plugin filename="TransformControl" name="Transform Control">
+        <service>/world/<%= worldName %>/gui/transform_mode</service>
+      </plugin>
+    </plugin>
+  </executable_wrapper>
+
+</ignition>