Add XML/YAML launch equivalents for intermediate URDF tutorials

source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst

@@ -205,10 +205,24 @@ The code file will also tell ``tf2`` how to place the whole model using the  ``t
 ^^^^^^^^^^^^^^^^^^^^^^
 
 Create a new ``urdf_tutorial_cpp/launch`` folder.
-Open your editor and paste the following code, saving it as ``urdf_tutorial_cpp/launch/launch.py``
+Open your editor and paste the following code, saving it as ``urdf_tutorial_cpp/launch/launch`` with the extension ``.py``, ``.xml``, or ``.yaml``
 
-.. literalinclude:: launch/launch.py
-  :language: python
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: launch/launch.py
+        :language: python
+
+  .. group-tab:: XML
+
+    .. literalinclude:: launch/launch.xml
+        :language: xml
+
+  .. group-tab:: YAML
+
+    .. literalinclude:: launch/launch.yaml
+        :language: yaml
 
 
 5 Edit the CMakeLists.txt file
@@ -298,7 +312,7 @@ Source the setup files:
 7 View the results
 ^^^^^^^^^^^^^^^^^^
 
-To launch your new package run the following command:
+To launch your new package run the following command (using ``launch`` with extension ``.py``, ``.xml``, or ``.yaml``):
 
 .. code-block:: console
 

source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-py.rst

@@ -203,10 +203,24 @@ Fire up your favorite editor and paste the following code into ``second_ros2_ws/
 ^^^^^^^^^^^^^^^^^^^^^^
 
 Create a new ``second_ros2_ws/src/urdf_tutorial_r2d2/launch`` folder.
-Open your editor and paste the following code, saving it as ``second_ros2_ws/src/urdf_tutorial_r2d2/launch/demo_launch.py``
+Open your editor and paste the following code, saving it as ``second_ros2_ws/src/urdf_tutorial_r2d2/launch/demo_launch`` with the extension ``.py``, ``.xml``, or ``.yaml``
 
-.. literalinclude:: launch/demo_launch.py
-  :language: python
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: launch/demo_launch.py
+        :language: python
+
+  .. group-tab:: XML
+
+    .. literalinclude:: launch/demo_launch.xml
+        :language: xml
+
+  .. group-tab:: YAML
+
+    .. literalinclude:: launch/demo_launch.yaml
+        :language: yaml
 
 
 5 Edit the setup.py file
@@ -278,7 +292,7 @@ Source the setup files:
 7 View the results
 ^^^^^^^^^^^^^^^^^^
 
-Launch the package
+Launch the package (using ``demo_launch`` with extension ``.py``, ``.xml``, or ``.yaml``)
 
 .. code-block:: console
 

source/Tutorials/Intermediate/URDF/Using-Xacro-to-Clean-Up-a-URDF-File.rst

@@ -43,23 +43,61 @@ However, it does take time to generate, so be aware that your launch file might
 
 To run xacro within your launch file, you need to put the ``Command`` substitution as a parameter to the ``robot_state_publisher``.
 
-.. code-block:: python
-
-    path_to_urdf = get_package_share_path('turtlebot3_description') / 'urdf' / 'turtlebot3_burger.urdf'
-    robot_state_publisher_node = launch_ros.actions.Node(
-        package='robot_state_publisher',
-        executable='robot_state_publisher',
-        parameters=[{
-            'robot_description': ParameterValue(
-                Command(['xacro ', str(path_to_urdf)]), value_type=str
-            )
-        }]
-    )
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. code-block:: python
+
+        path_to_urdf = get_package_share_path('turtlebot3_description') / 'urdf' / 'turtlebot3_burger.urdf'
+        robot_state_publisher_node = launch_ros.actions.Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            parameters=[{
+                'robot_description': ParameterValue(
+                    Command(['xacro ', str(path_to_urdf)]), value_type=str
+                )
+            }]
+        )
+
+  .. group-tab:: XML
+
+    .. code-block:: xml
+
+        <node pkg="robot_state_publisher" exec="robot_state_publisher" name="robot_state_publisher">
+            <param name="robot_description" value="$(command 'xacro $(find-pkg-share turtlebot3_description)/urdf/turtlebot3_burger.urdf')" />
+        </node>
+
+  .. group-tab:: YAML
+
+    .. code-block:: yaml
+
+        - node:
+            pkg: "robot_state_publisher"
+            exec: "robot_state_publisher"
+            name: "robot_state_publisher"
+            param:
+            - name: "robot_description"
+              value: "$(command 'xacro $(find-pkg-share turtlebot3_description)/urdf/turtlebot3_burger.urdf')"
 
 An easier way to load the robot model is to use the `urdf_launch <https://github.com/ros/urdf_launch>`_ package to automatically load the xacro/urdf.
 
-.. literalinclude:: launch/urdf_display_launch.py
-    :language: python
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: launch/urdf_display_launch.py
+        :language: python
+
+  .. group-tab:: XML
+
+    .. literalinclude:: launch/urdf_display_launch.xml
+        :language: xml
+
+  .. group-tab:: YAML
+
+    .. literalinclude:: launch/urdf_display_launch.yaml
+        :language: yaml
 
 At the top of the URDF file, you must specify a namespace in order for the file to parse properly.
 For example, these are the first two lines of a valid xacro file:

source/Tutorials/Intermediate/URDF/launch/demo_launch.xml

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- 'use_sim_time' is used to have ros2 use /clock topic for the time source -->
+  <arg name="use_sim_time" default="false" description="Use simulation (Gazebo) clock if true" />
+
+  <node pkg="robot_state_publisher" exec="robot_state_publisher" name="robot_state_publisher" output="screen" args="$(file-content $(find-pkg-share urdf_tutorial_r2d2)/r2d2.urdf.xml)">
+    <param name="use_sim_time" value="$(var use_sim_time)" />
+    <param name="robot_description" value="$(file-content $(find-pkg-share urdf_tutorial_r2d2)/r2d2.urdf.xml)" />
+  </node>
+
+  <node pkg="urdf_tutorial_r2d2" exec="state_publisher" name="state_publisher" output="screen" />
+</launch>
+

source/Tutorials/Intermediate/URDF/launch/demo_launch.yaml

@@ -0,0 +1,27 @@
+%YAML 1.2
+---
+launch:
+  # 'use_sim_time' is used to have ros2 use /clock topic for the time source
+  - arg:
+      name: "use_sim_time"
+      default: "false"
+      description: "Use simulation (Gazebo) clock if true"
+
+  - node:
+      pkg: "robot_state_publisher"
+      exec: "robot_state_publisher"
+      name: "robot_state_publisher"
+      output: "screen"
+      args: "$(file-content $(find-pkg-share urdf_tutorial_r2d2)/r2d2.urdf.xml)"
+      param:
+      - name: "use_sim_time"
+        value: "$(var use_sim_time)"
+      - name: "robot_description"
+        value: "$(file-content $(find-pkg-share urdf_tutorial_r2d2)/r2d2.urdf.xml)"
+
+  - node:
+      pkg: "urdf_tutorial_r2d2"
+      exec: "state_publisher"
+      name: "state_publisher"
+      output: "screen"
+

source/Tutorials/Intermediate/URDF/launch/launch.xml

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- 'use_sim_time' is used to have ros2 use /clock topic for the time source -->
+  <arg name="use_sim_time" default="false" description="Use simulation (Gazebo) clock if true" />
+
+  <node pkg="robot_state_publisher" exec="robot_state_publisher" name="robot_state_publisher" output="screen" args="$(file-content $(find-pkg-share urdf_tutorial_cpp)/urdf/r2d2.urdf.xml)">
+    <param name="use_sim_time" value="$(var use_sim_time)" />
+    <param name="robot_description" value="$(file-content $(find-pkg-share urdf_tutorial_cpp)/urdf/r2d2.urdf.xml)" />
+  </node>
+
+  <node pkg="urdf_tutorial_cpp" exec="urdf_tutorial_cpp" name="urdf_tutorial_cpp" output="screen" />
+</launch>
+

source/Tutorials/Intermediate/URDF/launch/launch.yaml

@@ -0,0 +1,27 @@
+%YAML 1.2
+---
+launch:
+  # 'use_sim_time' is used to have ros2 use /clock topic for the time source
+  - arg:
+      name: "use_sim_time"
+      default: "false"
+      description: "Use simulation (Gazebo) clock if true"
+
+  - node:
+      pkg: "robot_state_publisher"
+      exec: "robot_state_publisher"
+      name: "robot_state_publisher"
+      output: "screen"
+      args: "$(file-content $(find-pkg-share urdf_tutorial_cpp)/urdf/r2d2.urdf.xml)"
+      param:
+      - name: "use_sim_time"
+        value: "$(var use_sim_time)"
+      - name: "robot_description"
+        value: "$(file-content $(find-pkg-share urdf_tutorial_cpp)/urdf/r2d2.urdf.xml)"
+
+  - node:
+      pkg: "urdf_tutorial_cpp"
+      exec: "urdf_tutorial_cpp"
+      name: "urdf_tutorial_cpp"
+      output: "screen"
+

source/Tutorials/Intermediate/URDF/launch/urdf_display_launch.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <include file="$(find-pkg-share urdf_launch)/launch/display.launch.py">
+    <arg name="urdf_package" value="turtlebot3_description" />
+    <arg name="urdf_package_path" value="urdf/turtlebot3_burger.urdf" />
+  </include>
+</launch>
+

source/Tutorials/Intermediate/URDF/launch/urdf_display_launch.yaml

@@ -0,0 +1,11 @@
+%YAML 1.2
+---
+launch:
+  - include:
+      file: "$(find-pkg-share urdf_launch)/launch/display.launch.py"
+      arg:
+      - name: "urdf_package"
+        value: "turtlebot3_description"
+      - name: "urdf_package_path"
+        value: "urdf/turtlebot3_burger.urdf"
+