[Added]: Joint State Publisher Plugin in Gazebo

workspace/src/ur_description/launch/robot_rviz.launch.py

@@ -3,52 +3,10 @@
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.conditions import LaunchConfigurationEquals
-from launch.substitutions import Command, PathJoinSubstitution
-from launch.substitutions.launch_configuration import LaunchConfiguration
-from launch_ros.parameter_descriptions import ParameterValue
 from launch_ros.actions import Node
 
-ARGUMENTS = [
-    DeclareLaunchArgument(
-        "use_sim_time",
-        default_value="true",
-        choices=["true", "false"],
-        description="Use sim time",
-    ),
-    DeclareLaunchArgument(
-        "log_level",
-        default_value="error",
-        choices=["info", "warn", "error"],
-        description="log level",
-    ),
-    DeclareLaunchArgument(
-        "model",
-        default_value="ur5",
-        description="Model to spawn",
-    ),
-     DeclareLaunchArgument(
-        "model_xacro",
-        default_value=[LaunchConfiguration("model"), ".xacro"],
-        description="Xacro file for the Model",
-    ),
-]
-
 
 def generate_launch_description():
-    # Get the path of the ur_description package
-    pkg_ur_description = get_package_share_directory("ur_description")
-
-    # Ensure pkg_ur_description is converted to string before using it
-    pkg_ur_description = str(pkg_ur_description)
-
-    # Construct the path to the Xacro file
-    xacro_file = PathJoinSubstitution(
-        [pkg_ur_description, "urdf", LaunchConfiguration("model_xacro")]
-    )
-
-    robot_desc = ParameterValue(Command(["xacro ", xacro_file]), value_type=str)
 
     rviz_config_path = os.path.join(
         get_package_share_directory("ur_description"), "rviz", "default.rviz"
@@ -57,22 +15,4 @@ def generate_launch_description():
         package="rviz2", executable="rviz2", arguments=["-d", rviz_config_path]
     )
 
-    joint_state_publisher_gui = Node(
-        package='joint_state_publisher_gui',
-        executable='joint_state_publisher_gui',
-    )
-
-    ur_state_publisher = Node(
-        package="robot_state_publisher",
-        executable="robot_state_publisher",
-        name="ur_state_publisher",
-        output="screen",
-        parameters=[
-            {"use_sim_time": LaunchConfiguration("use_sim_time")},
-            {"robot_description": robot_desc},
-        ],
-        arguments=["--ros-args", "--log-level", LaunchConfiguration("log_level")],
-        remappings=[("/tf", "tf"), ("/tf_static", "tf_static")],
-    )
-
-    return LaunchDescription(ARGUMENTS + [ur_state_publisher,joint_state_publisher_gui,rviz_node])
+    return LaunchDescription([rviz_node])

workspace/src/ur_description/urdf/inc/ur_macro.xacro

@@ -333,4 +333,8 @@
       <child link="${prefix}tool0"/>
     </joint>
   </xacro:macro>
+  <gazebo>
+    <plugin filename="ignition-gazebo-joint-state-publisher-system"
+      name="ignition::gazebo::systems::JointStatePublisher" />
+  </gazebo>
 </robot>

workspace/src/ur_description/urdf/ur5.xacro

@@ -17,6 +17,6 @@
 
     Refer to 'inc/ur_macro.xacro' for more information.
   -->
-  <xacro:include filename="$(find ur_description)/urdf/inc/ur5_macro.xacro"/>
+  <xacro:include filename="$(find ur_description)/urdf/inc/ur5_macro.xacro" />
   <xacro:ur5_robot prefix="" />
-</robot>
+</robot>

workspace/src/ur_simulator/ur_gz_bringup/launch/sil.launch.py

@@ -31,6 +31,12 @@
         choices=["true", "false"],
         description="Run description",
     ),
+    DeclareLaunchArgument(
+        "rviz",
+        default_value="false",
+        choices=["true", "false"],
+        description="Run rviz",
+    ),
     DeclareLaunchArgument(
         "spawn_model",
         default_value="true",
@@ -106,15 +112,67 @@ def generate_launch_description():
         launch_arguments={"gz_args": LaunchConfiguration("world_sdf")}.items(),
     )
 
+    rviz_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution(
+                [
+                    get_package_share_directory("ur_description"),
+                    "launch",
+                    "robot_rviz.launch.py",
+                ]
+            )
+        ),
+        condition=IfCondition(LaunchConfiguration("rviz")),
+    )
+
     spawn_robot = Node(
         package="ros_gz_sim",
         executable="create",
         parameters=[{"use_sim_time": LaunchConfiguration("use_sim_time")}],
-        arguments=["-name", "ur5", "-file", urdf_file, "-z", "1.0"],
+        arguments=[
+            "-name",
+            LaunchConfiguration("model"),
+            "-topic",
+            "robot_description",
+            "-z",
+            "1.0",
+        ],
         output="screen",
         condition=IfCondition(LaunchConfiguration("spawn_model")),
     )
 
+    bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            # Clock (IGN -> ROS2)
+            "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
+            # Joint states (IGN -> ROS2)
+            [
+                "/world/",
+                LaunchConfiguration("world"),
+                "/model/",
+                LaunchConfiguration("model"),
+                "/joint_state",
+                "@sensor_msgs/msg/JointState[gz.msgs.Model",
+            ],
+        ],
+        remappings=[
+            (
+                [
+                    "/world/",
+                    LaunchConfiguration("world"),
+                    "/model/",
+                    LaunchConfiguration("model"),
+                    "/joint_state",
+                ],
+                "joint_states",
+            ),
+        ],
+        output="screen",
+    )
+
     return LaunchDescription(
-        ARGUMENTS + [process_xacro, gz_sim, robot_description, spawn_robot]
+        ARGUMENTS
+        + [process_xacro, gz_sim, robot_description, spawn_robot, rviz_node, bridge]
     )

workspace/src/ur_world/worlds/basic_world.sdf

@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
-<sdf version="1.10">
-    <world name="car_world">
+<sdf version="1.8">
+    <world name="basic_world">
         <physics name="1ms" type="ignored">
             <max_step_size>0.001</max_step_size>
             <real_time_factor>1.0</real_time_factor>