gazebo_block.py

import subprocess
import os
import time

class Gazebo:
    def on_start(self):
        # Get the world file path form block's properties
        self.world_file = self.get_property("world_file")
        # Get the models files path form block's properties
        self.models_path = self.get_property("models_path")
        if len(self.models_path) > 0:
            self.alert("setting models path to {}".format(self.models_path), "INFO")
            subprocess.Popen("cp -r {} .".format(self.models_path), shell=True)
            os.environ["GAZEBO_MODEL_PATH"] = self.models_path.split("/")[-1]
        self.alert("Starting noVNC", "INFO")
        # start desktop
        subprocess.Popen("sh /usr/local/bin/start_desktop.sh", shell=True)
        # Wait for desktop to start
        time.sleep(5)
        self.alert("Starting Gazebo", "INFO")
        # Run gazebo
        subprocess.Popen(
            "vglrun bash -c 'gazebo {} --verbose'".format(self.world_file), shell=True
        )