diff --git a/.gitignore b/.gitignore index 2b9dc7b9..5ab255b9 100644 --- a/.gitignore +++ b/.gitignore @@ -38,3 +38,6 @@ # vs code .vscode + +# Mac +.DS_Store diff --git a/examples/dave_demos/README.md b/examples/dave_demos/README.md index 0d31ef51..b927c4a2 100644 --- a/examples/dave_demos/README.md +++ b/examples/dave_demos/README.md @@ -51,3 +51,25 @@ If you prefer to use model files downloaded from Fuel, proceed as follows: ``` This approach gives you more control over the models you use, allowing for offline use and customization. It's especially useful when working in environments with limited internet connectivity or when specific model versions are required. + +### 3. Launching a World File + +To launch a specific world file, you can specify the world name without the `.world` extension. Follow these steps: + +1. Build and source the workspace: + +```bash +colcon build && source install/setup.bash +``` + +1. Launch the world using the specified launch file + +```bash +ros2 launch dave_demos dave_world.launch.py world_name:='dave_ocean_waves' +``` + +To check which worlds are available to launch, refer to `models/dave_worlds/worlds` directory. + +The worlds files are linked to use models at https://app.gazebosim.org/ which means you need an internet connection to download the models and it takes some time to download at first launch. The files are saved in temporary directories and are reused in subsequent launches. + +In this setup, you can dynamically specify different world files by changing the `world_name` argument in the launch command. diff --git a/examples/dave_demos/launch/dave_world.launch.py b/examples/dave_demos/launch/dave_world.launch.py new file mode 100644 index 00000000..329a0864 --- /dev/null +++ b/examples/dave_demos/launch/dave_world.launch.py @@ -0,0 +1,42 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration + + +def launch_setup(context, *args, **kwargs): + + pkg_dave_worlds = get_package_share_directory("dave_worlds") + pkg_ros_gz_sim = get_package_share_directory("ros_gz_sim") + + world_name = LaunchConfiguration("world_name").perform(context) + world_file_name = f"{world_name}.world" + + world_path = os.path.join(pkg_dave_worlds, "worlds", world_file_name) + + # Gazebo simulation launch + gz_sim = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(pkg_ros_gz_sim, "launch", "gz_sim.launch.py")), + launch_arguments={"gz_args": f"-r {world_path}"}.items(), + ) + + return [gz_sim] + + +def generate_launch_description(): + return LaunchDescription( + [ + DeclareLaunchArgument( + "world_name", + default_value="dave_bimanual_example", # Default world file name without extension + description="Name of the world file", + ), + OpaqueFunction(function=launch_setup), + ] + ) + + +if __name__ == "__main__": + generate_launch_description() diff --git a/models/dave_worlds/CMakeLists.txt b/models/dave_worlds/CMakeLists.txt new file mode 100644 index 00000000..4b1ad86a --- /dev/null +++ b/models/dave_worlds/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.5) +project(dave_worlds) + +# Find dependencies +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY worlds media + DESTINATION share/${PROJECT_NAME} +) + +ament_environment_hooks( + "${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in") + +ament_package() diff --git a/models/dave_worlds/hooks/dave_worlds.dsv.in b/models/dave_worlds/hooks/dave_worlds.dsv.in new file mode 100644 index 00000000..346888c8 --- /dev/null +++ b/models/dave_worlds/hooks/dave_worlds.dsv.in @@ -0,0 +1 @@ +prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@ diff --git a/models/dave_worlds/media/materials/textures/dirt_diffusespecular.png b/models/dave_worlds/media/materials/textures/dirt_diffusespecular.png new file mode 100644 index 00000000..2b241fe3 Binary files /dev/null and b/models/dave_worlds/media/materials/textures/dirt_diffusespecular.png differ diff --git a/models/dave_worlds/media/materials/textures/flat_normal.png b/models/dave_worlds/media/materials/textures/flat_normal.png new file mode 100644 index 00000000..c6590fb9 Binary files /dev/null and b/models/dave_worlds/media/materials/textures/flat_normal.png differ diff --git a/models/dave_worlds/media/meshes/Santorini_heightmap.tif b/models/dave_worlds/media/meshes/Santorini_heightmap.tif new file mode 100644 index 00000000..4499dee8 Binary files /dev/null and b/models/dave_worlds/media/meshes/Santorini_heightmap.tif differ diff --git a/models/dave_worlds/package.xml b/models/dave_worlds/package.xml new file mode 100644 index 00000000..6d0caca5 --- /dev/null +++ b/models/dave_worlds/package.xml @@ -0,0 +1,18 @@ + + + + dave_worlds + 0.0.0 + TODO: Package description + lena + Apache-2.0 + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/models/dave_worlds/worlds/dave_Santorini.world b/models/dave_worlds/worlds/dave_Santorini.world new file mode 100644 index 00000000..fa03f5e8 --- /dev/null +++ b/models/dave_worlds/worlds/dave_Santorini.world @@ -0,0 +1,342 @@ + + + + + + + + 0.01 0.01 0.01 1.0 + + + 12 + + + 1 + + + 0.001 + 1.0 + + + + + + + + + + + 36.408 + 25.403 + + + + + 50 0 150 0 0 0 + 1 1 1 1 + .1 .1 .1 1 + 0.3 0.3 -1 + false + + + + + -50 0 -150 0 0 0 + 0.6 0.6 0.6 1 + 0 0 0 1 + -0.3 -0.3 -1 + false + + + + + + https://fuel.gazebosim.org/1.0/hmoyen/models/North-East-Down frame + + 0 0 0 0 0 0 + + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coast Water + + 500 -1000 0 0 0 0 + + + + + https://fuel.gazebosim.org/1.0/hmoyen/models/Santorini Scaled + 0 0 -180 0 0 0 + + + + + + + 3D View + false + docked + + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + -633 260 835 0 0.813 -0.166 + + 0.25 + 25000 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + false + 4000000 + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + \ No newline at end of file diff --git a/models/dave_worlds/worlds/dave_bimanual_example.world b/models/dave_worlds/worlds/dave_bimanual_example.world new file mode 100644 index 00000000..755be128 --- /dev/null +++ b/models/dave_worlds/worlds/dave_bimanual_example.world @@ -0,0 +1,382 @@ + + + + + + + 0.001 + 1.0 + + + + + + + + + + + + + 56.71897669633431 + 3.515625 + + + + + 50 0 150 0 0 0 + 1 1 1 1 + 0.1 0.1 0.1 1 + 0.3 0.3 -1 + false + + + + 20 0 -90 0 0 0 + 0.9 0.9 0.9 1 + 0.2 0.2 0.2 1 + -1 0 0 + false + + + + + + https://fuel.gazebosim.org/1.0/hmoyen/models/North-East-Down frame + + 0 0 0 0 0 0 + + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Waves + + + + + https://fuel.gazebosim.org/1.0/hmoyen/models/Sand Heightmap + 0 0 -100 0 0 0 + + + + true + 21 -1 -98.5 0 0 0 + + + + 1 + 0 + 0 + 1 + 0 + 1 + + 1.0 + + + + + 0.03 + 3.0 + + + + + + + 0.03 + 3.0 + + + + + + + + + + + https://fuel.gazebosim.org/1.0/hmoyen/models/Sunken Vase with Inertia + 20 0 -98 0 0 0 + + + + https://fuel.gazebosim.org/1.0/hmoyen/models/Sunken Vase Distorted + 22 -0.5 -100 0 0 1.5708 + + + + + + + 3D View + false + docked + + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + 18.7 3.77 -97.5 0 0.29 -0.715 + + 0.25 + 2500 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 50 + 50 + floating + false + #777777 + + + + true + false + 4000000 + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + + docked_collapsed + + + + + + \ No newline at end of file diff --git a/models/dave_worlds/worlds/dave_electrical_mating.world b/models/dave_worlds/worlds/dave_electrical_mating.world new file mode 100644 index 00000000..ddc27b88 --- /dev/null +++ b/models/dave_worlds/worlds/dave_electrical_mating.world @@ -0,0 +1,373 @@ + + + + + + + + 0.001 + 1.0 + + + + + + + + + + + 56.71897669633431 + 3.515625 + + + + + 50 0 150 0 0 0 + 1 1 1 1 + .1 .1 .1 1 + 0.3 0.3 -1 + false + + + + 20 0 -90 0 0 0 + 0.9 0.9 0.9 1 + 0.2 0.2 0.2 1 + -1 0 0 + false + + + + + + https://fuel.gazebosim.org/1.0/hmoyen/models/North-East-Down frame + + 0 0 0 0 0 0 + + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coast Water + + + + + https://fuel.gazebosim.org/1.0/hmoyen/models/Blow-Out Preventer Panel + true + 20 0 -88 0 0 0 + + + + true + 25 3 -90 0 0 0 + + + + + 1 1 0.2 + + + + + + + + 1 1 0.2 + + + + + + + + + https://fuel.gazebosim.org/1.0/hmoyen/models/M to F plug + + 25 3 -90 0 -1.5707963267948966 0 + + + + + https://fuel.gazebosim.org/1.0/hmoyen/models/Electrical Panel Bare Model + + 25 0 -90 0 0 0 + true + + + + https://fuel.gazebosim.org/1.0/hmoyen/models/Sand Heightmap + 0 0 -90 0 0 0 + + + + + + + 3D View + false + docked + + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + 31.8 3.85 -82.5 0 0.44 -2.33 + + 0.25 + 2500 + + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + 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1 + -0.3 -0.3 -1 + false + + + + -100 500 -20 0 0 0 + 0.8 0.8 0.8 1 + 1 1 1 1 + -1 -1 0 + false + + + + -150 -130 50 0 0 0 + 0.6 0.6 0.6 1 + 0.2 0.2 0.2 1 + 0.5 0.5 -1 + false + + + + + https://fuel.gazebosim.org/1.0/hmoyen/models/North-East-Down frame + 0 0 0 0 0 0 + + + + + https://fuel.gazebosim.org/1.0/hmoyen/models/Graded Seabed + 0 0 0 0 0 1.5708 + + + + \ No newline at end of file diff --git a/models/dave_worlds/worlds/dave_integrated.world b/models/dave_worlds/worlds/dave_integrated.world new file mode 100644 index 00000000..0eba1ccf --- /dev/null +++ b/models/dave_worlds/worlds/dave_integrated.world @@ -0,0 +1,574 @@ + + + + + + + + 0.01 + 1.0 + + + + + + + + + + + + 56.71897669633431 + 3.515625 + + + + + 50 0 150 0 0 0 + 1 1 1 1 + .1 .1 .1 1 + 0.3 0.3 -1 + false + + + + -50 0 -150 0 0 0 + 0.6 0.6 0.6 1 + 0 0 0 1 + -0.3 -0.3 -1 + false + + + + -100 500 -20 0 0 0 + 0.8 0.8 0.8 1 + 1 1 1 1 + -1 -1 0 + false + + + + -150 -130 50 0 0 0 + 0.6 0.6 0.6 1 + 0.2 0.2 0.2 1 + 0.5 0.5 -1 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9.046633 -7.605316 -118.217148 -0.918770 -1.547187 0 + https://fuel.gazebosim.org/1.0/hmoyen/models/Niskin with Inertia + true + + + + + Lionfish1 + 13 -11 -118 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish + true + + + + Coral1 + 13 -12 -118.3 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Coral01 + true + + + + Kelp1 + 13 -12 -118.3 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 01 + true + + + + Kelp2 + 12 -12 -118.3 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 02 + true + + + + + sunken_ship + -75 -200 -147 0.25 0 0.65 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Ship + true + + + + sunken_ship_distorted + 17 -200 -150 0 0 0 + https://fuel.gazebosim.org/1.0/hmoyen/models/Sunken Ship Distorted + true + + + + sunken_vase + -70.221956 -206.729503 -147.769372 0.102539 -0.035175 -0.004790 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase + + + + sunken_vase_distorted + -72 -208.695 -148.1 -0.757396 0.467511 -0.402810 + https://fuel.gazebosim.org/1.0/hmoyen/models/Sunken Vase Distorted + true + + + + sunken_vase2 + -72 -208 -148 -0.932434 -0.195466 0.528508 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase 02 + true + + + + Lionfish2 + -72 -209 -147 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish + true + + + + Coral2 + -70 -208 -147.9 0.15 0 0 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Coral02 + true + + + + Kelp3 + -70 -208 -148 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 03 + true + + + + Kelp4 + -70 -209 -148 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 04 + true + + + + + Rock3 + 26 182 -139 -1.55 0 0 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Ocean Rock 03 + true + + + + + hardhat_standard + -185 115 -158.224 0 0 0 + https://fuel.gazebosim.org/1.0/hmoyen/models/Hardhat Standard + true + + + + hardhat_ribbed + -185 116 -158.238 0 0 0 + https://fuel.gazebosim.org/1.0/hmoyen/models/Hardhat Ribbed + true + + + + hardhat_superribbed + -184 115 -158.199 0 0 0 + https://fuel.gazebosim.org/1.0/hmoyen/models/Hardhat Superribbed + true + + + + hardhat_octagonal + -185.4 96 -158.106 1.13 -0105 0.245 + https://fuel.gazebosim.org/1.0/hmoyen/models/Hardhat Octagonal + true + + + + + torpedo_mk46 + -158 100 -158 0 0 0 + https://fuel.gazebosim.org/1.0/hmoyen/models/Torpedo MK46 + true + + + + torpedo_mk48 + -158 105 -158 0 0 0 + https://fuel.gazebosim.org/1.0/hmoyen/models/Torpedo MK48 + true + + + + sonobuoy + -158 104 -158 0 0 0 + https://fuel.gazebosim.org/1.0/hmoyen/models/Sonobuoy + true + + + + uxo_b + -140 102 -158 0 0 0 + https://fuel.gazebosim.org/1.0/hmoyen/models/Unexploded Ordnance B + true + + + + uxo_c + -140 101 -158 0 0 0 + https://fuel.gazebosim.org/1.0/hmoyen/models/Unexploded Ordnance C + true + + + + + + + 3D View + false + docked + + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + 113 104 -7 0 0.8 -2.4 + + 0.25 + 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