Merge pull request #5 from IOES-Lab/robot-models

examples/dave_robot_launch/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.8)
+project(dave_robot_launch)
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY launch
+  DESTINATION share/dave_robot_launch
+)
+
+ament_package()

examples/dave_robot_launch/README.md

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+## Examples
+
+### 1. Launching REXROV in an empty world
+
+To launch the rexrov model in an empty world, follow these steps:
+
+1. Build and source the workspace:
+
+   ```bash
+   colcon build && source install/setup.bash
+   ```
+
+2. Launch the model using the specified launch file:
+
+   ```bash
+   ros2 launch dave_robot_launch robot_in_world.launch.py z:=2.0 namespace:=rexrov world_name:=empty.sdf paused:=false
+   ```
+
+### 2. Launching REXROV in dave_ocean_waves.world
+
+To launch the rexrov model in an underwater world, follow these steps:
+
+1. Build and source the workspace:
+
+   ```bash
+   colcon build && source install/setup.bash
+   ```
+
+2. Launch the model using the specified launch file:
+
+   ```bash
+   ros2 launch dave_robot_launch robot_in_world.launch.py z:=-5 namespace:=rexrov world_name:=dave_ocean_waves paused:=false
+   ```

examples/dave_robot_launch/launch/robot_in_world.launch.py

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+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.conditions import IfCondition
+from launch_ros.substitutions import FindPackageShare
+
+
+def launch_setup(context, *args, **kwargs):
+    paused = LaunchConfiguration("paused")
+    gui = LaunchConfiguration("gui")
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    debug = LaunchConfiguration("debug")
+    headless = LaunchConfiguration("headless")
+    verbose = LaunchConfiguration("verbose")
+    namespace = LaunchConfiguration("namespace")
+    world_name = LaunchConfiguration("world_name")
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    roll = LaunchConfiguration("roll")
+    pitch = LaunchConfiguration("pitch")
+    yaw = LaunchConfiguration("yaw")
+    use_ned_frame = LaunchConfiguration("use_ned_frame")
+
+    if world_name.perform(context) != "empty.sdf":
+        world_name = LaunchConfiguration("world_name").perform(context)
+        world_filename = f"{world_name}.world"
+        world_filepath = PathJoinSubstitution(
+            [FindPackageShare("dave_worlds"), "worlds", world_filename]
+        )
+        gz_args = [world_filepath]
+    else:
+        gz_args = [world_name]
+
+    if headless.perform(context) == "true":
+        gz_args.append(" -s")
+    if paused.perform(context) == "false":
+        gz_args.append(" -r")
+    if debug.perform(context) == "true":
+        gz_args.append(" -v ")
+        gz_args.append(verbose.perform(context))
+
+    # Include the first launch file
+    gz_sim_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("ros_gz_sim"),
+                        "launch",
+                        "gz_sim.launch.py",
+                    ]
+                )
+            ]
+        ),
+        launch_arguments=[
+            ("gz_args", gz_args),
+        ],
+        condition=IfCondition(gui),
+    )
+
+    # Include the second launch file with model name
+    robot_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("dave_robot_models"),
+                        "launch",
+                        "upload_robot.launch.py",
+                    ]
+                )
+            ]
+        ),
+        launch_arguments={
+            "gui": gui,
+            "use_sim_time": use_sim_time,
+            "namespace": namespace,
+            "x": x,
+            "y": y,
+            "z": z,
+            "roll": roll,
+            "pitch": pitch,
+            "yaw": yaw,
+            "use_ned_frame": use_ned_frame,
+        }.items(),
+    )
+
+    include = [gz_sim_launch, robot_launch]
+
+    return include
+
+
+def generate_launch_description():
+
+    # Declare the launch arguments with default values
+    args = [
+        DeclareLaunchArgument(
+            "paused",
+            default_value="true",
+            description="Start the simulation paused",
+        ),
+        DeclareLaunchArgument(
+            "gui",
+            default_value="true",
+            description="Flag to enable the gazebo gui",
+        ),
+        DeclareLaunchArgument(
+            "use_sim_time",
+            default_value="true",
+            description="Flag to indicate whether to use simulation time",
+        ),
+        DeclareLaunchArgument(
+            "debug",
+            default_value="false",
+            description="Flag to enable the gazebo debug flag",
+        ),
+        DeclareLaunchArgument(
+            "headless",
+            default_value="false",
+            description="Flag to enable the gazebo headless mode",
+        ),
+        DeclareLaunchArgument(
+            "verbose",
+            default_value="0",
+            description="Adjust level of console verbosity",
+        ),
+        DeclareLaunchArgument(
+            "world_name",
+            default_value="empty.sdf",
+            description="Gazebo world file to launch",
+        ),
+        DeclareLaunchArgument(
+            "namespace",
+            default_value="",
+            description="Namespace",
+        ),
+        DeclareLaunchArgument(
+            "x",
+            default_value="0.0",
+            description="Initial x position",
+        ),
+        DeclareLaunchArgument(
+            "y",
+            default_value="0.0",
+            description="Initial y position",
+        ),
+        DeclareLaunchArgument(
+            "z",
+            default_value="0.0",
+            description="Initial z position",
+        ),
+        DeclareLaunchArgument(
+            "roll",
+            default_value="0.0",
+            description="Initial roll angle",
+        ),
+        DeclareLaunchArgument(
+            "pitch",
+            default_value="0.0",
+            description="Initial pitch angle",
+        ),
+        DeclareLaunchArgument(
+            "yaw",
+            default_value="0.0",
+            description="Initial yaw angle",
+        ),
+        DeclareLaunchArgument(
+            "use_ned_frame",
+            default_value="false",
+            description="Flag to indicate whether to use the north-east-down frame",
+        ),
+    ]
+
+    return LaunchDescription(args + [OpaqueFunction(function=launch_setup)])

examples/dave_robot_launch/package.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?><package format="3">
+  <name>dave_robot_launch</name>
+  <version>0.1.0</version>
+  <description>A package that shows a demo to launch robot models.</description>
+  <maintainer email="[email protected]">Rakesh Vivekanandan</maintainer>
+  <license>MIT</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

models/dave_robot_models/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(dave_robot_models)
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY description launch meshes
+  DESTINATION share/dave_robot_models
+)
+
+ament_environment_hooks(
+  "${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
+
+ament_package()