include cardboard box for systems tests

[stevedanomodolor]

This just includes the cardbox sdf that is used for system tests obstacle.

Related pr

ros-navigation/navigation2#4440

[SteveMacenski]

Can't you pull this from the fuel database? https://app.gazebosim.org/OpenRobotics/fuel/models/Cardboard%20box

<include>
<uri>
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Cardboard box
</uri>
</include>

[SteveMacenski]

I meant more in its use in system tests, but I see you're spawning it so I think yeah this probably makes sense unless you hardcoded that SDF in the launch file itself (which I think you could also do)

[stevedanomodolor]

Can't you pull this from the fuel database? https://app.gazebosim.org/OpenRobotics/fuel/models/Cardboard%20box

<include>
<uri>
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Cardboard box
</uri>
</include>

I get this error though, but does not crash anyways, it an issue with the model itself.

5: [ruby $(which gz) sim-1] [Err] [SystemPaths.cc:525] Could not resolve file [cardboard_box.png]

[SteveMacenski]

Actually @stevedanomodolor there's a models directory in the nav2 systems test package: https:/ros-navigation/navigation2/tree/main/nav2_system_tests/models I think this should move over there instead

I think we can broadly delete the other things in that directory now with this repo

[stevedanomodolor]

I meant more in its use in system tests, but I see you're spawning it so I think yeah this probably makes sense unless you hardcoded that SDF in the launch file itself (which I think you could also do)

how can I hardcode it during launch, can you give me an example, I still have to create the file separately right?

[stevedanomodolor]

Actually @stevedanomodolor there's a models directory in the nav2 systems test package: https:/ros-navigation/navigation2/tree/main/nav2_system_tests/models I think this should move over there instead

I think we can broadly delete the other things in that directory now with this repo

here I plan to do that, in the final cleanup stage, to remove all the model and world file from there there.

[SteveMacenski]

here I plan to do that, in the final cleanup stage, to remove all the modem and world there.

I don't understand, can you rephrase?

how can I hardcode it during launch, can you give me an example, I still have to create the file separately right?

For example just having this trivial SDF as a string defined in a python variable and passing that into the spawner. But, I think having this SDF file makes sense, just should be in nav2_system_tests/models so its a testing asset

[stevedanomodolor]

here I plan to do that, in the final cleanup stage, to remove all the modem and world there.

I don't understand, can you rephrase?

how can I hardcode it during launch, can you give me an example, I still have to create the file separately right?

For example just having this trivial SDF as a string defined in a python variable and passing that into the spawner. But, I think having this SDF file makes sense, just should be in nav2_system_tests/models so its a testing asset

Ok, Understood. Although, what if we put all assets in this repository and after porting to the new gazebo, delete the urdf and world folder in the nav2_system_tests package?, or do you prefer to keep the cardboard in the nav2_system_tests package?

[SteveMacenski]

Although, what if we put all assets in this repository and after porting to the new gazebo, delete the urdf and world folder in the nav2_system_tests package?,

I think you can delete all of those now, we won't use them again, that's what this repo is for. But this repo is also a stand alone sim for the TB3/4 - not just Nav2 system testing (also our bringup or just other people that want to use TB3/4 using standard ROS tooling).

or do you prefer to keep the cardboard in the nav2_system_tests package?

I'd prefer that, so that the models/ just has this (maybe more later?). This is a Nav2-system-testing-specific asset, so I think for organization that's where it belongs

[stevedanomodolor]

OK, then closing this pr then.