Initial support to the new Gazebo (#3634)

* Initial support to the new Gazebo Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Added feedback Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fixed build Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Added feeback Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fixed physics tag Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fixed physics tag Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fix copyright and urdf Signed-off-by: Alejandro Hernández Cordero <[email protected]> * min range cannot be zero Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Simplify files Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Added feedback Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Added feedback Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fix Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Try to reduce load Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Removed cast shadows Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Use Gazebo plugins instead of gz_ros2_control Signed-off-by: Alejandro Hernández Cordero <[email protected]> * update dependency Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Removed dependency Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Removed ros2_control and use ogre Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Use param file to configure bridge Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Use sdf model and change to ogre instead of ogre2 for sensors Signed-off-by: Addisu Z. Taddese <[email protected]> * Support Garden and later, performance improvements Signed-off-by: Addisu Z. Taddese <[email protected]> * Use xacro for world file (#2) Signed-off-by: Addisu Z. Taddese <[email protected]> * Reviewer feedback Signed-off-by: Addisu Z. Taddese <[email protected]> * Add comment explaining temp file Signed-off-by: Addisu Z. Taddese <[email protected]> * Fix linter Signed-off-by: Addisu Z. Taddese <[email protected]> * Update nav2_bringup/worlds/gz_world_only.sdf.xacro Co-authored-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Steve Macenski <[email protected]>
ros-navigation · Jun 5, 2024 · bc6e3b2 · bc6e3b2
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diff --git a/nav2_bringup/launch/tb3_gz_robot_launch.py b/nav2_bringup/launch/tb3_gz_robot_launch.py
@@ -0,0 +1,106 @@
+# Copyright (C) 2023 Open Source Robotics Foundation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import AppendEnvironmentVariable
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+ bringup_dir = get_package_share_directory('nav2_bringup')
+
+ namespace = LaunchConfiguration('namespace')
+ use_simulator = LaunchConfiguration('use_simulator')
+ robot_name = LaunchConfiguration('robot_name')
+ robot_sdf = LaunchConfiguration('robot_sdf')
+ pose = {'x': LaunchConfiguration('x_pose', default='-2.00'),
+ 'y': LaunchConfiguration('y_pose', default='-0.50'),
+ 'z': LaunchConfiguration('z_pose', default='0.01'),
+ 'R': LaunchConfiguration('roll', default='0.00'),
+ 'P': LaunchConfiguration('pitch', default='0.00'),
+ 'Y': LaunchConfiguration('yaw', default='0.00')}
+
+ # Declare the launch arguments
+ declare_namespace_cmd = DeclareLaunchArgument(
+ 'namespace',
+ default_value='',
+ description='Top-level namespace')
+
+ declare_use_simulator_cmd = DeclareLaunchArgument(
+ 'use_simulator',
+ default_value='True',
+ description='Whether to start the simulator')
+
+ declare_robot_name_cmd = DeclareLaunchArgument(
+ 'robot_name',
+ default_value='turtlebot3_waffle',
+ description='name of the robot')
+
+ declare_robot_sdf_cmd = DeclareLaunchArgument(
+ 'robot_sdf',
+ default_value=os.path.join(bringup_dir, 'worlds', 'gz_waffle.sdf'),
+ description='Full path to robot sdf file to spawn the robot in gazebo')
+
+ pkg_nav2_bringup = get_package_share_directory('nav2_bringup')
+ bridge = Node(
+ package='ros_gz_bridge',
+ executable='parameter_bridge',
+ parameters=[
+ {
+ 'config_file': os.path.join(
+ pkg_nav2_bringup, 'params', 'turtlebot3_waffle_bridge.yaml'
+ ),
+ }
+ ],
+ output='screen',
+ )
+
+ spawn_model = Node(
+ condition=IfCondition(use_simulator),
+ package='ros_gz_sim',
+ executable='create',
+ output='screen',
+ arguments=[
+ '-entity', robot_name,
+ '-file', robot_sdf,
+ '-robot_namespace', namespace,
+ '-x', pose['x'], '-y', pose['y'], '-z', pose['z'],
+ '-R', pose['R'], '-P', pose['P'], '-Y', pose['Y']]
+ )
+
+ set_env_vars_resources = AppendEnvironmentVariable(
+ 'GZ_SIM_RESOURCE_PATH',
+ os.path.join(get_package_share_directory('turtlebot3_gazebo'),
+ 'models'))
+
+ # Create the launch description and populate
+ ld = LaunchDescription()
+ ld.add_action(declare_namespace_cmd)
+ ld.add_action(declare_robot_name_cmd)
+ ld.add_action(declare_robot_sdf_cmd)
+ ld.add_action(declare_use_simulator_cmd)
+
+ ld.add_action(set_env_vars_resources)
+
+ ld.add_action(bridge)
+ ld.add_action(spawn_model)
+ return ld