Initial support to the new Gazebo (ros-navigation#3634)

* Initial support to the new Gazebo Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added feedback Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fixed build Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added feeback Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fixed physics tag Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fixed physics tag Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fix copyright and urdf Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * min range cannot be zero Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Simplify files Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added feedback Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added feedback Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fix Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Try to reduce load Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Removed cast shadows Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Use Gazebo plugins instead of gz_ros2_control Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * update dependency Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Removed dependency Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Removed ros2_control and use ogre Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Use param file to configure bridge Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Use sdf model and change to ogre instead of ogre2 for sensors Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Support Garden and later, performance improvements Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Use xacro for world file (ros-navigation#2) Signed-off-by: Addisu Z. Taddese <addisuzt@intrinsic.ai> * Reviewer feedback Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add comment explaining temp file Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix linter Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Update nav2_bringup/worlds/gz_world_only.sdf.xacro Co-authored-by: Addisu Z. Taddese <addisuzt@intrinsic.ai> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Signed-off-by: Addisu Z. Taddese <addisuzt@intrinsic.ai> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Addisu Z. Taddese <addisuzt@intrinsic.ai> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Marc-Morcos · Jul 4, 2024 · c628e1d · c628e1d
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commit c628e1d
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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