remove old robin + world separation

src/rove_bringup/launch/sim.launch.py

@@ -31,6 +31,31 @@ def generate_launch_description():
         launch_arguments={'gz_args': "-v 4 -r " + world}.items(),
     )
 
+    walls_file_path = os.path.join(pkg_rove_description, 'worlds', 'walls.sdf')
+    spawn_walls = Node(
+        package='ros_gz_sim',
+        executable='create',
+        arguments=['-file', walls_file_path,
+                   '-name', 'walls',
+                   '-x', '0',
+                   '-y', '0',
+                   '-z', '0'],
+        output='screen',
+    )
+
+    actor_file_path = os.path.join(pkg_rove_description, 'worlds', 'actor.sdf')
+    spawn_actor = Node(
+        package='ros_gz_sim',
+        executable='create',
+        arguments=['-file', actor_file_path,
+                   '-name', 'actor',
+                   '-topic', 'actor_pose',
+                   '-x', '0',
+                   '-y', '0',
+                   '-z', '0.1'],
+        output='screen',
+    )
+
     # Spawn robot
     create = Node(
         package='ros_gz_sim',
@@ -82,6 +107,8 @@ def generate_launch_description():
     return LaunchDescription([
             gz_sim,
             bridge,
+            spawn_walls,
+            spawn_actor,
             robot_state_publisher,
             create,
             common,

src/rove_description/CMakeLists.txt

@@ -11,7 +11,7 @@ find_package(ament_cmake REQUIRED)
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
 install(
-  DIRECTORY launch urdf rviz meshes worlds config
+  DIRECTORY launch urdf rviz meshes worlds config models
   DESTINATION share/${PROJECT_NAME}
 )
 if(BUILD_TESTING)

src/rove_description/worlds/actor.sdf

@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+
+    <actor name="actor">
+        <pose frame='base_link'>0 0 0 0 0 0</pose>
+        <collision name='actor_Collision'>
+            <geometry>
+                <box>
+                    <size>1 1 2.5</size>
+                </box>
+            </geometry>
+            <pose frame='base_link'>0 0 1.25 0 -0 0</pose>
+            <max_contacts>10</max_contacts>
+            <surface>
+                <contact>
+                    <ode />
+                </contact>
+                <bounce />
+                <friction>
+                    <torsional>
+                        <ode />
+                    </torsional>
+                    <ode />
+                </friction>
+            </surface>
+        </collision>
+        <skin>
+            <filename>https://fuel.gazebosim.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
+        </skin>
+        <animation name="animation">
+            <filename>https://fuel.gazebosim.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
+        </animation>
+        <script>
+            <trajectory id="0" type="walking">
+                <waypoint>
+                    <time>0</time> <!-- Move right -->
+                    <pose>2 -9 1 0 0 -1.57</pose>
+                </waypoint>
+                <waypoint> <!--Turn
+                    around -->
+                    <time>5</time>
+                    <pose>2 -9 1 0 0 1.57</pose>
+                </waypoint>
+                <waypoint> <!-- Move left -->
+                    <time>25</time>
+                    <pose>2 7 1 0 0 1.57</pose>
+                </waypoint>
+                <waypoint> <!-- Turn around -->
+                    <time>30</time>
+                    <pose>2 7 1 0 0 -1.57</pose>
+                </waypoint>
+                <waypoint>
+                    <time>50</time>
+                    <pose>2 -9 1 0 0 -1.57</pose>
+                </waypoint>
+            </trajectory>
+        </script>
+    </actor>
+</sdf>