Rove with ovis 2

README.md

@@ -46,6 +46,7 @@ Before installing the robot software, you need to install the simulator : https:
 git clone https://github.com/clubcapra/rove.git
 cd rove
 vcs import src < rove.repos
+echo "export GZ_VERSION=harmonic" >> ~/.bashrc && source ~/.bashrc
 sudo rosdep init
 rosdep update
 rosdep install --from-paths src --ignore-src -r -y

rove.repos

@@ -6,4 +6,8 @@ repositories:
   ovis_ros2:
     type: git
     url: https://github.com/clubcapra/ovis_ros2
-    version: new-env-with-arm
+    version: fix-gazebo-joy
+  gz_ros2_control:
+    type: git
+    url: https://github.com/clubcapra/gz_ros2_control.git
+    version: iron

src/rove_bringup/launch/sim.launch.py

@@ -3,109 +3,110 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
-
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import Command
 from launch_ros.actions import Node
 from launch_ros.parameter_descriptions import ParameterValue
-from math import pi
 
 
 def generate_launch_description():
     # Get the launch directory
-    pkg_rove_bringup = get_package_share_directory('rove_bringup')
-    pkg_rove_description = get_package_share_directory('rove_description')
-    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
-
-    # Get the URDF file
-    urdf_path = os.path.join(pkg_rove_description, 'urdf', 'rove.urdf.xacro')
-    robot_desc = ParameterValue(Command(['xacro ', urdf_path]), value_type=str)
+    pkg_rove_bringup = get_package_share_directory("rove_bringup")
+    pkg_rove_description = get_package_share_directory("rove_description")
+    pkg_ros_gz_sim = get_package_share_directory("ros_gz_sim")
+    pkg_ovis = get_package_share_directory("ovis_bringup")
 
     # Get simulation file
-    world_file_name = 'worlds/base_world.world'
+    world_file_name = "worlds/base_world.world"
     world = os.path.join(pkg_rove_description, world_file_name)
 
     # Setup to launch the simulator and Gazebo world
     gz_sim = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),
-        launch_arguments={'gz_args': "-v 4 -r " + world}.items(),
+            os.path.join(pkg_ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={"gz_args": "-v 4 -r " + world}.items(),
     )
 
-    walls_file_path = os.path.join(pkg_rove_description, 'worlds', 'walls.sdf')
+    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',
+        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')
+    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',
+        package="ros_gz_sim",
+        executable="create",
+        arguments=[
+            "-file",
+            actor_file_path,
+            "-name",
+            "actor",
+            "-x",
+            "0",
+            "-y",
+            "0",
+            "-z",
+            "0.06",
+        ],
+        output="screen",
     )
 
-    yaw = -pi / 2
-
     # Spawn robot
     spawn_rove = Node(
-        package='ros_gz_sim',
-        executable='create',
+        package="ros_gz_sim",
+        executable="create",
         arguments=[
-            '-name', 'rove',
-            '-topic', 'robot_description',
-            '-x', '0',
-            '-y', '0',
-            '-z', '0.1',
-            '-Y', str(yaw),
+            "-name",
+            "rove",
+            "-topic",
+            "robot_description",
+            "-x",
+            "0",
+            "-y",
+            "0",
+            "-z",
+            "0.1",
         ],
-        output='screen',
-    )
-
-    # Takes the description and joint angles as inputs and publishes
-    # the 3D poses of the robot links
-    robot_state_publisher = Node(
-        package='robot_state_publisher',
-        executable='robot_state_publisher',
-        name='robot_state_publisher',
-        output='both',
-        parameters=[
-            {'robot_description': robot_desc},
-            {"use_sim_time": True, }
-        ]
+        output="screen",
     )
 
     # fake human tracker
     human_tracker = Node(
-            package='rove_navigation',
-            executable='green_person_tracker',
-            name='green_person_tracker',
-            output='screen',
+        package="rove_navigation",
+        executable="green_person_tracker",
+        name="green_person_tracker",
+        output="screen",
     )
 
     # Bridge ROS topics and Gazebo messages for establishing communication
     bridge = Node(
-        package='ros_gz_bridge',
-        executable='parameter_bridge',
-        parameters=[{
-            'config_file': os.path.join(pkg_rove_description, 'config',
-                                        'default_bridge.yaml'),
-            'qos_overrides./tf_static.publisher.durability': 'transient_local',
-            "use_sim_time": True,
-        }],
-        output='screen'
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        parameters=[
+            {
+                "config_file": os.path.join(
+                    pkg_rove_description, "config", "default_bridge.yaml"
+                ),
+                "qos_overrides./tf_static.publisher.durability": "transient_local",
+                "use_sim_time": True,
+            }
+        ],
+        output="screen",
     )
 
     common = IncludeLaunchDescription(
@@ -117,13 +118,29 @@ def generate_launch_description():
         }.items(),
     )
 
-    return LaunchDescription([
+
+    ovis = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_ovis, "launch", "sim.launch.py"),
+        ),
+        launch_arguments={
+            "with_rove": "true",
+            "with_joy": "false",
+            "ovis_base_origin": "0.22 0 0.34 0 0 3.14",
+        }.items(),
+    )
+
+
+
+    return LaunchDescription(
+        [
             gz_sim,
             bridge,
-            robot_state_publisher,
             spawn_walls,
             spawn_actor,
             spawn_rove,
             common,
-            human_tracker,
-            ])
+            # human_tracker,
+            ovis,
+        ]
+    )