From 757435cc6f69f935745a9f176b454abc4fd5cc7c Mon Sep 17 00:00:00 2001 From: Rakesh Vivekanandan Date: Thu, 13 Jun 2024 10:04:47 -0700 Subject: [PATCH 1/6] Added examples for launching models from fuel --- dave_demos/CMakeLists.txt | 11 ++ dave_demos/README.md | 35 ++++++ .../launch/mossy_cinder_block.launch.yaml | 26 ++++ .../nortek_dvl500_300_bare_model.launch.yaml | 26 ++++ dave_demos/package.xml | 18 +++ dave_model_description/CMakeLists.txt | 11 ++ .../description/mossy_cinder_block/model.sdf | 10 ++ .../nortek_dvl500_300_bare_model/model.sdf | 97 +++++++++++++++ .../upload_mossy_cinder_block.launch.yaml | 18 +++ ...d_nortek_dvl500_300_bare_model.launch.yaml | 18 +++ .../DVL500-300m.dae | 115 ++++++++++++++++++ .../tx-DVL500-300m.png | Bin 0 -> 268560 bytes dave_model_description/package.xml | 18 +++ 13 files changed, 403 insertions(+) create mode 100644 dave_demos/CMakeLists.txt create mode 100644 dave_demos/README.md create mode 100644 dave_demos/launch/mossy_cinder_block.launch.yaml create mode 100644 dave_demos/launch/nortek_dvl500_300_bare_model.launch.yaml create mode 100644 dave_demos/package.xml create mode 100644 dave_model_description/CMakeLists.txt create mode 100644 dave_model_description/description/mossy_cinder_block/model.sdf create mode 100644 dave_model_description/description/nortek_dvl500_300_bare_model/model.sdf create mode 100644 dave_model_description/launch/mossy_cinder_block/upload_mossy_cinder_block.launch.yaml create mode 100644 dave_model_description/launch/nortek_dvl500_300_bare_model/upload_nortek_dvl500_300_bare_model.launch.yaml create mode 100644 dave_model_description/meshes/nortek_dvl500_300_bare_model/DVL500-300m.dae create mode 100644 dave_model_description/meshes/nortek_dvl500_300_bare_model/tx-DVL500-300m.png create mode 100644 dave_model_description/package.xml diff --git a/dave_demos/CMakeLists.txt b/dave_demos/CMakeLists.txt new file mode 100644 index 00000000..7ff1361a --- /dev/null +++ b/dave_demos/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.8) +project(dave_demos) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY launch + DESTINATION share/dave_demos +) + +ament_package() diff --git a/dave_demos/README.md b/dave_demos/README.md new file mode 100644 index 00000000..ded078b8 --- /dev/null +++ b/dave_demos/README.md @@ -0,0 +1,35 @@ +## Examples + +### 1. Launching a Dave Model using Fuel URI + +To launch a Dave model directly from a Fuel URI, follow these steps: + +1. Build and source the workspace: + ```bash + colcon build && source install/setup.bash + ``` +2. Launch the model using the specified launch file: + ```bash + ros2 launch dave_demos mossy_cinder_block.launch.yaml + ``` + +This method simplifies the process by pulling the model directly from Fuel, ensuring you always have the latest version without needing to manage local files. + +### 2. Launching a Dave Model using Downloaded Model Files + +If you prefer to use model files downloaded from Fuel, proceed as follows: + +1. Set the resource path to your local model files: + ```bash + export GZ_SIM_RESOURCE_PATH=/src/dave/dave_model_description + ``` +2. Build and source the workspace: + ```bash + colcon build && source install/setup.bash + ``` +3. Launch the model using the provided launch file: + ```bash + ros2 launch dave_demos nortek_dvl500_300_bare_model.launch.yaml + ``` + +This approach gives you more control over the models you use, allowing for offline use and customization. It's especially useful when working in environments with limited internet connectivity or when specific model versions are required. diff --git a/dave_demos/launch/mossy_cinder_block.launch.yaml b/dave_demos/launch/mossy_cinder_block.launch.yaml new file mode 100644 index 00000000..8fa92518 --- /dev/null +++ b/dave_demos/launch/mossy_cinder_block.launch.yaml @@ -0,0 +1,26 @@ +launch: + - arg: + name: gazebo_world_file + default: empty.sdf + + - arg: + name: use_sim + default: "true" + + - arg: + name: model_name + default: mossy_cinder_block + + - include: + file: $(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py + arg: + - name: gz_args + value: -v 4 -r $(var gazebo_world_file) + + - include: + file: $(find-pkg-share dave_model_description)/launch/$(var model_name)/upload_$(var model_name).launch.yaml + arg: + - name: namespace + value: $(var model_name) + - name: use_sim + value: $(var use_sim) diff --git a/dave_demos/launch/nortek_dvl500_300_bare_model.launch.yaml b/dave_demos/launch/nortek_dvl500_300_bare_model.launch.yaml new file mode 100644 index 00000000..9d529a75 --- /dev/null +++ b/dave_demos/launch/nortek_dvl500_300_bare_model.launch.yaml @@ -0,0 +1,26 @@ +launch: + - arg: + name: gazebo_world_file + default: empty.sdf + + - arg: + name: use_sim + default: "true" + + - arg: + name: model_name + default: nortek_dvl500_300_bare_model + + - include: + file: $(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py + arg: + - name: gz_args + value: -v 4 -r $(var gazebo_world_file) + + - include: + file: $(find-pkg-share dave_model_description)/launch/$(var model_name)/upload_$(var model_name).launch.yaml + arg: + - name: namespace + value: $(var model_name) + - name: use_sim + value: $(var use_sim) diff --git a/dave_demos/package.xml b/dave_demos/package.xml new file mode 100644 index 00000000..6cac5536 --- /dev/null +++ b/dave_demos/package.xml @@ -0,0 +1,18 @@ + + + + + dave_demos + 0.1.0 + A package for demo launch files. + + Rakesh Vivekanandan + + MIT + + ament_cmake + + + ament_cmake + + diff --git a/dave_model_description/CMakeLists.txt b/dave_model_description/CMakeLists.txt new file mode 100644 index 00000000..8634290d --- /dev/null +++ b/dave_model_description/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.8) +project(dave_model_description) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY description launch meshes + DESTINATION share/dave_model_description +) + +ament_package() diff --git a/dave_model_description/description/mossy_cinder_block/model.sdf b/dave_model_description/description/mossy_cinder_block/model.sdf new file mode 100644 index 00000000..080c7a8c --- /dev/null +++ b/dave_model_description/description/mossy_cinder_block/model.sdf @@ -0,0 +1,10 @@ + + + + mossy_cinder_block + 0 0 0 0 0 0 + + https://fuel.gazebosim.org/1.0/hmoyen/models/mossy_cinder_block + + + diff --git a/dave_model_description/description/nortek_dvl500_300_bare_model/model.sdf b/dave_model_description/description/nortek_dvl500_300_bare_model/model.sdf new file mode 100644 index 00000000..3c7a48fc --- /dev/null +++ b/dave_model_description/description/nortek_dvl500_300_bare_model/model.sdf @@ -0,0 +1,97 @@ + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 3.5 + + 0.0195872 + 0 + 0 + 0.0195872 + 0 + 0.0151357 + + + + 1 + + + 0 + 0 + 0 + + 0 0 0 0 0 3.14159 + + + 1 1 1 + + model://meshes/nortek_dvl500_300_bare_model/DVL500-300m.dae + + + 0 + 1 + + + 0 + 10 + 0 0 0 3.14159 0 0 + + + 0.093 + 0.203 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + 0 + 1 + + diff --git a/dave_model_description/launch/mossy_cinder_block/upload_mossy_cinder_block.launch.yaml b/dave_model_description/launch/mossy_cinder_block/upload_mossy_cinder_block.launch.yaml new file mode 100644 index 00000000..ee4eb383 --- /dev/null +++ b/dave_model_description/launch/mossy_cinder_block/upload_mossy_cinder_block.launch.yaml @@ -0,0 +1,18 @@ +launch: + + - arg: + name: use_sim + default: "true" + + - arg: + name: model_name + default: mossy_cinder_block + + - let: + name: description_file + value: $(find-pkg-share dave_model_description)/description/$(var model_name)/model.sdf + + - node: + pkg: ros_gz_sim + exec: create + args: -name $(var model_name) -file $(var description_file) diff --git a/dave_model_description/launch/nortek_dvl500_300_bare_model/upload_nortek_dvl500_300_bare_model.launch.yaml b/dave_model_description/launch/nortek_dvl500_300_bare_model/upload_nortek_dvl500_300_bare_model.launch.yaml new file mode 100644 index 00000000..c8e2317c --- /dev/null +++ b/dave_model_description/launch/nortek_dvl500_300_bare_model/upload_nortek_dvl500_300_bare_model.launch.yaml @@ -0,0 +1,18 @@ +launch: + + - arg: + name: use_sim + default: "true" + + - arg: + name: model_name + default: nortek_dvl500_300_bare_model + + - let: + name: description_file + value: $(find-pkg-share dave_model_description)/description/$(var model_name)/model.sdf + + - node: + pkg: ros_gz_sim + exec: create + args: -name $(var model_name) -x 0 -y 0 -z 0 -file $(var description_file) diff --git a/dave_model_description/meshes/nortek_dvl500_300_bare_model/DVL500-300m.dae b/dave_model_description/meshes/nortek_dvl500_300_bare_model/DVL500-300m.dae new file mode 100644 index 00000000..b1525fca --- /dev/null +++ b/dave_model_description/meshes/nortek_dvl500_300_bare_model/DVL500-300m.dae @@ -0,0 +1,115 @@ + + + + + Blender User + Blender 2.82.7 commit date:2020-02-12, commit time:16:20, hash:77d23b0bd76f + + 2020-05-20T08:43:09 + 2020-05-20T08:43:09 + + Z_UP + + + + + + + tx-DVL500-300m_png + + + + + tx-DVL500-300m_png-surface + + + + + + 0 0 0 1 + + + + + + 6.95 + + + + + + + + + tx-DVL500-300m.png + + + + + + + + + + + + -0.01112014 -0.05590474 0.05617296 -0.02181297 -0.05266064 0.05617296 -0.03166753 -0.04739326 0.05617308 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Build and source the workspace: + ```bash colcon build && source install/setup.bash ``` + 2. Launch the model using the specified launch file: + ```bash - ros2 launch dave_demos mossy_cinder_block.launch.yaml + ros2 launch dave_demos mossy_cinder_block.launch.py ``` This method simplifies the process by pulling the model directly from Fuel, ensuring you always have the latest version without needing to manage local files. @@ -19,17 +22,32 @@ This method simplifies the process by pulling the model directly from Fuel, ensu If you prefer to use model files downloaded from Fuel, proceed as follows: -1. Set the resource path to your local model files: +1. Add a hook within the `dave_model_description` package to configure the necessary environment variables for Gazebo model lookup. + + ```bash + cd /src/dave_model_description + mkdir hooks && cd hooks + touch dave_model_description.dsv.in + echo "prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@" >> dave_model_description.dsv.in + ``` + +2. Append the following line to the CMakeLists.txt file in the `dave_model_description` package: + ```bash - export GZ_SIM_RESOURCE_PATH=/src/dave/dave_model_description + ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in") ``` -2. Build and source the workspace: + +3. Build and source the workspace: + ```bash + cd colcon build && source install/setup.bash ``` -3. Launch the model using the provided launch file: + +4. Launch the model using the provided launch file: + ```bash - ros2 launch dave_demos nortek_dvl500_300_bare_model.launch.yaml + ros2 launch dave_demos nortek_dvl500_300_bare_model.launch.py ``` This approach gives you more control over the models you use, allowing for offline use and customization. It's especially useful when working in environments with limited internet connectivity or when specific model versions are required. diff --git a/dave_demos/launch/mossy_cinder_block.launch.py b/dave_demos/launch/mossy_cinder_block.launch.py new file mode 100644 index 00000000..bdb2e881 --- /dev/null +++ b/dave_demos/launch/mossy_cinder_block.launch.py @@ -0,0 +1,90 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.substitutions import ( + LaunchConfiguration, + PathJoinSubstitution, + PythonExpression, +) +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.conditions import IfCondition +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + # Declare the launch arguments with default values + args = [ + DeclareLaunchArgument( + "gazebo_world_file", + default_value="empty.sdf", + description="Gazebo world file to launch", + ), + DeclareLaunchArgument( + "use_sim", + default_value="true", + description="Flag to indicate whether to use simulation", + ), + DeclareLaunchArgument( + "model_name", + default_value="mossy_cinder_block", + description="Name of the model to load", + ), + ] + + use_sim = LaunchConfiguration("use_sim") + model_name = LaunchConfiguration("model_name") + gazebo_world_file = LaunchConfiguration("gazebo_world_file") + + # Include the first launch file + gz_sim_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + PathJoinSubstitution( + [ + FindPackageShare("ros_gz_sim"), + "launch", + "gz_sim.launch.py", + ] + ) + ] + ), + launch_arguments=[ + ( + "gz_args", + [ + "-v", + "4", + " ", + "-r", + " ", + gazebo_world_file, + ], + ), + ], + condition=IfCondition(use_sim), + ) + + model_launch_file = PythonExpression(["'upload_' + '", model_name, "' + '.launch.py'"]) + + # Include the second launch file with model name + model_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + PathJoinSubstitution( + [ + FindPackageShare("dave_model_description"), + "launch", + model_name, + model_launch_file, + ] + ) + ] + ), + launch_arguments={ + "model_name": model_name, + "use_sim": use_sim, + }.items(), + ) + + include = [gz_sim_launch, model_launch] + + return LaunchDescription(args + include) diff --git a/dave_demos/launch/mossy_cinder_block.launch.yaml b/dave_demos/launch/mossy_cinder_block.launch.yaml deleted file mode 100644 index 8fa92518..00000000 --- a/dave_demos/launch/mossy_cinder_block.launch.yaml +++ /dev/null @@ -1,26 +0,0 @@ -launch: - - arg: - name: gazebo_world_file - default: empty.sdf - - - arg: - name: use_sim - default: "true" - - - arg: - name: model_name - default: mossy_cinder_block - - - include: - file: $(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py - arg: - - name: gz_args - value: -v 4 -r $(var gazebo_world_file) - - - include: - file: $(find-pkg-share dave_model_description)/launch/$(var model_name)/upload_$(var model_name).launch.yaml - arg: - - name: namespace - value: $(var model_name) - - name: use_sim - value: $(var use_sim) diff --git a/dave_demos/launch/nortek_dvl500_300_bare_model.launch.py b/dave_demos/launch/nortek_dvl500_300_bare_model.launch.py new file mode 100644 index 00000000..4b0e3109 --- /dev/null +++ b/dave_demos/launch/nortek_dvl500_300_bare_model.launch.py @@ -0,0 +1,90 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.substitutions import ( + LaunchConfiguration, + PathJoinSubstitution, + PythonExpression, +) +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.conditions import IfCondition +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + # Declare the launch arguments with default values + args = [ + DeclareLaunchArgument( + "gazebo_world_file", + default_value="empty.sdf", + description="Gazebo world file to launch", + ), + DeclareLaunchArgument( + "use_sim", + default_value="true", + description="Flag to indicate whether to use simulation", + ), + DeclareLaunchArgument( + "model_name", + default_value="nortek_dvl500_300_bare_model", + description="Name of the model to load", + ), + ] + + use_sim = LaunchConfiguration("use_sim") + model_name = LaunchConfiguration("model_name") + gazebo_world_file = LaunchConfiguration("gazebo_world_file") + + # Include the first launch file + gz_sim_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + PathJoinSubstitution( + [ + FindPackageShare("ros_gz_sim"), + "launch", + "gz_sim.launch.py", + ] + ) + ] + ), + launch_arguments=[ + ( + "gz_args", + [ + "-v", + "4", + " ", + "-r", + " ", + gazebo_world_file, + ], + ), + ], + condition=IfCondition(use_sim), + ) + + model_launch_file = PythonExpression(["'upload_' + '", model_name, "' + '.launch.py'"]) + + # Include the second launch file with model name + model_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + PathJoinSubstitution( + [ + FindPackageShare("dave_model_description"), + "launch", + model_name, + model_launch_file, + ] + ) + ] + ), + launch_arguments={ + "model_name": model_name, + "use_sim": use_sim, + }.items(), + ) + + include = [gz_sim_launch, model_launch] + + return LaunchDescription(args + include) diff --git a/dave_demos/launch/nortek_dvl500_300_bare_model.launch.yaml b/dave_demos/launch/nortek_dvl500_300_bare_model.launch.yaml deleted file mode 100644 index 9d529a75..00000000 --- a/dave_demos/launch/nortek_dvl500_300_bare_model.launch.yaml +++ /dev/null @@ -1,26 +0,0 @@ -launch: - - arg: - name: gazebo_world_file - default: empty.sdf - - - arg: - name: use_sim - default: "true" - - - arg: - name: model_name - default: nortek_dvl500_300_bare_model - - - include: - file: $(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py - arg: - - name: gz_args - value: -v 4 -r $(var gazebo_world_file) - - - include: - file: $(find-pkg-share dave_model_description)/launch/$(var model_name)/upload_$(var model_name).launch.yaml - arg: - - name: namespace - value: $(var model_name) - - name: use_sim - value: $(var use_sim) diff --git a/dave_model_description/CMakeLists.txt b/dave_model_description/CMakeLists.txt index 8634290d..fc960446 100644 --- a/dave_model_description/CMakeLists.txt +++ b/dave_model_description/CMakeLists.txt @@ -8,4 +8,6 @@ install( DESTINATION share/dave_model_description ) +ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in") + ament_package() diff --git a/dave_model_description/hooks/dave_model_description.dsv.in b/dave_model_description/hooks/dave_model_description.dsv.in new file mode 100644 index 00000000..346888c8 --- /dev/null +++ b/dave_model_description/hooks/dave_model_description.dsv.in @@ -0,0 +1 @@ +prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@ diff --git a/dave_model_description/launch/mossy_cinder_block/upload_mossy_cinder_block.launch.py b/dave_model_description/launch/mossy_cinder_block/upload_mossy_cinder_block.launch.py new file mode 100644 index 00000000..3fd1e940 --- /dev/null +++ b/dave_model_description/launch/mossy_cinder_block/upload_mossy_cinder_block.launch.py @@ -0,0 +1,46 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch.conditions import IfCondition +from launch_ros.substitutions import FindPackageShare +from launch_ros.actions import Node + + +def generate_launch_description(): + args = [ + DeclareLaunchArgument( + "model_name", + default_value="mossy_cinder_block", + description="Name of the model to load", + ), + DeclareLaunchArgument( + "use_sim", + default_value="true", + description="Flag to indicate whether to use simulation", + ), + ] + + model_name = LaunchConfiguration("model_name") + use_sim = LaunchConfiguration("use_sim") + + description_file = PathJoinSubstitution( + [ + FindPackageShare("dave_model_description"), + "description", + model_name, + "model.sdf", + ] + ) + + gz_spawner = Node( + package="ros_gz_sim", + executable="create", + arguments=["-name", model_name, "-file", description_file], + output="both", + condition=IfCondition(use_sim), + parameters=[{"use_sim_time": use_sim}], + ) + + nodes = [gz_spawner] + + return LaunchDescription(args + nodes) diff --git a/dave_model_description/launch/mossy_cinder_block/upload_mossy_cinder_block.launch.yaml b/dave_model_description/launch/mossy_cinder_block/upload_mossy_cinder_block.launch.yaml deleted file mode 100644 index ee4eb383..00000000 --- a/dave_model_description/launch/mossy_cinder_block/upload_mossy_cinder_block.launch.yaml +++ /dev/null @@ -1,18 +0,0 @@ -launch: - - - arg: - name: use_sim - default: "true" - - - arg: - name: model_name - default: mossy_cinder_block - - - let: - name: description_file - value: $(find-pkg-share dave_model_description)/description/$(var model_name)/model.sdf - - - node: - pkg: ros_gz_sim - exec: create - args: -name $(var model_name) -file $(var description_file) diff --git a/dave_model_description/launch/nortek_dvl500_300_bare_model/upload_nortek_dvl500_300_bare_model.launch.py b/dave_model_description/launch/nortek_dvl500_300_bare_model/upload_nortek_dvl500_300_bare_model.launch.py new file mode 100644 index 00000000..ce639f94 --- /dev/null +++ b/dave_model_description/launch/nortek_dvl500_300_bare_model/upload_nortek_dvl500_300_bare_model.launch.py @@ -0,0 +1,46 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch.conditions import IfCondition +from launch_ros.substitutions import FindPackageShare +from launch_ros.actions import Node + + +def generate_launch_description(): + args = [ + DeclareLaunchArgument( + "model_name", + default_value="nortek_dvl500_300_bare_model", + description="Name of the model to load", + ), + DeclareLaunchArgument( + "use_sim", + default_value="true", + description="Flag to indicate whether to use simulation", + ), + ] + + model_name = LaunchConfiguration("model_name") + use_sim = LaunchConfiguration("use_sim") + + description_file = PathJoinSubstitution( + [ + FindPackageShare("dave_model_description"), + "description", + model_name, + "model.sdf", + ] + ) + + gz_spawner = Node( + package="ros_gz_sim", + executable="create", + arguments=["-name", model_name, "-file", description_file], + output="both", + condition=IfCondition(use_sim), + parameters=[{"use_sim_time": use_sim}], + ) + + nodes = [gz_spawner] + + return LaunchDescription(args + nodes) diff --git a/dave_model_description/launch/nortek_dvl500_300_bare_model/upload_nortek_dvl500_300_bare_model.launch.yaml b/dave_model_description/launch/nortek_dvl500_300_bare_model/upload_nortek_dvl500_300_bare_model.launch.yaml deleted file mode 100644 index c8e2317c..00000000 --- a/dave_model_description/launch/nortek_dvl500_300_bare_model/upload_nortek_dvl500_300_bare_model.launch.yaml +++ /dev/null @@ -1,18 +0,0 @@ -launch: - - - arg: - name: use_sim - default: "true" - - - arg: - name: model_name - default: nortek_dvl500_300_bare_model - - - let: - name: description_file - value: $(find-pkg-share dave_model_description)/description/$(var model_name)/model.sdf - - - node: - pkg: ros_gz_sim - exec: create - args: -name $(var model_name) -x 0 -y 0 -z 0 -file $(var description_file) From 0bc6b2583702515f2a9a02ec0e722ebd70a8f45f Mon Sep 17 00:00:00 2001 From: woensug choi Date: Thu, 20 Jun 2024 23:04:30 +0900 Subject: [PATCH 3/6] universal trial --- ...lock.launch.py => model_in_empty_world.py} | 21 ++-- .../nortek_dvl500_300_bare_model.launch.py | 90 ------------------ dave_model_description/CMakeLists.txt | 2 - .../model.sdf | 2 +- .../hooks/dave_model_description.dsv.in | 1 - .../upload_mossy_cinder_block.launch.py | 46 --------- ...model.launch.py => upload_model.launch.py} | 22 +++-- .../DVL500-300m.dae | 0 .../tx-DVL500-300m.png | Bin 9 files changed, 24 insertions(+), 160 deletions(-) rename dave_demos/launch/{mossy_cinder_block.launch.py => model_in_empty_world.py} (88%) delete mode 100644 dave_demos/launch/nortek_dvl500_300_bare_model.launch.py rename dave_model_description/description/{nortek_dvl500_300_bare_model => nortek_dvl500_300}/model.sdf (97%) delete mode 100644 dave_model_description/hooks/dave_model_description.dsv.in delete mode 100644 dave_model_description/launch/mossy_cinder_block/upload_mossy_cinder_block.launch.py rename dave_model_description/launch/{nortek_dvl500_300_bare_model/upload_nortek_dvl500_300_bare_model.launch.py => upload_model.launch.py} (73%) rename dave_model_description/meshes/{nortek_dvl500_300_bare_model => nortek_dvl500_300}/DVL500-300m.dae (100%) rename dave_model_description/meshes/{nortek_dvl500_300_bare_model => nortek_dvl500_300}/tx-DVL500-300m.png (100%) diff --git a/dave_demos/launch/mossy_cinder_block.launch.py b/dave_demos/launch/model_in_empty_world.py similarity index 88% rename from dave_demos/launch/mossy_cinder_block.launch.py rename to dave_demos/launch/model_in_empty_world.py index bdb2e881..eb465043 100644 --- a/dave_demos/launch/mossy_cinder_block.launch.py +++ b/dave_demos/launch/model_in_empty_world.py @@ -3,7 +3,7 @@ from launch.substitutions import ( LaunchConfiguration, PathJoinSubstitution, - PythonExpression, + TextSubstitution, ) from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.conditions import IfCondition @@ -11,6 +11,10 @@ def generate_launch_description(): + use_sim = LaunchConfiguration("use_sim") + model_name = LaunchConfiguration("model_name") + gazebo_world_file = LaunchConfiguration("gazebo_world_file") + # Declare the launch arguments with default values args = [ DeclareLaunchArgument( @@ -30,10 +34,6 @@ def generate_launch_description(): ), ] - use_sim = LaunchConfiguration("use_sim") - model_name = LaunchConfiguration("model_name") - gazebo_world_file = LaunchConfiguration("gazebo_world_file") - # Include the first launch file gz_sim_launch = IncludeLaunchDescription( PythonLaunchDescriptionSource( @@ -51,11 +51,7 @@ def generate_launch_description(): ( "gz_args", [ - "-v", - "4", - " ", - "-r", - " ", + "-r ", gazebo_world_file, ], ), @@ -63,8 +59,6 @@ def generate_launch_description(): condition=IfCondition(use_sim), ) - model_launch_file = PythonExpression(["'upload_' + '", model_name, "' + '.launch.py'"]) - # Include the second launch file with model name model_launch = IncludeLaunchDescription( PythonLaunchDescriptionSource( @@ -73,8 +67,7 @@ def generate_launch_description(): [ FindPackageShare("dave_model_description"), "launch", - model_name, - model_launch_file, + "upload_model.launch.py", ] ) ] diff --git a/dave_demos/launch/nortek_dvl500_300_bare_model.launch.py b/dave_demos/launch/nortek_dvl500_300_bare_model.launch.py deleted file mode 100644 index 4b0e3109..00000000 --- a/dave_demos/launch/nortek_dvl500_300_bare_model.launch.py +++ /dev/null @@ -1,90 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription -from launch.substitutions import ( - LaunchConfiguration, - PathJoinSubstitution, - PythonExpression, -) -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.conditions import IfCondition -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - # Declare the launch arguments with default values - args = [ - DeclareLaunchArgument( - "gazebo_world_file", - default_value="empty.sdf", - description="Gazebo world file to launch", - ), - DeclareLaunchArgument( - "use_sim", - default_value="true", - description="Flag to indicate whether to use simulation", - ), - DeclareLaunchArgument( - "model_name", - default_value="nortek_dvl500_300_bare_model", - description="Name of the model to load", - ), - ] - - use_sim = LaunchConfiguration("use_sim") - model_name = LaunchConfiguration("model_name") - gazebo_world_file = LaunchConfiguration("gazebo_world_file") - - # Include the first launch file - gz_sim_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [ - PathJoinSubstitution( - [ - FindPackageShare("ros_gz_sim"), - "launch", - "gz_sim.launch.py", - ] - ) - ] - ), - launch_arguments=[ - ( - "gz_args", - [ - "-v", - "4", - " ", - "-r", - " ", - gazebo_world_file, - ], - ), - ], - condition=IfCondition(use_sim), - ) - - model_launch_file = PythonExpression(["'upload_' + '", model_name, "' + '.launch.py'"]) - - # Include the second launch file with model name - model_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [ - PathJoinSubstitution( - [ - FindPackageShare("dave_model_description"), - "launch", - model_name, - model_launch_file, - ] - ) - ] - ), - launch_arguments={ - "model_name": model_name, - "use_sim": use_sim, - }.items(), - ) - - include = [gz_sim_launch, model_launch] - - return LaunchDescription(args + include) diff --git a/dave_model_description/CMakeLists.txt b/dave_model_description/CMakeLists.txt index fc960446..8634290d 100644 --- a/dave_model_description/CMakeLists.txt +++ b/dave_model_description/CMakeLists.txt @@ -8,6 +8,4 @@ install( DESTINATION share/dave_model_description ) -ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in") - ament_package() diff --git a/dave_model_description/description/nortek_dvl500_300_bare_model/model.sdf b/dave_model_description/description/nortek_dvl500_300/model.sdf similarity index 97% rename from dave_model_description/description/nortek_dvl500_300_bare_model/model.sdf rename to dave_model_description/description/nortek_dvl500_300/model.sdf index 3c7a48fc..516d14cb 100644 --- a/dave_model_description/description/nortek_dvl500_300_bare_model/model.sdf +++ b/dave_model_description/description/nortek_dvl500_300/model.sdf @@ -28,7 +28,7 @@ 1 1 1 - model://meshes/nortek_dvl500_300_bare_model/DVL500-300m.dae + model://meshes/nortek_dvl500_300/DVL500-300m.dae 0 diff --git a/dave_model_description/hooks/dave_model_description.dsv.in b/dave_model_description/hooks/dave_model_description.dsv.in deleted file mode 100644 index 346888c8..00000000 --- a/dave_model_description/hooks/dave_model_description.dsv.in +++ /dev/null @@ -1 +0,0 @@ -prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@ diff --git a/dave_model_description/launch/mossy_cinder_block/upload_mossy_cinder_block.launch.py b/dave_model_description/launch/mossy_cinder_block/upload_mossy_cinder_block.launch.py deleted file mode 100644 index 3fd1e940..00000000 --- a/dave_model_description/launch/mossy_cinder_block/upload_mossy_cinder_block.launch.py +++ /dev/null @@ -1,46 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration, PathJoinSubstitution -from launch.conditions import IfCondition -from launch_ros.substitutions import FindPackageShare -from launch_ros.actions import Node - - -def generate_launch_description(): - args = [ - DeclareLaunchArgument( - "model_name", - default_value="mossy_cinder_block", - description="Name of the model to load", - ), - DeclareLaunchArgument( - "use_sim", - default_value="true", - description="Flag to indicate whether to use simulation", - ), - ] - - model_name = LaunchConfiguration("model_name") - use_sim = LaunchConfiguration("use_sim") - - description_file = PathJoinSubstitution( - [ - FindPackageShare("dave_model_description"), - "description", - model_name, - "model.sdf", - ] - ) - - gz_spawner = Node( - package="ros_gz_sim", - executable="create", - arguments=["-name", model_name, "-file", description_file], - output="both", - condition=IfCondition(use_sim), - parameters=[{"use_sim_time": use_sim}], - ) - - nodes = [gz_spawner] - - return LaunchDescription(args + nodes) diff --git a/dave_model_description/launch/nortek_dvl500_300_bare_model/upload_nortek_dvl500_300_bare_model.launch.py b/dave_model_description/launch/upload_model.launch.py similarity index 73% rename from dave_model_description/launch/nortek_dvl500_300_bare_model/upload_nortek_dvl500_300_bare_model.launch.py rename to dave_model_description/launch/upload_model.launch.py index ce639f94..3444df87 100644 --- a/dave_model_description/launch/nortek_dvl500_300_bare_model/upload_nortek_dvl500_300_bare_model.launch.py +++ b/dave_model_description/launch/upload_model.launch.py @@ -1,16 +1,20 @@ from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument +from launch.actions import (DeclareLaunchArgument, RegisterEventHandler, LogInfo) from launch.substitutions import LaunchConfiguration, PathJoinSubstitution from launch.conditions import IfCondition from launch_ros.substitutions import FindPackageShare +from launch.event_handlers import OnProcessExit from launch_ros.actions import Node def generate_launch_description(): + model_name = LaunchConfiguration("model_name") + use_sim = LaunchConfiguration("use_sim") + args = [ DeclareLaunchArgument( "model_name", - default_value="nortek_dvl500_300_bare_model", + default_value="model", description="Name of the model to load", ), DeclareLaunchArgument( @@ -20,9 +24,6 @@ def generate_launch_description(): ), ] - model_name = LaunchConfiguration("model_name") - use_sim = LaunchConfiguration("use_sim") - description_file = PathJoinSubstitution( [ FindPackageShare("dave_model_description"), @@ -43,4 +44,13 @@ def generate_launch_description(): nodes = [gz_spawner] - return LaunchDescription(args + nodes) + event_handlers = [ + RegisterEventHandler( + OnProcessExit( + target_action=gz_spawner, + on_exit=LogInfo(msg='Model Uploaded')) + ) + ] + + + return LaunchDescription(args + nodes + event_handlers) diff --git a/dave_model_description/meshes/nortek_dvl500_300_bare_model/DVL500-300m.dae b/dave_model_description/meshes/nortek_dvl500_300/DVL500-300m.dae similarity index 100% rename from dave_model_description/meshes/nortek_dvl500_300_bare_model/DVL500-300m.dae rename to dave_model_description/meshes/nortek_dvl500_300/DVL500-300m.dae diff --git a/dave_model_description/meshes/nortek_dvl500_300_bare_model/tx-DVL500-300m.png b/dave_model_description/meshes/nortek_dvl500_300/tx-DVL500-300m.png similarity index 100% rename from dave_model_description/meshes/nortek_dvl500_300_bare_model/tx-DVL500-300m.png rename to dave_model_description/meshes/nortek_dvl500_300/tx-DVL500-300m.png From ff7746a259376f1dcd259945734ba61e2e37efb2 Mon Sep 17 00:00:00 2001 From: Woen-Sug Choi Date: Thu, 20 Jun 2024 23:18:26 +0900 Subject: [PATCH 4/6] nop we need hooks --- dave_model_description/CMakeLists.txt | 2 ++ dave_model_description/hooks/dave_model_description.dsv.in | 1 + dave_model_description/package.xml | 2 ++ 3 files changed, 5 insertions(+) create mode 100644 dave_model_description/hooks/dave_model_description.dsv.in diff --git a/dave_model_description/CMakeLists.txt b/dave_model_description/CMakeLists.txt index 8634290d..fc960446 100644 --- a/dave_model_description/CMakeLists.txt +++ b/dave_model_description/CMakeLists.txt @@ -8,4 +8,6 @@ install( DESTINATION share/dave_model_description ) +ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in") + ament_package() diff --git a/dave_model_description/hooks/dave_model_description.dsv.in b/dave_model_description/hooks/dave_model_description.dsv.in new file mode 100644 index 00000000..346888c8 --- /dev/null +++ b/dave_model_description/hooks/dave_model_description.dsv.in @@ -0,0 +1 @@ +prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@ diff --git a/dave_model_description/package.xml b/dave_model_description/package.xml index 3b82b5c6..539e0719 100644 --- a/dave_model_description/package.xml +++ b/dave_model_description/package.xml @@ -14,5 +14,7 @@ ament_cmake + + From 1c27b13e9ae1b090fa83a470ab1e1203dbf8a399 Mon Sep 17 00:00:00 2001 From: Woen-Sug Choi Date: Thu, 20 Jun 2024 23:20:47 +0900 Subject: [PATCH 5/6] typo fix --- dave_demos/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dave_demos/README.md b/dave_demos/README.md index 97ad003f..e2defb52 100644 --- a/dave_demos/README.md +++ b/dave_demos/README.md @@ -25,7 +25,7 @@ If you prefer to use model files downloaded from Fuel, proceed as follows: 1. Add a hook within the `dave_model_description` package to configure the necessary environment variables for Gazebo model lookup. ```bash - cd /src/dave_model_description + cd /src/dave/dave_model_description mkdir hooks && cd hooks touch dave_model_description.dsv.in echo "prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@" >> dave_model_description.dsv.in From 8e4df547ad832a47a64e4811020dd9618aba8f35 Mon Sep 17 00:00:00 2001 From: Rakesh Vivekanandan Date: Thu, 20 Jun 2024 09:02:03 -0700 Subject: [PATCH 6/6] updated README and minor code refactoring --- dave_demos/README.md | 4 ++-- ..._in_empty_world.py => model_in_empty_world.launch.py} | 5 ++--- dave_model_description/launch/upload_model.launch.py | 9 +++------ 3 files changed, 7 insertions(+), 11 deletions(-) rename dave_demos/launch/{model_in_empty_world.py => model_in_empty_world.launch.py} (97%) mode change 100644 => 100755 mode change 100644 => 100755 dave_model_description/launch/upload_model.launch.py diff --git a/dave_demos/README.md b/dave_demos/README.md index e2defb52..3173f226 100644 --- a/dave_demos/README.md +++ b/dave_demos/README.md @@ -13,7 +13,7 @@ To launch a Dave model directly from a Fuel URI, follow these steps: 2. Launch the model using the specified launch file: ```bash - ros2 launch dave_demos mossy_cinder_block.launch.py + ros2 launch dave_demos model_in_empty_world.launch.py model_name:='mossy_cinder_block' ``` This method simplifies the process by pulling the model directly from Fuel, ensuring you always have the latest version without needing to manage local files. @@ -47,7 +47,7 @@ If you prefer to use model files downloaded from Fuel, proceed as follows: 4. Launch the model using the provided launch file: ```bash - ros2 launch dave_demos nortek_dvl500_300_bare_model.launch.py + ros2 launch dave_demos model_in_empty_world.launch.py model_name:='nortek_dvl500_300' ``` This approach gives you more control over the models you use, allowing for offline use and customization. It's especially useful when working in environments with limited internet connectivity or when specific model versions are required. diff --git a/dave_demos/launch/model_in_empty_world.py b/dave_demos/launch/model_in_empty_world.launch.py old mode 100644 new mode 100755 similarity index 97% rename from dave_demos/launch/model_in_empty_world.py rename to dave_demos/launch/model_in_empty_world.launch.py index eb465043..fee6c278 --- a/dave_demos/launch/model_in_empty_world.py +++ b/dave_demos/launch/model_in_empty_world.launch.py @@ -2,9 +2,8 @@ from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription from launch.substitutions import ( LaunchConfiguration, - PathJoinSubstitution, - TextSubstitution, -) + PathJoinSubstitution + ) from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.conditions import IfCondition from launch_ros.substitutions import FindPackageShare diff --git a/dave_model_description/launch/upload_model.launch.py b/dave_model_description/launch/upload_model.launch.py old mode 100644 new mode 100755 index 3444df87..003af735 --- a/dave_model_description/launch/upload_model.launch.py +++ b/dave_model_description/launch/upload_model.launch.py @@ -1,5 +1,5 @@ from launch import LaunchDescription -from launch.actions import (DeclareLaunchArgument, RegisterEventHandler, LogInfo) +from launch.actions import DeclareLaunchArgument, RegisterEventHandler, LogInfo from launch.substitutions import LaunchConfiguration, PathJoinSubstitution from launch.conditions import IfCondition from launch_ros.substitutions import FindPackageShare @@ -46,11 +46,8 @@ def generate_launch_description(): event_handlers = [ RegisterEventHandler( - OnProcessExit( - target_action=gz_spawner, - on_exit=LogInfo(msg='Model Uploaded')) - ) + OnProcessExit(target_action=gz_spawner, on_exit=LogInfo(msg="Model Uploaded")) + ) ] - return LaunchDescription(args + nodes + event_handlers)