Merge pull request #6 from IOES-Lab/dave-sensor

Moved nortek_dvl500_300 to separate package dave_sensor_models

examples/dave_demos/README.md

@@ -1,6 +1,6 @@
 ## Examples
 
-### 1. Launching a Dave Model using Fuel URI
+### 1. Launching a Dave Object Model using Fuel URI
 
 To launch a Dave model directly from a Fuel URI, follow these steps:
 
@@ -13,25 +13,25 @@ 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 model_in_empty_world.launch.py model_name:='mossy_cinder_block'
+   ros2 launch dave_demos object_in_empty_world.launch.py object_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.
 
-### 2. Launching a Dave Model using Downloaded Model Files
+### 2. Launching a Dave Sensor Model using Downloaded Model Files
 
 If you prefer to use model files downloaded from Fuel, proceed as follows:
 
-1. Add a hook within the `dave_object_models` package to configure the necessary environment variables for Gazebo model lookup.
+1. Add a hook within the `dave_sensor_models` package to configure the necessary environment variables for Gazebo model lookup.
 
    ```bash
-   cd <path-to-dave_ws>/src/dave/models/dave_object_models
+   cd <path-to-dave_ws>/src/dave/models/dave_sensor_models
    mkdir hooks && cd hooks
-   touch dave_object_models.dsv.in
-   echo "prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@" >> dave_object_models.dsv.in
+   touch dave_sensor_models.dsv.in
+   echo "prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@" >> dave_sensor_models.dsv.in
    ```
 
-2. Append the following line to the CMakeLists.txt file in the `dave_object_models` package:
+2. Append the following line to the CMakeLists.txt file in the `dave_sensor_models` package:
 
    ```bash
    ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
@@ -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 model_in_empty_world.launch.py model_name:='nortek_dvl500_300'
+   ros2 launch dave_demos sensor_in_empty_world.launch.py sensor_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.

examples/dave_demos/launch/model_in_empty_world.launch.py → examples/dave_demos/launch/object_in_empty_world.launch.py

@@ -8,7 +8,7 @@
 
 def generate_launch_description():
     use_sim = LaunchConfiguration("use_sim")
-    model_name = LaunchConfiguration("model_name")
+    object_name = LaunchConfiguration("object_name")
     gazebo_world_file = LaunchConfiguration("gazebo_world_file")
 
     # Declare the launch arguments with default values
@@ -24,9 +24,9 @@ def generate_launch_description():
             description="Flag to indicate whether to use simulation",
         ),
         DeclareLaunchArgument(
-            "model_name",
+            "object_name",
             default_value="mossy_cinder_block",
-            description="Name of the model to load",
+            description="Name of the object model to load",
         ),
     ]
 
@@ -63,13 +63,13 @@ def generate_launch_description():
                     [
                         FindPackageShare("dave_object_models"),
                         "launch",
-                        "upload_model.launch.py",
+                        "upload_object.launch.py",
                     ]
                 )
             ]
         ),
         launch_arguments={
-            "model_name": model_name,
+            "object_name": object_name,
             "use_sim": use_sim,
         }.items(),
     )

examples/dave_demos/launch/sensor_in_empty_world.launch.py

@@ -0,0 +1,79 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.conditions import IfCondition
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    use_sim = LaunchConfiguration("use_sim")
+    sensor_name = LaunchConfiguration("sensor_name")
+    gazebo_world_file = LaunchConfiguration("gazebo_world_file")
+
+    # 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(
+            "sensor_name",
+            default_value="nortek_dvl500_300",
+            description="Name of the model to load",
+        ),
+    ]
+
+    # Include the first launch file
+    gz_sim_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("ros_gz_sim"),
+                        "launch",
+                        "gz_sim.launch.py",
+                    ]
+                )
+            ]
+        ),
+        launch_arguments=[
+            (
+                "gz_args",
+                [
+                    "-r ",
+                    gazebo_world_file,
+                ],
+            ),
+        ],
+        condition=IfCondition(use_sim),
+    )
+
+    # Include the second launch file with model name
+    model_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("dave_sensor_models"),
+                        "launch",
+                        "upload_sensor.launch.py",
+                    ]
+                )
+            ]
+        ),
+        launch_arguments={
+            "sensor_name": sensor_name,
+            "use_sim": use_sim,
+        }.items(),
+    )
+
+    include = [gz_sim_launch, model_launch]
+
+    return LaunchDescription(args + include)

models/dave_object_models/CMakeLists.txt

@@ -4,7 +4,7 @@ project(dave_object_models)
 find_package(ament_cmake REQUIRED)
 
 install(
-  DIRECTORY description launch meshes
+  DIRECTORY description launch
   DESTINATION share/dave_object_models
 )
 

models/dave_object_models/description/mossy_cinder_block/model.config

@@ -0,0 +1,11 @@
+<?xml version='1.0'?>
+
+<model>
+  <name>mossy_cinder_block</name>
+  <version>1.0</version>
+  <sdf version="1.7">model.sdf</sdf>
+
+  <description>
+    A mossy cinder block
+  </description>
+</model>

models/dave_object_models/description/mossy_cinder_block/model.sdf

@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<sdf version="1.5">
+<sdf version="1.7">
   <include>
     <name>mossy_cinder_block</name>
     <pose>0 0 0 0 0 0</pose>

models/dave_object_models/launch/upload_model.launch.py → models/dave_object_models/launch/upload_object.launch.py

@@ -8,14 +8,14 @@
 
 
 def generate_launch_description():
-    model_name = LaunchConfiguration("model_name")
+    object_name = LaunchConfiguration("object_name")
     use_sim = LaunchConfiguration("use_sim")
 
     args = [
         DeclareLaunchArgument(
-            "model_name",
+            "object_name",
             default_value="model",
-            description="Name of the model to load",
+            description="Name of the object model to load",
         ),
         DeclareLaunchArgument(
             "use_sim",
@@ -28,15 +28,15 @@ def generate_launch_description():
         [
             FindPackageShare("dave_object_models"),
             "description",
-            model_name,
+            object_name,
             "model.sdf",
         ]
     )
 
     gz_spawner = Node(
         package="ros_gz_sim",
         executable="create",
-        arguments=["-name", model_name, "-file", description_file],
+        arguments=["-name", object_name, "-file", description_file],
         output="both",
         condition=IfCondition(use_sim),
         parameters=[{"use_sim_time": use_sim}],

models/dave_object_models/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?><package format="3">
   <name>dave_object_models</name>
   <version>0.1.0</version>
-  <description>Dave model description files are placed here.</description>
+  <description>Dave object model description files are placed here.</description>
   <maintainer email="[email protected]">Rakesh Vivekanandan</maintainer>
   <license>MIT</license>
   <buildtool_depend>ament_cmake</buildtool_depend>

models/dave_robot_models/description/rexrov/model.config

@@ -0,0 +1,11 @@
+<?xml version='1.0'?>
+
+<model>
+  <name>rexrov</name>
+  <version>1.0</version>
+  <sdf version="1.7">model.sdf</sdf>
+
+  <description>
+    Rexrov underwater vehicle
+  </description>
+</model>

models/dave_sensor_models/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.8)
+project(dave_sensor_models)
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY description launch meshes
+  DESTINATION share/dave_sensor_models
+)
+
+ament_environment_hooks(
+  "${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
+
+ament_package()

models/dave_sensor_models/description/nortek_dvl500_300/model.config

@@ -0,0 +1,11 @@
+<?xml version='1.0'?>
+
+<model>
+  <name>dvl500_300</name>
+  <version>1.0</version>
+  <sdf version="1.7">model.sdf</sdf>
+
+  <description>
+    Nortek DVL500-300m
+  </description>
+</model>

models/dave_object_models/description/nortek_dvl500_300/model.sdf → models/dave_sensor_models/description/nortek_dvl500_300/model.sdf

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<sdf version="1.6">
+<sdf version="1.7">
   <model name="dvl500_300">
     <link name="dvl500_base_link">
       <pose>0 0 0 0 0 0</pose>

models/dave_sensor_models/hooks/dave_sensor_models.dsv.in

@@ -0,0 +1 @@
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@

models/dave_sensor_models/launch/upload_sensor.launch.py

@@ -0,0 +1,53 @@
+from launch import LaunchDescription
+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():
+    sensor_name = LaunchConfiguration("sensor_name")
+    use_sim = LaunchConfiguration("use_sim")
+
+    args = [
+        DeclareLaunchArgument(
+            "sensor_name",
+            default_value="",
+            description="Name of the sensor to load",
+        ),
+        DeclareLaunchArgument(
+            "use_sim",
+            default_value="true",
+            description="Flag to indicate whether to use simulation",
+        ),
+    ]
+
+    description_file = PathJoinSubstitution(
+        [
+            FindPackageShare("dave_sensor_models"),
+            "description",
+            sensor_name,
+            "model.sdf",
+        ]
+    )
+
+    gz_spawner = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", sensor_name, "-file", description_file],
+        output="both",
+        condition=IfCondition(use_sim),
+        parameters=[{"use_sim_time": use_sim}],
+    )
+
+    nodes = [gz_spawner]
+
+    event_handlers = [
+        RegisterEventHandler(
+            OnProcessExit(target_action=gz_spawner, on_exit=LogInfo(msg="Model Uploaded"))
+        )
+    ]
+
+    return LaunchDescription(args + nodes + event_handlers)

models/dave_sensor_models/package.xml

@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?><package format="3">
+  <name>dave_sensor_models</name>
+  <version>0.1.0</version>
+  <description>Dave sensor model description files are placed here.</description>
+  <maintainer email="[email protected]">Rakesh Vivekanandan</maintainer>
+  <license>MIT</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+    <!-- This doesn't work yet https://github.com/gazebosim/ros_gz/pull/492 -->
+    <!-- <gazebo_ros gazebo_model_path="${prefix}/meshes"/> -->
+  </export>
+</package>