Merge pull request #70 from clubcapra/aws-small-house

add aws small house from to rove
clubcapra · Nov 20, 2024 · cc822c6 · cc822c6
2 parents 4c49b88 + 24304cf
commit cc822c6
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Showing 5 changed files with 68 additions and 28 deletions.
diff --git a/rove.repos b/rove.repos
@@ -10,4 +10,8 @@ repositories:
   gz_ros2_control:
     type: git
     url: https://github.com/clubcapra/gz_ros2_control.git
-    version: iron
+    version: iron
+  aws_robomaker_small_house_world:
+    type: git
+    url: https://github.com/clubcapra/aws-robomaker-small-house-world.git
+    version: capra-fix
diff --git a/src/rove_bringup/launch/sim.launch.py b/src/rove_bringup/launch/sim.launch.py
@@ -2,33 +2,58 @@
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+)
+from launch.conditions import IfCondition, UnlessCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import Command
+from launch.substitutions import Command, LaunchConfiguration
 from launch_ros.actions import Node
 from launch_ros.parameter_descriptions import ParameterValue
 
 
 def generate_launch_description():
+    # Declare launch arguments
+    declare_small_house_arg = DeclareLaunchArgument(
+        "small_house",
+        default_value="false",
+        description='Set to "true" to use the small house world.',
+    )
+
     # 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")
     pkg_ovis = get_package_share_directory("ovis_bringup")
+    pkg_aws_house = get_package_share_directory("aws_robomaker_small_house_world")
 
     # Get simulation file
-    world_file_name = "worlds/base_world.world"
-    world = os.path.join(pkg_rove_description, world_file_name)
+    walls_file_path = os.path.join(pkg_rove_description, "worlds", "walls.sdf")
+    actor_file_path = os.path.join(pkg_rove_description, "worlds", "actor.sdf")
+    world_file_path = os.path.join(pkg_rove_description, "worlds", "base_world.world")
+    small_house_file_path = os.path.join(pkg_aws_house, "worlds", "small_house.world")
+
+    model_path = os.path.join(pkg_aws_house, "models")
 
     # 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(),
+        launch_arguments={"gz_args": "-v 4 -r " + world_file_path}.items(),
+        condition=UnlessCondition(LaunchConfiguration("small_house")),
+    )
+
+    gz_sim_house = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={"gz_args": "-v 4 -r " + small_house_file_path}.items(),
+        condition=IfCondition(LaunchConfiguration("small_house")),
     )
 
-    walls_file_path = os.path.join(pkg_rove_description, "worlds", "walls.sdf")
     spawn_walls = Node(
         package="ros_gz_sim",
         executable="create",
@@ -44,10 +69,10 @@ def generate_launch_description():
             "-z",
             "0",
         ],
+        condition=UnlessCondition(LaunchConfiguration("small_house")),
         output="screen",
     )
 
-    actor_file_path = os.path.join(pkg_rove_description, "worlds", "actor.sdf")
     spawn_actor = Node(
         package="ros_gz_sim",
         executable="create",
@@ -63,6 +88,7 @@ def generate_launch_description():
             "-z",
             "0.06",
         ],
+        condition=UnlessCondition(LaunchConfiguration("small_house")),
         output="screen",
     )
 
@@ -118,23 +144,23 @@ def generate_launch_description():
         }.items(),
     )
 
-
     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",
+            "ovis_base_origin": "0.24 0 0.38 0 0 3.14",
         }.items(),
     )
 
-
-
     return LaunchDescription(
         [
+            SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", model_path),
+            declare_small_house_arg,
             gz_sim,
+            gz_sim_house,
             bridge,
             spawn_walls,
             spawn_actor,

diff --git a/src/rove_description/urdf/gazebo.urdf.xacro b/src/rove_description/urdf/gazebo.urdf.xacro
@@ -16,12 +16,24 @@
 
 
         <plugin name="gz::sim::systems::TrackedVehicle" filename="gz-sim-tracked-vehicle-system">
-            <left_track><link>track_l</link></left_track>
-            <left_track><link>flipper_fl</link></left_track>
-            <left_track><link>flipper_rl</link></left_track>
-            <right_track><link>track_r</link></right_track>
-            <right_track><link>flipper_fr</link></right_track>
-            <right_track><link>flipper_rr</link></right_track>
+            <left_track>
+                <link>track_l</link>
+            </left_track>
+            <left_track>
+                <link>flipper_fl</link>
+            </left_track>
+            <left_track>
+                <link>flipper_rl</link>
+            </left_track>
+            <right_track>
+                <link>track_r</link>
+            </right_track>
+            <right_track>
+                <link>flipper_fr</link>
+            </right_track>
+            <right_track>
+                <link>flipper_rr</link>
+            </right_track>
 
             <!-- TODO PUT ACTUAL VALUES -->
             <tracks_separation>0.63</tracks_separation>
@@ -30,17 +42,12 @@
 
             <topic>cmd_vel</topic>
             <odom_topic>odom</odom_topic>
-            <frame_id>odom</frame_id>    
+            <frame_id>odom</frame_id>
             <child_frame_id>base_link</child_frame_id>
         </plugin>
 
-        <plugin 
-            filename="gz-sim-sensors-system"
-            name="gz::sim::systems::Sensors">
-            <render_engine>ogre2</render_engine>
-        </plugin>
 
-        <plugin filename="gz-sim-navsat-system" name="gz::sim::systems::NavSat"/>
+        <plugin filename="gz-sim-navsat-system" name="gz::sim::systems::NavSat" />
 
         <gazebo reference="friction_plate_base">
             <material>Gazebo/Grey</material>
@@ -50,4 +57,4 @@
             <kd>1.0</kd>
         </gazebo>
     </gazebo>
-</robot>
+</robot>
diff --git a/src/rove_description/urdf/rove.urdf.xacro b/src/rove_description/urdf/rove.urdf.xacro
@@ -125,7 +125,7 @@
     <joint name="friction_plate_base_joint" type="fixed">
         <parent link="base_link" />
         <child link="friction_plate_base" />
-        <origin xyz="0.22 0 0.2" rpy="0 0 0" />
+        <origin xyz="0.24 0 0.2" rpy="0 0 0" />
     </joint>
 
     <!-- <xacro:rove_ros2_control/> -->

diff --git a/src/rove_description/worlds/base_world.world b/src/rove_description/worlds/base_world.world
@@ -113,7 +113,10 @@
         <plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system' />
         <plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system' />
         <plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system' />
-
+        <plugin
+            filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+        </plugin>
 
         <include>
             <pose>3.5 0 0 0 0 3.14</pose>