Gazebo Classic Simulation humble

.github/workflows/ci.yml

@@ -22,6 +22,6 @@ jobs:
     - uses: ros-tooling/action-ros-ci@v0.3
       id: action_ros_ci_step
       with:
-        package-name: andino_base andino_control andino_description andino_slam
+        package-name: andino_base andino_control andino_description andino_slam andino_gazebo
         target-ros2-distro: ${{ env.ROS_DISTRO }}
         import-token: ${{ secrets.GITHUB_TOKEN }}

andino_description/urdf/include/common_sensors.urdf.xacro

@@ -57,7 +57,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://${package_name}/meshes/sensors/${mesh}" />
+          <mesh filename="package://andino_description/meshes/sensors/${mesh}" />
         </geometry>
         <material name="blue"/>
       </visual>

andino_gazebo/CHANGELOG.rst

@@ -0,0 +1,9 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package andino_gazebo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+
+0.0.1 (2023-06-29)
+------------------
+* First andino release
+* Contributors: olmerg

andino_gazebo/CMakeLists.txt

@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.8)
+
+project(andino_gazebo)
+
+# Skip if Gazebo not present
+find_package(gazebo QUIET)
+if(NOT gazebo_FOUND)
+  message(WARNING "Gazebo not found, proceeding without that simulator.")
+  return()
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(
+  DIRECTORY
+    launch
+    rviz
+    urdf
+  DESTINATION
+    share/${PROJECT_NAME}/
+)
+
+
+ament_package()

andino_gazebo/LICENSE

@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2023, Ekumen Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

andino_gazebo/README.MD

@@ -0,0 +1,80 @@
+
+# Gazebo Classic simulation for the Andino robot 
+
+## Build
+
+Install package dependencies:
+
+```
+rosdep install --from-paths src -i -y
+```
+
+Build the package:
+
+```
+colcon build
+```
+
+Note: `--symlink-install` can be added if needed.
+
+Finally, source the install folder
+```
+. install/setup.bash
+```
+
+Note: `gazebo` might be needed to be sourced as well
+
+```
+. /usr/share/gazebo/setup.bash
+```
+
+# Usage 
+
+This package has the next option to be executed.
+
+## Andino simulation with Gazebo diff drive plugin
+
+
+```
+ros2 launch andino_gazebo andino_one_robot.launch.py initial_pose_x:=3.0
+```
+
+This launch file supports the following launch arguments:
+
+- `use_sim_time` . This parameter indicate to the rviz that it should work with simulation time. (default: 'true')
+- `rviz` . This parameter let to decide if you want to run rviz with this launch. False can be useful if you want to view the rviz in another computer. (default: 'true')
+- `world` . SDF file of the world where andino will run. Note that the world should be available in gazebo paths.(default: 'empty_world.world')
+
+Finally, all the parameters of spawn an andino robot to put the robot in specific position are available. for more information of all the parameters of the child launch files you can write:
+
+```
+ros2 launch andino_gazebo andino_one_robot.launch.py -s
+```
+
+## Spawn an Andino robot
+
+```
+ros2 launch andino_gazebo spawn_robot.launch.py initial_pose_x:=3.0 entity:=andino robot_description_topic:=/andino/robot_description
+```
+
+The parameters of this launch let to put the robot in any place of the simulation.
+
+- `use_sim_time`: Use simulation (Gazebo) clock if true. (default: 'true')
+
+- `initial_pose_x`: Initial x pose of andino in the simulation. (default: '0.0')
+
+- `initial_pose_y`: Initial y pose of andino in the simulation. (default: '0.0')
+
+- `initial_pose_z`: Initial z pose of andino in the simulation. (default: '0.0')
+
+- `robot_description_topic`: robot description topic. (default: '/robot_description')
+
+- `initial_pose_yaw`: Initial yaw pose of andino in the simulation. (default: '0.0')
+
+- `use_gazebo_ros_control`: True to use the gazebo_ros_control plugin.  (default: 'false')
+
+- `entity`: Name of the robot. (default: 'andino')
+
+- `rsp_frequency`: robot state publisher frequency. (default: '30.0')
+
+Spawn multiple andino robots has some issues, so no namespace is created.

andino_gazebo/launch/andino_one_robot.launch.py

@@ -0,0 +1,99 @@
+# Licensed under the 3-Clause BSD License
+#
+# Copyright (c) 2023, Ekumen Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice, this
+#    list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+#    this list of conditions and the following disclaimer in the documentation
+#    and/or other materials provided with the distribution.
+#
+# 3. Neither the name of the copyright holder nor the names of its
+#    contributors may be used to endorse or promote products derived from
+#    this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+"""Launch Gazebo with a world that has Andino."""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription, TimerAction
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    # Arguments
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    use_rviz = LaunchConfiguration('rviz')
+
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+    pkg_andino_gazebo = get_package_share_directory('andino_gazebo')
+
+    use_sim_time_argument = DeclareLaunchArgument(
+        'use_sim_time',
+        default_value='true',
+        description='Use simulation (Gazebo) clock if true',
+    )
+    world_argument = DeclareLaunchArgument(
+        'world', default_value=['empty_world.world'], description='SDF world file'
+    )
+    use_rviz_argument = DeclareLaunchArgument(
+        'rviz', default_value='true', description='Open RViz.'
+    )
+
+    # Include andino
+    include_andino = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_andino_gazebo, 'launch', 'spawn_robot.launch.py')
+        ),
+        launch_arguments={'use_gazebo_ros_control': 'false'}.items(),
+    )
+    # Gazebo launch
+    gazebo = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py')
+        )
+    )
+
+    # RViz
+    rviz = Node(
+        package='rviz2',
+        executable='rviz2',
+        parameters=[{'use_sim_time': use_sim_time}],
+        arguments=['-d', os.path.join(pkg_andino_gazebo, 'rviz', 'andino_gazebo.rviz')],
+    )
+
+    andino_visualization_timer = TimerAction(
+        period=5.0, actions=[rviz], condition=IfCondition(use_rviz)
+    )
+    return LaunchDescription(
+        [
+            use_sim_time_argument,
+            world_argument,
+            use_rviz_argument,
+            gazebo,
+            include_andino,
+            andino_visualization_timer,
+        ]
+    )