sdformat_urdf parser demo #265

quarkytale · 2022-06-24T05:56:06Z

🎉 New demo

Summary

Demonstrating SDFormat XML as a robot description format instead of URDF XML using sdformat_urdf plugin. The parser takes the SDF file published on /robot_description topic by robot_state_publisher and converts it to URDF C++ DOM structures. Joint states and TFs are bridged using ros_ign_bridge enabling RViz to visualize the RobotModel and odometry simulated by a Gazebo world.
Also demonstrates a use-case of #259.

Changes made

Parser compatible SDF model
Gazebo world with required plugins (JointStatePublisher, PosePublisher, OdometryPublisher)
Launch file bringing up launch arguments, Gazebo, ros_ign_bridge, robot_state_publisher and RViz
RViz config
Installation framework for the new model and world

Snapshots

vehicle_on_rviz.mp4

Test it

In a colcon workspace, install ros_gz and sdformat_urdf from source. Make sure you have the latest Gazebo fortress release.
Run the demo launch file with the rviz launch argument set.

ros2 launch ros_ign_gazebo_demos sdf_parser.launch.py rviz:=True

Start the simulation in Gazebo and wait a second for TFs to be published.
Send commands for the vehicle to move in circles, matching its trajectory in Gazebo and RViz.

ign topic -t "/model/vehicle/cmd_vel" -m ignition.msgs.Twist -p "linear: {x: 1.0}, angular: {z: -0.1}"
ros2 topic pub /model/vehicle/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -0.1}}

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
codecheck passed (See contributing)
All tests passed (See test coverage)
While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

…all paths Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

mjcarroll · 2022-07-08T14:19:35Z

I'm pretty sure CI is consistently broken on the ros2 branch.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

chapulina

This PR should help with sdformat_urdf + Garden. We need to build that from source with Garden enabled on this project's CI.

Support Gazebo Garden ros/sdformat_urdf#17

ros_ign_gazebo_demos/models/vehicle/model.config

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

chapulina

The demo isn't working for me on RViz, have you tried the latest state of this branch, @quarkytale ? I haven't dug to see what could be wrong.

ros_ign_gazebo_demos/CMakeLists.txt

ros_ign_gazebo_demos/package.xml

ros_ign_gazebo_demos/worlds/vehicle.sdf

Signed-off-by: methylDragon <methylDragon@gmail.com>

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

Clean up shared libraries, and tick-tock RosGzPointCloud Tick-tock launch args Hard-tock ign_ in sources Migrate ign, ign_, IGN_ for sources, launch, and test files Migrate IGN_XXX_VER, IGN_T, header guards Migrate launchfile, launchfile args, and test source references Migrate ros_ign_XXX and gz_gazebo -> gz_sim Migrate ros_ign_XXX project names Migrate Ign, ign-, IGN_DEPS, ign-gazebo Migrate ignitionrobotics, ignitionrobotics/ros_ign, osrf/ros_ign Migrate ignition-version, IGNITION_VERSION, Ignition <LIB>, ros_ign_ci Signed-off-by: methylDragon <methylDragon@gmail.com>

…o quarkytale/parser_demo

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

quarkytale · 2022-08-01T06:37:33Z

test_launch_test_ros_subscriber.launch.py is failing for fortress+humble

Signed-off-by: Louise Poubel <louise@openrobotics.org>

chapulina

Some minor comments with things I needed to do for this to run

ros_gz_sim_demos/launch/sdf_parser.launch.py

ros_gz_sim_demos/worlds/vehicle.sdf

ros_gz_sim_demos/launch/sdf_parser.launch.py

ros_ign_gazebo_demos/package.xml

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

chapulina

This is great! 🚀

* parser compatible model and launch framework Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * added ground plane, common gz plugins, demo commands and cleaned install paths Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * unique collision names and cleared flake Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * updating model config Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * building parser from source Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * fix flake and update deb dependency for garden Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * Move packages and files to gz Signed-off-by: methylDragon <methylDragon@gmail.com> * feedback and ign->gz Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * Support ros_ign migration Clean up shared libraries, and tick-tock RosGzPointCloud Tick-tock launch args Hard-tock ign_ in sources Migrate ign, ign_, IGN_ for sources, launch, and test files Migrate IGN_XXX_VER, IGN_T, header guards Migrate launchfile, launchfile args, and test source references Migrate ros_ign_XXX and gz_gazebo -> gz_sim Migrate ros_ign_XXX project names Migrate Ign, ign-, IGN_DEPS, ign-gazebo Migrate ignitionrobotics, ignitionrobotics/ros_ign, osrf/ros_ign Migrate ignition-version, IGNITION_VERSION, Ignition <LIB>, ros_ign_ci Signed-off-by: methylDragon <methylDragon@gmail.com> * renaming and flake Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * added ros commands Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * gz-version Signed-off-by: Louise Poubel <louise@openrobotics.org> * feedback and ci trial Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * removing garden condition Signed-off-by: Dharini Dutia <dharini@openrobotics.org> Signed-off-by: Dharini Dutia <dharini@openrobotics.org> Signed-off-by: Michael Carroll <michael@openrobotics.org> Signed-off-by: methylDragon <methylDragon@gmail.com> Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Michael Carroll <michael@openrobotics.org> Co-authored-by: methylDragon <methylDragon@gmail.com> Co-authored-by: Louise Poubel <louise@openrobotics.org>

parser compatible model and launch framework

6d5db1c

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

osrf-triage added this to Inbox in Core development Jun 24, 2022

quarkytale moved this from Inbox to In progress in Core development Jun 24, 2022

chapulina added ROS 2 ROS 2 MBARI buoy Sponsored by MBARI buoy sim project: https://github.com/osrf/buoy_sim labels Jun 24, 2022

chapulina assigned quarkytale Jun 27, 2022

quarkytale added 2 commits June 29, 2022 15:57

added ground plane, common gz plugins, demo commands and cleaned inst…

a302cb4

…all paths Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

unique collision names and cleared flake

84d5715

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

quarkytale marked this pull request as ready for review June 30, 2022 00:29

quarkytale requested a review from chapulina as a code owner June 30, 2022 00:29

chapulina moved this from In progress to In review in Core development Jul 6, 2022

Merge branch 'ros2' into quarkytale/parser_demo

aaae502

Signed-off-by: Michael Carroll <michael@openrobotics.org>

chapulina suggested changes Jul 11, 2022

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ros_ign_gazebo_demos/models/vehicle/model.config Outdated Show resolved Hide resolved

ros_ign_gazebo_demos/models/vehicle/model.config Outdated Show resolved Hide resolved

quarkytale added 3 commits July 20, 2022 11:28

updating model config

a86167e

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

building parser from source

d7a9d2f

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

fix flake and update deb dependency for garden

5f5a755

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

quarkytale requested a review from chapulina July 22, 2022 02:04

chapulina added the enhancement New feature or request label Jul 23, 2022

chapulina suggested changes Jul 25, 2022

View reviewed changes

methylDragon and others added 4 commits July 27, 2022 00:16

Move packages and files to gz

8e89570

Signed-off-by: methylDragon <methylDragon@gmail.com>

Merge branch 'ros2' into quarkytale/parser_demo

01326be

feedback and ign->gz

564f459

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

quarkytale changed the base branch from ros2 to ros_gz_migration-mv July 30, 2022 05:06

quarkytale added 3 commits July 30, 2022 00:36

Merge branch 'ros_gz_migration-mv' of github.com:gazebosim/ros_gz int…

542a98c

…o quarkytale/parser_demo

renaming and flake

aa945dd

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

added ros commands

5c76741

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

quarkytale requested a review from chapulina August 1, 2022 06:38

methylDragon force-pushed the ros_gz_migration-mv branch from c305a3c to 1f936b9 Compare August 1, 2022 20:23

methylDragon force-pushed the ros_gz_migration-mv branch 2 times, most recently from fa9cf16 to 07bca97 Compare August 17, 2022 00:14

Base automatically changed from ros_gz_migration-mv to ros2 August 17, 2022 01:55

Merge branch 'ros2' into quarkytale/parser_demo

ed71064

nkoenig requested a review from ahcorde August 22, 2022 18:47

mjcarroll self-requested a review August 22, 2022 21:05

chapulina added 2 commits August 29, 2022 16:57

Merge branch 'ros2' into quarkytale/parser_demo

08cc1b0

Signed-off-by: Louise Poubel <louise@openrobotics.org>

gz-version

26db6ee

Signed-off-by: Louise Poubel <louise@openrobotics.org>

chapulina reviewed Aug 30, 2022

View reviewed changes

chapulina mentioned this pull request Aug 30, 2022

libignition-gazebo[2-6]-dev debs should not be required to run simulation using ign gazebo-tooling/release-tools#529

Open

quarkytale added 2 commits August 31, 2022 21:00

feedback and ci trial

78fdc2f

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

removing garden condition

7b50a80

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

quarkytale enabled auto-merge (squash) September 1, 2022 20:01

chapulina approved these changes Sep 1, 2022

View reviewed changes

quarkytale merged commit 6b05462 into ros2 Sep 1, 2022

Core development automation moved this from In review to Done Sep 1, 2022

quarkytale deleted the quarkytale/parser_demo branch September 1, 2022 23:33

chapulina moved this from Done to Highlights in Core development Sep 2, 2022

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sdformat_urdf parser demo #265

sdformat_urdf parser demo #265

quarkytale commented Jun 24, 2022 •

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mjcarroll commented Jul 8, 2022

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sdformat_urdf parser demo #265

sdformat_urdf parser demo #265

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quarkytale commented Jun 24, 2022 • edited Loading

🎉 New demo

Summary

Changes made

Snapshots

Test it

Checklist

mjcarroll commented Jul 8, 2022

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quarkytale commented Aug 1, 2022

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quarkytale commented Jun 24, 2022 •

edited

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