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Copter: add gimbal and camera to iris (#2)
- Merge gimbal and camera peripheral into model. - Update iris launch file to set SDF_PATH before running the sdformat_urdf converter. - Update bring up launch file to use the iris with gimbal params. - Add bridge entry for the camera and camera info. - Add image display and TF to rviz config. - Add ros2_gz.repos containing dependencies - Update README Signed-off-by: Rhys Mainwaring <[email protected]>
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| # ardupilot_gz | ||
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| Adapted from the [`ros_gz_project_template`](https://github.com/gazebosim/ros_gz_project_template) project integrating ROS 2 and Gazebo. | ||
| This project contains ROS 2 packages for simulating models controlled | ||
| by ArduPilot SITL with DDS support in Gazebo. | ||
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| The project is adapted from the [`ros_gz_project_template`](https://github.com/gazebosim/ros_gz_project_template) project. | ||
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| ## Included packages | ||
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| * `ardupilot_gz_description` - Contains the sdf description of the simulated | ||
| system and any other assets. | ||
| * `ardupilot_gz_description` - Contains the SDFormat description of the simulated | ||
| system. | ||
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| * `ardupilot_gz_gazebo` - Contains Gazebo specific code and configurations such | ||
| as system plugins. | ||
| * `ardupilot_gz_gazebo` - Contains Gazebo specific code such as system plugins. | ||
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| * `ardupilot_gz_application` - Contains ROS 2 specific code and configuration. | ||
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| * `ardupilot_gz_bringup` - Contains launch files and high level utilities. | ||
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| ## Prerequisites | ||
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| - Install [ROS 2 Humble](https://docs.ros.org/en/humble/index.html) | ||
| - Install [Gazebo Garden](https://gazebosim.org/docs/garden) | ||
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| ## Install | ||
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| ### Dependencies | ||
| #### 1. Create a workspace folder | ||
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| 1. Install [ROS 2 Humble](https://docs.ros.org/en/humble/index.html) | ||
| ```bash | ||
| mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src | ||
| ``` | ||
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| 1. Install [Gazebo Garden](https://gazebosim.org/docs/garden) | ||
| #### 2. Get the project source | ||
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| 1. Install necessary tools | ||
| ```bash | ||
| cd ~/ros2_ws/src | ||
| wget https://raw.githubusercontent.com/srmainwaring/ardupilot_gz/wips/wip-iris-camera/ros2_gz.repos | ||
| vcs import --recursive < ros2_gz.repos | ||
| ``` | ||
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| `sudo apt install python3-vcstool python3-colcon-common-extensions git wget` | ||
| #### 3. Set the Gazebo version to Garden: | ||
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| ### Usage | ||
| ```bash | ||
| export GZ_VERSION=garden | ||
| ``` | ||
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| 1. Create a workspace, for example: | ||
| #### 4. Update ROS dependencies | ||
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| ``` | ||
| mkdir -p ~/ros2_ws/src | ||
| cd ~/ros2_ws/src | ||
| ``` | ||
| ```bash | ||
| cd ~/ros_ws | ||
| source /opt/ros/humble/setup.bash | ||
| sudo apt update | ||
| rosdep update | ||
| rosdep install --rosdistro humble --from-paths src -i -r -y | ||
| ``` | ||
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| 1. Clone the project: | ||
| #### 5. Build | ||
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| ``` | ||
| TBC | ||
| ``` | ||
| ```bash | ||
| cd ~/ros2_ws | ||
| colcon build --cmake-args -DBUILD_TESTING=ON | ||
| ``` | ||
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| 1. Set the Gazebo version to Garden: | ||
| #### 6. Test | ||
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| ``` | ||
| export GZ_VERSION=garden | ||
| ``` | ||
| ```bash | ||
| source ./install/setup.bash | ||
| colcon test --packages-select ardupilot_dds_sitl ardupilot_dds_tests ardupilot_gazebo ardupilot_gz_applications ardupilot_gz_description ardupilot_gz_gazebo ardupilot_gz_bringup | ||
| colcon test-result --all --verbose | ||
| ``` | ||
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| 1. Install ROS dependencies | ||
| ## Usage | ||
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| ``` | ||
| sudo rosdep init | ||
| rosdep update | ||
| rosdep install --from-paths src --ignore-src -r -y -i | ||
| ``` | ||
| #### 1. Source the workspace | ||
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| 1. Build and install | ||
| ```bash | ||
| source ~/ros2_ws/install/setup.sh | ||
| ``` | ||
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| ``` | ||
| cd ~/ros2_ws | ||
| colcon build --cmake-args -DBUILD_TESTING=ON | ||
| ``` | ||
| #### 2. Launch the simulation | ||
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| ### Run | ||
| ```bash | ||
| ros2 launch ardupilot_gz_bringup bringup_iris.launch.py | ||
| ``` | ||
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| 1. Source the workspace | ||
| #### 3. Launch a GCS (MAVPorxy) | ||
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| `. ~/ros2_ws/install/setup.sh` | ||
| ```bash | ||
| mavproxy.py --console --map | ||
| ``` | ||
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| 1. Launch the simulation | ||
| #### 4. Inspect topics | ||
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| `ros2 launch ardupilot_gz_bringup bringup_iris.launch.py` | ||
| ```bash | ||
| $ ros2 topic list | ||
| /ROS2_BatteryState0 | ||
| /ROS2_NavSatFix0 | ||
| /ROS2_Time | ||
| /clicked_point | ||
| /clock | ||
| /goal_pose | ||
| /initialpose | ||
| /iris/odometry | ||
| /joint_states | ||
| /parameter_events | ||
| /robot_description | ||
| /rosout | ||
| /tf | ||
| /tf_static | ||
| ``` | ||
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| 1. Launch the a GCS | ||
| ## Notes | ||
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| `mavproxy.py --console --map` | ||
| #### 1. Additional dependencies | ||
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| 1. Inspect topics | ||
| `ros_gz` has a dependency on `gps_msgs` included in | ||
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| ```bash | ||
| $ ros2 topic list | ||
| /ROS2_BatteryState0 | ||
| /ROS2_NavSatFix0 | ||
| /ROS2_Time | ||
| /clicked_point | ||
| /clock | ||
| /goal_pose | ||
| /initialpose | ||
| /iris/odometry | ||
| /joint_states | ||
| /parameter_events | ||
| /robot_description | ||
| /rosout | ||
| /tf | ||
| /tf_static | ||
| ``` | ||
| ```bash | ||
| git clone https://github.com/swri-robotics/gps_umd.git -b ros2-devel | ||
| ``` | ||
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| Add `COLCON_IGNORE` to `gpsd_client` as this package is not required and | ||
| will not build on macOS. | ||
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| ## Notes | ||
| #### 2. `sdformat_urdf` | ||
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| On macOS the `robot_state_publisher` node cannot load the | ||
| `sdformat_urdf_plugin` plugin unless the | ||
| suffix is changed: | ||
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| 1. Additional dependency | ||
| ```bash | ||
| cd ./install/sdformat_urdf/lib | ||
| ln -s libsdformat_urdf_plugin.so libsdformat_urdf_plugin.dylib | ||
| ``` | ||
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| `ros_gz` has a dependency on `gps_msgs` included in | ||
| #### 3. Model URIs | ||
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| ```bash | ||
| git clone https://github.com/swri-robotics/gps_umd.git -b ros2-devel | ||
| ``` | ||
| The `sdformat_urdf` plugin requires that the `<uri>` element use | ||
| the `package` prefix for a resource to be located by RViz. | ||
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| Add `COLCON_IGNORE` to `gpsd_client` as this package is not required and | ||
| will not build on macOS. | ||
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| 1. sdformat_urdf | ||
| #### 4. SDFormat environment variables | ||
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| On macOS the `robot_state_publisher` node cannot load the | ||
| `sdformat_urdf_plugin` plugin unless the | ||
| suffix is changed: | ||
| The `sdformat_urdf` plugin uses the `sdformat13` libraries to parse the | ||
| model description. `sdformat13` relies on the environment variable | ||
| `SDF_PATH` to resolve model resources. This is usually set in `gz-sim7`, | ||
| however when using the plugins standalone, for instance in the bring-up | ||
| launch files, `SDF_PATH` must be set otherwise the plugin will not resolve | ||
| the models and their dependencies. | ||
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| ```bash | ||
| cd ./install/sdformat_urdf/lib | ||
| ln -s libsdformat_urdf_plugin.so libsdformat_urdf_plugin.dylib | ||
| ``` | ||
| ```bash | ||
| source ~/ros2_ws/install/setup.sh | ||
| export SDF_PATH=$GZ_SIM_RESOURCE_PATH | ||
| ``` | ||
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| 1. Model URIs | ||
| This is checked in the launch file as `SDF_PATH` is not usually set | ||
| by the `ament` environment hooks. | ||
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| The `<uri>` element must use the `package` prefix for resource to be located | ||
| by RViz. |
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