From f1f4a92026ab45aae14ff828ed4b734218f7aa0d Mon Sep 17 00:00:00 2001 From: joe28965 Date: Thu, 10 Jun 2021 08:22:48 +0200 Subject: [PATCH 1/4] separated world and robot models --- .../launch/empty_world.launch.py | 86 +++++++++++-------- .../launch/robot_state_publisher.launch.py | 59 +++++++------ .../launch/spawn_turtlebot3.launch.py | 69 +++++++++++++++ .../launch/turtlebot3_autorace.launch.py | 81 ++++++++++------- .../launch/turtlebot3_dqn_stage1.launch.py | 81 ++++++++++------- .../launch/turtlebot3_dqn_stage2.launch.py | 81 ++++++++++------- .../launch/turtlebot3_dqn_stage3.launch.py | 81 ++++++++++------- .../launch/turtlebot3_dqn_stage4.launch.py | 81 ++++++++++------- .../launch/turtlebot3_house.launch.py | 81 ++++++++++------- .../launch/turtlebot3_world.launch.py | 81 ++++++++++------- turtlebot3_gazebo/worlds/empty_world.world | 47 ++++++++++ .../worlds/turtlebot3_autorace.world | 83 ++++++++++++++++++ .../worlds/turtlebot3_dqn_stage1.world | 54 ++++++++++++ .../worlds/turtlebot3_dqn_stage2.world | 58 +++++++++++++ .../worlds/turtlebot3_dqn_stage3.world | 62 +++++++++++++ .../worlds/turtlebot3_dqn_stage4.world | 75 ++++++++++++++++ .../worlds/turtlebot3_house.world | 54 ++++++++++++ .../worlds/turtlebot3_world.world | 54 ++++++++++++ 18 files changed, 1005 insertions(+), 263 deletions(-) create mode 100644 turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py create mode 100644 turtlebot3_gazebo/worlds/empty_world.world create mode 100644 turtlebot3_gazebo/worlds/turtlebot3_autorace.world create mode 100644 turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world create mode 100644 turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world create mode 100644 turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world create mode 100644 turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world create mode 100644 turtlebot3_gazebo/worlds/turtlebot3_house.world create mode 100644 turtlebot3_gazebo/worlds/turtlebot3_world.world diff --git a/turtlebot3_gazebo/launch/empty_world.launch.py b/turtlebot3_gazebo/launch/empty_world.launch.py index 8e72b02e..b0ca4457 100644 --- a/turtlebot3_gazebo/launch/empty_world.launch.py +++ b/turtlebot3_gazebo/launch/empty_world.launch.py @@ -14,48 +14,66 @@ # See the License for the specific language governing permissions and # limitations under the License. # -# Authors: Darby Lim +# Authors: Joep Tool import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import ExecuteProcess from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration -TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] +def generate_launch_description(): + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'empty_world.world' + ) -def generate_launch_description(): - use_sim_time = LaunchConfiguration('use_sim_time', default='True') - world_file_name = 'empty_worlds/' + TURTLEBOT3_MODEL + '.model' - world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), - 'worlds', world_file_name) - launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') - pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - - return LaunchDescription([ - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items(), - ), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), - ), - - ExecuteProcess( - cmd=['ros2', 'param', 'set', '/gazebo', 'use_sim_time', use_sim_time], - output='screen'), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), - launch_arguments={'use_sim_time': use_sim_time}.items(), - ), - ]) + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) + + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) + + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld \ No newline at end of file diff --git a/turtlebot3_gazebo/launch/robot_state_publisher.launch.py b/turtlebot3_gazebo/launch/robot_state_publisher.launch.py index 938669ca..a551cb8f 100644 --- a/turtlebot3_gazebo/launch/robot_state_publisher.launch.py +++ b/turtlebot3_gazebo/launch/robot_state_publisher.launch.py @@ -26,29 +26,36 @@ def generate_launch_description(): - TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] - - use_sim_time = LaunchConfiguration('use_sim_time', default='false') - urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf' - - print('urdf_file_name : {}'.format(urdf_file_name)) - - urdf = os.path.join( - get_package_share_directory('turtlebot3_description'), - 'urdf', - urdf_file_name) - - return LaunchDescription([ - DeclareLaunchArgument( - 'use_sim_time', - default_value='false', - description='Use simulation (Gazebo) clock if true'), - - Node( - package='robot_state_publisher', - executable='robot_state_publisher', - name='robot_state_publisher', - output='screen', - parameters=[{'use_sim_time': use_sim_time}], - arguments=[urdf]), - ]) + TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] + + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf' + + print('urdf_file_name : {}'.format(urdf_file_name)) + + urdf_path = os.path.join( + get_package_share_directory('turtlebot3_description'), + 'urdf', + urdf_file_name) + + with open(urdf_path, 'r') as infp: + robot_desc = infp.read() + + + return LaunchDescription([ + DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use simulation (Gazebo) clock if true'), + + Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[{ + 'use_sim_time': use_sim_time, + 'robot_description': robot_desc + }], + ), + ]) diff --git a/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py b/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py new file mode 100644 index 00000000..359a032e --- /dev/null +++ b/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py @@ -0,0 +1,69 @@ +# Copyright 2019 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os + +from launch import LaunchDescription +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory + +def generate_launch_description(): + # Get the urdf file + TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] + model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL + urdf_path = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'models', + model_folder, + 'model.sdf' + ) + + # Launch configuration variables specific to simulation + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + + # Declare the launch arguments + declare_x_position_cmd = DeclareLaunchArgument( + 'x_pose', default_value='0.0', + description='Specify namespace of the robot') + + declare_y_position_cmd = DeclareLaunchArgument( + 'y_pose', default_value='0.0', + description='Specify namespace of the robot') + + start_gazebo_ros_spawner_cmd = Node( + package='gazebo_ros', + executable='spawn_entity.py', + arguments=[ + '-entity', TURTLEBOT3_MODEL, + '-file', urdf_path, + '-x', x_pose, + '-y', y_pose, + '-z', '0.01' + ], + output='screen', + ) + + ld = LaunchDescription() + + # Declare the launch options + # ld.add_action(declare_x_position_cmd) + # ld.add_action(declare_y_position_cmd) + + # Add any conditioned actions + ld.add_action(start_gazebo_ros_spawner_cmd) + + return ld \ No newline at end of file diff --git a/turtlebot3_gazebo/launch/turtlebot3_autorace.launch.py b/turtlebot3_gazebo/launch/turtlebot3_autorace.launch.py index ab73a085..57278004 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_autorace.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_autorace.launch.py @@ -14,7 +14,7 @@ # See the License for the specific language governing permissions and # limitations under the License. # -# Authors: Ryan Shim +# Authors: Joep Tool import os @@ -24,33 +24,56 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration -TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] +def generate_launch_description(): + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.1') + y_pose = LaunchConfiguration('y_pose', default='-1.78') + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_autorace.world' + ) -def generate_launch_description(): - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - world_file_name = 'turtlebot3_autoraces/' + TURTLEBOT3_MODEL + '.model' - world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), - 'worlds', world_file_name) - launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') - pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - - return LaunchDescription([ - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items(), - ), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), - ), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), - launch_arguments={'use_sim_time': use_sim_time}.items(), - ), - ]) + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) + + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) + + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld \ No newline at end of file diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py index 667efe29..fb989149 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py @@ -14,7 +14,7 @@ # See the License for the specific language governing permissions and # limitations under the License. # -# Authors: Ryan Shim +# Authors: Joep Tool import os @@ -24,33 +24,56 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration -TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] +def generate_launch_description(): + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_dqn_stage1.world' + ) -def generate_launch_description(): - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - world_file_name = 'turtlebot3_dqn_stage1/' + TURTLEBOT3_MODEL + '.model' - world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), - 'worlds', world_file_name) - launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') - pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - - return LaunchDescription([ - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items(), - ), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), - ), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), - launch_arguments={'use_sim_time': use_sim_time}.items(), - ), - ]) + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) + + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) + + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py index eda96004..e3a7f8af 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py @@ -14,7 +14,7 @@ # See the License for the specific language governing permissions and # limitations under the License. # -# Authors: Ryan Shim +# Authors: Joep Tool import os @@ -24,33 +24,56 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration -TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] +def generate_launch_description(): + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_dqn_stage2.world' + ) -def generate_launch_description(): - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - world_file_name = 'turtlebot3_dqn_stage2/' + TURTLEBOT3_MODEL + '.model' - world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), - 'worlds', world_file_name) - launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') - pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - - return LaunchDescription([ - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items(), - ), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), - ), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), - launch_arguments={'use_sim_time': use_sim_time}.items(), - ), - ]) + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) + + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) + + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py index db896e4b..71ba77a1 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py @@ -14,7 +14,7 @@ # See the License for the specific language governing permissions and # limitations under the License. # -# Authors: Ryan Shim +# Authors: Joep Tool import os @@ -24,33 +24,56 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration -TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] +def generate_launch_description(): + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_dqn_stage3.world' + ) -def generate_launch_description(): - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - world_file_name = 'turtlebot3_dqn_stage3/' + TURTLEBOT3_MODEL + '.model' - world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), - 'worlds', world_file_name) - launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') - pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - - return LaunchDescription([ - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items(), - ), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), - ), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), - launch_arguments={'use_sim_time': use_sim_time}.items(), - ), - ]) + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) + + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) + + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py index d88fdf9b..7f40874d 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py @@ -14,7 +14,7 @@ # See the License for the specific language governing permissions and # limitations under the License. # -# Authors: Ryan Shim +# Authors: Joep Tool import os @@ -24,33 +24,56 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration -TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] +def generate_launch_description(): + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_dqn_stage4.world' + ) -def generate_launch_description(): - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - world_file_name = 'turtlebot3_dqn_stage4/' + TURTLEBOT3_MODEL + '.model' - world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), - 'worlds', world_file_name) - launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') - pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - - return LaunchDescription([ - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items(), - ), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), - ), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), - launch_arguments={'use_sim_time': use_sim_time}.items(), - ), - ]) + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) + + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) + + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_house.launch.py b/turtlebot3_gazebo/launch/turtlebot3_house.launch.py index ff1366fe..d7155e28 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_house.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_house.launch.py @@ -14,7 +14,7 @@ # See the License for the specific language governing permissions and # limitations under the License. # -# Authors: Darby Lim, Ryan Shim +# Authors: Joep Tool import os @@ -24,33 +24,56 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration -TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] +def generate_launch_description(): + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='-2.0') + y_pose = LaunchConfiguration('y_pose', default='-0.5') + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_house.world' + ) -def generate_launch_description(): - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - world_file_name = 'turtlebot3_houses/' + TURTLEBOT3_MODEL + '.model' - world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), - 'worlds', world_file_name) - launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') - pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - - return LaunchDescription([ - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items(), - ), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), - ), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), - launch_arguments={'use_sim_time': use_sim_time}.items(), - ), - ]) + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) + + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) + + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_world.launch.py b/turtlebot3_gazebo/launch/turtlebot3_world.launch.py index 0cdaed69..21cd2ee0 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_world.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_world.launch.py @@ -14,7 +14,7 @@ # See the License for the specific language governing permissions and # limitations under the License. # -# Authors: Darby Lim +# Authors: Joep Tool import os @@ -24,33 +24,56 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration -TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] +def generate_launch_description(): + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='-2.0') + y_pose = LaunchConfiguration('y_pose', default='-0.5') + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_world.world' + ) -def generate_launch_description(): - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - world_file_name = 'turtlebot3_worlds/' + TURTLEBOT3_MODEL + '.model' - world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), - 'worlds', world_file_name) - launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') - pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - - return LaunchDescription([ - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items(), - ), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ), - ), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), - launch_arguments={'use_sim_time': use_sim_time}.items(), - ), - ]) + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) + + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) + + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/worlds/empty_world.world b/turtlebot3_gazebo/worlds/empty_world.world new file mode 100644 index 00000000..cc16566d --- /dev/null +++ b/turtlebot3_gazebo/worlds/empty_world.world @@ -0,0 +1,47 @@ + + + + + + model://ground_plane + + + + model://sun + + + + false + + + + + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + orbit + perspective + + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + diff --git a/turtlebot3_gazebo/worlds/turtlebot3_autorace.world b/turtlebot3_gazebo/worlds/turtlebot3_autorace.world new file mode 100644 index 00000000..d94c776b --- /dev/null +++ b/turtlebot3_gazebo/worlds/turtlebot3_autorace.world @@ -0,0 +1,83 @@ + + + + + + model://sun + + + + false + + + + + 2.7696 -1.93094 6.71513 0 1.1618 2.27182 + orbit + perspective + + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + model://turtlebot3_autorace/course + 0 0 0 0 0 -1.54 + + + + model://turtlebot3_autorace/ground + 0 0 -0.1 0 0 0 + + + + model://turtlebot3_autorace/lights + 0 0 0 0 0 0 + + + + model://turtlebot3_autorace/traffic_parking + 1.84 1.27 0.13 0 0 -0.356 + + + + model://turtlebot3_autorace/traffic_tunnel + -1.544 -0.08 0.125 0 0 0 + + + + model://turtlebot3_autorace/traffic_stop + -2.05 0.65 0.125 0 -0 0 + + + + 0.0 0.0 0.0 0.0 0.0 0.0 + model://turtlebot3_autorace/tunnel_wall + + + + 0.0 0.0 0.0 0.0 0.0 0.0 + model://turtlebot3_autorace/tunnel_obstacles + + + + \ No newline at end of file diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world new file mode 100644 index 00000000..55faf5b7 --- /dev/null +++ b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world @@ -0,0 +1,54 @@ + + + + + + model://ground_plane + + + + model://sun + + + + false + + + + + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + orbit + perspective + + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + 1 + + model://turtlebot3_dqn_world + + + + + diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world new file mode 100644 index 00000000..0a2f4aff --- /dev/null +++ b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world @@ -0,0 +1,58 @@ + + + + + + model://ground_plane + + + + model://sun + + + + false + + + + + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + orbit + perspective + + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + 1 + + model://turtlebot3_dqn_world + + + + + model://turtlebot3_dqn_world/obstacles + + + + diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world new file mode 100644 index 00000000..bc8892c6 --- /dev/null +++ b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world @@ -0,0 +1,62 @@ + + + + + + model://ground_plane + + + + model://sun + + + + false + + + + + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + orbit + perspective + + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + 1 + + model://turtlebot3_dqn_world + + + + + + 1 + + model://turtlebot3_dqn_world/obstacles + + + + + diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world new file mode 100644 index 00000000..ad26d4e9 --- /dev/null +++ b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world @@ -0,0 +1,75 @@ + + + + + + model://ground_plane + + + + model://sun + + + + false + + + + + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + orbit + perspective + + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + 1 + + model://turtlebot3_dqn_world + + + + + 0 0 0 0 0 0 + model://turtlebot3_dqn_world/inner_walls + + + + + + 2 2 0 0 0 0 + model://turtlebot3_dqn_world/obstacle1 + + + + + + + -2 -2 0 0 0 0 + model://turtlebot3_dqn_world/obstacle2 + + + + + diff --git a/turtlebot3_gazebo/worlds/turtlebot3_house.world b/turtlebot3_gazebo/worlds/turtlebot3_house.world new file mode 100644 index 00000000..6b762009 --- /dev/null +++ b/turtlebot3_gazebo/worlds/turtlebot3_house.world @@ -0,0 +1,54 @@ + + + + + + model://ground_plane + + + + model://sun + + + + false + + + + + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + orbit + perspective + + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + 1 + + model://turtlebot3_house + + + + + diff --git a/turtlebot3_gazebo/worlds/turtlebot3_world.world b/turtlebot3_gazebo/worlds/turtlebot3_world.world new file mode 100644 index 00000000..4c45d4e2 --- /dev/null +++ b/turtlebot3_gazebo/worlds/turtlebot3_world.world @@ -0,0 +1,54 @@ + + + + + + model://ground_plane + + + + model://sun + + + + false + + + + + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + orbit + perspective + + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + 1 + + model://turtlebot3_world + + + + + From 31321c2db414ef7371f4e761d3206ec2a54c5f9c Mon Sep 17 00:00:00 2001 From: Will Son Date: Sun, 13 Jun 2021 20:07:24 +0900 Subject: [PATCH 2/4] independent simulation package --- .github/workflows/lint.yml | 18 +- .github/workflows/ros-ci.yml | 9 +- README.md | 2 + turtlebot3_fake_node/CHANGELOG.rst | 8 + turtlebot3_fake_node/CMakeLists.txt | 2 +- turtlebot3_fake_node/launch/rviz2.launch.py | 4 +- .../launch/turtlebot3_fake_node.launch.py | 2 +- turtlebot3_fake_node/rviz/model.rviz | 233 ------------ turtlebot3_gazebo/CHANGELOG.rst | 9 + turtlebot3_gazebo/CMakeLists.txt | 2 +- .../launch/robot_state_publisher.launch.py | 2 +- .../launch/turtlebot3_autorace.launch.py | 79 ---- .../course/materials/scripts/course.material | 14 - .../course/materials/textures/course.png | Bin 363442 -> 0 bytes .../turtlebot3_autorace/course/model.config | 16 - .../turtlebot3_autorace/course/model.sdf | 42 --- .../turtlebot3_autorace/ground/model.config | 16 - .../turtlebot3_autorace/ground/model.sdf | 45 --- .../turtlebot3_autorace/lights/model.config | 16 - .../turtlebot3_autorace/lights/model.sdf | 42 --- .../models/turtlebot3_autorace/model.config | 15 - .../materials/scripts/traffic_bar.material | 14 - .../materials/textures/traffic_bar.png | Bin 3079 -> 0 bytes .../traffic_bar_down/model.config | 16 - .../traffic_bar_down/model.sdf | 31 -- .../materials/scripts/traffic_bar.material | 14 - .../materials/textures/traffic_bar.png | Bin 3079 -> 0 bytes .../traffic_bar_up/model.config | 16 - .../traffic_bar_up/model.sdf | 32 -- .../traffic_light_green/model.config | 11 - .../traffic_light_green/model.sdf | 33 -- .../traffic_light_red/model.config | 11 - .../traffic_light_red/model.sdf | 33 -- .../traffic_light_yellow/model.config | 11 - .../traffic_light_yellow/model.sdf | 33 -- .../scripts/traffic_parking.material | 14 - .../materials/textures/traffic_parking.png | Bin 31730 -> 0 bytes .../traffic_parking/model.config | 16 - .../traffic_parking/model.sdf | 30 -- .../materials/scripts/traffic_stop.material | 14 - .../materials/textures/traffic_stop.png | Bin 43083 -> 0 bytes .../traffic_stop/model.config | 16 - .../traffic_stop/model.sdf | 30 -- .../materials/scripts/tunnel.material | 14 - .../materials/textures/tunnel.png | Bin 81801 -> 0 bytes .../traffic_tunnel/model.config | 16 - .../traffic_tunnel/model.sdf | 30 -- .../tunnel_obstacles/model.config | 16 - .../tunnel_obstacles/model.sdf | 305 ---------------- .../tunnel_wall/model.config | 16 - .../turtlebot3_autorace/tunnel_wall/model.sdf | 345 ------------------ .../models/turtlebot3_burger/model-1_4.sdf | 8 +- .../models/turtlebot3_burger/model.sdf | 8 +- .../meshes/burger_base.dae | 0 .../meshes/lds.dae | 0 .../meshes/r200.dae | 0 .../meshes/tire.dae | 0 .../meshes/waffle_base.dae | 0 .../meshes/waffle_pi_base.dae | 0 .../models/turtlebot3_common/model.config | 15 + .../models/turtlebot3_waffle/meshes/lds.dae | 188 ---------- .../models/turtlebot3_waffle/meshes/tire.dae | 142 ------- .../models/turtlebot3_waffle/model-1_4.sdf | 8 +- .../models/turtlebot3_waffle/model.sdf | 8 +- .../turtlebot3_waffle_pi/meshes/lds.dae | 188 ---------- .../turtlebot3_waffle_pi/meshes/tire.dae | 142 ------- .../turtlebot3_waffle_pi/model-1_4_.sdf | 8 +- .../models/turtlebot3_waffle_pi/model.sdf | 8 +- turtlebot3_gazebo/package.xml | 1 - turtlebot3_gazebo/rviz/tb3_gazebo.rviz | 184 ++++++++-- turtlebot3_gazebo/urdf/common_properties.urdf | 45 +++ turtlebot3_gazebo/urdf/turtlebot3_burger.urdf | 196 ++++++++++ turtlebot3_gazebo/urdf/turtlebot3_waffle.urdf | 293 +++++++++++++++ .../urdf/turtlebot3_waffle_pi.urdf | 257 +++++++++++++ .../worlds/empty_worlds/burger.model | 51 --- .../worlds/empty_worlds/waffle.model | 52 --- .../worlds/empty_worlds/waffle_pi.model | 51 --- .../worlds/turtlebot3_autorace.world | 83 ----- .../worlds/turtlebot3_autoraces/burger.model | 88 ----- .../worlds/turtlebot3_autoraces/waffle.model | 59 --- .../turtlebot3_autoraces/waffle_pi.model | 59 --- .../worlds/turtlebot3_dqn_stage1/burger.model | 59 --- .../worlds/turtlebot3_dqn_stage1/waffle.model | 59 --- .../turtlebot3_dqn_stage1/waffle_pi.model | 59 --- .../worlds/turtlebot3_dqn_stage2/burger.model | 63 ---- .../worlds/turtlebot3_dqn_stage2/waffle.model | 63 ---- .../turtlebot3_dqn_stage2/waffle_pi.model | 63 ---- .../worlds/turtlebot3_dqn_stage3/burger.model | 67 ---- .../worlds/turtlebot3_dqn_stage3/waffle.model | 67 ---- .../turtlebot3_dqn_stage3/waffle_pi.model | 67 ---- .../worlds/turtlebot3_dqn_stage4/burger.model | 80 ---- .../worlds/turtlebot3_dqn_stage4/waffle.model | 80 ---- .../turtlebot3_dqn_stage4/waffle_pi.model | 80 ---- .../worlds/turtlebot3_houses/burger.model | 59 --- .../worlds/turtlebot3_houses/waffle.model | 59 --- .../worlds/turtlebot3_houses/waffle_pi.model | 59 --- .../worlds/turtlebot3_worlds/burger.model | 59 --- .../worlds/turtlebot3_worlds/waffle.model | 59 --- .../worlds/turtlebot3_worlds/waffle_pi.model | 59 --- turtlebot3_simulations/CHANGELOG.rst | 9 + 100 files changed, 1032 insertions(+), 3973 deletions(-) delete mode 100644 turtlebot3_fake_node/rviz/model.rviz delete mode 100644 turtlebot3_gazebo/launch/turtlebot3_autorace.launch.py delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/course/materials/scripts/course.material delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/course/materials/textures/course.png delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/course/model.config delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/course/model.sdf delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/ground/model.config delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/ground/model.sdf delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/lights/model.config delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/lights/model.sdf delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/model.config delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/materials/scripts/traffic_bar.material delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/materials/textures/traffic_bar.png delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/model.config delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/model.sdf delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/materials/scripts/traffic_bar.material delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/materials/textures/traffic_bar.png delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/model.config delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/model.sdf delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_green/model.config delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_green/model.sdf delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_red/model.config delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_red/model.sdf delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_yellow/model.config delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_yellow/model.sdf delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/materials/scripts/traffic_parking.material delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/materials/textures/traffic_parking.png delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/model.config delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/model.sdf delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_stop/materials/scripts/traffic_stop.material delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_stop/materials/textures/traffic_stop.png delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_stop/model.config delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_stop/model.sdf delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/materials/scripts/tunnel.material delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/materials/textures/tunnel.png delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/model.config delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/model.sdf delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_obstacles/model.config delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_obstacles/model.sdf delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_wall/model.config delete mode 100644 turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_wall/model.sdf rename turtlebot3_gazebo/models/{turtlebot3_burger => turtlebot3_common}/meshes/burger_base.dae (100%) rename turtlebot3_gazebo/models/{turtlebot3_burger => turtlebot3_common}/meshes/lds.dae (100%) rename turtlebot3_gazebo/models/{turtlebot3_waffle => turtlebot3_common}/meshes/r200.dae (100%) rename turtlebot3_gazebo/models/{turtlebot3_burger => turtlebot3_common}/meshes/tire.dae (100%) rename turtlebot3_gazebo/models/{turtlebot3_waffle => turtlebot3_common}/meshes/waffle_base.dae (100%) rename turtlebot3_gazebo/models/{turtlebot3_waffle_pi => turtlebot3_common}/meshes/waffle_pi_base.dae (100%) create mode 100644 turtlebot3_gazebo/models/turtlebot3_common/model.config delete mode 100644 turtlebot3_gazebo/models/turtlebot3_waffle/meshes/lds.dae delete mode 100644 turtlebot3_gazebo/models/turtlebot3_waffle/meshes/tire.dae delete mode 100644 turtlebot3_gazebo/models/turtlebot3_waffle_pi/meshes/lds.dae delete mode 100644 turtlebot3_gazebo/models/turtlebot3_waffle_pi/meshes/tire.dae create mode 100644 turtlebot3_gazebo/urdf/common_properties.urdf create mode 100644 turtlebot3_gazebo/urdf/turtlebot3_burger.urdf create mode 100644 turtlebot3_gazebo/urdf/turtlebot3_waffle.urdf create mode 100644 turtlebot3_gazebo/urdf/turtlebot3_waffle_pi.urdf delete mode 100644 turtlebot3_gazebo/worlds/empty_worlds/burger.model delete mode 100644 turtlebot3_gazebo/worlds/empty_worlds/waffle.model delete mode 100644 turtlebot3_gazebo/worlds/empty_worlds/waffle_pi.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_autorace.world delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_autoraces/burger.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_autoraces/waffle.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_autoraces/waffle_pi.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1/burger.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1/waffle.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1/waffle_pi.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2/burger.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2/waffle.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2/waffle_pi.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3/burger.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3/waffle.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3/waffle_pi.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/burger.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/waffle.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/waffle_pi.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_houses/burger.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_houses/waffle.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_houses/waffle_pi.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_worlds/burger.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle.model delete mode 100644 turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle_pi.model diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml index 82e02615..69d0e074 100644 --- a/.github/workflows/lint.yml +++ b/.github/workflows/lint.yml @@ -6,22 +6,22 @@ name: Lint # events but only for the master branch on: push: - branches: [ ros2, ros2-devel, dashing-devel, foxy-devel, galactic-devel ] + branches: [ ros2, ros2-devel, foxy-devel, galactic-devel ] pull_request: - branches: [ ros2, ros2-devel ] + branches: [ ros2, ros2-devel, foxy-devel, galactic-devel ] # A workflow run is made up of one or more jobs that can run sequentially or in parallel jobs: - ament_lint_dashing: - runs-on: ubuntu-18.04 + ament_lint_foxy: + runs-on: ubuntu-20.04 strategy: fail-fast: false matrix: linter: [copyright, cppcheck, cpplint, flake8, pep257, xmllint] - distribution: [dashing] + distribution: [foxy] steps: - uses: actions/checkout@v1 - - uses: ros-tooling/setup-ros@v0.1 + - uses: ros-tooling/setup-ros@0.2.1 - uses: ros-tooling/action-ros-lint@v0.1 with: distribution: ${{ matrix.distribution }} @@ -31,16 +31,16 @@ jobs: turtlebot3_fake_node turtlebot3_gazebo - ament_lint_foxy: + ament_lint_galactic: runs-on: ubuntu-20.04 strategy: fail-fast: false matrix: linter: [copyright, cppcheck, cpplint, flake8, pep257, xmllint] - distribution: [foxy] + distribution: [galactic] steps: - uses: actions/checkout@v1 - - uses: ros-tooling/setup-ros@v0.1 + - uses: ros-tooling/setup-ros@0.2.1 - uses: ros-tooling/action-ros-lint@v0.1 with: distribution: ${{ matrix.distribution }} diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml index 461032e9..4c76d62b 100644 --- a/.github/workflows/ros-ci.yml +++ b/.github/workflows/ros-ci.yml @@ -1,11 +1,11 @@ -name: galactic-devel +name: ros2-devel # Controls when the action will run. Triggers the workflow on push or pull request on: push: - branches: [ galactic-devel ] + branches: [ ros2, ros2-devel, foxy-devel, galactic-devel ] pull_request: - branches: [ galactic-devel ] + branches: [ ros2, ros2-devel, foxy-devel, galactic-devel ] # A workflow run is made up of one or more jobs that can run sequentially or in parallel jobs: @@ -46,7 +46,7 @@ jobs: with: path: ros_ws/src - name: Setup ROS environment - uses: ros-tooling/setup-ros@0.1.2 + uses: ros-tooling/setup-ros@0.2.1 with: required-ros-distributions: ${{ matrix.ros_distribution }} - name: Build and Test @@ -55,3 +55,4 @@ jobs: package-name: turtlebot3_simulations target-ros2-distro: ${{ matrix.ros_distribution }} vcs-repo-file-url: "https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3_simulations/ros2-devel/turtlebot3_simulations_ci.repos" + \ No newline at end of file diff --git a/README.md b/README.md index 37c6f785..2b036c45 100644 --- a/README.md +++ b/README.md @@ -11,6 +11,8 @@ [![foxy-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/workflows/foxy-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/foxy-devel) +[![galactic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/workflows/galactic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/galactic-devel) + ## ROBOTIS e-Manual for TurtleBot3 - [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/) diff --git a/turtlebot3_fake_node/CHANGELOG.rst b/turtlebot3_fake_node/CHANGELOG.rst index 53b32ac0..5e183441 100644 --- a/turtlebot3_fake_node/CHANGELOG.rst +++ b/turtlebot3_fake_node/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package turtlebot3_fake ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.2.4 (2021-06-14) +------------------ +* Release for ROS2 Galactic +* Clean up unncessary files +* Use turtlebot3_common mesh modeling +* Independent turtlebot3_simulations package +* Contributors: Will Son + 2.2.3 (2021-04-12) ------------------ * Update required keyword arguments diff --git a/turtlebot3_fake_node/CMakeLists.txt b/turtlebot3_fake_node/CMakeLists.txt index 778fa05b..05967447 100644 --- a/turtlebot3_fake_node/CMakeLists.txt +++ b/turtlebot3_fake_node/CMakeLists.txt @@ -53,7 +53,7 @@ install(TARGETS ${EXEC_NAME} DESTINATION lib/${PROJECT_NAME} ) -install(DIRECTORY launch param rviz +install(DIRECTORY launch param DESTINATION share/${PROJECT_NAME} ) diff --git a/turtlebot3_fake_node/launch/rviz2.launch.py b/turtlebot3_fake_node/launch/rviz2.launch.py index e68bf6c8..da70728f 100644 --- a/turtlebot3_fake_node/launch/rviz2.launch.py +++ b/turtlebot3_fake_node/launch/rviz2.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): rviz_config_dir = os.path.join( - get_package_share_directory('turtlebot3_fake_node'), + get_package_share_directory('turtlebot3_gazebo'), 'rviz', - 'model.rviz' + 'tb3_gazebo.rviz' ) return LaunchDescription([ diff --git a/turtlebot3_fake_node/launch/turtlebot3_fake_node.launch.py b/turtlebot3_fake_node/launch/turtlebot3_fake_node.launch.py index 68cbee72..0733c427 100644 --- a/turtlebot3_fake_node/launch/turtlebot3_fake_node.launch.py +++ b/turtlebot3_fake_node/launch/turtlebot3_fake_node.launch.py @@ -45,7 +45,7 @@ def generate_launch_description(): urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf' urdf = os.path.join( - get_package_share_directory('turtlebot3_description'), + get_package_share_directory('turtlebot3_gazebo'), 'urdf', urdf_file_name) diff --git a/turtlebot3_fake_node/rviz/model.rviz b/turtlebot3_fake_node/rviz/model.rviz deleted file mode 100644 index e35259f3..00000000 --- a/turtlebot3_fake_node/rviz/model.rviz +++ /dev/null @@ -1,233 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /TF1/Frames1 - Splitter Ratio: 0.5 - Tree Height: 765 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/LaserScan - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 0 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: LaserScan - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Flat Squares - Topic: /scan - Unreliable: true - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: /robot_description - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_scan: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - imu_link: - Alpha: 1 - Show Axes: false - Show Trail: false - wheel_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wheel_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - TF Prefix: "" - Unreliable: false - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz_default_plugins/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: false - - Angle Tolerance: 0.10000000149011612 - Class: rviz_default_plugins/Odometry - Covariance: - Orientation: - Alpha: 0.5 - Color: 255; 255; 127 - Color Style: Unique - Frame: Local - Offset: 1 - Scale: 1 - Value: true - Position: - Alpha: 0.30000001192092896 - Color: 204; 51; 204 - Scale: 1 - Value: true - Value: false - Enabled: true - Keep: 100 - Name: Odometry - Position Tolerance: 0.10000000149011612 - Shape: - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Color: 255; 25; 0 - Head Length: 0.30000001192092896 - Head Radius: 0.10000000149011612 - Shaft Length: 1 - Shaft Radius: 0.05000000074505806 - Value: Arrow - Topic: /odom - Unreliable: true - Value: true - Enabled: true - Global Options: - Background Color: 255; 255; 255 - Fixed Frame: odom - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetGoal - Topic: /move_base_simple/goal - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 7.944110870361328 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -0.09679540991783142 - Y: -0.015412976033985615 - Z: -0.08031613379716873 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 1.5697963237762451 - Target Frame: - Value: Orbit (rviz) - Yaw: 3.1454057693481445 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 994 - Hide Left Dock: false - Hide Right Dock: true - QMainWindow State: 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- Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1355 - X: 2532 - Y: 0 diff --git a/turtlebot3_gazebo/CHANGELOG.rst b/turtlebot3_gazebo/CHANGELOG.rst index 34f53b40..08c8861c 100644 --- a/turtlebot3_gazebo/CHANGELOG.rst +++ b/turtlebot3_gazebo/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package turtlebot3_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.2.4 (2021-06-14) +------------------ +* Release for ROS2 Galactic +* Separate world and robot models(#162) +* Clean up unncessary files +* Use turtlebot3_common mesh modeling +* Independent turtlebot3_simulations package +* Contributors: Joep Tool, Will Son + 2.2.3 (2021-04-12) ------------------ * Update required keyword arguments diff --git a/turtlebot3_gazebo/CMakeLists.txt b/turtlebot3_gazebo/CMakeLists.txt index 0f17f08f..61ea048e 100644 --- a/turtlebot3_gazebo/CMakeLists.txt +++ b/turtlebot3_gazebo/CMakeLists.txt @@ -69,7 +69,7 @@ install(TARGETS ${EXEC_NAME} DESTINATION lib/${PROJECT_NAME} ) -install(DIRECTORY launch models rviz worlds +install(DIRECTORY launch models rviz urdf worlds DESTINATION share/${PROJECT_NAME}/ ) diff --git a/turtlebot3_gazebo/launch/robot_state_publisher.launch.py b/turtlebot3_gazebo/launch/robot_state_publisher.launch.py index a551cb8f..e2eb9cef 100644 --- a/turtlebot3_gazebo/launch/robot_state_publisher.launch.py +++ b/turtlebot3_gazebo/launch/robot_state_publisher.launch.py @@ -34,7 +34,7 @@ def generate_launch_description(): print('urdf_file_name : {}'.format(urdf_file_name)) urdf_path = os.path.join( - get_package_share_directory('turtlebot3_description'), + get_package_share_directory('turtlebot3_gazebo'), 'urdf', urdf_file_name) diff --git a/turtlebot3_gazebo/launch/turtlebot3_autorace.launch.py b/turtlebot3_gazebo/launch/turtlebot3_autorace.launch.py deleted file mode 100644 index 57278004..00000000 --- a/turtlebot3_gazebo/launch/turtlebot3_autorace.launch.py +++ /dev/null @@ -1,79 +0,0 @@ -#!/usr/bin/env python3 -# -# Copyright 2019 ROBOTIS CO., LTD. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# Authors: Joep Tool - -import os - -from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration - -def generate_launch_description(): - launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') - pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - x_pose = LaunchConfiguration('x_pose', default='0.1') - y_pose = LaunchConfiguration('y_pose', default='-1.78') - - world = os.path.join( - get_package_share_directory('turtlebot3_gazebo'), - 'worlds', - 'turtlebot3_autorace.world' - ) - - gzserver_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items() - ) - - gzclient_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ) - ) - - robot_state_publisher_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') - ), - launch_arguments={'use_sim_time': use_sim_time}.items() - ) - - spawn_turtlebot_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') - ), - launch_arguments={ - 'x_pose': x_pose, - 'y_pose': y_pose - }.items() - ) - - ld = LaunchDescription() - - # Add the commands to the launch description - ld.add_action(gzserver_cmd) - ld.add_action(gzclient_cmd) - ld.add_action(robot_state_publisher_cmd) - ld.add_action(spawn_turtlebot_cmd) - - return ld \ No newline at end of file diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/course/materials/scripts/course.material b/turtlebot3_gazebo/models/turtlebot3_autorace/course/materials/scripts/course.material deleted file mode 100644 index 0859df92..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/course/materials/scripts/course.material +++ /dev/null @@ -1,14 +0,0 @@ -material course -{ - technique - { - pass - { - texture_unit - { - texture course.png - } - } - } -} - diff --git 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a/turtlebot3_gazebo/models/turtlebot3_autorace/course/model.sdf +++ /dev/null @@ -1,42 +0,0 @@ - - - - true - - - - - 0 0 1 - 4 4 - - - - - - 100 - 50 - - - - - - false - - - 0 0 1 - 4 4 - - - - - - - - - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/ground/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/ground/model.config deleted file mode 100644 index d78e6134..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/ground/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - - ground - 1.0 - model.sdf - - - Hyunok Lee - hyunokhyunok@naver.com - - - - Ground. - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/ground/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/ground/model.sdf deleted file mode 100644 index 929152ce..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/ground/model.sdf +++ /dev/null @@ -1,45 +0,0 @@ - - - - 0 0 -0.1 0 0 0 - 1 - - - - - 8 8 0.01 - - - - - - - - - - - - - - - 10 - - - - - 10 10 0.01 - - - - - - - 0 - 0 - 1 - - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/lights/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/lights/model.config deleted file mode 100644 index 66b5f1f5..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/lights/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - - lights - 1.0 - model.sdf - - - Hyunok Lee - hyunokhyunok@naver.com - - - - Ground. - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/lights/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/lights/model.sdf deleted file mode 100644 index 3a2e49f9..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/lights/model.sdf +++ /dev/null @@ -1,42 +0,0 @@ - - - - -0.948146 0.604519 1 0 -0 0 - 0.5 0.5 0.5 1 - 0.1 0.1 0.1 1 - - 20 - 0.5 - 0.01 - 0.001 - - 0 - 0 0 -1 - - - 1.63854 1.69565 1 0 -0 0 - 0.5 0.5 0.5 1 - 0.1 0.1 0.1 1 - - 20 - 0.5 - 0.01 - 0.001 - - 0 - 0 0 -1 - - - 0.42 -3.31 1 0 -0 0 - 0.5 0.5 0.5 1 - 0.1 0.1 0.1 1 - - 20 - 0.5 - 0.01 - 0.001 - - 0 - 0 0 -1 - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/model.config deleted file mode 100644 index d4413284..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/model.config +++ /dev/null @@ -1,15 +0,0 @@ - - - - turtlebot3_autorace - 1.0 - - - Ryan Shim - jhshim@robotis.com - - - - Turtlebot3 Autorace - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/materials/scripts/traffic_bar.material b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/materials/scripts/traffic_bar.material deleted file mode 100644 index ddfd56f9..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/materials/scripts/traffic_bar.material +++ /dev/null @@ -1,14 +0,0 @@ -material traffic_bar -{ - technique - { - pass - { - texture_unit - { - texture traffic_bar.png - } - } - } -} - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/materials/textures/traffic_bar.png b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/materials/textures/traffic_bar.png deleted file mode 100644 index 7f9a37a6ceea7d126314404b1fbdf272a581edee..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 3079 zcmeAS@N?(olHy`uVBq!ia0y~yVEY7Q_i?ZR$;YJr=?{kr`EqUEo5NeZufL? z45_&F_U6Hr%?=`M7c~zX1v#DC*t=52d%EUPp_pAhoX?sRHgmF=-#hsEU?nTdy+0>( zw_alcnhyj|HvQL3DK)4eQ-I4qBN8!Rm-WP4=+;21!f)6fZ z`X;hr<($gpvY!q#^ZoE(s^+>8a$s4LEo+Vz=lz%S+ig5geqP{cuW~c^z%nm0(GANd zaG#Xo&p2D_B+xFP8HFb%KXGISY6rPWbvDEECa9lm=ChlG6ca#)pI7w%w162X3W_%hLul~2M+zL>gC%@` z2^E;CHZ2DxRB-ZxrgPF#G&q~g=K2-_OMYM@8+?JW4@-XhRu7ax`3aOspvlh@5!qld zux5zZ&0t_E2Wy6A5uoNx%Yg=_1RsQEkxvVn`(fDunnj9FOeQ9!5s~M? z4=z<;Sq_+Vq16SfFeH@Of3u)vVdPTbzYfXu3bX=4gb+%JPgFkK8;I}@qyocHC+29O z)zYw-09gaCqL2-reEslWzHNd>D=2akK$z|lQe+%q60IYt8rPvKCs+gWbH zYk{wv09aD?-(W)_3JTrTtfdHHL4=eVUi} maWRB@V5wcA4PPaM - - - traffic_bar_down - 1.0 - traffic_bar_down.sdf - - - Hyunok Lee - hyunokhyunok@naver.com - - - - Model with links of simple shapes and texture applied. - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/model.sdf deleted file mode 100644 index 4ef7fd1b..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_down/model.sdf +++ /dev/null @@ -1,31 +0,0 @@ - - - - true - - -1.8 0.6 0.15 0 0 0 - - - - 0.3 0.01 0.023 - - - - - - - 0.3 0.01 0.023 - - - - - - - - 1 - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/materials/scripts/traffic_bar.material b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/materials/scripts/traffic_bar.material deleted file mode 100644 index ddfd56f9..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/materials/scripts/traffic_bar.material +++ /dev/null @@ -1,14 +0,0 @@ -material traffic_bar -{ - technique - { - pass - { - texture_unit - { - texture traffic_bar.png - } - } - } -} - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/materials/textures/traffic_bar.png b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_bar_up/materials/textures/traffic_bar.png deleted file mode 100644 index 7f9a37a6ceea7d126314404b1fbdf272a581edee..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 3079 zcmeAS@N?(olHy`uVBq!ia0y~yVEY7Q_i?ZR$;YJr=?{kr`EqUEo5NeZufL? z45_&F_U6Hr%?=`M7c~zX1v#DC*t=52d%EUPp_pAhoX?sRHgmF=-#hsEU?nTdy+0>( zw_alcnhyj|HvQL3DK)4eQ-I4qBN8!Rm-WP4=+;21!f)6fZ z`X;hr<($gpvY!q#^ZoE(s^+>8a$s4LEo+Vz=lz%S+ig5geqP{cuW~c^z%nm0(GANd zaG#Xo&p2D_B+xFP8HFb%KXGISY6rPWbvDEECa9lm=ChlG6ca#)pI7w%w162X3W_%hLul~2M+zL>gC%@` z2^E;CHZ2DxRB-ZxrgPF#G&q~g=K2-_OMYM@8+?JW4@-XhRu7ax`3aOspvlh@5!qld zux5zZ&0t_E2Wy6A5uoNx%Yg=_1RsQEkxvVn`(fDunnj9FOeQ9!5s~M? z4=z<;Sq_+Vq16SfFeH@Of3u)vVdPTbzYfXu3bX=4gb+%JPgFkK8;I}@qyocHC+29O 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a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_green/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - traffic_light_green - 1.0 - model.sdf - - Gilbert - kkjong@robotis.com - - The traffic green light. - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_green/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_green/model.sdf deleted file mode 100644 index f950559f..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_green/model.sdf +++ /dev/null @@ -1,33 +0,0 @@ - - - - 0 0 0 0 -0 -1.5708 - - - 1.3 -1.95 0.05 0 0 0 - - - 0.015 - - - - - 1.3 -1.95 0.05 0 0 0 - - - 0.015 - - - - - - - 0 - 0 - - 1 - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_red/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_red/model.config deleted file mode 100644 index e2a9ea65..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_red/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - traffic_light_red - 1.0 - model.sdf - - Gilbert - kkjong@robotis.com - - The traffic red light. - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_red/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_red/model.sdf deleted file mode 100644 index 6ff02ec9..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_red/model.sdf +++ /dev/null @@ -1,33 +0,0 @@ - - - - 0 0 0 0 -0 -1.5708 - - - 1.3 -1.95 0.13 0 0 0 - - - 0.015 - - - - - 1.3 -1.95 0.13 0 0 0 - - - 0.015 - - - - - - - 0 - 0 - - 1 - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_yellow/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_yellow/model.config deleted file mode 100644 index 24df5b02..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_yellow/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - traffic_light_yellow - 1.0 - model.sdf - - Gilbert - kkjong@robotis.com - - The traffic yellow light. - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_yellow/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_yellow/model.sdf deleted file mode 100644 index d023fcf8..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_light_yellow/model.sdf +++ /dev/null @@ -1,33 +0,0 @@ - - - - 0 0 0 0 -0 -1.5708 - - - 1.3 -1.95 0.09 0 0 0 - - - 0.015 - - - - - 1.3 -1.95 0.09 0 0 0 - - - 0.015 - - - - - - - 0 - 0 - - 1 - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/materials/scripts/traffic_parking.material b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/materials/scripts/traffic_parking.material deleted file mode 100644 index fe4c1198..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_parking/materials/scripts/traffic_parking.material +++ /dev/null @@ -1,14 +0,0 @@ -material traffic_parking -{ - technique - { - pass - { - texture_unit - { - texture 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a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_stop/model.sdf +++ /dev/null @@ -1,30 +0,0 @@ - - - - true - - 0 0 0 0 0 0 - - - - 0.12 0.025 0.25 - - - - - - - 0.12 0.025 0.25 - - - - - - - - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/materials/scripts/tunnel.material b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/materials/scripts/tunnel.material deleted file mode 100644 index e0bbd27b..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/materials/scripts/tunnel.material +++ /dev/null @@ -1,14 +0,0 @@ -material traffic_tunnel -{ - technique - { - pass - { - texture_unit - { - texture tunnel.png - } - } - } -} - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/materials/textures/tunnel.png b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/materials/textures/tunnel.png deleted file mode 100644 index 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a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - - traffic_tunnel - 1.0 - model.sdf - - - Hyunok Lee - hyunokhyunok@naver.com - - - - Model with links of simple shapes and texture applied. - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/model.sdf deleted file mode 100644 index 39502ae6..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/traffic_tunnel/model.sdf +++ /dev/null @@ -1,30 +0,0 @@ - - - - 0 0 0.125 0 0 0 - - 0 0 0 0 0 0 - - - - 0.12 0.025 0.25 - - - - - - - 0.12 0.025 0.25 - - - - - - - - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_obstacles/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_obstacles/model.config deleted file mode 100644 index 38fc9244..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_obstacles/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - - tunnel_obstacles - 1.0 - model.sdf - - - Hyunok Lee - hyunokhyunok@naver.com - - - - Tunnel obstacles. - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_obstacles/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_obstacles/model.sdf deleted file mode 100644 index 1554e602..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_obstacles/model.sdf +++ /dev/null @@ -1,305 +0,0 @@ - - - - -1.04145 -1.12671 0 0 -0 0 - - -0.61823 -1.33874 0.25 0 -0 0 - - 0.0416663 - - 0.00098188 - 0 - 0 - 0.00098188 - 0 - 0.00046751 - - 0 0 0 0 -0 0 - - 0 - 0 - 1 - - 0 0 0 0 -0 0 - - - 0.1 - 0.5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 0 0 0 1 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.1 - 0.46418 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 0 - 0 - 1 - - 0 - - - - - 0 - 1e+06 - - - 0 - 1 - 1 - - 0 - 0.2 - 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - - - -1.36518 -1.41427 0.25 0 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a/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_wall/model.config b/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_wall/model.config deleted file mode 100644 index 19c75d8d..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_wall/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - - tunnel_wall - 1.0 - model.sdf - - - Hyunok Lee - hyunokhyunok@naver.com - - - - Tunnel wall. - - diff --git a/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_wall/model.sdf b/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_wall/model.sdf deleted file mode 100644 index 5cde75c3..00000000 --- a/turtlebot3_gazebo/models/turtlebot3_autorace/tunnel_wall/model.sdf +++ /dev/null @@ -1,345 +0,0 @@ - - - - -0.964699 -1.03574 0 0 -0 0 - true - - -1.94548 -0.985857 0 0 -0 1.5708 - 0 - 0 - - 0 0 0.25 0 -0 0 - - - 2 0.05 0.5 - - - - - 1 1 1 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 0 0 0 1 - - 1 - 0 - - - 0 - 10 - 0 0 0.25 0 -0 0 - - - 2 0.05 0.5 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 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- - - - - - - - 32.85729 0 0 0 0 -1.43624e-6 -9.10743 0 0 32.85729 -3.98098e-7 0 0 0 0 1 - - - - 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 - - - - -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 - - - - - - - - \ No newline at end of file diff --git a/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf b/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf index 8fda34f1..08b516fe 100644 --- a/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf +++ b/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf @@ -33,7 +33,7 @@ -0.064 0 0 0 0 0 - model://turtlebot3_waffle_pi/meshes/waffle_pi_base.dae + model://turtlebot3_common/meshes/waffle_pi_base.dae 0.001 0.001 0.001 @@ -123,7 +123,7 @@ -0.064 0 0.121 0 0 0 - model://turtlebot3_waffle/meshes/lds.dae + model://turtlebot3_common/meshes/lds.dae 0.001 0.001 0.001 @@ -216,7 +216,7 @@ 0.0 0.144 0.023 0 0 0 - model://turtlebot3_waffle/meshes/tire.dae + model://turtlebot3_common/meshes/tire.dae 0.001 0.001 0.001 @@ -274,7 +274,7 @@ 0.0 -0.144 0.023 0 0 0 - model://turtlebot3_waffle/meshes/tire.dae + model://turtlebot3_common/meshes/tire.dae 0.001 0.001 0.001 diff --git a/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf b/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf index 2d73c62f..725e334e 100644 --- a/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf +++ b/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf @@ -33,7 +33,7 @@ -0.064 0 0 0 0 0 - model://turtlebot3_waffle_pi/meshes/waffle_pi_base.dae + model://turtlebot3_common/meshes/waffle_pi_base.dae 0.001 0.001 0.001 @@ -123,7 +123,7 @@ -0.064 0 0.121 0 0 0 - model://turtlebot3_waffle/meshes/lds.dae + model://turtlebot3_common/meshes/lds.dae 0.001 0.001 0.001 @@ -216,7 +216,7 @@ 0.0 0.144 0.023 0 0 0 - model://turtlebot3_waffle/meshes/tire.dae + model://turtlebot3_common/meshes/tire.dae 0.001 0.001 0.001 @@ -274,7 +274,7 @@ 0.0 -0.144 0.023 0 0 0 - model://turtlebot3_waffle/meshes/tire.dae + model://turtlebot3_common/meshes/tire.dae 0.001 0.001 0.001 diff --git a/turtlebot3_gazebo/package.xml b/turtlebot3_gazebo/package.xml index 3145235e..a5739c98 100644 --- a/turtlebot3_gazebo/package.xml +++ b/turtlebot3_gazebo/package.xml @@ -21,7 +21,6 @@ rclcpp sensor_msgs tf2 - turtlebot3_description ament_cmake diff --git a/turtlebot3_gazebo/rviz/tb3_gazebo.rviz b/turtlebot3_gazebo/rviz/tb3_gazebo.rviz index 97f8f713..10c1ce1b 100644 --- a/turtlebot3_gazebo/rviz/tb3_gazebo.rviz +++ b/turtlebot3_gazebo/rviz/tb3_gazebo.rviz @@ -4,8 +4,6 @@ Panels: Name: Displays Property Tree Widget: Expanded: - - /Global Options1 - - /Status1 - /TF1/Frames1 Splitter Ratio: 0.5 Tree Height: 694 @@ -13,7 +11,6 @@ Panels: Name: Selection - Class: rviz_common/Tool Properties Expanded: - - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 @@ -54,7 +51,15 @@ Visualization Manager: Value: true base_scan: Value: true - caster_back_link: + camera_link: + Value: true + camera_rgb_frame: + Value: true + camera_rgb_optical_frame: + Value: true + caster_back_left_link: + Value: true + caster_back_right_link: Value: true imu_link: Value: true @@ -64,7 +69,7 @@ Visualization Manager: Value: true wheel_right_link: Value: true - Marker Scale: 1 + Marker Scale: 0.699999988079071 Name: TF Show Arrows: true Show Axes: true @@ -75,7 +80,13 @@ Visualization Manager: base_link: base_scan: {} - caster_back_link: + camera_link: + camera_rgb_frame: + camera_rgb_optical_frame: + {} + caster_back_left_link: + {} + caster_back_right_link: {} imu_link: {} @@ -105,13 +116,17 @@ Visualization Manager: Min Intensity: 0 Name: LaserScan Position Transformer: XYZ - Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.019999999552965164 Style: Flat Squares - Topic: /scan - Unreliable: true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /scan Use Fixed Frame: true Use rainbow: true Value: true @@ -132,7 +147,7 @@ Visualization Manager: Scale: 1 Value: true Value: false - Enabled: false + Enabled: true Keep: 100 Name: Odometry Position Tolerance: 0.10000000149011612 @@ -146,13 +161,92 @@ Visualization Manager: Shaft Length: 1 Shaft Radius: 0.05000000074505806 Value: Arrow - Topic: /odom - Unreliable: false - Value: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odom + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_scan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_back_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: base_footprint + Fixed Frame: odom Frame Rate: 30 Name: root Tools: @@ -162,10 +256,20 @@ Visualization Manager: - Class: rviz_default_plugins/Measure Line color: 128; 128; 0 - Class: rviz_default_plugins/SetGoal - Topic: /move_base_simple/goal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /move_base_simple/goal - Class: rviz_default_plugins/PublishPoint Single click: true - Topic: /clicked_point + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point Transformation: Current: Class: rviz_default_plugins/TF @@ -173,39 +277,59 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 9.735567092895508 + Distance: 5 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 2.0888121128082275 - Y: 0.7320219874382019 - Z: 0.06461341679096222 - Focal Shape Fixed Size: true + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 1.560396671295166 + Pitch: 0.7853981852531433 Target Frame: - Value: Orbit (rviz) - Yaw: 3.1354174613952637 - Saved: ~ + Value: Orbit (rviz_default_plugins) + Yaw: 0.7853981852531433 + Saved: + - Class: rviz_default_plugins/Orbit + Distance: 5 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Orbit + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7853981852531433 + Target Frame: + Value: Orbit (rviz_default_plugins) + Yaw: 0.7853981852531433 Window Geometry: Displays: collapsed: false Height: 923 Hide Left Dock: false - Hide Right Dock: true - 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1.84 1.27 0.13 0 0 -0.356 - - - - model://turtlebot3_autorace/traffic_tunnel - -1.544 -0.08 0.125 0 0 0 - - - - model://turtlebot3_autorace/traffic_stop - -2.05 0.65 0.125 0 -0 0 - - - - 0.0 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_autorace/tunnel_wall - - - - 0.0 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_autorace/tunnel_obstacles - - - - \ No newline at end of file diff --git a/turtlebot3_gazebo/worlds/turtlebot3_autoraces/burger.model b/turtlebot3_gazebo/worlds/turtlebot3_autoraces/burger.model deleted file mode 100644 index 40924a2d..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_autoraces/burger.model +++ /dev/null @@ -1,88 +0,0 @@ - - - - - - model://sun - - - - false - - - - - 2.7696 -1.93094 6.71513 0 1.1618 2.27182 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - model://turtlebot3_autorace/course - 0 0 0 0 0 -1.54 - - - - model://turtlebot3_autorace/ground - 0 0 -0.1 0 0 0 - - - - model://turtlebot3_autorace/lights - 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- - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1/waffle_pi.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1/waffle_pi.model deleted file mode 100644 index b160a97d..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1/waffle_pi.model +++ /dev/null @@ -1,59 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_dqn_world - - - - - 0.0 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_waffle_pi - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2/burger.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2/burger.model deleted file mode 100644 index 75e0d3ce..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2/burger.model +++ /dev/null @@ -1,63 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - 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- - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_dqn_world - - - - - - 1 - - model://turtlebot3_dqn_world/obstacles - - - - - 0.0 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_burger - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3/waffle.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3/waffle.model deleted file mode 100644 index 3a92f41b..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3/waffle.model +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_dqn_world - - - - - - 1 - - model://turtlebot3_dqn_world/obstacles - - - - - 0.0 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_waffle - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3/waffle_pi.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3/waffle_pi.model deleted file mode 100644 index 59232d4c..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3/waffle_pi.model +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_dqn_world - - - - - - 1 - - model://turtlebot3_dqn_world/obstacles - - - - - 0.0 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_waffle_pi - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/burger.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/burger.model deleted file mode 100644 index 55ddd716..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/burger.model +++ /dev/null @@ -1,80 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_dqn_world - - - - - 0 0 0 0 0 0 - model://turtlebot3_dqn_world/inner_walls - - - - - - 2 2 0 0 0 0 - model://turtlebot3_dqn_world/obstacle1 - - - - - - - -2 -2 0 0 0 0 - model://turtlebot3_dqn_world/obstacle2 - - - - - 0 0 0 0 0 0 - model://turtlebot3_burger - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/waffle.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/waffle.model deleted file mode 100644 index 0dad738e..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/waffle.model +++ /dev/null @@ -1,80 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_dqn_world - - - - - 0 0 0 0 0 0 - model://turtlebot3_dqn_world/inner_walls - - - - - - 2 2 0 0 0 0 - model://turtlebot3_dqn_world/obstacle1 - - - - - - - -2 -2 0 0 0 0 - model://turtlebot3_dqn_world/obstacle2 - - - - - -0.7 0.0 0.0 0.0 0.0 0.0 - model://turtlebot3_waffle - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/waffle_pi.model b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/waffle_pi.model deleted file mode 100644 index 7ee060f2..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4/waffle_pi.model +++ /dev/null @@ -1,80 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_dqn_world - - - - - 0 0 0 0 0 0 - model://turtlebot3_dqn_world/inner_walls - - - - - - 2 2 0 0 0 0 - model://turtlebot3_dqn_world/obstacle1 - - - - - - - -2 -2 0 0 0 0 - model://turtlebot3_dqn_world/obstacle2 - - - - - 0 0 0 0 0 0 - model://turtlebot3_waffle_pi - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_houses/burger.model b/turtlebot3_gazebo/worlds/turtlebot3_houses/burger.model deleted file mode 100644 index d1aba1cc..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_houses/burger.model +++ /dev/null @@ -1,59 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_house - - - - - -2.0 -0.5 0.01 0.0 0.0 0.0 - model://turtlebot3_burger - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_houses/waffle.model b/turtlebot3_gazebo/worlds/turtlebot3_houses/waffle.model deleted file mode 100644 index 3b921503..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_houses/waffle.model +++ /dev/null @@ -1,59 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_house - - - - - -2.0 -0.5 0.01 0.0 0.0 0.0 - model://turtlebot3_waffle - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_houses/waffle_pi.model b/turtlebot3_gazebo/worlds/turtlebot3_houses/waffle_pi.model deleted file mode 100644 index 88983858..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_houses/waffle_pi.model +++ /dev/null @@ -1,59 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_house - - - - - -2.0 -0.5 0.01 0.0 0.0 0.0 - model://turtlebot3_waffle_pi - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_worlds/burger.model b/turtlebot3_gazebo/worlds/turtlebot3_worlds/burger.model deleted file mode 100644 index ab33cc72..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_worlds/burger.model +++ /dev/null @@ -1,59 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_world - - - - - -2.0 -0.5 0.01 0.0 0.0 0.0 - model://turtlebot3_burger - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle.model b/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle.model deleted file mode 100644 index 19747b6f..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle.model +++ /dev/null @@ -1,59 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_world - - - - - -2.0 -0.5 0.01 0.0 0.0 0.0 - model://turtlebot3_waffle - - - - diff --git a/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle_pi.model b/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle_pi.model deleted file mode 100644 index a712f8ee..00000000 --- a/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle_pi.model +++ /dev/null @@ -1,59 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - - - false - - - - - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 - orbit - perspective - - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - 1 - - model://turtlebot3_world - - - - - -2.0 -0.5 0.01 0.0 0.0 0.0 - model://turtlebot3_waffle_pi - - - - diff --git a/turtlebot3_simulations/CHANGELOG.rst b/turtlebot3_simulations/CHANGELOG.rst index 017d8464..e2a7a32e 100644 --- a/turtlebot3_simulations/CHANGELOG.rst +++ b/turtlebot3_simulations/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package turtlebot3_simulations ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.2.4 (2021-06-14) +------------------ +* Release for ROS2 Galactic +* Separate world and robot models(#162) +* Clean up unncessary files +* Use turtlebot3_common mesh modeling +* Independent turtlebot3_simulations package +* Contributors: Joep Tool, Will Son + 2.2.3 (2021-04-12) ------------------ * Update required keyword arguments From ae1e6eea659b784fdbc9ffcd5c5c46ab5ad53dd6 Mon Sep 17 00:00:00 2001 From: Will Son Date: Sun, 13 Jun 2021 20:24:55 +0900 Subject: [PATCH 3/4] fix lint and pkg version --- turtlebot3_fake_node/package.xml | 2 +- .../launch/empty_world.launch.py | 89 ++++++++++--------- .../launch/robot_state_publisher.launch.py | 65 +++++++------- .../launch/spawn_turtlebot3.launch.py | 77 ++++++++-------- .../launch/turtlebot3_dqn_stage1.launch.py | 89 ++++++++++--------- .../launch/turtlebot3_dqn_stage2.launch.py | 89 ++++++++++--------- .../launch/turtlebot3_dqn_stage3.launch.py | 89 ++++++++++--------- .../launch/turtlebot3_dqn_stage4.launch.py | 89 ++++++++++--------- .../launch/turtlebot3_house.launch.py | 89 ++++++++++--------- .../launch/turtlebot3_world.launch.py | 89 ++++++++++--------- turtlebot3_gazebo/package.xml | 2 +- turtlebot3_simulations/package.xml | 2 +- 12 files changed, 389 insertions(+), 382 deletions(-) diff --git a/turtlebot3_fake_node/package.xml b/turtlebot3_fake_node/package.xml index 7afafe74..9e083764 100644 --- a/turtlebot3_fake_node/package.xml +++ b/turtlebot3_fake_node/package.xml @@ -2,7 +2,7 @@ turtlebot3_fake_node - 2.2.3 + 2.2.4 Package for TurtleBot3 fake node. With this package, simple tests can be done without a robot. You can do simple tests using this package on rviz without real robots. diff --git a/turtlebot3_gazebo/launch/empty_world.launch.py b/turtlebot3_gazebo/launch/empty_world.launch.py index b0ca4457..3f74a581 100644 --- a/turtlebot3_gazebo/launch/empty_world.launch.py +++ b/turtlebot3_gazebo/launch/empty_world.launch.py @@ -24,56 +24,57 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration + def generate_launch_description(): - launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') - pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - x_pose = LaunchConfiguration('x_pose', default='0.0') - y_pose = LaunchConfiguration('y_pose', default='0.0') + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') - world = os.path.join( - get_package_share_directory('turtlebot3_gazebo'), - 'worlds', - 'empty_world.world' - ) + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'empty_world.world' + ) - gzserver_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items() - ) + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) - gzclient_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ) - ) + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) - robot_state_publisher_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') - ), - launch_arguments={'use_sim_time': use_sim_time}.items() - ) + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) - spawn_turtlebot_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') - ), - launch_arguments={ - 'x_pose': x_pose, - 'y_pose': y_pose - }.items() - ) + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) - ld = LaunchDescription() + ld = LaunchDescription() - # Add the commands to the launch description - ld.add_action(gzserver_cmd) - ld.add_action(gzclient_cmd) - ld.add_action(robot_state_publisher_cmd) - ld.add_action(spawn_turtlebot_cmd) + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) - return ld \ No newline at end of file + return ld diff --git a/turtlebot3_gazebo/launch/robot_state_publisher.launch.py b/turtlebot3_gazebo/launch/robot_state_publisher.launch.py index e2eb9cef..8cd329fa 100644 --- a/turtlebot3_gazebo/launch/robot_state_publisher.launch.py +++ b/turtlebot3_gazebo/launch/robot_state_publisher.launch.py @@ -26,36 +26,35 @@ def generate_launch_description(): - TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] - - use_sim_time = LaunchConfiguration('use_sim_time', default='false') - urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf' - - print('urdf_file_name : {}'.format(urdf_file_name)) - - urdf_path = os.path.join( - get_package_share_directory('turtlebot3_gazebo'), - 'urdf', - urdf_file_name) - - with open(urdf_path, 'r') as infp: - robot_desc = infp.read() - - - return LaunchDescription([ - DeclareLaunchArgument( - 'use_sim_time', - default_value='false', - description='Use simulation (Gazebo) clock if true'), - - Node( - package='robot_state_publisher', - executable='robot_state_publisher', - name='robot_state_publisher', - output='screen', - parameters=[{ - 'use_sim_time': use_sim_time, - 'robot_description': robot_desc - }], - ), - ]) + TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] + + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf' + + print('urdf_file_name : {}'.format(urdf_file_name)) + + urdf_path = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'urdf', + urdf_file_name) + + with open(urdf_path, 'r') as infp: + robot_desc = infp.read() + + return LaunchDescription([ + DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use simulation (Gazebo) clock if true'), + + Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[{ + 'use_sim_time': use_sim_time, + 'robot_description': robot_desc + }], + ), + ]) diff --git a/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py b/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py index 359a032e..653fd4d1 100644 --- a/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py +++ b/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py @@ -20,50 +20,51 @@ from launch_ros.actions import Node from ament_index_python.packages import get_package_share_directory + def generate_launch_description(): - # Get the urdf file - TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] - model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL - urdf_path = os.path.join( - get_package_share_directory('turtlebot3_gazebo'), - 'models', - model_folder, - 'model.sdf' - ) + # Get the urdf file + TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] + model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL + urdf_path = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'models', + model_folder, + 'model.sdf' + ) - # Launch configuration variables specific to simulation - x_pose = LaunchConfiguration('x_pose', default='0.0') - y_pose = LaunchConfiguration('y_pose', default='0.0') + # Launch configuration variables specific to simulation + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') - # Declare the launch arguments - declare_x_position_cmd = DeclareLaunchArgument( - 'x_pose', default_value='0.0', - description='Specify namespace of the robot') + # Declare the launch arguments + declare_x_position_cmd = DeclareLaunchArgument( + 'x_pose', default_value='0.0', + description='Specify namespace of the robot') - declare_y_position_cmd = DeclareLaunchArgument( - 'y_pose', default_value='0.0', - description='Specify namespace of the robot') + declare_y_position_cmd = DeclareLaunchArgument( + 'y_pose', default_value='0.0', + description='Specify namespace of the robot') - start_gazebo_ros_spawner_cmd = Node( - package='gazebo_ros', - executable='spawn_entity.py', - arguments=[ - '-entity', TURTLEBOT3_MODEL, - '-file', urdf_path, - '-x', x_pose, - '-y', y_pose, - '-z', '0.01' - ], - output='screen', - ) + start_gazebo_ros_spawner_cmd = Node( + package='gazebo_ros', + executable='spawn_entity.py', + arguments=[ + '-entity', TURTLEBOT3_MODEL, + '-file', urdf_path, + '-x', x_pose, + '-y', y_pose, + '-z', '0.01' + ], + output='screen', + ) - ld = LaunchDescription() + ld = LaunchDescription() - # Declare the launch options - # ld.add_action(declare_x_position_cmd) - # ld.add_action(declare_y_position_cmd) + # Declare the launch options + ld.add_action(declare_x_position_cmd) + ld.add_action(declare_y_position_cmd) - # Add any conditioned actions - ld.add_action(start_gazebo_ros_spawner_cmd) + # Add any conditioned actions + ld.add_action(start_gazebo_ros_spawner_cmd) - return ld \ No newline at end of file + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py index fb989149..a4f9ef8e 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py @@ -24,56 +24,57 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration + def generate_launch_description(): - launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') - pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - x_pose = LaunchConfiguration('x_pose', default='0.0') - y_pose = LaunchConfiguration('y_pose', default='0.0') + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') - world = os.path.join( - get_package_share_directory('turtlebot3_gazebo'), - 'worlds', - 'turtlebot3_dqn_stage1.world' - ) + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_dqn_stage1.world' + ) - gzserver_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items() - ) + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) - gzclient_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ) - ) + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) - robot_state_publisher_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') - ), - launch_arguments={'use_sim_time': use_sim_time}.items() - ) + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) - spawn_turtlebot_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') - ), - launch_arguments={ - 'x_pose': x_pose, - 'y_pose': y_pose - }.items() - ) + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) - ld = LaunchDescription() + ld = LaunchDescription() - # Add the commands to the launch description - ld.add_action(gzserver_cmd) - ld.add_action(gzclient_cmd) - ld.add_action(robot_state_publisher_cmd) - ld.add_action(spawn_turtlebot_cmd) + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) - return ld + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py index e3a7f8af..b54d5d44 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py @@ -24,56 +24,57 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration + def generate_launch_description(): - launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') - pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - x_pose = LaunchConfiguration('x_pose', default='0.0') - y_pose = LaunchConfiguration('y_pose', default='0.0') + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') - world = os.path.join( - get_package_share_directory('turtlebot3_gazebo'), - 'worlds', - 'turtlebot3_dqn_stage2.world' - ) + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_dqn_stage2.world' + ) - gzserver_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items() - ) + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) - gzclient_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ) - ) + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) - robot_state_publisher_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') - ), - launch_arguments={'use_sim_time': use_sim_time}.items() - ) + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) - spawn_turtlebot_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') - ), - launch_arguments={ - 'x_pose': x_pose, - 'y_pose': y_pose - }.items() - ) + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) - ld = LaunchDescription() + ld = LaunchDescription() - # Add the commands to the launch description - ld.add_action(gzserver_cmd) - ld.add_action(gzclient_cmd) - ld.add_action(robot_state_publisher_cmd) - ld.add_action(spawn_turtlebot_cmd) + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) - return ld + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py index 71ba77a1..03374cf5 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py @@ -24,56 +24,57 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration + def generate_launch_description(): - launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') - pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - x_pose = LaunchConfiguration('x_pose', default='0.0') - y_pose = LaunchConfiguration('y_pose', default='0.0') + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') - world = os.path.join( - get_package_share_directory('turtlebot3_gazebo'), - 'worlds', - 'turtlebot3_dqn_stage3.world' - ) + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_dqn_stage3.world' + ) - gzserver_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items() - ) + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) - gzclient_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ) - ) + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) - robot_state_publisher_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') - ), - launch_arguments={'use_sim_time': use_sim_time}.items() - ) + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) - spawn_turtlebot_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') - ), - launch_arguments={ - 'x_pose': x_pose, - 'y_pose': y_pose - }.items() - ) + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) - ld = LaunchDescription() + ld = LaunchDescription() - # Add the commands to the launch description - ld.add_action(gzserver_cmd) - ld.add_action(gzclient_cmd) - ld.add_action(robot_state_publisher_cmd) - ld.add_action(spawn_turtlebot_cmd) + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) - return ld + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py index 7f40874d..7c39b774 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py @@ -24,56 +24,57 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration + def generate_launch_description(): - launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') - pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - x_pose = LaunchConfiguration('x_pose', default='0.0') - y_pose = LaunchConfiguration('y_pose', default='0.0') + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') - world = os.path.join( - get_package_share_directory('turtlebot3_gazebo'), - 'worlds', - 'turtlebot3_dqn_stage4.world' - ) + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_dqn_stage4.world' + ) - gzserver_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items() - ) + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) - gzclient_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ) - ) + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) - robot_state_publisher_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') - ), - launch_arguments={'use_sim_time': use_sim_time}.items() - ) + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) - spawn_turtlebot_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') - ), - launch_arguments={ - 'x_pose': x_pose, - 'y_pose': y_pose - }.items() - ) + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) - ld = LaunchDescription() + ld = LaunchDescription() - # Add the commands to the launch description - ld.add_action(gzserver_cmd) - ld.add_action(gzclient_cmd) - ld.add_action(robot_state_publisher_cmd) - ld.add_action(spawn_turtlebot_cmd) + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) - return ld + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_house.launch.py b/turtlebot3_gazebo/launch/turtlebot3_house.launch.py index d7155e28..895e6741 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_house.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_house.launch.py @@ -24,56 +24,57 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration + def generate_launch_description(): - launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') - pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - x_pose = LaunchConfiguration('x_pose', default='-2.0') - y_pose = LaunchConfiguration('y_pose', default='-0.5') + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='-2.0') + y_pose = LaunchConfiguration('y_pose', default='-0.5') - world = os.path.join( - get_package_share_directory('turtlebot3_gazebo'), - 'worlds', - 'turtlebot3_house.world' - ) + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_house.world' + ) - gzserver_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items() - ) + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) - gzclient_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ) - ) + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) - robot_state_publisher_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') - ), - launch_arguments={'use_sim_time': use_sim_time}.items() - ) + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) - spawn_turtlebot_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') - ), - launch_arguments={ - 'x_pose': x_pose, - 'y_pose': y_pose - }.items() - ) + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) - ld = LaunchDescription() + ld = LaunchDescription() - # Add the commands to the launch description - ld.add_action(gzserver_cmd) - ld.add_action(gzclient_cmd) - ld.add_action(robot_state_publisher_cmd) - ld.add_action(spawn_turtlebot_cmd) + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) - return ld + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_world.launch.py b/turtlebot3_gazebo/launch/turtlebot3_world.launch.py index 21cd2ee0..78e43419 100644 --- a/turtlebot3_gazebo/launch/turtlebot3_world.launch.py +++ b/turtlebot3_gazebo/launch/turtlebot3_world.launch.py @@ -24,56 +24,57 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration + def generate_launch_description(): - launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') - pkg_gazebo_ros = get_package_share_directory('gazebo_ros') - - use_sim_time = LaunchConfiguration('use_sim_time', default='true') - x_pose = LaunchConfiguration('x_pose', default='-2.0') - y_pose = LaunchConfiguration('y_pose', default='-0.5') + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='-2.0') + y_pose = LaunchConfiguration('y_pose', default='-0.5') - world = os.path.join( - get_package_share_directory('turtlebot3_gazebo'), - 'worlds', - 'turtlebot3_world.world' - ) + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_world.world' + ) - gzserver_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') - ), - launch_arguments={'world': world}.items() - ) + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) - gzclient_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') - ) - ) + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) - robot_state_publisher_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') - ), - launch_arguments={'use_sim_time': use_sim_time}.items() - ) + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) - spawn_turtlebot_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') - ), - launch_arguments={ - 'x_pose': x_pose, - 'y_pose': y_pose - }.items() - ) + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) - ld = LaunchDescription() + ld = LaunchDescription() - # Add the commands to the launch description - ld.add_action(gzserver_cmd) - ld.add_action(gzclient_cmd) - ld.add_action(robot_state_publisher_cmd) - ld.add_action(spawn_turtlebot_cmd) + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) - return ld + return ld diff --git a/turtlebot3_gazebo/package.xml b/turtlebot3_gazebo/package.xml index a5739c98..15c0c8ba 100644 --- a/turtlebot3_gazebo/package.xml +++ b/turtlebot3_gazebo/package.xml @@ -2,7 +2,7 @@ turtlebot3_gazebo - 2.2.3 + 2.2.4 Gazebo simulation package for the TurtleBot3 diff --git a/turtlebot3_simulations/package.xml b/turtlebot3_simulations/package.xml index 6100740a..c60d3cd8 100644 --- a/turtlebot3_simulations/package.xml +++ b/turtlebot3_simulations/package.xml @@ -2,7 +2,7 @@ turtlebot3_simulations - 2.2.3 + 2.2.4 ROS 2 packages for TurtleBot3 simulations From 921344ffe287bdb1c0e1e9967ddc51cb19608e19 Mon Sep 17 00:00:00 2001 From: Will Son Date: Sun, 13 Jun 2021 20:29:33 +0900 Subject: [PATCH 4/4] fix flake8 --- turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py b/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py index 653fd4d1..88b54a65 100644 --- a/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py +++ b/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py @@ -14,11 +14,11 @@ import os +from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.substitutions import LaunchConfiguration from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node -from ament_index_python.packages import get_package_share_directory def generate_launch_description():