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javizqhjavizqh
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Merge pull request #572 from Arcane-01/labyrinth_escape
Labyrinth escape migration to gazebo harmonic
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‎CustomRobots/drone_assets/worlds/labyrinth_escape_harmonic.world‎

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<?xml version="1.0"?>
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<sdf version="1.8">
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<world name="empty">
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<physics name="4ms" type="ignored">
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<max_step_size>0.004</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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</physics>
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<plugin
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filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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</plugin>
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<plugin
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filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin
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filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<plugin
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filename="gz-sim-sensors-system"
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name="gz::sim::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<!--light-->
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<gui>
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<camera name="user_camera">
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<pose>-4.70385 10.895 16.2659 -0 0.921795 -1.12701</pose>
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</camera>
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</gui>
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<!-- Arrows -->
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<include>
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<uri>model://arrow</uri>
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<name>arrow_1</name>
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<pose>-18 -8.5 0.1 0 0 0</pose>
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</include>
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<include>
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<uri>model://arrow</uri>
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<name>arrow_2</name>
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<pose>-5.5 -8.5 0.1 0 0 0</pose>
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</include>
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<include>
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<uri>model://arrow</uri>
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<name>arrow_3</name>
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<pose>7 -8.5 0.1 0 0 1.57</pose>
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</include>
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<include>
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<uri>model://arrow</uri>
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<name>arrow_4</name>
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<pose>7 3 0.1 0 0 1.57</pose>
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</include>
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<include>
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<uri>model://arrow</uri>
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<name>arrow_5</name>
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<pose>7 14.5 0.1 0 0 3.14</pose>
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</include>
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<include>
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<uri>model://arrow</uri>
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<name>arrow_6</name>
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<pose>2.5 14.5 0.1 0 0 3.14</pose>
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</include>
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<include>
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<uri>model://arrow</uri>
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<name>arrow_7</name>
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<pose>2.5 7.5 0.1 0 0 3.14</pose>
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</include>
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<include>
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<uri>model://arrow</uri>
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<name>arrow_8</name>
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<pose>-3 7.5 0.1 0 0 1.57</pose>
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</include>
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<include>
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<uri>model://arrow</uri>
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<name>arrow_9</name>
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<pose>-3 20.5 0.1 0 0 3.14</pose>
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</include>
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<include>
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<uri>model://arrow</uri>
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<name>arrow_10</name>
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<pose>-13 20.5 0.1 0 0 3.14</pose>
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</include>
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<include>
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<uri>model://simple_labyrinth_green</uri>
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</include>
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<!-- Grass plane -->
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<include>
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<uri>model://grass_plane</uri>
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</include>
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<!-- JdeRobot Logo -->
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<include>
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<name>logo</name>
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<uri>model://logoJdeRobot</uri>
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<pose>-26.0 0.0 0.0 0.0 0.0 0.0</pose>
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</include>
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<include>
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<uri>model://quadrotor_dual_cam</uri>
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<name>drone0</name>
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<pose>-18 -8.5 0.3 0 0 0</pose>
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</include>
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</world>
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</sdf>

‎Launchers/labyrinth_escape.launch.py‎

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"""Entry point for the Labyrinth Escape exercise."""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.conditions import IfCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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"""Generate the launch description for labyrinth escape simulation."""
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custom_robots_share = get_package_share_directory("custom_robots")
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# same bridges file as rescue_people exercise
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bridges_path = os.path.join(custom_robots_share, "bridges", "rescue_people.yaml")
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world_path = os.path.join(
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custom_robots_share, "worlds", "labyrinth_escape_harmonic.world"
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)
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# YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE #
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declare_use_simulator_cmd = DeclareLaunchArgument(
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name="use_simulator",
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default_value="True",
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description="Whether to start the simulator",
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)
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# Start Gazebo server
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gzsim = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[
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os.path.join(get_package_share_directory("jderobot_drones"), "launch"),
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"/gz_sim.launch.py",
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]
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),
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condition=IfCondition(LaunchConfiguration("use_simulator")),
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launch_arguments={
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"namespace": "drone0",
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"bridges_file": bridges_path,
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"world_file": world_path,
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}.items(),
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)
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as2 = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[
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os.path.join(get_package_share_directory("jderobot_drones"), "launch"),
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"/as2_default_gazebo_sim.launch.py",
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]
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),
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launch_arguments={
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"namespace": "drone0",
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}.items(),
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)
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start_gazebo_frontal_image_bridge_cmd = Node(
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package="ros_gz_image",
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executable="image_bridge",
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arguments=["/drone0/frontal_cam/image_raw"],
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output="screen",
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)
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start_gazebo_ventral_image_bridge_cmd = Node(
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package="ros_gz_image",
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executable="image_bridge",
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arguments=["/drone0/ventral_cam/image_raw"],
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output="screen",
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)
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# Create the launch description and populate
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ld = LaunchDescription()
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ld.add_action(declare_use_simulator_cmd)
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ld.add_action(gzsim)
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ld.add_action(as2)
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ld.add_action(start_gazebo_frontal_image_bridge_cmd)
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ld.add_action(start_gazebo_ventral_image_bridge_cmd)
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return ld

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