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Merge pull request #500 from JdeRobot/small_laser_mapping
Small universe for laser mapping exercise
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‎CustomRobots/laser_mapping/models/small_mapping_warehouse/model.config‎

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<?xml version="1.0" ?>
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<model>
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<name>small_mapping_warehouse</name>
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<version>1.0</version>
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<sdf version="1.8">model.sdf</sdf>
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<author>
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<name>Generated by blender SDF tools</name>
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</author>
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</model>

‎CustomRobots/laser_mapping/models/small_mapping_warehouse/model.sdf‎

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<?xml version="1.0" ?>
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<sdf version='1.8'>
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<model name='small_mapping_warehouse'>
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<static>true</static>
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<link name='Wall_0'>
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<collision name='Wall_0_Collision'>
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<geometry>
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<box>
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<size>9 0.5 2.5</size>
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</box>
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</geometry>
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<pose>0 0 0 0 -0 0</pose>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='Wall_0_Visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<box>
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<size>9 0.5 2.5</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<pose>12 -0.5 1.25 0 -0 1.57</pose>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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<link name='Wall_1'>
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<collision name='Wall_1_Collision'>
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<geometry>
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<box>
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<size>6 0.5 2.5</size>
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</box>
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</geometry>
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<pose>0 0 0 0 -0 0</pose>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='Wall_1_Visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<box>
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<size>6 0.5 2.5</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<pose>2 -8 1.25 0 -0 1.57</pose>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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<link name='Wall_2'>
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<collision name='Wall_2_Collision'>
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<geometry>
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<box>
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<size>10 0.5 2.5</size>
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</box>
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</geometry>
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<pose>0 0 0 0 -0 0</pose>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='Wall_2_Visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<box>
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<size>10 0.5 2.5</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<pose>7.25 -5.25 1.25 0 -0 0</pose>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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<link name='Wall_3'>
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<collision name='Wall_3_Collision'>
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<geometry>
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<box>
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<size>8.5 0.5 2.5</size>
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</box>
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</geometry>
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<pose>0 0 0 0 -0 0</pose>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='Wall_3_Visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<box>
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<size>8.5 0.5 2.5</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<pose>-2 -11.25 1.25 0 -0 0</pose>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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<link name='Wall_4'>
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<collision name='Wall_4_Collision'>
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<geometry>
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<box>
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<size>15 0.5 2.5</size>
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</box>
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</geometry>
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<pose>0 0 0 0 -0 0</pose>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='Wall_4_Visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<box>
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<size>15 0.5 2.5</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<pose>-6 -3.5 1.25 0 -0 1.57</pose>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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<link name='Wall_5'>
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<collision name='Wall_5_Collision'>
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<geometry>
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<box>
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<size>18.5 0.5 2.5</size>
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</box>
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</geometry>
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<pose>0 0 0 0 -0 0</pose>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<visual name='Wall_5_Visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<box>
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<size>18.5 0.5 2.5</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/White</name>
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</script>
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</material>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<pose>3 4.25 1.25 0 -0 0</pose>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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<static>1</static>
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<pose>0 0 0 0 -0 0</pose>
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</model>
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</sdf>

‎Launchers/small_laser_mapping.launch.py‎

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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 (
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DeclareLaunchArgument,
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IncludeLaunchDescription,
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SetEnvironmentVariable,
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AppendEnvironmentVariable
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)
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, Command
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from launch_ros.actions import Node
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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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x = LaunchConfiguration('x')
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y = LaunchConfiguration('y')
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z = LaunchConfiguration('z')
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roll = LaunchConfiguration('R')
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pitch = LaunchConfiguration('P')
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yaw = LaunchConfiguration('Y')
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package_dir = get_package_share_directory('custom_robots')
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ros_gz_sim = get_package_share_directory('ros_gz_sim')
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gazebo_models_path = os.path.join(package_dir, "models")
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robot_launch_dir = "/opt/jderobot/Launchers/marker_visual_loc"
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robot_model_dir = os.path.join(package_dir, 'models/turtlebot3_waffle')
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use_sim_time = LaunchConfiguration('use_sim_time', default='true')
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x_pose = LaunchConfiguration('x_pose', default='0')
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y_pose = LaunchConfiguration('y_pose', default='0')
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z_pose = LaunchConfiguration('z_pose', default='0.0')
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world_file_name = "small_laser_mapping.world"
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worlds_dir = "/opt/jderobot/Worlds"
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world_path = os.path.join(worlds_dir, world_file_name)
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gazebo_server = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py')),
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launch_arguments={'gz_args': ['-r -s -v4 ', world_path], 'on_exit_shutdown': 'true'}.items()
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)
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declare_x_cmd = DeclareLaunchArgument(
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'x', default_value='0'
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)
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declare_y_cmd = DeclareLaunchArgument(
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'y', default_value='0'
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)
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declare_z_cmd = DeclareLaunchArgument(
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'z', default_value='0.0'
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)
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declare_roll_cmd = DeclareLaunchArgument(
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'R', default_value='0.0'
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)
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declare_pitch_cmd = DeclareLaunchArgument(
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'P', default_value='0.0'
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)
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declare_yaw_cmd = DeclareLaunchArgument(
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'Y', default_value='0.0'
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)
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robot_state_publisher_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(robot_launch_dir, 'robot_state_publisher.launch.py')
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),
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launch_arguments={'use_sim_time': use_sim_time}.items()
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)
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spawn_robot_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(robot_launch_dir, 'spawn_robot.launch.py')
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),
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launch_arguments={
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'x_pose': x_pose,
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'y_pose': y_pose,
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'z_pose': z_pose
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}.items()
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)
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world_entity_cmd = Node(package='ros_gz_sim', executable='create',
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arguments=['-name',
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'world',
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'-file',
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world_path
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],
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output='screen')
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ld = LaunchDescription()
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ld.add_action(SetEnvironmentVariable('GZ_SIM_RESOURCE_PATH', gazebo_models_path))
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set_env_vars_resources = AppendEnvironmentVariable('GZ_SIM_RESOURCE_PATH', os.path.join(package_dir,'models'))
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ld.add_action(set_env_vars_resources)
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ld.add_action(gazebo_server)
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# ld.add_action(gazebo_client)
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ld.add_action(declare_x_cmd)
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ld.add_action(declare_y_cmd)
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ld.add_action(declare_z_cmd)
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ld.add_action(declare_roll_cmd)
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ld.add_action(declare_pitch_cmd)
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ld.add_action(declare_yaw_cmd)
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ld.add_action(world_entity_cmd)
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ld.add_action(robot_state_publisher_cmd)
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ld.add_action(spawn_robot_cmd)
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return ld

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