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Merge pull request #567 from JdeRobot/car_junction
Car junction
2 parents 944c970 + 1204295 commit e3ec26d

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4 files changed

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‎Launchers/car_junction.launch.py‎

Lines changed: 60 additions & 87 deletions
Original file line numberDiff line numberDiff line change
@@ -1,116 +1,89 @@
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"""
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car_junction.launch.py
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Entry point for the Car Junction exercise.
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"""
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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, UnlessCondition
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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 Command, LaunchConfiguration, PythonExpression
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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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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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# Set the path to the Gazebo ROS package
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pkg_gazebo_ros = FindPackageShare(package="gazebo_ros").find("gazebo_ros")
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# Set the path to this package.
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pkg_share = FindPackageShare(package="custom_robots").find("custom_robots")
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# Set the path to the world file
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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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use_sim_time = LaunchConfiguration("use_sim_time", default="true")
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world_file_name = "road_junction.world"
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world_path = os.path.join(pkg_share, "worlds", world_file_name)
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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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# Set the path to the SDF model files.
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gazebo_models_path = os.path.join(pkg_share, "models")
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os.environ["GAZEBO_MODEL_PATH"] = (
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f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}"
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)
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start_ros_gazebo_bridge = (
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Node(
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package="ros_gz_bridge",
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executable="parameter_bridge",
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arguments=[
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"/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
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"/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist",
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"/odom@nav_msgs/msg/Odometry]gz.msgs.Odometry",
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"/waymo/lidar/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked",
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"/waymo/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
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],
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parameters=[{"use_sim_time": True}],
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output="screen",
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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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),
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)
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start_ros_gazebo_image_bridge = Node(
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package="ros_gz_image",
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executable="image_bridge",
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arguments=["/waymo/camera_front@sensor_msgs/msg/Image[gz.msgs.Image"],
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output="screen",
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)
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########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ##############
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# Launch configuration variables specific to simulation
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headless = LaunchConfiguration("headless")
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use_sim_time = LaunchConfiguration("use_sim_time")
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use_simulator = LaunchConfiguration("use_simulator")
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world = LaunchConfiguration("world")
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declare_simulator_cmd = DeclareLaunchArgument(
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name="headless",
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default_value="False",
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description="Whether to execute gzclient",
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)
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declare_use_sim_time_cmd = DeclareLaunchArgument(
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name="use_sim_time",
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default_value="true",
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description="Use simulation (Gazebo) clock if true",
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launch_arguments={
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"gz_args": ["-r -s -v4 ", world_path],
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"on_exit_shutdown": "true",
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}.items(),
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)
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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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declare_world_cmd = DeclareLaunchArgument(
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name="world",
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default_value=world_path,
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description="Full path to the world model file to load",
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world_entity_cmd = Node(
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package="ros_gz_sim",
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executable="create",
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arguments=["-name", "world", "-file", world_path],
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output="screen",
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)
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# Specify the actions
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# Start Gazebo server
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start_gazebo_server_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(pkg_gazebo_ros, "launch", "gzserver.launch.py")
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),
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condition=IfCondition(use_simulator),
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launch_arguments={"world": world}.items(),
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start_ros_gazebo_bridge = Node(
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package="ros_gz_bridge",
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executable="parameter_bridge",
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arguments=[
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"/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
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"/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist",
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"/odom@nav_msgs/msg/Odometry]gz.msgs.Odometry",
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"/waymo/lidar/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked",
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"/waymo/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
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],
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parameters=[{'use_sim_time': True}],
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output="screen",
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)
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# Set the path to the SDF model files.
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gazebo_models_path = os.path.join(pkg_share, "models")
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os.environ["GAZEBO_MODEL_PATH"] = (
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f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}"
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)
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# Start Gazebo client
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start_gazebo_client_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(pkg_gazebo_ros, "launch", "gzclient.launch.py")
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),
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condition=IfCondition(PythonExpression([use_simulator, " and not ", headless])),
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start_ros_gazebo_image_bridge = Node(
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package="ros_gz_image",
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executable="image_bridge",
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arguments=["/waymo/camera_front@sensor_msgs/msg/Image[gz.msgs.Image"],
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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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# Declare the launch options
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ld.add_action(declare_simulator_cmd)
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ld.add_action(declare_use_sim_time_cmd)
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ld.add_action(declare_use_simulator_cmd)
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ld.add_action(declare_world_cmd)
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# Add any actions
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ld.add_action(start_gazebo_server_cmd)
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ld.add_action(start_gazebo_client_cmd)
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ld.add_action(gazebo_server)
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ld.add_action(world_entity_cmd)
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ld.add_action(start_ros_gazebo_bridge)
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ld.add_action(start_ros_gazebo_image_bridge)
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‎Launchers/visualization/car_junction.config‎

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<?xml version="1.0"?>
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<!-- Quick start dialog -->
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<dialog name="quick_start" show_again="false"/>
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<!-- Window -->
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<window>
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<width>1024</width>
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<height>768</height>
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<style material_theme="Light" material_primary="DeepOrange" material_accent="LightBlue" toolbar_color_light="#f3f3f3" toolbar_text_color_light="#111111" toolbar_color_dark="#414141" toolbar_text_color_dark="#f3f3f3" plugin_toolbar_color_light="#bbdefb" plugin_toolbar_text_color_light="#111111" plugin_toolbar_color_dark="#607d8b" plugin_toolbar_text_color_dark="#eeeeee"/>
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<menus>
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<drawer visible="false">
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</drawer>
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<plugins visible="false">
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</plugins>
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</menus>
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<dialog_on_exit>false</dialog_on_exit>
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</window>
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<!-- GUI plugins -->
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<!-- 3D scene -->
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<plugin filename="MinimalScene" name="3D View">
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<gz-gui>
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<title>3D View</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="string" key="state">docked</property>
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</gz-gui>
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<engine>ogre2</engine>
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<scene>scene</scene>
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<ambient_light>0.4 0.4 0.4</ambient_light>
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<background_color>0.8 0.8 0.8</background_color>
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<camera_pose>0.0 0.0 8 0 1.57 3.14</camera_pose>
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</plugin>
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<!-- Plugins that add functionality to the scene -->
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<plugin filename="GzSceneManager" name="Scene Manager">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="InteractiveViewControl" name="Interactive view control">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="WorldStats" name="World stats">
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<gz-gui>
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<title>World stats</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="bool" key="resizable">false</property>
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<property type="double" key="height">110</property>
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<property type="double" key="width">290</property>
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<property type="double" key="z">1</property>
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<property type="string" key="state">floating</property>
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<anchors target="3D View">
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<line own="right" target="right"/>
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<line own="bottom" target="bottom"/>
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</anchors>
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</gz-gui>
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<sim_time>true</sim_time>
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<real_time>true</real_time>
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<real_time_factor>true</real_time_factor>
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<iterations>true</iterations>
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<topic>/world/world_demo/stats</topic>
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</plugin>

‎Worlds/road_junction.world‎

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Original file line numberDiff line numberDiff line change
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</plugin>
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</world>
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</sdf>
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</sdf>

‎database/universes.sql‎

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Original file line numberDiff line numberDiff line change
@@ -206,7 +206,7 @@ COPY public.worlds (id, name, launch_file_path, tools_config, ros_version, type,
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32 Follow Road Harmonic /opt/jderobot/Launchers/follow_road.launch.py {"gzsim":"/opt/jderobot/Launchers/visualization/follow_road.config"} ROS2 gz {0.0,0.0,0.0,0.0,0.0,0.0}
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33 Small Laser Mapping Warehouse /opt/jderobot/Launchers/small_laser_mapping.launch.py {"gzsim":"/opt/jderobot/Launchers/visualization/small_laser_mapping.config"} ROS2 gz {0.0,0.0,0.0,0.0,0.0,0.0}
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34 Pick And Place Arm /home/dev_ws/src/IndustrialRobots/ros2_SimRealRobotControl/ros2srrc_launch/moveit2/moveit2.launch.py None ROS2 gazebo {0.0,0.0,0.0,0.0,0.0,0.0}
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35 Car Junction /opt/jderobot/Launchers/car_junction.launch.py None ROS2 gazebo {0.0,0.0,0.0,0.0,0.0,0.0}
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35 Car Junction /opt/jderobot/Launchers/car_junction.launch.py {"gzsim":"/opt/jderobot/Launchers/visualization/car_junction.config"} ROS2 gz {0.0,0.0,0.0,0.0,0.0,0.0}
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36 Drone Gymkhana Harmonic /opt/jderobot/Launchers/drone_gymkhana.launch.py None ROS2 gz {0.0,0.0,0.0,0.0,0.0,0.0}
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37 Tower Inspection Harmonic /opt/jderobot/Launchers/power_tower_inspection.launch.py None ROS2 gz {0.0,0.0,0.0,0.0,0.0,0.0}
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