aws-robotics · Juancams · Jul 26, 2024 · Oct 17, 2024 · Oct 24, 2024 · Mar 18, 2025
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,13 +1,15 @@
 cmake_minimum_required(VERSION 3.5)
 project(aws_robomaker_small_house_world)
 
-find_package(gazebo_ros REQUIRED)
+find_package(ros_gz_sim REQUIRED)
 find_package(ament_cmake_ros REQUIRED)
 
 install(DIRECTORY launch models worlds maps photos param routes
     DESTINATION share/${PROJECT_NAME}
 )
 
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/aws_robomaker_small_house_world.dsv.in")
+
 ament_export_dependencies(gazebo_ros)
 
 ament_package()

diff --git a/env-hooks/aws_robomaker_small_house_world.dsv.in b/env-hooks/aws_robomaker_small_house_world.dsv.in
@@ -0,0 +1,4 @@
+prepend-non-duplicate;GZ_SIM_MODEL_PATH;share/aws_robomaker_small_house_world/models
+prepend-non-duplicate;GZ_SIM_MODEL_PATH;share/aws_robomaker_small_house_world/worlds
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/aws_robomaker_small_house_world/models
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/aws_robomaker_small_house_world/worlds
diff --git a/launch/small_house.launch.py b/launch/small_house.launch.py
@@ -18,45 +18,38 @@
 
 import os
 
-import launch
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from ament_index_python.packages import get_package_share_directory
+from launch.substitutions import LaunchConfiguration
+from launch.actions import ExecuteProcess
+from launch.actions import SetEnvironmentVariable
 
 
 def generate_launch_description():
     world_file_name = 'small_house.world'
     package_dir = get_package_share_directory('aws_robomaker_small_house_world')
-    gazebo_ros = get_package_share_directory('gazebo_ros')
+    world = LaunchConfiguration('world')
 
-    gazebo_client = launch.actions.IncludeLaunchDescription(
-	launch.launch_description_sources.PythonLaunchDescriptionSource(
-            os.path.join(gazebo_ros, 'launch', 'gzclient.launch.py')),
-        condition=launch.conditions.IfCondition(launch.substitutions.LaunchConfiguration('gui'))
-     )
-    gazebo_server = launch.actions.IncludeLaunchDescription(
-        launch.launch_description_sources.PythonLaunchDescriptionSource(
-            os.path.join(gazebo_ros, 'launch', 'gzserver.launch.py'))
-    )
+    model_path = os.path.join(package_dir, 'models')
+
+    gazebo_server_cmd_line = [
+        'gz', 'sim', '-r', '-v4', world]
+
+    gazebo = ExecuteProcess(
+        cmd=gazebo_server_cmd_line, output='screen')
 
     return LaunchDescription([
+        SetEnvironmentVariable('GZ_SIM_RESOURCE_PATH', model_path),
         DeclareLaunchArgument(
           'world',
           default_value=[os.path.join(package_dir, 'worlds', world_file_name), ''],
           description='SDF world file'),
-        DeclareLaunchArgument(
-            name='gui',
-            default_value='false'
-        ),
         DeclareLaunchArgument(
             name='use_sim_time',
             default_value='true'
         ),
-        DeclareLaunchArgument('state',
-            default_value='true',
-            description='Set "true" to load "libgazebo_ros_state.so"'),
-        gazebo_server,
-        gazebo_client,
+        gazebo,
     ])
 
 

diff --git a/models/aws_robomaker_residential_DeskPortraitA_01/meshes/aws_DeskPortraitA_01_visual.DAE b/models/aws_robomaker_residential_DeskPortraitA_01/meshes/aws_DeskPortraitA_01_visual.DAE
@@ -3,7 +3,7 @@
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   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_DeskPortraitA_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/DeskPortraitA_01.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/DeskPortraitA_01.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #27" name="Material #27">

diff --git a/models/aws_robomaker_residential_DeskPortraitA_02/meshes/aws_DeskPortraitA_01_visual.DAE b/models/aws_robomaker_residential_DeskPortraitA_02/meshes/aws_DeskPortraitA_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T06:46:10Z</created><keywords></keywords><modified>2018-10-24T06:46:10Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_DeskPortraitA_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/DeskPortraitA_02.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/DeskPortraitA_02.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #27" name="Material #27">

diff --git a/models/aws_robomaker_residential_DeskPortraitB_01/meshes/aws_DeskPortraitB_01_visual.DAE b/models/aws_robomaker_residential_DeskPortraitB_01/meshes/aws_DeskPortraitB_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T06:51:23Z</created><keywords></keywords><modified>2018-10-24T06:51:23Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_DeskPortraitB_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/DeskPortraitB_01.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/DeskPortraitB_01.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #27" name="Material #27">

diff --git a/models/aws_robomaker_residential_DeskPortraitB_02/meshes/aws_DeskPortraitB_01_visual.DAE b/models/aws_robomaker_residential_DeskPortraitB_02/meshes/aws_DeskPortraitB_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T06:51:23Z</created><keywords></keywords><modified>2018-10-24T06:51:23Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_DeskPortraitB_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/DeskPortraitA_02.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/DeskPortraitA_02.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #27" name="Material #27">

diff --git a/models/aws_robomaker_residential_DeskPortraitC_02/meshes/aws_DeskPortraitC_01_visual.DAE b/models/aws_robomaker_residential_DeskPortraitC_02/meshes/aws_DeskPortraitC_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-26T09:16:20Z</created><keywords></keywords><modified>2018-10-26T09:16:20Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #2-image" name="Map #2"><init_from>../materials/textures/aws_DeskPortraitC_01.png</init_from></image>
-    <image id="Map #1-image" name="Map #1"><init_from>../../../../photos/DeskPortraitC_02.jpg</init_from></image>
+    <image id="Map #1-image" name="Map #1"><init_from>../../../photos/DeskPortraitC_02.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #28" name="Material #28">

diff --git a/models/aws_robomaker_residential_DeskPortraitD_01/meshes/aws_DeskPortraitD_01_visual.DAE b/models/aws_robomaker_residential_DeskPortraitD_01/meshes/aws_DeskPortraitD_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:03:32Z</created><keywords></keywords><modified>2018-10-24T07:03:32Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_DeskPortraitD_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/DeskPortraitD_01.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/DeskPortraitD_01.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #27" name="Material #27">

diff --git a/models/aws_robomaker_residential_DeskPortraitD_02/meshes/aws_DeskPortraitD_01_visual.DAE b/models/aws_robomaker_residential_DeskPortraitD_02/meshes/aws_DeskPortraitD_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:03:32Z</created><keywords></keywords><modified>2018-10-24T07:03:32Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_DeskPortraitD_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/DeskPortraitD_02.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/DeskPortraitD_02.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #27" name="Material #27">

diff --git a/models/aws_robomaker_residential_DeskPortraitD_03/meshes/aws_DeskPortraitD_01_visual.DAE b/models/aws_robomaker_residential_DeskPortraitD_03/meshes/aws_DeskPortraitD_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:03:32Z</created><keywords></keywords><modified>2018-10-24T07:03:32Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_DeskPortraitD_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/DeskPortraitD_03.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/DeskPortraitD_03.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #27" name="Material #27">

diff --git a/models/aws_robomaker_residential_DeskPortraitD_04/meshes/aws_DeskPortraitD_01_visual.DAE b/models/aws_robomaker_residential_DeskPortraitD_04/meshes/aws_DeskPortraitD_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:03:32Z</created><keywords></keywords><modified>2018-10-24T07:03:32Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_DeskPortraitD_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/DeskPortraitD_04.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/DeskPortraitD_04.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #27" name="Material #27">

diff --git a/models/aws_robomaker_residential_PortraitA_01/meshes/aws_PortraitA_01_visual.DAE b/models/aws_robomaker_residential_PortraitA_01/meshes/aws_PortraitA_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:08:49Z</created><keywords></keywords><modified>2018-10-24T07:08:49Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitA_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitA_01.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitA_01.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">

diff --git a/models/aws_robomaker_residential_PortraitA_02/meshes/aws_PortraitA_01_visual.DAE b/models/aws_robomaker_residential_PortraitA_02/meshes/aws_PortraitA_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:08:49Z</created><keywords></keywords><modified>2018-10-24T07:08:49Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitA_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitA_02.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitA_02.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">

diff --git a/models/aws_robomaker_residential_PortraitB_01/meshes/aws_PortraitB_01_visual.DAE b/models/aws_robomaker_residential_PortraitB_01/meshes/aws_PortraitB_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:21:46Z</created><keywords></keywords><modified>2018-10-24T07:21:46Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitB_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitB_01.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitB_01.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">

diff --git a/models/aws_robomaker_residential_PortraitB_02/meshes/aws_PortraitB_01_visual.DAE b/models/aws_robomaker_residential_PortraitB_02/meshes/aws_PortraitB_01_visual.DAE
@@ -3,7 +3,7 @@
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   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitB_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitB_02.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitB_02.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">

diff --git a/models/aws_robomaker_residential_PortraitB_03/meshes/aws_PortraitB_01_visual.DAE b/models/aws_robomaker_residential_PortraitB_03/meshes/aws_PortraitB_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:21:46Z</created><keywords></keywords><modified>2018-10-24T07:21:46Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitB_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitB_03.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitB_03.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">

diff --git a/models/aws_robomaker_residential_PortraitC_01/meshes/aws_PortraitC_01_visual.DAE b/models/aws_robomaker_residential_PortraitC_01/meshes/aws_PortraitC_01_visual.DAE
@@ -3,7 +3,7 @@
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   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitC_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitC_01.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitC_01.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">

diff --git a/models/aws_robomaker_residential_PortraitD_01/meshes/aws_PortraitD_01_visual.DAE b/models/aws_robomaker_residential_PortraitD_01/meshes/aws_PortraitD_01_visual.DAE
@@ -3,7 +3,7 @@
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   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitD_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitD_01.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitD_01.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">

diff --git a/models/aws_robomaker_residential_PortraitD_02/meshes/aws_PortraitD_01_visual.DAE b/models/aws_robomaker_residential_PortraitD_02/meshes/aws_PortraitD_01_visual.DAE
@@ -3,7 +3,7 @@
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   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitD_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitD_02.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitD_02.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">

diff --git a/models/aws_robomaker_residential_PortraitE_01/meshes/aws_PortraitE_01_visual.DAE b/models/aws_robomaker_residential_PortraitE_01/meshes/aws_PortraitE_01_visual.DAE
@@ -3,7 +3,7 @@
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   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitE_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitE_01.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitE_01.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">

diff --git a/models/aws_robomaker_residential_PortraitE_02/meshes/aws_PortraitE_01_visual.DAE b/models/aws_robomaker_residential_PortraitE_02/meshes/aws_PortraitE_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:35:06Z</created><keywords></keywords><modified>2018-10-24T07:35:06Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitE_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitE_02.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitE_02.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">