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Ign fix #28

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f8347cc
migration to ignition gazebo
borongyuan Apr 14, 2023
0d4abf8
updated for latest gazebo ignition version
izzaaaatanishq Oct 11, 2025
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25 changes: 2 additions & 23 deletions CMakeLists.txt
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@@ -1,29 +1,8 @@
################################################################################
# Set minimum required version of cmake, project name and compile options
################################################################################
cmake_minimum_required(VERSION 3.5)
project(aws_robomaker_small_warehouse_world)

################################################################################
# Find ament packages and libraries for ament and system dependencies
################################################################################
find_package(ament_cmake REQUIRED)
find_package(gazebo_ros REQUIRED)

################################################################################
# Install
################################################################################
install(
DIRECTORY launch models worlds maps rviz
DESTINATION share/${PROJECT_NAME}
)
find_package(ament_cmake_auto REQUIRED)

ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/aws_robomaker_small_warehouse_world.dsv.in")

ament_export_dependencies(ament_cmake)
ament_export_dependencies(gazebo_ros)

################################################################################
# Macro for ament package
################################################################################
ament_package()
ament_auto_package(INSTALL_TO_SHARE launch maps models rviz worlds)
4 changes: 2 additions & 2 deletions README.md
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Expand Up @@ -62,8 +62,8 @@ This Gazebo world is well suited for organizations who are building and testing
To open this world in Gazebo, change the directory to your ROS workspace root folder and run:

```bash
export GAZEBO_MODEL_PATH=`pwd`/models
gazebo worlds/small_warehouse/small_warehouse.world
export GZ_SIM_RESOURCE_PATH=`pwd`/models
gz sim worlds/small_warehouse.sdf
```

## Example: Running this world directly using ROS without a simulated robot
Expand Down
3 changes: 1 addition & 2 deletions env-hooks/aws_robomaker_small_warehouse_world.dsv.in
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@@ -1,2 +1 @@
prepend-non-duplicate;GAZEBO_MODEL_PATH;share/aws_robomaker_small_warehouse_world/models
prepend-non-duplicate;GAZEBO_MODEL_PATH;share/aws_robomaker_small_warehouse_world/worlds
prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/aws_robomaker_small_warehouse_world/models
35 changes: 20 additions & 15 deletions launch/no_roof_small_warehouse.launch.py
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Expand Up @@ -12,25 +12,30 @@
# See the License for the specific language governing permissions and
# limitations under the License.

import os

from ament_index_python.packages import get_package_share_directory

import launch
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
ld = launch.LaunchDescription([
launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.PythonLaunchDescriptionSource(
[get_package_share_directory(
'aws_robomaker_small_warehouse_world'), '/launch/small_warehouse.launch.py']
),
launch_arguments={
'world': os.path.join(get_package_share_directory('aws_robomaker_small_warehouse_world'), 'worlds', 'no_roof_small_warehouse', 'no_roof_small_warehouse.world')
}.items()
)
world = PathJoinSubstitution([
FindPackageShare('aws_robomaker_small_warehouse_world'),
'worlds',
'no_roof_small_warehouse.sdf'
])
return ld

gz_sim = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare('aws_robomaker_small_warehouse_world'),
'launch',
'small_warehouse.launch.py'
])
),
launch_arguments={'world': world}.items()
)

return LaunchDescription([gz_sim])
69 changes: 19 additions & 50 deletions launch/small_warehouse.launch.py
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Expand Up @@ -12,67 +12,36 @@
# See the License for the specific language governing permissions and
# limitations under the License.

import os

from ament_index_python.packages import get_package_share_directory

import launch
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
from launch.conditions import IfCondition
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
# Get the launch directory
aws_small_warehouse_dir = get_package_share_directory('aws_robomaker_small_warehouse_world')
gazebo_ros = get_package_share_directory('gazebo_ros')

# Launch configuration variables specific to simulation
use_sim_time = LaunchConfiguration('use_sim_time')
use_simulator = LaunchConfiguration('use_simulator')
headless = LaunchConfiguration('headless')
world = LaunchConfiguration('world')

declare_use_sim_time_cmd = DeclareLaunchArgument(
'use_sim_time',
default_value='True',
description='Use simulation (Gazebo) clock if true')

declare_simulator_cmd = DeclareLaunchArgument(
'headless',
default_value='False',
description='Whether to execute gzclient)')

declare_world_cmd = DeclareLaunchArgument(
'world',
default_value=os.path.join(aws_small_warehouse_dir, 'worlds', 'small_warehouse', 'small_warehouse.world'),
description='Full path to world model file to load')

# Specify the actions
start_gazebo_server_cmd = launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.PythonLaunchDescriptionSource(
os.path.join(gazebo_ros, 'launch', 'gzserver.launch.py'))
default_value=PathJoinSubstitution([
FindPackageShare('aws_robomaker_small_warehouse_world'),
'worlds',
'small_warehouse.sdf'
]),
description='Full path to world model file to load'
)

start_gazebo_client_cmd = launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.PythonLaunchDescriptionSource(
os.path.join(gazebo_ros, 'launch', 'gzclient.launch.py')),
condition=IfCondition(PythonExpression(['not ', headless]))
gz_sim = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare('ros_gz_sim'),
'launch',
'gz_sim.launch.py'
])
),
launch_arguments={'gz_args': world}.items(),
)

# Create the launch description and populate
ld = LaunchDescription()

# Declare the launch options
ld.add_action(declare_use_sim_time_cmd)
ld.add_action(declare_simulator_cmd)
ld.add_action(declare_world_cmd)

# Add any conditioned actions
ld.add_action(start_gazebo_server_cmd)
ld.add_action(start_gazebo_client_cmd)

return ld
return LaunchDescription([declare_world_cmd, gz_sim])
10 changes: 5 additions & 5 deletions models/aws_robomaker_warehouse_Bucket_01/model.sdf
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Expand Up @@ -2,7 +2,7 @@
<sdf version='1.6'>
<model name='aws_robomaker_warehouse_Bucket_01'>
<link name='body'>
<inertial>
<inertial>
<mass>2</mass>
<pose frame=''>0 0 0 0 0 0</pose>
<inertia>
Expand All @@ -21,22 +21,22 @@
<visual name='visual'>
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_Bucket_01/meshes/aws_robomaker_warehouse_Bucket_01_visual.DAE</uri>
<uri>meshes/aws_robomaker_warehouse_Bucket_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
<meta><layer>1</layer></meta>
</visual>
<collision name='collision_0'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_Bucket_01/meshes/aws_robomaker_warehouse_Bucket_01_collision.DAE</uri>
<uri>meshes/aws_robomaker_warehouse_Bucket_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<surface>
<friction>
<ode>
<mu>0.4</mu>
Expand Down
6 changes: 3 additions & 3 deletions models/aws_robomaker_warehouse_ClutteringA_01/model.sdf
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Expand Up @@ -16,7 +16,7 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_ClutteringA_01/meshes/aws_robomaker_warehouse_ClutteringA_01_collision.DAE</uri>
<uri>meshes/aws_robomaker_warehouse_ClutteringA_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
Expand Down Expand Up @@ -44,10 +44,10 @@
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_ClutteringA_01/meshes/aws_robomaker_warehouse_ClutteringA_01_visual.DAE</uri>
<uri>meshes/aws_robomaker_warehouse_ClutteringA_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
<meta><layer>1</layer></meta>
</visual>
</link>
<static>1</static>
Expand Down
10 changes: 5 additions & 5 deletions models/aws_robomaker_warehouse_ClutteringC_01/model.sdf
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Expand Up @@ -16,11 +16,11 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_ClutteringC_01/meshes/aws_robomaker_warehouse_ClutteringC_01_collision.DAE</uri>
<uri>meshes/aws_robomaker_warehouse_ClutteringC_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<surface>
<friction>
<ode>
<mu>0.6</mu>
Expand All @@ -42,12 +42,12 @@
</surface>
</collision>
<visual name="visual">
<geometry>
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_ClutteringC_01/meshes/aws_robomaker_warehouse_ClutteringC_01_visual.DAE</uri>
<uri>meshes/aws_robomaker_warehouse_ClutteringC_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
<meta><layer>1</layer></meta>
</visual>
</link>
<static>1</static>
Expand Down
12 changes: 6 additions & 6 deletions models/aws_robomaker_warehouse_ClutteringD_01/model.sdf
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Expand Up @@ -16,7 +16,7 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_ClutteringD_01/meshes/aws_robomaker_warehouse_ClutteringD_01_collision.DAE</uri>
<uri>meshes/aws_robomaker_warehouse_ClutteringD_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
Expand All @@ -42,14 +42,14 @@
</surface>
</collision>
<visual name="visual">
<geometry>
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_ClutteringD_01/meshes/aws_robomaker_warehouse_ClutteringD_01_visual.DAE</uri>
<uri>meshes/aws_robomaker_warehouse_ClutteringD_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
</visual>
<meta><layer>1</layer></meta>
</visual>
</link>
<static>1</static>
<static>1</static>
</model>
</sdf>
18 changes: 9 additions & 9 deletions models/aws_robomaker_warehouse_DeskC_01/model.sdf
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Expand Up @@ -16,11 +16,11 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_DeskC_01/meshes/aws_robomaker_warehouse_DeskC_01_collision.DAE</uri>
<uri>meshes/aws_robomaker_warehouse_DeskC_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<surface>
<friction>
<ode>
<mu>0.3</mu>
Expand All @@ -29,18 +29,18 @@
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_DeskC_01/meshes/aws_robomaker_warehouse_DeskC_01_visual.DAE</uri>
<uri>meshes/aws_robomaker_warehouse_DeskC_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
</visual>
<meta><layer>1</layer></meta>
</visual>
</link>
<static>1</static>
<static>1</static>
</model>
</sdf>
16 changes: 8 additions & 8 deletions models/aws_robomaker_warehouse_GroundB_01/model.sdf
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Expand Up @@ -4,19 +4,19 @@
<link name="link">
<inertial>
<mass>1000</mass>
<inertia>
<!-- <inertia>
<ixx>1200083.33</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>8333416.66</iyy>
<iyz>0</iyz>
<izz>2033333.33</izz>
</inertia>
</inertia> -->
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_GroundB_01/meshes/aws_robomaker_warehouse_GroundB_01_collision.DAE</uri>
<uri>meshes/aws_robomaker_warehouse_GroundB_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
Expand All @@ -33,14 +33,14 @@
</surface>
</collision>
<visual name="visual">
<geometry>
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_GroundB_01/meshes/aws_robomaker_warehouse_GroundB_01_visual.DAE</uri>
<uri>meshes/aws_robomaker_warehouse_GroundB_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
</visual>
<meta><layer>1</layer></meta>
</visual>
</link>
<static>1</static>
<static>1</static>
</model>
</sdf>
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