Added worlds and models for autopark migration

CustomRobots/CMakeLists.txt

@@ -118,6 +118,11 @@ install(
     autoparking/launch
     autoparking/models
     autoparking/worlds
+    # AUTOPARK_HARMONIC
+    autopark_harmonic/launch
+    autopark_harmonic/models
+    autopark_harmonic/params
+    autopark_harmonic/worlds
     # DRONE_ASSETS
     drone_assets/models
     drone_assets/worlds

CustomRobots/autopark_harmonic/launch/autopark_battery.launch.py

@@ -0,0 +1,105 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    roll = LaunchConfiguration("R")
+    pitch = LaunchConfiguration("P")
+    yaw = LaunchConfiguration("Y")
+
+    package_dir = get_package_share_directory("custom_robots")
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    gazebo_models_path = os.path.join(package_dir, "models")
+
+    robot_launch_dir = "/opt/jderobot/Launchers/autopark_battery"
+
+    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
+    x_pose = LaunchConfiguration("x_pose", default="1.0")
+    y_pose = LaunchConfiguration("y_pose", default="-1.5")
+    z_pose = LaunchConfiguration("z_pose", default="7.1")
+    world_file_name = "autopark_battery.world"
+    worlds_dir = "/opt/jderobot/Worlds"
+    world_path = os.path.join(worlds_dir, world_file_name)
+
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-r -s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
+    )
+
+    declare_x_cmd = DeclareLaunchArgument("x", default_value="1.0")
+
+    declare_y_cmd = DeclareLaunchArgument("y", default_value="-1.5")
+
+    declare_z_cmd = DeclareLaunchArgument("z", default_value="7.1")
+
+    declare_roll_cmd = DeclareLaunchArgument("R", default_value="0.0")
+
+    declare_pitch_cmd = DeclareLaunchArgument("P", default_value="0.0")
+
+    declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079")
+
+    # robot_state_publisher_cmd = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
+    #     ),
+    #     launch_arguments={"use_sim_time": use_sim_time}.items(),
+    # )
+
+    spawn_robot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
+        ),
+        launch_arguments={"x_pose": x_pose, "y_pose": y_pose, "z_pose": z_pose}.items(),
+    )
+
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
+
+    ld = LaunchDescription()
+
+    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
+    set_env_vars_resources = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
+    )
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gazebo_server)
+    # ld.add_action(gazebo_client)
+    ld.add_action(declare_x_cmd)
+    ld.add_action(declare_y_cmd)
+    ld.add_action(declare_z_cmd)
+    ld.add_action(declare_roll_cmd)
+    ld.add_action(declare_pitch_cmd)
+    ld.add_action(declare_yaw_cmd)
+    ld.add_action(world_entity_cmd)
+    # ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_robot_cmd)
+
+    return ld

CustomRobots/autopark_harmonic/launch/autopark_line.launch.py

@@ -0,0 +1,105 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    roll = LaunchConfiguration("R")
+    pitch = LaunchConfiguration("P")
+    yaw = LaunchConfiguration("Y")
+
+    package_dir = get_package_share_directory("custom_robots")
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    gazebo_models_path = os.path.join(package_dir, "models")
+
+    robot_launch_dir = "/opt/jderobot/Launchers/autopark_line"
+
+    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
+    x_pose = LaunchConfiguration("x_pose", default="1.0")
+    y_pose = LaunchConfiguration("y_pose", default="-1.5")
+    z_pose = LaunchConfiguration("z_pose", default="7.1")
+    world_file_name = "autopark_line.world"
+    worlds_dir = "/opt/jderobot/Worlds"
+    world_path = os.path.join(worlds_dir, world_file_name)
+
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-r -s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
+    )
+
+    declare_x_cmd = DeclareLaunchArgument("x", default_value="1.0")
+
+    declare_y_cmd = DeclareLaunchArgument("y", default_value="-1.5")
+
+    declare_z_cmd = DeclareLaunchArgument("z", default_value="7.1")
+
+    declare_roll_cmd = DeclareLaunchArgument("R", default_value="0.0")
+
+    declare_pitch_cmd = DeclareLaunchArgument("P", default_value="0.0")
+
+    declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079")
+
+    # robot_state_publisher_cmd = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
+    #     ),
+    #     launch_arguments={"use_sim_time": use_sim_time}.items(),
+    # )
+
+    spawn_robot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
+        ),
+        launch_arguments={"x_pose": x_pose, "y_pose": y_pose, "z_pose": z_pose}.items(),
+    )
+
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
+
+    ld = LaunchDescription()
+
+    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
+    set_env_vars_resources = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
+    )
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gazebo_server)
+    # ld.add_action(gazebo_client)
+    ld.add_action(declare_x_cmd)
+    ld.add_action(declare_y_cmd)
+    ld.add_action(declare_z_cmd)
+    ld.add_action(declare_roll_cmd)
+    ld.add_action(declare_pitch_cmd)
+    ld.add_action(declare_yaw_cmd)
+    ld.add_action(world_entity_cmd)
+    # ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_robot_cmd)
+
+    return ld

CustomRobots/autopark_harmonic/launch/autopark_sideways.launch.py

@@ -0,0 +1,105 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    roll = LaunchConfiguration("R")
+    pitch = LaunchConfiguration("P")
+    yaw = LaunchConfiguration("Y")
+
+    package_dir = get_package_share_directory("custom_robots")
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    gazebo_models_path = os.path.join(package_dir, "models")
+
+    robot_launch_dir = "/opt/jderobot/Launchers/autopark_sideways"
+
+    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
+    x_pose = LaunchConfiguration("x_pose", default="1.0")
+    y_pose = LaunchConfiguration("y_pose", default="-1.5")
+    z_pose = LaunchConfiguration("z_pose", default="7.1")
+    world_file_name = "autopark_sideways.world"
+    worlds_dir = "/opt/jderobot/Worlds"
+    world_path = os.path.join(worlds_dir, world_file_name)
+
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-r -s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
+    )
+
+    declare_x_cmd = DeclareLaunchArgument("x", default_value="1.0")
+
+    declare_y_cmd = DeclareLaunchArgument("y", default_value="-1.5")
+
+    declare_z_cmd = DeclareLaunchArgument("z", default_value="7.1")
+
+    declare_roll_cmd = DeclareLaunchArgument("R", default_value="0.0")
+
+    declare_pitch_cmd = DeclareLaunchArgument("P", default_value="0.0")
+
+    declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079")
+
+    # robot_state_publisher_cmd = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
+    #     ),
+    #     launch_arguments={"use_sim_time": use_sim_time}.items(),
+    # )
+
+    spawn_robot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
+        ),
+        launch_arguments={"x_pose": x_pose, "y_pose": y_pose, "z_pose": z_pose}.items(),
+    )
+
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
+
+    ld = LaunchDescription()
+
+    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
+    set_env_vars_resources = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
+    )
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gazebo_server)
+    # ld.add_action(gazebo_client)
+    ld.add_action(declare_x_cmd)
+    ld.add_action(declare_y_cmd)
+    ld.add_action(declare_z_cmd)
+    ld.add_action(declare_roll_cmd)
+    ld.add_action(declare_pitch_cmd)
+    ld.add_action(declare_yaw_cmd)
+    ld.add_action(world_entity_cmd)
+    # ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_robot_cmd)
+
+    return ld