Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Updating worlds after model reorg #80

Merged
merged 9 commits into from
Aug 23, 2022
Merged

Updating worlds after model reorg #80

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
9 commits
Select commit Hold shift + click to select a range
19055cd
keeping robot_state_publisher alive
quarkytale Aug 9, 2022
72bcb1e
fixing worlds
quarkytale Aug 9, 2022
c6d84cf
formatting
quarkytale Aug 9, 2022
ecf7c82
model names
quarkytale Aug 9, 2022
fb570ea
package dependency
quarkytale Aug 10, 2022
6816c26
dep order
quarkytale Aug 19, 2022
35dcd18
Merge branch 'main' into quarkytale/worlds_bug_fix
quarkytale Aug 22, 2022
653c568
fixing sdf callback
quarkytale Aug 22, 2022
9d80536
Merge branch 'main' into quarkytale/worlds_bug_fix
andermi Aug 23, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
12 changes: 8 additions & 4 deletions buoy_description/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,14 +3,18 @@ project(buoy_description)
find_package(ament_cmake REQUIRED)

# Model Generation
set(BUOY_MODEL_PATH "/models/mbari_wec_base")
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}${BUOY_MODEL_PATH})
set(BUOY_BASE_MODEL_PATH "/models/mbari_wec_base")
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}${BUOY_BASE_MODEL_PATH})
add_custom_command(
OUTPUT model_gen_cmd
COMMAND empy3
${CMAKE_CURRENT_SOURCE_DIR}${BUOY_MODEL_PATH}/model.sdf.em >
${CMAKE_CURRENT_BINARY_DIR}${BUOY_MODEL_PATH}/model.sdf
${CMAKE_CURRENT_SOURCE_DIR}${BUOY_BASE_MODEL_PATH}/model.sdf.em >
${CMAKE_CURRENT_BINARY_DIR}${BUOY_BASE_MODEL_PATH}/model.sdf
)
set(BUOY_MODEL_PATH "/models/mbari_wec")
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}${BUOY_MODEL_PATH})
set(BUOY_ROS_MODEL_PATH "/models/mbari_wec_ros")
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}${BUOY_ROS_MODEL_PATH})

add_custom_target(model_gen_target ALL
DEPENDS model_gen_cmd
Expand Down
1 change: 1 addition & 0 deletions buoy_description/hooks/buoy_description.dsv.in
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1 +1,2 @@
prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share
prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share/buoy_description/models
2 changes: 1 addition & 1 deletion buoy_description/models/mbari_wec_base/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<model>
<name>MBARI_WEC</name>
<name>MBARI_WEC_BASE</name>
<version>1.0</version>
<sdf version="1.8">model.sdf</sdf>

Expand Down
2 changes: 1 addition & 1 deletion buoy_description/models/mbari_wec_ros/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<model>
<name>MBARI_WEC</name>
<name>MBARI_WEC_ROS</name>
<version>1.0</version>
<sdf version="1.8">model.sdf</sdf>

Expand Down
42 changes: 21 additions & 21 deletions buoy_description/models/mbari_wec_ros/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -36,27 +36,27 @@
<publish_rate>10</publish_rate>
</plugin>

<plugin
filename="ignition-gazebo-joint-state-publisher-system"
name="ignition::gazebo::systems::JointStatePublisher">
</plugin>

<plugin
filename="ignition-gazebo-pose-publisher-system"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>true</publish_link_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>

<plugin
filename="ignition-gazebo-odometry-publisher-system"
name="ignition::gazebo::systems::OdometryPublisher">
<dimensions>3</dimensions>
<odom_frame>MBARI_WEC_ROS/odom</odom_frame>
<robot_base_frame>MBARI_WEC_ROS</robot_base_frame>
</plugin>
<plugin
filename="ignition-gazebo-joint-state-publisher-system"
name="ignition::gazebo::systems::JointStatePublisher">
</plugin>

<plugin
filename="ignition-gazebo-pose-publisher-system"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>true</publish_link_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>

<plugin
filename="ignition-gazebo-odometry-publisher-system"
name="ignition::gazebo::systems::OdometryPublisher">
<dimensions>3</dimensions>
<odom_frame>MBARI_WEC_ROS/odom</odom_frame>
<robot_base_frame>MBARI_WEC_ROS</robot_base_frame>
</plugin>

</model>
</sdf>
1 change: 1 addition & 0 deletions buoy_gazebo/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@ else()
endif()

find_package(ament_cmake REQUIRED)
find_package(buoy_description REQUIRED)
quarkytale marked this conversation as resolved.
Show resolved Hide resolved
find_package(buoy_interfaces REQUIRED)
find_package(rclcpp REQUIRED)

Expand Down
2 changes: 1 addition & 1 deletion buoy_gazebo/worlds/buoy_no_plugins.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@

<include>
<pose>0 0 0 0 0 0</pose>
<uri>buoy</uri>
<uri>package://buoy_description/models/mbari_wec_base</uri>
</include>

</world>
Expand Down