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Updating worlds after model reorg #80

Merged
merged 9 commits into from
Aug 23, 2022
Merged

Updating worlds after model reorg #80

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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
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12 changes: 8 additions & 4 deletions buoy_description/CMakeLists.txt
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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
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2 changes: 1 addition & 1 deletion buoy_description/models/mbari_wec_base/model.config
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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>

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2 changes: 1 addition & 1 deletion buoy_description/models/mbari_wec_ros/model.config
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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>

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42 changes: 21 additions & 21 deletions buoy_description/models/mbari_wec_ros/model.sdf
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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>
3 changes: 2 additions & 1 deletion buoy_gazebo/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -15,8 +15,9 @@ else()
endif()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(buoy_msgs REQUIRED)
find_package(buoy_description REQUIRED)
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find_package(rclcpp REQUIRED)

find_package(ignition-cmake2 REQUIRED)
find_package(ignition-plugin1 REQUIRED COMPONENTS register)
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2 changes: 1 addition & 1 deletion buoy_gazebo/worlds/buoy_no_plugins.sdf
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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>
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