GazeboのCameraモデル対応したコードのign->gz対応

rt-net · Dec 5, 2024 · bd9e24d · bd9e24d
1 parent f6a5c39
commit bd9e24d
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Showing 6 changed files with 76 additions and 62 deletions.
diff --git a/crane_plus_description/urdf/crane_plus.gazebo.xacro b/crane_plus_description/urdf/crane_plus.gazebo.xacro
@@ -27,7 +27,6 @@
             name_link_4
             name_link_hand
             use_camera
-            use_ignition
             config_package
             config_file_path
             ">
@@ -76,9 +75,9 @@
 
     <xacro:if value="$(arg use_camera)">
       <gazebo>
-        <plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
-          <render_engine>ogre2</render_engine>
-        </plugin>
+          <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+          </plugin>
       </gazebo>
 
       <gazebo reference="camera_color_optical_frame">

diff --git a/crane_plus_description/urdf/crane_plus.urdf.xacro b/crane_plus_description/urdf/crane_plus.urdf.xacro
@@ -130,7 +130,6 @@
       name_link_4="${NAME_LINK_4}"
       name_link_hand="${NAME_LINK_HAND}"
       use_camera="$(arg use_camera)"
-      use_ignition="$(arg use_ignition)"
       config_package="$(arg gz_control_config_package)" 
       config_file_path="$(arg gz_control_config_file_path)" />
 

diff --git a/crane_plus_gazebo/gui/gui.config b/crane_plus_gazebo/gui/gui.config
@@ -28,7 +28,7 @@
 
 <!-- 3D scene -->
 <plugin filename="MinimalScene" name="3D View">
-  <ignition-gui>
+  <gz-gui>
     <title>3D View</title>
     <property type="bool" key="showTitleBar">false</property>
     <property type="string" key="state">docked</property>
@@ -44,77 +44,77 @@
 
 <!-- Plugins that add functionality to the scene -->
 <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
-  <ignition-gui>
+  <gz-gui>
     <property key="state" type="string">floating</property>
     <property key="width" type="double">5</property>
     <property key="height" type="double">5</property>
     <property key="showTitleBar" type="bool">false</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 <plugin filename="GzSceneManager" name="Scene Manager">
-  <ignition-gui>
+  <gz-gui>
     <property key="resizable" type="bool">false</property>
     <property key="width" type="double">5</property>
     <property key="height" type="double">5</property>
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 <plugin filename="InteractiveViewControl" name="Interactive view control">
-  <ignition-gui>
+  <gz-gui>
     <property key="resizable" type="bool">false</property>
     <property key="width" type="double">5</property>
     <property key="height" type="double">5</property>
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 <plugin filename="CameraTracking" name="Camera Tracking">
-  <ignition-gui>
+  <gz-gui>
     <property key="resizable" type="bool">false</property>
     <property key="width" type="double">5</property>
     <property key="height" type="double">5</property>
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 <plugin filename="MarkerManager" name="Marker manager">
-  <ignition-gui>
+  <gz-gui>
     <property key="resizable" type="bool">false</property>
     <property key="width" type="double">5</property>
     <property key="height" type="double">5</property>
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 <plugin filename="SelectEntities" name="Select Entities">
-  <ignition-gui>
+  <gz-gui>
     <property key="resizable" type="bool">false</property>
     <property key="width" type="double">5</property>
     <property key="height" type="double">5</property>
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 
 <plugin filename="Spawn" name="Spawn Entities">
-  <ignition-gui>
+  <gz-gui>
     <property key="resizable" type="bool">false</property>
     <property key="width" type="double">5</property>
     <property key="height" type="double">5</property>
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 
 <plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
-  <ignition-gui>
+  <gz-gui>
     <property key="resizable" type="bool">false</property>
     <property key="width" type="double">5</property>
     <property key="height" type="double">5</property>
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 
 <!-- World control -->
@@ -166,7 +166,7 @@
 
 <!-- Insert simple shapes -->
 <plugin filename="Shapes" name="Shapes">
-  <ignition-gui>
+  <gz-gui>
     <property key="resizable" type="bool">false</property>
     <property key="x" type="double">0</property>
     <property key="y" type="double">0</property>
@@ -180,7 +180,7 @@
 
 <!-- Insert lights -->
 <plugin filename="Lights" name="Lights">
-  <ignition-gui>
+  <gz-gui>
     <property key="resizable" type="bool">false</property>
     <property key="x" type="double">250</property>
     <property key="y" type="double">0</property>
@@ -194,7 +194,7 @@
 
 <!-- Translate / rotate -->
 <plugin filename="TransformControl" name="Transform control">
-  <ignition-gui>
+  <gz-gui>
     <property key="resizable" type="bool">false</property>
     <property key="x" type="double">0</property>
     <property key="y" type="double">50</property>
@@ -203,7 +203,7 @@
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
     <property key="cardBackground" type="string">#777777</property>
-  </ignition-gui>
+  </gz-gui>
 
   <!-- disable legacy features used to connect this plugin to GzScene3D -->
   <legacy>false</legacy>
@@ -220,12 +220,12 @@
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
     <property key="cardBackground" type="string">#777777</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 
 <!-- Copy/Paste -->
 <plugin filename="CopyPaste" name="CopyPaste">
-  <ignition-gui>
+  <gz-gui>
     <property key="resizable" type="bool">false</property>
     <property key="x" type="double">300</property>
     <property key="y" type="double">50</property>
@@ -234,7 +234,7 @@
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
     <property key="cardBackground" type="string">#777777</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 
 <!-- Inspector -->

diff --git a/crane_plus_gazebo/launch/crane_plus_with_table.launch.py b/crane_plus_gazebo/launch/crane_plus_with_table.launch.py
@@ -15,7 +15,8 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
-from crane_plus_description.robot_description_loader import RobotDescriptionLoader
+from crane_plus_description.robot_description_loader  \
+    import RobotDescriptionLoader
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.actions import ExecuteProcess
@@ -38,22 +39,27 @@ def generate_launch_description():
     declare_world_name = DeclareLaunchArgument(
         'world_name',
         default_value=os.path.join(
-            get_package_share_directory('crane_plus_gazebo'), 'worlds', 'table.sdf'),
+            get_package_share_directory('crane_plus_gazebo'), 'worlds',
+            'table.sdf'),
         description='Set world name.'
         )
 
     # PATHを追加で通さないとSTLファイルが読み込まれない
-    env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH': os.environ['LD_LIBRARY_PATH'],
-           'IGN_GAZEBO_RESOURCE_PATH': os.path.dirname(
+    env = {'GZ_SIM_SYSTEM_PLUGIN_PATH': os.environ['LD_LIBRARY_PATH'],
+           'GZ_SIM_RESOURCE_PATH': os.path.dirname(
                 get_package_share_directory('crane_plus_description')) + ':' +
-           os.path.join(get_package_share_directory('crane_plus_gazebo'), 'models'),
+           os.path.join(get_package_share_directory('crane_plus_gazebo'),
+                        'models'),
            }
 
     gui_config = os.path.join(
         get_package_share_directory('crane_plus_gazebo'), 'gui', 'gui.config')
     # -r オプションで起動時にシミュレーションをスタートしないと、コントローラが起動しない
-    ign_gazebo = ExecuteProcess(
-            cmd=['ign gazebo -r', LaunchConfiguration('world_name'), '--gui-config', gui_config],
+    gz_gazebo = ExecuteProcess(
+            cmd=['gz sim -r',
+                 LaunchConfiguration('world_name'),
+                 '--gui-config',
+                 gui_config],
             output='screen',
             additional_env=env,
             shell=True
@@ -73,7 +79,9 @@ def generate_launch_description():
     description_loader.use_camera = LaunchConfiguration('use_camera')
     description_loader.use_gazebo = 'true'
     description_loader.gz_control_config_package = 'crane_plus_control'
-    description_loader.gz_control_config_file_path = 'config/crane_plus_controllers.yaml'
+    description_loader.gz_control_config_file_path = (
+        'config/crane_plus_controllers.yaml'
+    )
     description = description_loader.load()
 
     move_group = IncludeLaunchDescription(
@@ -98,37 +106,44 @@ def generate_launch_description():
         )
 
     spawn_joint_state_controller = ExecuteProcess(
-                cmd=['ros2 run controller_manager spawner joint_state_broadcaster'],
+                cmd=['ros2 run controller_manager spawner '
+                     'joint_state_broadcaster'],
                 shell=True,
                 output='screen',
             )
 
     spawn_arm_controller = ExecuteProcess(
-                cmd=['ros2 run controller_manager spawner crane_plus_arm_controller'],
+                cmd=['ros2 run controller_manager spawner '
+                     'crane_plus_arm_controller'],
                 shell=True,
                 output='screen',
             )
 
     spawn_gripper_controller = ExecuteProcess(
-                cmd=['ros2 run controller_manager spawner crane_plus_gripper_controller'],
+                cmd=[
+                    'ros2 run controller_manager spawner '
+                    'crane_plus_gripper_controller'
+                ],
                 shell=True,
                 output='screen',
             )
 
     bridge = Node(
                 package='ros_gz_bridge',
                 executable='parameter_bridge',
-                arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
-                           'image_raw@sensor_msgs/msg/Image[ignition.msgs.Image',
-                           'camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo'],
+                arguments=[
+                    '/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock',
+                    'image_raw@sensor_msgs/msg/Image[gz.msgs.Image',
+                    'camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo'
+                ],
                 output='screen'
             )
 
     return LaunchDescription([
         SetParameter(name='use_sim_time', value=True),
         declare_use_camera,
         declare_world_name,
-        ign_gazebo,
+        gz_gazebo,
         gazebo_spawn_entity,
         move_group,
         move_group_camera,

diff --git a/crane_plus_gazebo/worlds/table_with_aruco_cube.sdf b/crane_plus_gazebo/worlds/table_with_aruco_cube.sdf
@@ -6,33 +6,33 @@
       <real_time_factor>1.0</real_time_factor>
     </physics>
     <plugin
-      filename="ignition-gazebo-physics-system"
-      name="ignition::gazebo::systems::Physics">
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
     </plugin>
     <plugin
-      filename="ignition-gazebo-user-commands-system"
-      name="ignition::gazebo::systems::UserCommands">
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
     </plugin>
     <plugin
-      filename="ignition-gazebo-scene-broadcaster-system"
-      name="ignition::gazebo::systems::SceneBroadcaster">
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
     </plugin>
 
     <include>
       <uri>
-        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Sun
+        https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun
       </uri>
     </include>
 
     <include>
       <uri>
-        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Ground%20Plane
+        https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground%20Plane
       </uri>
     </include>
 
     <include>
       <uri>
-        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Table
+        https://fuel.gazebosim.org/1.0/OpenRobotics/models/Table
       </uri>
       <pose>0.29 0 0 0 0 1.5708</pose>
     </include>

diff --git a/crane_plus_gazebo/worlds/table_with_red_cube.sdf b/crane_plus_gazebo/worlds/table_with_red_cube.sdf
@@ -5,34 +5,35 @@
       <max_step_size>0.001</max_step_size>
       <real_time_factor>1.0</real_time_factor>
     </physics>
+
     <plugin
-      filename="ignition-gazebo-physics-system"
-      name="ignition::gazebo::systems::Physics">
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
     </plugin>
     <plugin
-      filename="ignition-gazebo-user-commands-system"
-      name="ignition::gazebo::systems::UserCommands">
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
     </plugin>
     <plugin
-      filename="ignition-gazebo-scene-broadcaster-system"
-      name="ignition::gazebo::systems::SceneBroadcaster">
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
     </plugin>
 
     <include>
       <uri>
-        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Sun
+        https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun
       </uri>
     </include>
 
     <include>
       <uri>
-        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Ground%20Plane
+        https://fuel.gazebosim.or/1.0/OpenRobotics/models/Ground%20Plane
       </uri>
     </include>
 
     <include>
       <uri>
-        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Table
+        https://fuel.gazebosim.or/1.0/OpenRobotics/models/Table
       </uri>
       <pose>0.29 0 0 0 0 1.5708</pose>
     </include>