ワールド、launchファイル追加

rt-net · Nov 28, 2024 · d5fe717 · d5fe717
1 parent feb9241
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diff --git a/crane_plus_examples/README.md b/crane_plus_examples/README.md
@@ -53,6 +53,28 @@ $ ros2 launch crane_plus_examples demo.launch.py port_name:=/dev/ttyUSB0 use_cam
 $ ros2 launch crane_plus_gazebo crane_plus_with_table.launch.py
 ```
 
+#### Webカメラ搭載モデルを使用する場合
+
+Webカメラ搭載モデルの場合は、次のコマンドを実行してください。
+
+```sh
+$ ros2 launch crane_plus_gazebo crane_plus_with_table.launch.py use_camera:=true
+```
+
+CRANE+ V2の前にArUcoマーカ付きのBoxを置いたシミュレータ環境を使用する場合は次のコマンドを実行します。
+[aruco\_detection](#aruco_detection)サンプルを実行する際に使用することを想定しています。
+
+```sh
+$ ros2 launch crane_plus_gazebo crane_plus_with_aruco_cube.launch.py use_camera:=true
+```
+
+CRANE+ V2の前に赤いBoxを置いたシミュレータ環境を使用する場合は次のコマンドを実行します。
+[color\_detection](#color_detection)サンプルを実行する際に使用すること想定しています。
+
+```sh
+$ ros2 launch crane_plus_gazebo crane_plus_with_red_cube.launch.py use_camera:=true
+```
+
 ## サンプルプログラムを実行する
 
 準備ができたらサンプルプログラムを実行します。

diff --git a/crane_plus_gazebo/README.md b/crane_plus_gazebo/README.md
@@ -15,4 +15,22 @@ CRANE+ V2 の[Gazebo](https://gazebosim.org/home)
 $ ros2 launch crane_plus_gazebo crane_plus_with_table.launch.py
 ```
 
+カメラ付きモデルを使用する場合は下記コマンドを実行します。
+
+```sh
+$ ros2 launch crane_plus_gazebo crane_plus_with_table.launch.py use_camera:=true
+```
+
+CRANE+ V2の前にArUcoマーカ付きのBoxを置いたシミュレータ環境を使用する場合は下記コマンドを実行します。
+
+```sh
+$ ros2 launch crane_plus_gazebo crane_plus_with_aruco_cube.launch.py
+```
+
+CRANE+ V2の前に赤いBoxを置いたシミュレータ環境を使用する場合は下記コマンドを実行します。
+
+```sh
+$ ros2 launch crane_plus_gazebo crane_plus_with_red_cube.launch.py
+```
+
 ![crane_plus_ignition](https://rt-net.github.io/images/crane-plus/crane_plus_ignition.png)
diff --git a/crane_plus_gazebo/launch/crane_plus_with_aruco_cube.launch.py b/crane_plus_gazebo/launch/crane_plus_with_aruco_cube.launch.py
@@ -0,0 +1,41 @@
+# Copyright 2024 RT Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# 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
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch_ros.actions import SetParameter
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def generate_launch_description():
+    world_file = os.path.join(
+        get_package_share_directory('crane_plus_gazebo'),
+        'worlds',
+        'table_with_aruco_cube.sdf')
+    world_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            get_package_share_directory('crane_plus_gazebo'),
+            '/launch/crane_plus_with_table.launch.py']),
+        launch_arguments={
+            'world_name': world_file
+            }.items()
+    )
+
+    return LaunchDescription([
+        SetParameter(name='use_sim_time', value=True),
+        world_launch
+    ])
diff --git a/crane_plus_gazebo/launch/crane_plus_with_red_cube.launch.py b/crane_plus_gazebo/launch/crane_plus_with_red_cube.launch.py
@@ -0,0 +1,41 @@
+# Copyright 2024 RT Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# 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
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch_ros.actions import SetParameter
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def generate_launch_description():
+    world_file = os.path.join(
+        get_package_share_directory('crane_plus_gazebo'),
+        'worlds',
+        'table_with_red_cube.sdf')
+    world_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            get_package_share_directory('crane_plus_gazebo'),
+            '/launch/crane_plus_with_table.launch.py']),
+        launch_arguments={
+            'world_name': world_file
+            }.items()
+    )
+
+    return LaunchDescription([
+        SetParameter(name='use_sim_time', value=True),
+        world_launch
+    ])
diff --git a/crane_plus_gazebo/launch/crane_plus_with_table.launch.py b/crane_plus_gazebo/launch/crane_plus_with_table.launch.py
@@ -35,17 +35,25 @@ def generate_launch_description():
         description='Use camera.'
         )
 
+    declare_world_name = DeclareLaunchArgument(
+        'world_name',
+        default_value=os.path.join(
+            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(
-               get_package_share_directory('crane_plus_description'))}
-    world_file = os.path.join(
-        get_package_share_directory('crane_plus_gazebo'), 'worlds', 'table.sdf')
+                get_package_share_directory('crane_plus_description')) + ':' +
+           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', world_file, '--gui-config', gui_config],
+            cmd=['ign gazebo -r', LaunchConfiguration('world_name'), '--gui-config', gui_config],
             output='screen',
             additional_env=env,
             shell=True
@@ -120,6 +128,7 @@ def generate_launch_description():
     return LaunchDescription([
         SetParameter(name='use_sim_time', value=True),
         declare_use_camera,
+        declare_world_name,
         ign_gazebo,
         gazebo_spawn_entity,
         move_group,

diff --git a/crane_plus_gazebo/worlds/table.sdf b/crane_plus_gazebo/worlds/table.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<sdf version="1.6">
+<sdf version="1.9">
   <world name="default">
     <physics name="1ms" type="ignored">
       <max_step_size>0.001</max_step_size>
@@ -37,12 +37,14 @@
       <pose>0.29 0 0 0 0 1.5708</pose>
     </include>
 
-    <include>
-      <uri>
-        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Wood%20cube%205cm
-      </uri>
-      <pose>0 -0.1 1.0 0 0 0</pose>
-    </include>
+    <model name="aruco_cube_0">
+      <include>
+        <uri>
+          model://aruco_cube_0
+        </uri>
+      </include>
+      <pose>0 -0.1 1.05 0 0 0</pose>
+    </model>
 
   </world>
 </sdf>
diff --git a/crane_plus_gazebo/worlds/table_with_aruco_cube.sdf b/crane_plus_gazebo/worlds/table_with_aruco_cube.sdf
@@ -0,0 +1,50 @@
+<?xml version="1.0" ?>
+<sdf version="1.9">
+  <world name="default">
+    <physics name="1ms" type="ignored">
+      <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">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-user-commands-system"
+      name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-scene-broadcaster-system"
+      name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+
+    <include>
+      <uri>
+        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Sun
+      </uri>
+    </include>
+
+    <include>
+      <uri>
+        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Ground%20Plane
+      </uri>
+    </include>
+
+    <include>
+      <uri>
+        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Table
+      </uri>
+      <pose>0.29 0 0 0 0 1.5708</pose>
+    </include>
+
+    <model name="aruco_cube_0">
+      <include>
+        <uri>
+          model://aruco_cube_0
+        </uri>
+      </include>
+      <pose>0.2 0.05 1.05 0 0 0</pose>
+    </model>
+
+  </world>
+</sdf>
diff --git a/crane_plus_gazebo/worlds/table_with_red_cube.sdf b/crane_plus_gazebo/worlds/table_with_red_cube.sdf
@@ -0,0 +1,50 @@
+<?xml version="1.0" ?>
+<sdf version="1.9">
+  <world name="default">
+    <physics name="1ms" type="ignored">
+      <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">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-user-commands-system"
+      name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-scene-broadcaster-system"
+      name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+
+    <include>
+      <uri>
+        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Sun
+      </uri>
+    </include>
+
+    <include>
+      <uri>
+        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Ground%20Plane
+      </uri>
+    </include>
+
+    <include>
+      <uri>
+        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Table
+      </uri>
+      <pose>0.29 0 0 0 0 1.5708</pose>
+    </include>
+
+    <model name="aruco_cube_0">
+      <include>
+        <uri>
+          model://aruco_cube_0
+        </uri>
+      </include>
+      <pose>0.2 0.05 1.05 3.1415 0 0</pose>
+    </model>
+
+  </world>
+</sdf>