diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..e69de29 diff --git a/.gitignore b/.gitignore index 43ed185..ab8bcfc 100644 --- a/.gitignore +++ b/.gitignore @@ -1,19 +1,7 @@ -# Python +build/ +log/ +autorun_logs/ __pycache__/ *.pyc - -# ROS -build/ -devel/ -logs/ -install/ -build_isolated/ -devel_isolated/ -*.bag -CATKIN_IGNORE - -# Misc -.vscode/ -*.swp -log/ -test/ +*.log +node_modules/ diff --git a/.space_id b/.space_id new file mode 100644 index 0000000..a502ce6 --- /dev/null +++ b/.space_id @@ -0,0 +1 @@ +2361156b428d4ec3b304debed63dfe7e diff --git a/README.md b/README.md index 842b5ab..31b9448 100644 --- a/README.md +++ b/README.md @@ -1,318 +1,34 @@ -# BCR Bot +# 仓库 3D 场景 -https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8 -## About -This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions - +## 场景预览 -1. [ROS Noetic + Gazebo Classic 11 (branch ros1)](#noetic--classic-ubuntu-2004) -2. [ROS2 Humble + Gazebo Classic 11 (branch ros2)](#humble--classic-ubuntu-2204) -3. [ROS2 Humble + Gazebo Fortress (branch ros2)](#humble--fortress-ubuntu-2204) -4. [ROS2 Humble + Gazebo Harmonic (branch ros2)](#humble--harmonic-ubuntu-2204) -5. [ROS2 Humble + Isaac Sim (branch ros2)](#humble--isaac-sim-ubuntu-2204) +![迷你仓库场景预览](doc/assets/warehouse_preview.png) -Each of the following sections describes depedencies, build and run instructions for each of the above combinations -## Noetic + Classic (Ubuntu 20.04) +--- -### Dependencies +## 启动（唯一命令，无需编译） -In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep) +卡片内已包含预编译 `install/`，**直接运行即可**，不要 `colcon build`。 ```bash -# From the root directory of the workspace. This will install everything mentioned in package.xml -rosdep install --from-paths src --ignore-src -r -y +./gzsim_run.sh + + +| `./gzsim_stop.sh` | 停止仿真 | ``` -### Source Build +**必须等到**终端出现： -```bash -catkin build --packages-select bcr_bot +```text +[autorun] GzWeb scene OK (... bytes), 9002 stable +[autorun] ✓ 全部就绪 — 现在刷新「仿真器」面板 ``` -### Binary Install -To install BCR bot in the binaries: -```bash -sudo apt-get install ros-noetic-bcr-bot -``` -### Run -To launch the robot in Gazebo, -```bash -roslaunch bcr_bot gazebo.launch -``` -To view in rviz, -```bash -roslaunch bcr_bot rviz.launch -``` -### Configuration -The launch file accepts multiple launch arguments, -```bash -roslaunch bcr_bot gazebo.launch - camera_enabled:=True \ - two_d_lidar_enabled:=True \ - position_x:=0.0 \ - position_y:=0.0 \ - orientation_yaw:=0.0 \ - odometry_source:=world \ - world_file:=small_warehouse.world \ - robot_namespace:="bcr_bot" -``` -**Note:** To use stereo_image_proc with the stereo images excute following command: -```bash -ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc -``` -## Humble + Classic (Ubuntu 22.04) -### Dependencies - -In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install [gazebo_ros_pkgs](https://github.com/ros-simulation/gazebo_ros_pkgs/tree/ros2) (since the same branch supports Classic and Fortress) - -```bash -sudo apt-get install ros-humble-gazebo-ros-pkgs -``` -Remainder of the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep) - -```bash -# From the root directory of the workspace. This will install everything mentioned in package.xml -rosdep install --from-paths src --ignore-src -r -y -``` - -### Source Build - -```bash -colcon build --packages-select bcr_bot -``` - -### Binary Install -To install BCR bot in the binaries: - -```bash -sudo apt-get install ros-humble-bcr-bot -``` - -### Run - -To launch the robot in Gazebo, -```bash -ros2 launch bcr_bot gazebo.launch.py -``` -To view in rviz, -```bash -ros2 launch bcr_bot rviz.launch.py -``` -### Configuration - -The launch file accepts multiple launch arguments, -```bash -ros2 launch bcr_bot gazebo.launch.py \ - camera_enabled:=True \ - two_d_lidar_enabled:=True \ - stereo_camera_enabled:=False \ - position_x:=0.0 \ - position_y:=0.0 \ - orientation_yaw:=0.0 \ - odometry_source:=world \ - world_file:=small_warehouse.sdf \ - robot_namespace:="bcr_bot" -``` -**Note:** To use stereo_image_proc with the stereo images excute following command: -```bash -ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right -``` -## Humble + Fortress (Ubuntu 22.04) - -### Dependencies - -In addition to ROS2 Humble and [Gazebo Fortress installations](https://gazebosim.org/docs/fortress/install_ubuntu), we need to manually install interfaces between ROS2 and Gazebo sim as follows, - -```bash -sudo apt-get install ros-humble-ros-gz-sim ros-humble-ros-gz-bridge ros-humble-ros-gz-interfaces -``` -Remainder of the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep) - -```bash -# From the root directory of the workspace. This will install everything mentioned in package.xml -rosdep install --from-paths src --ignore-src -r -y -``` - -### Source Build - -```bash -colcon build --packages-select bcr_bot -``` - -### Binary Install -To install BCR bot in the binaries: - -```bash -sudo apt-get install ros-humble-bcr-bot -``` - -### Run - -To launch the robot in Gazebo, -```bash -ros2 launch bcr_bot ign.launch.py -``` -To view in rviz, -```bash -ros2 launch bcr_bot rviz.launch.py -``` - -### Configuration - -The launch file accepts multiple launch arguments, -```bash -ros2 launch bcr_bot ign.launch.py \ - camera_enabled:=True \ - stereo_camera_enabled:=False \ - two_d_lidar_enabled:=True \ - position_x:=0.0 \ - position_y:=0.0 \ - orientation_yaw:=0.0 \ - odometry_source:=world \ - world_file:=small_warehouse.sdf -``` -**Note:** To use stereo_image_proc with the stereo images excute following command: -```bash -ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right -``` - -## Humble + Harmonic (Ubuntu 22.04) - -### Dependencies - -In addition to ROS2 Humble and [Gazebo Harmonic installations](https://gazebosim.org/docs/harmonic/install_ubuntu), we need to manually install interfaces between ROS2 and Gazebo sim as follows, - -```bash -sudo apt-get install ros-humble-ros-gzharmonic -``` -Remainder of the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep) - -```bash -# From the root directory of the workspace. This will install everything mentioned in package.xml -rosdep install --from-paths src --ignore-src -r -y -``` - -### Build - -```bash -colcon build --packages-select bcr_bot -``` - -### Run - -To launch the robot in Gazebo, -```bash -ros2 launch bcr_bot gz.launch.py -``` -To view in rviz, -```bash -ros2 launch bcr_bot rviz.launch.py -``` - -### Configuration - -The launch file accepts multiple launch arguments, -```bash -ros2 launch bcr_bot gz.launch.py \ - camera_enabled:=True \ - stereo_camera_enabled:=False \ - two_d_lidar_enabled:=True \ - position_x:=0.0 \ - position_y:=0.0 \ - orientation_yaw:=0.0 \ - odometry_source:=world \ - world_file:=small_warehouse.sdf -``` -**Note:** -1. To use stereo_image_proc with the stereo images excute following command: -```bash -ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right -``` -2. Harmonic support is not available in the bcr_bot binaries yet. - -**Warning:** `gz-harmonic` cannot be installed alongside gazebo-classic (eg. gazebo11) since both use the `gz` command line tool. - -### Humble + Isaac Sim (Ubuntu 22.04) - -### Dependencies - -In addition to ROS2 Humble [Isaac Sim installation](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/index.html) with ROS2 extension is required. Remainder of bcr_bot specific dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep) - -```bash -# From the root directory of the workspace. This will install everything mentioned in package.xml -rosdep install --from-paths src --ignore-src -r -y -``` - -### Build - -```bash -colcon build --packages-select bcr_bot -``` - -### Run - -To launch the robot in Isaac Sim: -- Open Isaac Sim and load the `warehouse_scene.usd` or `scene.usd` from [here](usd). -- Add in extra viewports for different camera views. -- Start the Simulation: Run the simulation directly within Isaac Sim. -- The following USDs are included in the package: - - `warehouse_scene.usd` - Warehouse scene with a robot. - - `scene.usd` - Scene with a robot in a empty world. - - `bcr_bot.usd` - Robot model that can be imported into any scene. - - `ActionGraphFull.usd` - Action graph for the robot to publish all the required topics. - -To view in rviz: -```bash -ros2 launch bcr_bot rviz.launch.py -``` -NOTE: The command to run mapping and navigation is common between all versions of gazebo and Isaac sim see [here](#mapping-with-slam-toolbox). - -### Mapping with SLAM Toolbox - -SLAM Toolbox is an open-source package designed to map the environment using laser scans and odometry, generating a map for autonomous navigation. - -NOTE: The command to run mapping is common between all versions of gazebo. - -To start mapping: -```bash -ros2 launch bcr_bot mapping.launch.py -``` - -Use the teleop twist keyboard to control the robot and map the area: -```bash -ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=/bcr_bot/cmd_vel -``` - -To save the map: -```bash -cd src/bcr_bot/config -ros2 run nav2_map_server map_saver_cli -f bcr_map -``` - -### Using Nav2 with bcr_bot - -Nav2 is an open-source navigation package that enables a robot to navigate through an environment easily. It takes laser scan and odometry data, along with the map of the environment, as inputs. - -NOTE: The command to run navigation is common between all versions of gazebo and Isaac sim. - -To run Nav2 on bcr_bot: -```bash -ros2 launch bcr_bot nav2.launch.py -``` - -### Simulation and Visualization -1. Gz Sim (Ignition Gazebo) (small_warehouse World): - ![](res/gz.jpg) - -2. Isaac Sim: - ![](res/isaac.jpg) - -3. Rviz (Depth camera) (small_warehouse World): - ![](res/rviz.jpg) diff --git a/autorun.sh b/autorun.sh new file mode 100755 index 0000000..d91b52f --- /dev/null +++ b/autorun.sh @@ -0,0 +1,3 @@ +#!/usr/bin/env bash +# 容器 INIT_SCRIPT 入口 — 仅调用唯一启动脚本 +exec /workspace/gzsim_run.sh diff --git a/doc.md b/doc.md new file mode 100644 index 0000000..01b13b3 --- /dev/null +++ b/doc.md @@ -0,0 +1,40 @@ +# 仓库 3D 场景 + + + +## 场景预览 + +![迷你仓库场景预览](doc/assets/warehouse_preview.png) + + +--- + +## 启动（唯一命令，无需编译） + +卡片内已包含预编译 `install/`，**直接运行即可**，不要 `colcon build`。 + +```bash +./gzsim_run.sh + + +| `./gzsim_stop.sh` | 停止仿真 | +``` + +**必须等到**终端出现： + +```text +[autorun] GzWeb scene OK (... bytes), 9002 stable +[autorun] ✓ 全部就绪 — 现在刷新「仿真器」面板 +``` + +打开rviz，显示实时点云数据 + +```bash +source install/setup.bash +ros2 launch bcr_bot rviz.launch.py +``` + + + + + diff --git a/doc/assets/warehouse_preview.png b/doc/assets/warehouse_preview.png new file mode 100644 index 0000000..c383048 Binary files /dev/null and b/doc/assets/warehouse_preview.png differ diff --git a/gzsim_check.sh b/gzsim_check.sh new file mode 100755 index 0000000..75c9668 --- /dev/null +++ b/gzsim_check.sh @@ -0,0 +1,14 @@ +#!/usr/bin/env bash +# 简要诊断 :9002 / gz-launch（GzWeb 使用 wss://同域/gzbridge/） +set -euo pipefail + +echo "========== GzWeb / gzbridge (:9002) ==========" +echo "[1] port 9002" +ss -ltnp 2>/dev/null | grep ':9002 ' || echo " (not listening)" + +echo +echo "[2] processes" +ps aux | grep -E 'gz sim|gz-launch|gz launch.*websocket|warehouse_gzweb' | grep -v grep || echo " (none)" + +echo +echo "GzWeb panel: wss://{your-space}.spaces.databall.tech/gzbridge/" diff --git a/gzsim_run.sh b/gzsim_run.sh new file mode 100755 index 0000000..b14984b --- /dev/null +++ b/gzsim_run.sh @@ -0,0 +1,56 @@ +#!/usr/bin/env bash +# GzWeb 仓库场景 — Gazebo Sim + gz-launch :9002（GzWeb 连 wss://同域/gzbridge/） +set -euo pipefail + +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" + +sleep 3 +export PATH="/usr/bin:/bin:/opt/ros/humble/bin:${PATH}" +export LIBGL_ALWAYS_SOFTWARE=1 +export QT_QPA_PLATFORM=offscreen +set +u +source /opt/ros/humble/setup.bash +[[ -f "${ROOT}/install/setup.bash" ]] && source "${ROOT}/install/setup.bash" +set -u + +LOG_DIR="${ROOT}/autorun_logs/autorun_$(date +%Y%m%d_%H%M%S)" +mkdir -p "$LOG_DIR" + +pkill -f 'gz launch.*websocket' 2>/dev/null || true +pkill -f 'gz-launch.*websocket' 2>/dev/null || true +sleep 1 + +echo "[autorun] launching warehouse Gazebo Sim ..." +ros2 launch bcr_bot gz.launch.py > "${LOG_DIR}/warehouse_gzsim.log" 2>&1 & +GZSIM_PID=$! + +sleep 15 +if ! ps -p "$GZSIM_PID" > /dev/null; then + echo "[autorun] Gazebo exited early:" + tail -40 "${LOG_DIR}/warehouse_gzsim.log" || true + exit 1 +fi + +WS_CONFIG="${ROOT}/src/websocket.gzlaunch" +[[ -f "$WS_CONFIG" ]] || WS_CONFIG="/usr/share/gz/gz-launch7/configs/websocket.gzlaunch" + +# WebsocketServer is a separate process from ros2 launch — it does NOT inherit +# AppendEnvironmentVariable from warehouse_gzweb.launch.py. Without install/src +# on GZ_SIM_RESOURCE_PATH, mesh requests get "Access denied" and GzWeb stays empty. +export GZ_SIM_RESOURCE_PATH="${ROOT}/install:${ROOT}/src${GZ_SIM_RESOURCE_PATH:+:$GZ_SIM_RESOURCE_PATH}" +export IGN_GAZEBO_RESOURCE_PATH="${GZ_SIM_RESOURCE_PATH}" + +echo "[autorun] starting gz-launch websocket on :9002 ..." +echo "[autorun] GZ_SIM_RESOURCE_PATH=${GZ_SIM_RESOURCE_PATH}" +gz launch "$WS_CONFIG" > "${LOG_DIR}/websocket.log" 2>&1 & +WEBSOCKET_PID=$! + +sleep 10 +if ! ps -p "$WEBSOCKET_PID" > /dev/null; then + echo "[autorun] websocket exited:" + cat "${LOG_DIR}/websocket.log" || true + exit 1 +fi + +echo "[autorun] ready. Refresh GzWeb (wss://{host}/gzbridge/). logs: ${LOG_DIR}" +wait diff --git a/gzsim_run.sh.bak.20260724034245 b/gzsim_run.sh.bak.20260724034245 new file mode 100755 index 0000000..ef29a37 --- /dev/null +++ b/gzsim_run.sh.bak.20260724034245 @@ -0,0 +1,52 @@ +#!/usr/bin/env bash +# GzWeb 仓库场景 — Gazebo Sim + gz-launch :9002（GzWeb 连 wss://同域/gzbridge/） +set -euo pipefail + +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" + +sleep 3 +export PATH="/usr/bin:/bin:/opt/ros/humble/bin:${PATH}" +export LIBGL_ALWAYS_SOFTWARE=1 +export QT_QPA_PLATFORM=offscreen +set +u +source /opt/ros/humble/setup.bash +[[ -f "${ROOT}/install/setup.bash" ]] && source "${ROOT}/install/setup.bash" +set -u + +# WebsocketServer asset whitelist (mesh under install/ share). +export GZ_SIM_RESOURCE_PATH="/workspace/install/bcr_bot/share/bcr_bot:/workspace/install:${GZ_SIM_RESOURCE_PATH:-}" + +LOG_DIR="${ROOT}/autorun_logs/autorun_$(date +%Y%m%d_%H%M%S)" +mkdir -p "$LOG_DIR" + +pkill -f 'gz launch.*websocket' 2>/dev/null || true +pkill -f 'gz-launch.*websocket' 2>/dev/null || true +sleep 1 + +echo "[autorun] launching warehouse Gazebo Sim ..." +ros2 launch bcr_bot warehouse_gzweb.launch.py > "${LOG_DIR}/warehouse_gzsim.log" 2>&1 & +GZSIM_PID=$! + +sleep 15 +if ! ps -p "$GZSIM_PID" > /dev/null; then + echo "[autorun] Gazebo exited early:" + tail -40 "${LOG_DIR}/warehouse_gzsim.log" || true + exit 1 +fi + +WS_CONFIG="${ROOT}/src/websocket.gzlaunch" +[[ -f "$WS_CONFIG" ]] || WS_CONFIG="/usr/share/gz/gz-launch7/configs/websocket.gzlaunch" + +echo "[autorun] starting gz-launch websocket on :9002 ..." +gz launch "$WS_CONFIG" > "${LOG_DIR}/websocket.log" 2>&1 & +WEBSOCKET_PID=$! + +sleep 10 +if ! ps -p "$WEBSOCKET_PID" > /dev/null; then + echo "[autorun] websocket exited:" + cat "${LOG_DIR}/websocket.log" || true + exit 1 +fi + +echo "[autorun] ready. Refresh GzWeb (wss://{host}/gzbridge/). logs: ${LOG_DIR}" +wait diff --git a/gzsim_stop.sh b/gzsim_stop.sh new file mode 100755 index 0000000..9612732 --- /dev/null +++ b/gzsim_stop.sh @@ -0,0 +1,31 @@ +#!/usr/bin/env bash +# 停止仓库 GzWeb 仿真（释放 9002 与单实例锁） +set -euo pipefail + +echo "[stop] stopping warehouse GzWeb services ..." + +pkill -9 -f 'warehouse_foxglove_guard.sh' 2>/dev/null || true +pkill -9 -f 'warehouse_gzsim_keepalive.sh' 2>/dev/null || true +pkill -9 -f 'warehouse_gzweb.launch.py' 2>/dev/null || true +pkill -9 -f 'gz-launch.*websocket' 2>/dev/null || true +pkill -9 -f 'gz launch.*websocket' 2>/dev/null || true +pkill -9 -f 'foxglove_bridge' 2>/dev/null || true +pkill -9 -f 'gz sim' 2>/dev/null || true +pkill -9 -f 'robot_state_publisher' 2>/dev/null || true +sleep 1 + +pids="$(ss -ltnp 2>/dev/null | grep ':9002 ' | sed -E 's/.*pid=([0-9]+).*/\1/' | sort -u || true)" +if [[ -n "${pids}" ]]; then + kill -9 ${pids} 2>/dev/null || true +fi + +rm -f /tmp/warehouse_gzsim.lock +sleep 1 + +if ps aux | grep -E 'warehouse_gzweb|warehouse_foxglove|warehouse_gzsim_keepalive|gz-launch|gz sim' | grep -v grep >/dev/null; then + echo "[stop] WARN: some processes may remain:" + ps aux | grep -E 'warehouse_gzweb|warehouse_foxglove|warehouse_gzsim_keepalive|gz-launch|gz sim' | grep -v grep || true + exit 1 +fi + +echo "[stop] done. 9002 free, lock removed. Now run: ./gzsim_run.sh" diff --git a/install/.colcon_install_layout b/install/.colcon_install_layout new file mode 100644 index 0000000..3aad533 --- /dev/null +++ b/install/.colcon_install_layout @@ -0,0 +1 @@ +isolated diff --git a/install/COLCON_IGNORE b/install/COLCON_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/install/_local_setup_util_ps1.py b/install/_local_setup_util_ps1.py new file mode 100644 index 0000000..01cdf8b --- /dev/null +++ b/install/_local_setup_util_ps1.py @@ -0,0 +1,406 @@ +# Copyright 2016-2019 Dirk Thomas +# Licensed under the Apache License, Version 2.0 + +import argparse +from collections import OrderedDict +import os +from pathlib import Path +import sys + + +FORMAT_STR_COMMENT_LINE = '# {comment}' +FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"' +FORMAT_STR_USE_ENV_VAR = '$env:{name}' +FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"' # noqa: E501 +FORMAT_STR_REMOVE_LEADING_SEPARATOR = '' # noqa: E501 +FORMAT_STR_REMOVE_TRAILING_SEPARATOR = '' # noqa: E501 + +DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate' +DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate' +DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists' +DSV_TYPE_SET = 'set' +DSV_TYPE_SET_IF_UNSET = 'set-if-unset' +DSV_TYPE_SOURCE = 'source' + + +def main(argv=sys.argv[1:]): # noqa: D103 + parser = argparse.ArgumentParser( + description='Output shell commands for the packages in topological ' + 'order') + parser.add_argument( + 'primary_extension', + help='The file extension of the primary shell') + parser.add_argument( + 'additional_extension', nargs='?', + help='The additional file extension to be considered') + parser.add_argument( + '--merged-install', action='store_true', + help='All install prefixes are merged into a single location') + args = parser.parse_args(argv) + + packages = get_packages(Path(__file__).parent, args.merged_install) + + ordered_packages = order_packages(packages) + for pkg_name in ordered_packages: + if _include_comments(): + print( + FORMAT_STR_COMMENT_LINE.format_map( + {'comment': 'Package: ' + pkg_name})) + prefix = os.path.abspath(os.path.dirname(__file__)) + if not args.merged_install: + prefix = os.path.join(prefix, pkg_name) + for line in get_commands( + pkg_name, prefix, args.primary_extension, + args.additional_extension + ): + print(line) + + for line in _remove_ending_separators(): + print(line) + + +def get_packages(prefix_path, merged_install): + """ + Find packages based on colcon-specific files created during installation. + + :param Path prefix_path: The install prefix path of all packages + :param bool merged_install: The flag if the packages are all installed + directly in the prefix or if each package is installed in a subdirectory + named after the package + :returns: A mapping from the package name to the set of runtime + dependencies + :rtype: dict + """ + packages = {} + # since importing colcon_core isn't feasible here the following constant + # must match colcon_core.location.get_relative_package_index_path() + subdirectory = 'share/colcon-core/packages' + if merged_install: + # return if workspace is empty + if not (prefix_path / subdirectory).is_dir(): + return packages + # find all files in the subdirectory + for p in (prefix_path / subdirectory).iterdir(): + if not p.is_file(): + continue + if p.name.startswith('.'): + continue + add_package_runtime_dependencies(p, packages) + else: + # for each subdirectory look for the package specific file + for p in prefix_path.iterdir(): + if not p.is_dir(): + continue + if p.name.startswith('.'): + continue + p = p / subdirectory / p.name + if p.is_file(): + add_package_runtime_dependencies(p, packages) + + # remove unknown dependencies + pkg_names = set(packages.keys()) + for k in packages.keys(): + packages[k] = {d for d in packages[k] if d in pkg_names} + + return packages + + +def add_package_runtime_dependencies(path, packages): + """ + Check the path and if it exists extract the packages runtime dependencies. + + :param Path path: The resource file containing the runtime dependencies + :param dict packages: A mapping from package names to the sets of runtime + dependencies to add to + """ + content = path.read_text() + dependencies = set(content.split(os.pathsep) if content else []) + packages[path.name] = dependencies + + +def order_packages(packages): + """ + Order packages topologically. + + :param dict packages: A mapping from package name to the set of runtime + dependencies + :returns: The package names + :rtype: list + """ + # select packages with no dependencies in alphabetical order + to_be_ordered = list(packages.keys()) + ordered = [] + while to_be_ordered: + pkg_names_without_deps = [ + name for name in to_be_ordered if not packages[name]] + if not pkg_names_without_deps: + reduce_cycle_set(packages) + raise RuntimeError( + 'Circular dependency between: ' + ', '.join(sorted(packages))) + pkg_names_without_deps.sort() + pkg_name = pkg_names_without_deps[0] + to_be_ordered.remove(pkg_name) + ordered.append(pkg_name) + # remove item from dependency lists + for k in list(packages.keys()): + if pkg_name in packages[k]: + packages[k].remove(pkg_name) + return ordered + + +def reduce_cycle_set(packages): + """ + Reduce the set of packages to the ones part of the circular dependency. + + :param dict packages: A mapping from package name to the set of runtime + dependencies which is modified in place + """ + last_depended = None + while len(packages) > 0: + # get all remaining dependencies + depended = set() + for pkg_name, dependencies in packages.items(): + depended = depended.union(dependencies) + # remove all packages which are not dependent on + for name in list(packages.keys()): + if name not in depended: + del packages[name] + if last_depended: + # if remaining packages haven't changed return them + if last_depended == depended: + return packages.keys() + # otherwise reduce again + last_depended = depended + + +def _include_comments(): + # skipping comment lines when COLCON_TRACE is not set speeds up the + # processing especially on Windows + return bool(os.environ.get('COLCON_TRACE')) + + +def get_commands(pkg_name, prefix, primary_extension, additional_extension): + commands = [] + package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv') + if os.path.exists(package_dsv_path): + commands += process_dsv_file( + package_dsv_path, prefix, primary_extension, additional_extension) + return commands + + +def process_dsv_file( + dsv_path, prefix, primary_extension=None, additional_extension=None +): + commands = [] + if _include_comments(): + commands.append(FORMAT_STR_COMMENT_LINE.format_map({ + 'comment': dsv_path})) + with open(dsv_path, 'r') as h: + content = h.read() + lines = content.splitlines() + + basename_map = OrderedDict() + for i, line in enumerate(lines): + # skip over empty or whitespace-only lines + if not line.strip(): + continue + # skip over comments + if line.startswith('#'): + continue + try: + type_, remainder = line.split(';', 1) + except ValueError: + raise RuntimeError( + "Line %d in '%s' doesn't contain a semicolon separating the " + 'type from the arguments' % (i + 1, dsv_path)) + if type_ != DSV_TYPE_SOURCE: + # handle non-source lines + try: + commands += handle_dsv_types_except_source( + type_, remainder, prefix) + except RuntimeError as e: + raise RuntimeError( + "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e + else: + # group remaining source lines by basename + path_without_ext, ext = os.path.splitext(remainder) + if path_without_ext not in basename_map: + basename_map[path_without_ext] = set() + assert ext.startswith('.') + ext = ext[1:] + if ext in (primary_extension, additional_extension): + basename_map[path_without_ext].add(ext) + + # add the dsv extension to each basename if the file exists + for basename, extensions in basename_map.items(): + if not os.path.isabs(basename): + basename = os.path.join(prefix, basename) + if os.path.exists(basename + '.dsv'): + extensions.add('dsv') + + for basename, extensions in basename_map.items(): + if not os.path.isabs(basename): + basename = os.path.join(prefix, basename) + if 'dsv' in extensions: + # process dsv files recursively + commands += process_dsv_file( + basename + '.dsv', prefix, primary_extension=primary_extension, + additional_extension=additional_extension) + elif primary_extension in extensions and len(extensions) == 1: + # source primary-only files + commands += [ + FORMAT_STR_INVOKE_SCRIPT.format_map({ + 'prefix': prefix, + 'script_path': basename + '.' + primary_extension})] + elif additional_extension in extensions: + # source non-primary files + commands += [ + FORMAT_STR_INVOKE_SCRIPT.format_map({ + 'prefix': prefix, + 'script_path': basename + '.' + additional_extension})] + + return commands + + +def handle_dsv_types_except_source(type_, remainder, prefix): + commands = [] + if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET): + try: + env_name, value = remainder.split(';', 1) + except ValueError: + raise RuntimeError( + "doesn't contain a semicolon separating the environment name " + 'from the value') + try_prefixed_value = os.path.join(prefix, value) if value else prefix + if os.path.exists(try_prefixed_value): + value = try_prefixed_value + if type_ == DSV_TYPE_SET: + commands += _set(env_name, value) + elif type_ == DSV_TYPE_SET_IF_UNSET: + commands += _set_if_unset(env_name, value) + else: + assert False + elif type_ in ( + DSV_TYPE_APPEND_NON_DUPLICATE, + DSV_TYPE_PREPEND_NON_DUPLICATE, + DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS + ): + try: + env_name_and_values = remainder.split(';') + except ValueError: + raise RuntimeError( + "doesn't contain a semicolon separating the environment name " + 'from the values') + env_name = env_name_and_values[0] + values = env_name_and_values[1:] + for value in values: + if not value: + value = prefix + elif not os.path.isabs(value): + value = os.path.join(prefix, value) + if ( + type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and + not os.path.exists(value) + ): + comment = f'skip extending {env_name} with not existing ' \ + f'path: {value}' + if _include_comments(): + commands.append(FORMAT_STR_COMMENT_LINE.format_map({ + 'comment': comment})) + elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE: + commands += _append_unique_value(env_name, value) + else: + commands += _prepend_unique_value(env_name, value) + else: + raise RuntimeError( + 'contains an unknown environment hook type: ' + type_) + return commands + + +env_state = {} + + +def _append_unique_value(name, value): + if name not in env_state: + if os.environ.get(name): + env_state[name] = set(os.environ[name].split(os.pathsep)) + else: + env_state[name] = set() + # Append even if the variable has not been set yet, in case a shell script + # sets the same variable without the knowledge of this Python script. + # Later, _remove_ending_separators() will cleanup any unintentional + # leading separator. + extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': extend + value}) + if value not in env_state[name]: + env_state[name].add(value) + else: + if not _include_comments(): + return [] + line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) + return [line] + + +def _prepend_unique_value(name, value): + if name not in env_state: + if os.environ.get(name): + env_state[name] = set(os.environ[name].split(os.pathsep)) + else: + env_state[name] = set() + # Prepend even if the variable has not been set yet, in case a shell script + # sets the same variable without the knowledge of this Python script. + # Later, _remove_ending_separators() will cleanup any unintentional + # trailing separator. + extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': value + extend}) + if value not in env_state[name]: + env_state[name].add(value) + else: + if not _include_comments(): + return [] + line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) + return [line] + + +# generate commands for removing prepended underscores +def _remove_ending_separators(): + # do nothing if the shell extension does not implement the logic + if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None: + return [] + + commands = [] + for name in env_state: + # skip variables that already had values before this script started + # appending/prepending + if name in os.environ: + continue + commands += [ + FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}), + FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})] + return commands + + +def _set(name, value): + env_state[name] = value + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': value}) + return [line] + + +def _set_if_unset(name, value): + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': value}) + if env_state.get(name, os.environ.get(name)): + line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) + return [line] + + +if __name__ == '__main__': # pragma: no cover + try: + rc = main() + except RuntimeError as e: + print(str(e), file=sys.stderr) + rc = 1 + sys.exit(rc) diff --git a/install/_local_setup_util_sh.py b/install/_local_setup_util_sh.py new file mode 100644 index 0000000..e5443aa --- /dev/null +++ b/install/_local_setup_util_sh.py @@ -0,0 +1,406 @@ +# Copyright 2016-2019 Dirk Thomas +# Licensed under the Apache License, Version 2.0 + +import argparse +from collections import OrderedDict +import os +from pathlib import Path +import sys + + +FORMAT_STR_COMMENT_LINE = '# {comment}' +FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"' +FORMAT_STR_USE_ENV_VAR = '${name}' +FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"' # noqa: E501 +FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'export {name}=${{{name}#:}}' # noqa: E501 +FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'export {name}=${{{name}%:}}' # noqa: E501 + +DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate' +DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate' +DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists' +DSV_TYPE_SET = 'set' +DSV_TYPE_SET_IF_UNSET = 'set-if-unset' +DSV_TYPE_SOURCE = 'source' + + +def main(argv=sys.argv[1:]): # noqa: D103 + parser = argparse.ArgumentParser( + description='Output shell commands for the packages in topological ' + 'order') + parser.add_argument( + 'primary_extension', + help='The file extension of the primary shell') + parser.add_argument( + 'additional_extension', nargs='?', + help='The additional file extension to be considered') + parser.add_argument( + '--merged-install', action='store_true', + help='All install prefixes are merged into a single location') + args = parser.parse_args(argv) + + packages = get_packages(Path(__file__).parent, args.merged_install) + + ordered_packages = order_packages(packages) + for pkg_name in ordered_packages: + if _include_comments(): + print( + FORMAT_STR_COMMENT_LINE.format_map( + {'comment': 'Package: ' + pkg_name})) + prefix = os.path.abspath(os.path.dirname(__file__)) + if not args.merged_install: + prefix = os.path.join(prefix, pkg_name) + for line in get_commands( + pkg_name, prefix, args.primary_extension, + args.additional_extension + ): + print(line) + + for line in _remove_ending_separators(): + print(line) + + +def get_packages(prefix_path, merged_install): + """ + Find packages based on colcon-specific files created during installation. + + :param Path prefix_path: The install prefix path of all packages + :param bool merged_install: The flag if the packages are all installed + directly in the prefix or if each package is installed in a subdirectory + named after the package + :returns: A mapping from the package name to the set of runtime + dependencies + :rtype: dict + """ + packages = {} + # since importing colcon_core isn't feasible here the following constant + # must match colcon_core.location.get_relative_package_index_path() + subdirectory = 'share/colcon-core/packages' + if merged_install: + # return if workspace is empty + if not (prefix_path / subdirectory).is_dir(): + return packages + # find all files in the subdirectory + for p in (prefix_path / subdirectory).iterdir(): + if not p.is_file(): + continue + if p.name.startswith('.'): + continue + add_package_runtime_dependencies(p, packages) + else: + # for each subdirectory look for the package specific file + for p in prefix_path.iterdir(): + if not p.is_dir(): + continue + if p.name.startswith('.'): + continue + p = p / subdirectory / p.name + if p.is_file(): + add_package_runtime_dependencies(p, packages) + + # remove unknown dependencies + pkg_names = set(packages.keys()) + for k in packages.keys(): + packages[k] = {d for d in packages[k] if d in pkg_names} + + return packages + + +def add_package_runtime_dependencies(path, packages): + """ + Check the path and if it exists extract the packages runtime dependencies. + + :param Path path: The resource file containing the runtime dependencies + :param dict packages: A mapping from package names to the sets of runtime + dependencies to add to + """ + content = path.read_text() + dependencies = set(content.split(os.pathsep) if content else []) + packages[path.name] = dependencies + + +def order_packages(packages): + """ + Order packages topologically. + + :param dict packages: A mapping from package name to the set of runtime + dependencies + :returns: The package names + :rtype: list + """ + # select packages with no dependencies in alphabetical order + to_be_ordered = list(packages.keys()) + ordered = [] + while to_be_ordered: + pkg_names_without_deps = [ + name for name in to_be_ordered if not packages[name]] + if not pkg_names_without_deps: + reduce_cycle_set(packages) + raise RuntimeError( + 'Circular dependency between: ' + ', '.join(sorted(packages))) + pkg_names_without_deps.sort() + pkg_name = pkg_names_without_deps[0] + to_be_ordered.remove(pkg_name) + ordered.append(pkg_name) + # remove item from dependency lists + for k in list(packages.keys()): + if pkg_name in packages[k]: + packages[k].remove(pkg_name) + return ordered + + +def reduce_cycle_set(packages): + """ + Reduce the set of packages to the ones part of the circular dependency. + + :param dict packages: A mapping from package name to the set of runtime + dependencies which is modified in place + """ + last_depended = None + while len(packages) > 0: + # get all remaining dependencies + depended = set() + for pkg_name, dependencies in packages.items(): + depended = depended.union(dependencies) + # remove all packages which are not dependent on + for name in list(packages.keys()): + if name not in depended: + del packages[name] + if last_depended: + # if remaining packages haven't changed return them + if last_depended == depended: + return packages.keys() + # otherwise reduce again + last_depended = depended + + +def _include_comments(): + # skipping comment lines when COLCON_TRACE is not set speeds up the + # processing especially on Windows + return bool(os.environ.get('COLCON_TRACE')) + + +def get_commands(pkg_name, prefix, primary_extension, additional_extension): + commands = [] + package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv') + if os.path.exists(package_dsv_path): + commands += process_dsv_file( + package_dsv_path, prefix, primary_extension, additional_extension) + return commands + + +def process_dsv_file( + dsv_path, prefix, primary_extension=None, additional_extension=None +): + commands = [] + if _include_comments(): + commands.append(FORMAT_STR_COMMENT_LINE.format_map({ + 'comment': dsv_path})) + with open(dsv_path, 'r') as h: + content = h.read() + lines = content.splitlines() + + basename_map = OrderedDict() + for i, line in enumerate(lines): + # skip over empty or whitespace-only lines + if not line.strip(): + continue + # skip over comments + if line.startswith('#'): + continue + try: + type_, remainder = line.split(';', 1) + except ValueError: + raise RuntimeError( + "Line %d in '%s' doesn't contain a semicolon separating the " + 'type from the arguments' % (i + 1, dsv_path)) + if type_ != DSV_TYPE_SOURCE: + # handle non-source lines + try: + commands += handle_dsv_types_except_source( + type_, remainder, prefix) + except RuntimeError as e: + raise RuntimeError( + "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e + else: + # group remaining source lines by basename + path_without_ext, ext = os.path.splitext(remainder) + if path_without_ext not in basename_map: + basename_map[path_without_ext] = set() + assert ext.startswith('.') + ext = ext[1:] + if ext in (primary_extension, additional_extension): + basename_map[path_without_ext].add(ext) + + # add the dsv extension to each basename if the file exists + for basename, extensions in basename_map.items(): + if not os.path.isabs(basename): + basename = os.path.join(prefix, basename) + if os.path.exists(basename + '.dsv'): + extensions.add('dsv') + + for basename, extensions in basename_map.items(): + if not os.path.isabs(basename): + basename = os.path.join(prefix, basename) + if 'dsv' in extensions: + # process dsv files recursively + commands += process_dsv_file( + basename + '.dsv', prefix, primary_extension=primary_extension, + additional_extension=additional_extension) + elif primary_extension in extensions and len(extensions) == 1: + # source primary-only files + commands += [ + FORMAT_STR_INVOKE_SCRIPT.format_map({ + 'prefix': prefix, + 'script_path': basename + '.' + primary_extension})] + elif additional_extension in extensions: + # source non-primary files + commands += [ + FORMAT_STR_INVOKE_SCRIPT.format_map({ + 'prefix': prefix, + 'script_path': basename + '.' + additional_extension})] + + return commands + + +def handle_dsv_types_except_source(type_, remainder, prefix): + commands = [] + if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET): + try: + env_name, value = remainder.split(';', 1) + except ValueError: + raise RuntimeError( + "doesn't contain a semicolon separating the environment name " + 'from the value') + try_prefixed_value = os.path.join(prefix, value) if value else prefix + if os.path.exists(try_prefixed_value): + value = try_prefixed_value + if type_ == DSV_TYPE_SET: + commands += _set(env_name, value) + elif type_ == DSV_TYPE_SET_IF_UNSET: + commands += _set_if_unset(env_name, value) + else: + assert False + elif type_ in ( + DSV_TYPE_APPEND_NON_DUPLICATE, + DSV_TYPE_PREPEND_NON_DUPLICATE, + DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS + ): + try: + env_name_and_values = remainder.split(';') + except ValueError: + raise RuntimeError( + "doesn't contain a semicolon separating the environment name " + 'from the values') + env_name = env_name_and_values[0] + values = env_name_and_values[1:] + for value in values: + if not value: + value = prefix + elif not os.path.isabs(value): + value = os.path.join(prefix, value) + if ( + type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and + not os.path.exists(value) + ): + comment = f'skip extending {env_name} with not existing ' \ + f'path: {value}' + if _include_comments(): + commands.append(FORMAT_STR_COMMENT_LINE.format_map({ + 'comment': comment})) + elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE: + commands += _append_unique_value(env_name, value) + else: + commands += _prepend_unique_value(env_name, value) + else: + raise RuntimeError( + 'contains an unknown environment hook type: ' + type_) + return commands + + +env_state = {} + + +def _append_unique_value(name, value): + if name not in env_state: + if os.environ.get(name): + env_state[name] = set(os.environ[name].split(os.pathsep)) + else: + env_state[name] = set() + # Append even if the variable has not been set yet, in case a shell script + # sets the same variable without the knowledge of this Python script. + # Later, _remove_ending_separators() will cleanup any unintentional + # leading separator. + extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': extend + value}) + if value not in env_state[name]: + env_state[name].add(value) + else: + if not _include_comments(): + return [] + line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) + return [line] + + +def _prepend_unique_value(name, value): + if name not in env_state: + if os.environ.get(name): + env_state[name] = set(os.environ[name].split(os.pathsep)) + else: + env_state[name] = set() + # Prepend even if the variable has not been set yet, in case a shell script + # sets the same variable without the knowledge of this Python script. + # Later, _remove_ending_separators() will cleanup any unintentional + # trailing separator. + extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': value + extend}) + if value not in env_state[name]: + env_state[name].add(value) + else: + if not _include_comments(): + return [] + line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) + return [line] + + +# generate commands for removing prepended underscores +def _remove_ending_separators(): + # do nothing if the shell extension does not implement the logic + if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None: + return [] + + commands = [] + for name in env_state: + # skip variables that already had values before this script started + # appending/prepending + if name in os.environ: + continue + commands += [ + FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}), + FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})] + return commands + + +def _set(name, value): + env_state[name] = value + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': value}) + return [line] + + +def _set_if_unset(name, value): + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': value}) + if env_state.get(name, os.environ.get(name)): + line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) + return [line] + + +if __name__ == '__main__': # pragma: no cover + try: + rc = main() + except RuntimeError as e: + print(str(e), file=sys.stderr) + rc = 1 + sys.exit(rc) diff --git a/scripts/remapper.py b/install/bcr_bot/lib/bcr_bot/remapper.py old mode 100644 new mode 100755 similarity index 100% rename from scripts/remapper.py rename to install/bcr_bot/lib/bcr_bot/remapper.py diff --git a/install/bcr_bot/share/ament_index/resource_index/package_run_dependencies/bcr_bot b/install/bcr_bot/share/ament_index/resource_index/package_run_dependencies/bcr_bot new file mode 100644 index 0000000..378eea4 --- /dev/null +++ b/install/bcr_bot/share/ament_index/resource_index/package_run_dependencies/bcr_bot @@ -0,0 +1 @@ +ament_index_python;launch;launch_ros;robot_state_publisher;xacro \ No newline at end of file diff --git a/install/bcr_bot/share/ament_index/resource_index/packages/bcr_bot b/install/bcr_bot/share/ament_index/resource_index/packages/bcr_bot new file mode 100644 index 0000000..e69de29 diff --git a/install/bcr_bot/share/ament_index/resource_index/parent_prefix_path/bcr_bot b/install/bcr_bot/share/ament_index/resource_index/parent_prefix_path/bcr_bot new file mode 100644 index 0000000..0cc7af8 --- /dev/null +++ b/install/bcr_bot/share/ament_index/resource_index/parent_prefix_path/bcr_bot @@ -0,0 +1 @@ +/workspace/install/bcr_bot:/opt/ros/humble \ No newline at end of file diff --git a/install/bcr_bot/share/bcr_bot/cmake/bcr_botConfig-version.cmake b/install/bcr_bot/share/bcr_bot/cmake/bcr_botConfig-version.cmake new file mode 100644 index 0000000..d005f09 --- /dev/null +++ b/install/bcr_bot/share/bcr_bot/cmake/bcr_botConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from ament/cmake/core/templates/nameConfig-version.cmake.in +set(PACKAGE_VERSION "1.0.2") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/install/bcr_bot/share/bcr_bot/cmake/bcr_botConfig.cmake b/install/bcr_bot/share/bcr_bot/cmake/bcr_botConfig.cmake new file mode 100644 index 0000000..65e92be --- /dev/null +++ b/install/bcr_bot/share/bcr_bot/cmake/bcr_botConfig.cmake @@ -0,0 +1,42 @@ +# generated from ament/cmake/core/templates/nameConfig.cmake.in + +# prevent multiple inclusion +if(_bcr_bot_CONFIG_INCLUDED) + # ensure to keep the found flag the same + if(NOT DEFINED bcr_bot_FOUND) + # explicitly set it to FALSE, otherwise CMake will set it to TRUE + set(bcr_bot_FOUND FALSE) + elseif(NOT bcr_bot_FOUND) + # use separate condition to avoid uninitialized variable warning + set(bcr_bot_FOUND FALSE) + endif() + return() +endif() +set(_bcr_bot_CONFIG_INCLUDED TRUE) + +# output package information +if(NOT bcr_bot_FIND_QUIETLY) + message(STATUS "Found bcr_bot: 1.0.2 (${bcr_bot_DIR})") +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "Package 'bcr_bot' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + # optionally quiet the deprecation message + if(NOT ${bcr_bot_DEPRECATED_QUIET}) + message(DEPRECATION "${_msg}") + endif() +endif() + +# flag package as ament-based to distinguish it after being find_package()-ed +set(bcr_bot_FOUND_AMENT_PACKAGE TRUE) + +# include all config extra files +set(_extras "") +foreach(_extra ${_extras}) + include("${bcr_bot_DIR}/${_extra}") +endforeach() diff --git a/config/bcr_map.pgm b/install/bcr_bot/share/bcr_bot/config/bcr_map.pgm old mode 100755 new mode 100644 similarity index 100% rename from config/bcr_map.pgm rename to install/bcr_bot/share/bcr_bot/config/bcr_map.pgm diff --git a/config/bcr_map.yaml b/install/bcr_bot/share/bcr_bot/config/bcr_map.yaml old mode 100755 new mode 100644 similarity index 100% rename from config/bcr_map.yaml rename to install/bcr_bot/share/bcr_bot/config/bcr_map.yaml diff --git a/config/mapper_params_online_async.yaml b/install/bcr_bot/share/bcr_bot/config/mapper_params_online_async.yaml similarity index 100% rename from config/mapper_params_online_async.yaml rename to install/bcr_bot/share/bcr_bot/config/mapper_params_online_async.yaml diff --git a/config/nav2_params.yaml b/install/bcr_bot/share/bcr_bot/config/nav2_params.yaml similarity index 100% rename from config/nav2_params.yaml rename to install/bcr_bot/share/bcr_bot/config/nav2_params.yaml diff --git a/install/bcr_bot/share/bcr_bot/environment/ament_prefix_path.dsv b/install/bcr_bot/share/bcr_bot/environment/ament_prefix_path.dsv new file mode 100644 index 0000000..79d4c95 --- /dev/null +++ b/install/bcr_bot/share/bcr_bot/environment/ament_prefix_path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate;AMENT_PREFIX_PATH; diff --git a/install/bcr_bot/share/bcr_bot/environment/ament_prefix_path.sh b/install/bcr_bot/share/bcr_bot/environment/ament_prefix_path.sh new file mode 100644 index 0000000..02e441b --- /dev/null +++ b/install/bcr_bot/share/bcr_bot/environment/ament_prefix_path.sh @@ -0,0 +1,4 @@ +# copied from +# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh + +ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX" diff --git a/install/bcr_bot/share/bcr_bot/environment/path.dsv b/install/bcr_bot/share/bcr_bot/environment/path.dsv new file mode 100644 index 0000000..b94426a --- /dev/null +++ b/install/bcr_bot/share/bcr_bot/environment/path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate-if-exists;PATH;bin diff --git a/install/bcr_bot/share/bcr_bot/environment/path.sh b/install/bcr_bot/share/bcr_bot/environment/path.sh new file mode 100644 index 0000000..e59b749 --- /dev/null +++ b/install/bcr_bot/share/bcr_bot/environment/path.sh @@ -0,0 +1,5 @@ +# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh + +if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then + ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin" +fi diff --git a/install/bcr_bot/share/bcr_bot/hook/cmake_prefix_path.dsv b/install/bcr_bot/share/bcr_bot/hook/cmake_prefix_path.dsv new file mode 100644 index 0000000..e119f32 --- /dev/null +++ b/install/bcr_bot/share/bcr_bot/hook/cmake_prefix_path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate;CMAKE_PREFIX_PATH; diff --git a/install/bcr_bot/share/bcr_bot/hook/cmake_prefix_path.ps1 b/install/bcr_bot/share/bcr_bot/hook/cmake_prefix_path.ps1 new file mode 100644 index 0000000..d03facc --- /dev/null +++ b/install/bcr_bot/share/bcr_bot/hook/cmake_prefix_path.ps1 @@ -0,0 +1,3 @@ +# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em + +colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX" diff --git a/install/bcr_bot/share/bcr_bot/hook/cmake_prefix_path.sh b/install/bcr_bot/share/bcr_bot/hook/cmake_prefix_path.sh new file mode 100644 index 0000000..a948e68 --- /dev/null +++ b/install/bcr_bot/share/bcr_bot/hook/cmake_prefix_path.sh @@ -0,0 +1,3 @@ +# generated from colcon_core/shell/template/hook_prepend_value.sh.em + +_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX" diff --git a/launch/bcr_bot_gazebo_spawn.launch.py b/install/bcr_bot/share/bcr_bot/launch/bcr_bot_gazebo_spawn.launch.py similarity index 100% rename from launch/bcr_bot_gazebo_spawn.launch.py rename to install/bcr_bot/share/bcr_bot/launch/bcr_bot_gazebo_spawn.launch.py diff --git a/launch/bcr_bot_gz_spawn.launch.py b/install/bcr_bot/share/bcr_bot/launch/bcr_bot_gz_spawn.launch.py similarity index 100% rename from launch/bcr_bot_gz_spawn.launch.py rename to install/bcr_bot/share/bcr_bot/launch/bcr_bot_gz_spawn.launch.py diff --git a/launch/bcr_bot_ign_spawn.launch.py b/install/bcr_bot/share/bcr_bot/launch/bcr_bot_ign_spawn.launch.py similarity index 100% rename from launch/bcr_bot_ign_spawn.launch.py rename to install/bcr_bot/share/bcr_bot/launch/bcr_bot_ign_spawn.launch.py diff --git a/launch/gazebo.launch.py b/install/bcr_bot/share/bcr_bot/launch/gazebo.launch.py similarity index 100% rename from launch/gazebo.launch.py rename to install/bcr_bot/share/bcr_bot/launch/gazebo.launch.py diff --git a/launch/gz.launch.py b/install/bcr_bot/share/bcr_bot/launch/gz.launch.py similarity index 95% rename from launch/gz.launch.py rename to install/bcr_bot/share/bcr_bot/launch/gz.launch.py index 1c17408..1247db2 100644 --- a/launch/gz.launch.py +++ b/install/bcr_bot/share/bcr_bot/launch/gz.launch.py @@ -19,7 +19,7 @@ def generate_launch_description(): gz_sim = IncludeLaunchDescription( PythonLaunchDescriptionSource(join(gz_sim_share, "launch", "gz_sim.launch.py")), launch_arguments={ - "gz_args" : PythonExpression(["'", world_file, " -r'"]) + "gz_args" : PythonExpression(["'", world_file, " -r -s'"]) }.items() ) diff --git a/launch/ign.launch.py b/install/bcr_bot/share/bcr_bot/launch/ign.launch.py similarity index 100% rename from launch/ign.launch.py rename to install/bcr_bot/share/bcr_bot/launch/ign.launch.py diff --git a/launch/mapping.launch.py b/install/bcr_bot/share/bcr_bot/launch/mapping.launch.py similarity index 100% rename from launch/mapping.launch.py rename to install/bcr_bot/share/bcr_bot/launch/mapping.launch.py diff --git a/launch/nav2.launch.py b/install/bcr_bot/share/bcr_bot/launch/nav2.launch.py old mode 100755 new mode 100644 similarity index 100% rename from launch/nav2.launch.py rename to install/bcr_bot/share/bcr_bot/launch/nav2.launch.py diff --git a/launch/rviz.launch.py b/install/bcr_bot/share/bcr_bot/launch/rviz.launch.py similarity index 100% rename from launch/rviz.launch.py rename to install/bcr_bot/share/bcr_bot/launch/rviz.launch.py diff --git a/launch/warehouse_gzweb.launch.py b/install/bcr_bot/share/bcr_bot/launch/warehouse_gzweb.launch.py similarity index 100% rename from launch/warehouse_gzweb.launch.py rename to install/bcr_bot/share/bcr_bot/launch/warehouse_gzweb.launch.py diff --git a/launch/warehouse_spawn.launch.py b/install/bcr_bot/share/bcr_bot/launch/warehouse_spawn.launch.py similarity index 100% rename from launch/warehouse_spawn.launch.py rename to install/bcr_bot/share/bcr_bot/launch/warehouse_spawn.launch.py diff --git a/install/bcr_bot/share/bcr_bot/local_setup.bash b/install/bcr_bot/share/bcr_bot/local_setup.bash new file mode 100644 index 0000000..49782f2 --- /dev/null +++ b/install/bcr_bot/share/bcr_bot/local_setup.bash @@ -0,0 +1,46 @@ +# generated from ament_package/template/package_level/local_setup.bash.in + +# source local_setup.sh from same directory as this file +_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd) +# provide AMENT_CURRENT_PREFIX to shell script +AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd) +# store AMENT_CURRENT_PREFIX to restore it before each environment hook +_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX + +# trace output +if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_this_path/local_setup.sh\"" +fi +. "$_this_path/local_setup.sh" +unset _this_path + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks +AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX +# list all environment hooks of this package + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + # restore AMENT_CURRENT_PREFIX for each environment hook + AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + . "$_hook" + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +unset _package_local_setup_AMENT_CURRENT_PREFIX +unset AMENT_CURRENT_PREFIX diff --git a/install/bcr_bot/share/bcr_bot/local_setup.dsv b/install/bcr_bot/share/bcr_bot/local_setup.dsv new file mode 100644 index 0000000..3007c51 --- /dev/null +++ b/install/bcr_bot/share/bcr_bot/local_setup.dsv @@ -0,0 +1,2 @@ +source;share/bcr_bot/environment/ament_prefix_path.sh +source;share/bcr_bot/environment/path.sh diff --git a/install/bcr_bot/share/bcr_bot/local_setup.sh b/install/bcr_bot/share/bcr_bot/local_setup.sh new file mode 100644 index 0000000..7ebdbcf --- /dev/null +++ b/install/bcr_bot/share/bcr_bot/local_setup.sh @@ -0,0 +1,184 @@ +# generated from ament_package/template/package_level/local_setup.sh.in + +# since this file is sourced use either the provided AMENT_CURRENT_PREFIX +# or fall back to the destination set at configure time +: ${AMENT_CURRENT_PREFIX:="/workspace/install/bcr_bot"} +if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then + if [ -z "$COLCON_CURRENT_PREFIX" ]; then + echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \ + "exist. Consider sourcing a different extension than '.sh'." 1>&2 + else + AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" + fi +fi + +# function to append values to environment variables +# using colons as separators and avoiding leading separators +ament_append_value() { + # arguments + _listname="$1" + _value="$2" + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # avoid leading separator + eval _values=\"\$$_listname\" + if [ -z "$_values" ]; then + eval export $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + _ament_append_value_IFS=$IFS + unset IFS + eval export $_listname=\"\$$_listname:$_value\" + #eval echo "append list \$$_listname" + IFS=$_ament_append_value_IFS + unset _ament_append_value_IFS + fi + unset _values + + unset _value + unset _listname +} + +# function to append non-duplicate values to environment variables +# using colons as separators and avoiding leading separators +ament_append_unique_value() { + # arguments + _listname=$1 + _value=$2 + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # check if the list contains the value + eval _values=\$$_listname + _duplicate= + _ament_append_unique_value_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array _values + fi + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + if [ $_item = $_value ]; then + _duplicate=1 + fi + done + unset _item + + # append only non-duplicates + if [ -z "$_duplicate" ]; then + # avoid leading separator + if [ -z "$_values" ]; then + eval $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + unset IFS + eval $_listname=\"\$$_listname:$_value\" + #eval echo "append list \$$_listname" + fi + fi + IFS=$_ament_append_unique_value_IFS + unset _ament_append_unique_value_IFS + unset _duplicate + unset _values + + unset _value + unset _listname +} + +# function to prepend non-duplicate values to environment variables +# using colons as separators and avoiding trailing separators +ament_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # check if the list contains the value + eval _values=\"\$$_listname\" + _duplicate= + _ament_prepend_unique_value_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array _values + fi + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + if [ "$_item" = "$_value" ]; then + _duplicate=1 + fi + done + unset _item + + # prepend only non-duplicates + if [ -z "$_duplicate" ]; then + # avoid trailing separator + if [ -z "$_values" ]; then + eval export $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + unset IFS + eval export $_listname=\"$_value:\$$_listname\" + #eval echo "prepend list \$$_listname" + fi + fi + IFS=$_ament_prepend_unique_value_IFS + unset _ament_prepend_unique_value_IFS + unset _duplicate + unset _values + + unset _value + unset _listname +} + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# list all environment hooks of this package +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/bcr_bot/environment/ament_prefix_path.sh" +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/bcr_bot/environment/path.sh" + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS + fi + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + if [ -f "$_hook" ]; then + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + # trace output + if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_hook\"" + fi + . "$_hook" + fi + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +# reset AMENT_CURRENT_PREFIX after each package +# allowing to source multiple package-level setup files +unset AMENT_CURRENT_PREFIX diff --git a/install/bcr_bot/share/bcr_bot/local_setup.zsh b/install/bcr_bot/share/bcr_bot/local_setup.zsh new file mode 100644 index 0000000..fe161be --- /dev/null +++ b/install/bcr_bot/share/bcr_bot/local_setup.zsh @@ -0,0 +1,59 @@ +# generated from ament_package/template/package_level/local_setup.zsh.in + +AMENT_SHELL=zsh + +# source local_setup.sh from same directory as this file +_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd) +# provide AMENT_CURRENT_PREFIX to shell script +AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd) +# store AMENT_CURRENT_PREFIX to restore it before each environment hook +_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX + +# function to convert array-like strings into arrays +# to wordaround SH_WORD_SPLIT not being set +ament_zsh_to_array() { + local _listname=$1 + local _dollar="$" + local _split="{=" + local _to_array="(\"$_dollar$_split$_listname}\")" + eval $_listname=$_to_array +} + +# trace output +if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_this_path/local_setup.sh\"" +fi +# the package-level local_setup file unsets AMENT_CURRENT_PREFIX +. "$_this_path/local_setup.sh" +unset _this_path + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks +AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX +# list all environment hooks of this package + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + # restore AMENT_CURRENT_PREFIX for each environment hook + AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + . "$_hook" + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +unset _package_local_setup_AMENT_CURRENT_PREFIX +unset AMENT_CURRENT_PREFIX diff --git a/meshes/bcr_bot_mesh.dae b/install/bcr_bot/share/bcr_bot/meshes/bcr_bot_mesh.dae similarity index 100% rename from meshes/bcr_bot_mesh.dae rename to install/bcr_bot/share/bcr_bot/meshes/bcr_bot_mesh.dae diff --git a/meshes/kinect/d415.dae b/install/bcr_bot/share/bcr_bot/meshes/kinect/d415.dae similarity index 100% rename from meshes/kinect/d415.dae rename to install/bcr_bot/share/bcr_bot/meshes/kinect/d415.dae diff --git a/meshes/kinect/kinect.dae b/install/bcr_bot/share/bcr_bot/meshes/kinect/kinect.dae similarity index 100% rename from meshes/kinect/kinect.dae rename to install/bcr_bot/share/bcr_bot/meshes/kinect/kinect.dae diff --git a/meshes/kinect/kinect.jpg b/install/bcr_bot/share/bcr_bot/meshes/kinect/kinect.jpg similarity index 100% rename from meshes/kinect/kinect.jpg rename to install/bcr_bot/share/bcr_bot/meshes/kinect/kinect.jpg diff --git a/meshes/kinect/kinect.tga b/install/bcr_bot/share/bcr_bot/meshes/kinect/kinect.tga similarity index 100% rename from meshes/kinect/kinect.tga rename to install/bcr_bot/share/bcr_bot/meshes/kinect/kinect.tga diff --git a/meshes/logo.png b/install/bcr_bot/share/bcr_bot/meshes/logo.png similarity index 100% rename from meshes/logo.png rename to install/bcr_bot/share/bcr_bot/meshes/logo.png diff --git a/meshes/realsense_texture.png b/install/bcr_bot/share/bcr_bot/meshes/realsense_texture.png similarity index 100% rename from meshes/realsense_texture.png rename to install/bcr_bot/share/bcr_bot/meshes/realsense_texture.png diff --git a/models/aws_robomaker_warehouse_Bucket_01/.DS_Store b/install/bcr_bot/share/bcr_bot/models/aws_robomaker_warehouse_Bucket_01/.DS_Store similarity index 100% rename from models/aws_robomaker_warehouse_Bucket_01/.DS_Store rename to install/bcr_bot/share/bcr_bot/models/aws_robomaker_warehouse_Bucket_01/.DS_Store diff --git a/models/aws_robomaker_warehouse_Bucket_01/materials/.DS_Store b/install/bcr_bot/share/bcr_bot/models/aws_robomaker_warehouse_Bucket_01/materials/.DS_Store similarity index 100% rename from models/aws_robomaker_warehouse_Bucket_01/materials/.DS_Store rename to install/bcr_bot/share/bcr_bot/models/aws_robomaker_warehouse_Bucket_01/materials/.DS_Store diff --git a/models/aws_robomaker_warehouse_Bucket_01/materials/textures/aws_robomaker_warehouse_Bucket_01.png b/install/bcr_bot/share/bcr_bot/models/aws_robomaker_warehouse_Bucket_01/materials/textures/aws_robomaker_warehouse_Bucket_01.png similarity index 100% rename from models/aws_robomaker_warehouse_Bucket_01/materials/textures/aws_robomaker_warehouse_Bucket_01.png rename to install/bcr_bot/share/bcr_bot/models/aws_robomaker_warehouse_Bucket_01/materials/textures/aws_robomaker_warehouse_Bucket_01.png diff --git 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b/install/bcr_bot/share/bcr_bot/models/aws_robomaker_warehouse_TrashCanC_01/model.sdf similarity index 100% rename from models/aws_robomaker_warehouse_TrashCanC_01/model.sdf rename to install/bcr_bot/share/bcr_bot/models/aws_robomaker_warehouse_TrashCanC_01/model.sdf diff --git a/models/aws_robomaker_warehouse_WallB_01/materials/textures/aws_robomaker_warehouse_WallB_01.png b/install/bcr_bot/share/bcr_bot/models/aws_robomaker_warehouse_WallB_01/materials/textures/aws_robomaker_warehouse_WallB_01.png similarity index 100% rename from models/aws_robomaker_warehouse_WallB_01/materials/textures/aws_robomaker_warehouse_WallB_01.png rename to install/bcr_bot/share/bcr_bot/models/aws_robomaker_warehouse_WallB_01/materials/textures/aws_robomaker_warehouse_WallB_01.png diff --git a/models/aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_collision.DAE b/install/bcr_bot/share/bcr_bot/models/aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_collision.DAE similarity index 100% rename from models/aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_collision.DAE rename to install/bcr_bot/share/bcr_bot/models/aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_collision.DAE diff --git a/models/aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_visual.DAE b/install/bcr_bot/share/bcr_bot/models/aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_visual.DAE similarity index 100% rename from models/aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_visual.DAE rename to install/bcr_bot/share/bcr_bot/models/aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_visual.DAE diff --git a/models/aws_robomaker_warehouse_WallB_01/model.config b/install/bcr_bot/share/bcr_bot/models/aws_robomaker_warehouse_WallB_01/model.config similarity index 100% rename from models/aws_robomaker_warehouse_WallB_01/model.config rename to install/bcr_bot/share/bcr_bot/models/aws_robomaker_warehouse_WallB_01/model.config diff --git a/models/aws_robomaker_warehouse_WallB_01/model.sdf b/install/bcr_bot/share/bcr_bot/models/aws_robomaker_warehouse_WallB_01/model.sdf similarity index 100% rename from models/aws_robomaker_warehouse_WallB_01/model.sdf rename to install/bcr_bot/share/bcr_bot/models/aws_robomaker_warehouse_WallB_01/model.sdf diff --git a/install/bcr_bot/share/bcr_bot/package.bash b/install/bcr_bot/share/bcr_bot/package.bash new file mode 100644 index 0000000..3eb18e5 --- /dev/null +++ b/install/bcr_bot/share/bcr_bot/package.bash @@ -0,0 +1,39 @@ +# generated from colcon_bash/shell/template/package.bash.em + +# This script extends the environment for this package. + +# a bash script is able to determine its own path if necessary +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + # the prefix is two levels up from the package specific share directory + _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)" +else + _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +# additional arguments: arguments to the script +_colcon_package_bash_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$@" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# source sh script of this package +_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/bcr_bot/package.sh" + +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts +COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX" + +# source bash hooks +_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/bcr_bot/local_setup.bash" + +unset COLCON_CURRENT_PREFIX + +unset _colcon_package_bash_source_script +unset _colcon_package_bash_COLCON_CURRENT_PREFIX diff --git a/install/bcr_bot/share/bcr_bot/package.dsv b/install/bcr_bot/share/bcr_bot/package.dsv new file mode 100644 index 0000000..c00acbd --- /dev/null +++ b/install/bcr_bot/share/bcr_bot/package.dsv @@ -0,0 +1,8 @@ +source;share/bcr_bot/hook/cmake_prefix_path.ps1 +source;share/bcr_bot/hook/cmake_prefix_path.dsv +source;share/bcr_bot/hook/cmake_prefix_path.sh +source;share/bcr_bot/local_setup.bash +source;share/bcr_bot/local_setup.dsv +source;share/bcr_bot/local_setup.ps1 +source;share/bcr_bot/local_setup.sh +source;share/bcr_bot/local_setup.zsh diff --git a/install/bcr_bot/share/bcr_bot/package.ps1 b/install/bcr_bot/share/bcr_bot/package.ps1 new file mode 100644 index 0000000..866d303 --- /dev/null +++ b/install/bcr_bot/share/bcr_bot/package.ps1 @@ -0,0 +1,116 @@ +# generated from colcon_powershell/shell/template/package.ps1.em + +# function to append a value to a variable +# which uses colons as separators +# duplicates as well as leading separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +function colcon_append_unique_value { + param ( + $_listname, + $_value + ) + + # get values from variable + if (Test-Path Env:$_listname) { + $_values=(Get-Item env:$_listname).Value + } else { + $_values="" + } + $_duplicate="" + # start with no values + $_all_values="" + # iterate over existing values in the variable + if ($_values) { + $_values.Split(":") | ForEach { + # not an empty string + if ($_) { + # not a duplicate of _value + if ($_ -eq $_value) { + $_duplicate="1" + } + if ($_all_values) { + $_all_values="${_all_values}:$_" + } else { + $_all_values="$_" + } + } + } + } + # append only non-duplicates + if (!$_duplicate) { + # avoid leading separator + if ($_all_values) { + $_all_values="${_all_values}:${_value}" + } else { + $_all_values="${_value}" + } + } + + # export the updated variable + Set-Item env:\$_listname -Value "$_all_values" +} + +# function to prepend a value to a variable +# which uses colons as separators +# duplicates as well as trailing separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +function colcon_prepend_unique_value { + param ( + $_listname, + $_value + ) + + # get values from variable + if (Test-Path Env:$_listname) { + $_values=(Get-Item env:$_listname).Value + } else { + $_values="" + } + # start with the new value + $_all_values="$_value" + # iterate over existing values in the variable + if ($_values) { + $_values.Split(":") | ForEach { + # not an empty string + if ($_) { + # not a duplicate of _value + if ($_ -ne $_value) { + # keep non-duplicate values + $_all_values="${_all_values}:$_" + } + } + } + } + # export the updated variable + Set-Item env:\$_listname -Value "$_all_values" +} + +# function to source another script with conditional trace output +# first argument: the path of the script +# additional arguments: arguments to the script +function colcon_package_source_powershell_script { + param ( + $_colcon_package_source_powershell_script + ) + # source script with conditional trace output + if (Test-Path $_colcon_package_source_powershell_script) { + if ($env:COLCON_TRACE) { + echo ". '$_colcon_package_source_powershell_script'" + } + . "$_colcon_package_source_powershell_script" + } else { + Write-Error "not found: '$_colcon_package_source_powershell_script'" + } +} + + +# a powershell script is able to determine its own path +# the prefix is two levels up from the package specific share directory +$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName + +colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/bcr_bot/hook/cmake_prefix_path.ps1" +colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/bcr_bot/local_setup.ps1" + +Remove-Item Env:\COLCON_CURRENT_PREFIX diff --git a/install/bcr_bot/share/bcr_bot/package.sh b/install/bcr_bot/share/bcr_bot/package.sh new file mode 100644 index 0000000..75f9026 --- /dev/null +++ b/install/bcr_bot/share/bcr_bot/package.sh @@ -0,0 +1,87 @@ +# generated from colcon_core/shell/template/package.sh.em + +# This script extends the environment for this package. + +# function to prepend a value to a variable +# which uses colons as separators +# duplicates as well as trailing separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +_colcon_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + + # get values from variable + eval _values=\"\$$_listname\" + # backup the field separator + _colcon_prepend_unique_value_IFS=$IFS + IFS=":" + # start with the new value + _all_values="$_value" + # workaround SH_WORD_SPLIT not being set in zsh + if [ "$(command -v colcon_zsh_convert_to_array)" ]; then + colcon_zsh_convert_to_array _values + fi + # iterate over existing values in the variable + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + # ignore duplicates of _value + if [ "$_item" = "$_value" ]; then + continue + fi + # keep non-duplicate values + _all_values="$_all_values:$_item" + done + unset _item + # restore the field separator + IFS=$_colcon_prepend_unique_value_IFS + unset _colcon_prepend_unique_value_IFS + # export the updated variable + eval export $_listname=\"$_all_values\" + unset _all_values + unset _values + + unset _value + unset _listname +} + +# since a plain shell script can't determine its own path when being sourced +# either use the provided COLCON_CURRENT_PREFIX +# or fall back to the build time prefix (if it exists) +_colcon_package_sh_COLCON_CURRENT_PREFIX="/workspace/install/bcr_bot" +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then + echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2 + unset _colcon_package_sh_COLCON_CURRENT_PREFIX + return 1 + fi + COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX" +fi +unset _colcon_package_sh_COLCON_CURRENT_PREFIX + +# function to source another script with conditional trace output +# first argument: the path of the script +# additional arguments: arguments to the script +_colcon_package_sh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$@" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# source sh hooks +_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/bcr_bot/hook/cmake_prefix_path.sh" +_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/bcr_bot/local_setup.sh" + +unset _colcon_package_sh_source_script +unset COLCON_CURRENT_PREFIX + +# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks diff --git a/package.xml b/install/bcr_bot/share/bcr_bot/package.xml similarity index 100% rename from package.xml rename to install/bcr_bot/share/bcr_bot/package.xml diff --git a/install/bcr_bot/share/bcr_bot/package.zsh b/install/bcr_bot/share/bcr_bot/package.zsh new file mode 100644 index 0000000..8e5cacf --- /dev/null +++ b/install/bcr_bot/share/bcr_bot/package.zsh @@ -0,0 +1,50 @@ +# generated from colcon_zsh/shell/template/package.zsh.em + +# This script extends the environment for this package. + +# a zsh script is able to determine its own path if necessary +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + # the prefix is two levels up from the package specific share directory + _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)" +else + _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +# additional arguments: arguments to the script +_colcon_package_zsh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$@" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# function to convert array-like strings into arrays +# to workaround SH_WORD_SPLIT not being set +colcon_zsh_convert_to_array() { + local _listname=$1 + local _dollar="$" + local _split="{=" + local _to_array="(\"$_dollar$_split$_listname}\")" + eval $_listname=$_to_array +} + +# source sh script of this package +_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/bcr_bot/package.sh" +unset convert_zsh_to_array + +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts +COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX" + +# source zsh hooks +_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/bcr_bot/local_setup.zsh" + +unset COLCON_CURRENT_PREFIX + +unset _colcon_package_zsh_source_script +unset _colcon_package_zsh_COLCON_CURRENT_PREFIX diff --git a/rviz/entire_setup.rviz b/install/bcr_bot/share/bcr_bot/rviz/entire_setup.rviz similarity index 100% rename from rviz/entire_setup.rviz rename to install/bcr_bot/share/bcr_bot/rviz/entire_setup.rviz diff --git a/rviz/map.rviz b/install/bcr_bot/share/bcr_bot/rviz/map.rviz similarity index 100% rename from rviz/map.rviz rename to install/bcr_bot/share/bcr_bot/rviz/map.rviz diff --git a/urdf/bcr_bot.xacro b/install/bcr_bot/share/bcr_bot/urdf/bcr_bot.xacro similarity index 100% rename from urdf/bcr_bot.xacro rename to install/bcr_bot/share/bcr_bot/urdf/bcr_bot.xacro diff --git a/urdf/gazebo.xacro b/install/bcr_bot/share/bcr_bot/urdf/gazebo.xacro similarity index 100% rename from urdf/gazebo.xacro rename to install/bcr_bot/share/bcr_bot/urdf/gazebo.xacro diff --git a/urdf/gz.xacro b/install/bcr_bot/share/bcr_bot/urdf/gz.xacro similarity index 100% rename from urdf/gz.xacro rename to install/bcr_bot/share/bcr_bot/urdf/gz.xacro diff --git a/urdf/ign.xacro b/install/bcr_bot/share/bcr_bot/urdf/ign.xacro similarity index 100% rename from urdf/ign.xacro rename to install/bcr_bot/share/bcr_bot/urdf/ign.xacro diff --git a/urdf/macros.xacro b/install/bcr_bot/share/bcr_bot/urdf/macros.xacro similarity index 100% rename from urdf/macros.xacro rename to install/bcr_bot/share/bcr_bot/urdf/macros.xacro diff --git a/urdf/materials.xacro b/install/bcr_bot/share/bcr_bot/urdf/materials.xacro similarity index 100% rename from urdf/materials.xacro rename to install/bcr_bot/share/bcr_bot/urdf/materials.xacro diff --git a/worlds/empty.sdf b/install/bcr_bot/share/bcr_bot/worlds/empty.sdf similarity index 100% rename from worlds/empty.sdf rename to install/bcr_bot/share/bcr_bot/worlds/empty.sdf diff --git a/worlds/small_warehouse.sdf b/install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf similarity index 100% rename from worlds/small_warehouse.sdf rename to install/bcr_bot/share/bcr_bot/worlds/small_warehouse.sdf diff --git a/install/bcr_bot/share/colcon-core/packages/bcr_bot b/install/bcr_bot/share/colcon-core/packages/bcr_bot new file mode 100644 index 0000000..65fca71 --- /dev/null +++ b/install/bcr_bot/share/colcon-core/packages/bcr_bot @@ -0,0 +1 @@ +ament_index_python:launch:launch_ros:robot_state_publisher:xacro \ No newline at end of file diff --git a/install/local_setup.bash b/install/local_setup.bash new file mode 100644 index 0000000..03f0025 --- /dev/null +++ b/install/local_setup.bash @@ -0,0 +1,121 @@ +# generated from colcon_bash/shell/template/prefix.bash.em + +# This script extends the environment with all packages contained in this +# prefix path. + +# a bash script is able to determine its own path if necessary +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)" +else + _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +fi + +# function to prepend a value to a variable +# which uses colons as separators +# duplicates as well as trailing separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +_colcon_prefix_bash_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + + # get values from variable + eval _values=\"\$$_listname\" + # backup the field separator + _colcon_prefix_bash_prepend_unique_value_IFS="$IFS" + IFS=":" + # start with the new value + _all_values="$_value" + _contained_value="" + # iterate over existing values in the variable + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + # ignore duplicates of _value + if [ "$_item" = "$_value" ]; then + _contained_value=1 + continue + fi + # keep non-duplicate values + _all_values="$_all_values:$_item" + done + unset _item + if [ -z "$_contained_value" ]; then + if [ -n "$COLCON_TRACE" ]; then + if [ "$_all_values" = "$_value" ]; then + echo "export $_listname=$_value" + else + echo "export $_listname=$_value:\$$_listname" + fi + fi + fi + unset _contained_value + # restore the field separator + IFS="$_colcon_prefix_bash_prepend_unique_value_IFS" + unset _colcon_prefix_bash_prepend_unique_value_IFS + # export the updated variable + eval export $_listname=\"$_all_values\" + unset _all_values + unset _values + + unset _value + unset _listname +} + +# add this prefix to the COLCON_PREFIX_PATH +_colcon_prefix_bash_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX" +unset _colcon_prefix_bash_prepend_unique_value + +# check environment variable for custom Python executable +if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then + if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then + echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist" + return 1 + fi + _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE" +else + # try the Python executable known at configure time + _colcon_python_executable="/usr/bin/python3" + # if it doesn't exist try a fall back + if [ ! -f "$_colcon_python_executable" ]; then + if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then + echo "error: unable to find python3 executable" + return 1 + fi + _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"` + fi +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +_colcon_prefix_sh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$1" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# get all commands in topological order +_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh bash)" +unset _colcon_python_executable +if [ -n "$COLCON_TRACE" ]; then + echo "$(declare -f _colcon_prefix_sh_source_script)" + echo "# Execute generated script:" + echo "# <<<" + echo "${_colcon_ordered_commands}" + echo "# >>>" + echo "unset _colcon_prefix_sh_source_script" +fi +eval "${_colcon_ordered_commands}" +unset _colcon_ordered_commands + +unset _colcon_prefix_sh_source_script + +unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX diff --git a/install/local_setup.ps1 b/install/local_setup.ps1 new file mode 100644 index 0000000..6f68c8d --- /dev/null +++ b/install/local_setup.ps1 @@ -0,0 +1,55 @@ +# generated from colcon_powershell/shell/template/prefix.ps1.em + +# This script extends the environment with all packages contained in this +# prefix path. + +# check environment variable for custom Python executable +if ($env:COLCON_PYTHON_EXECUTABLE) { + if (!(Test-Path "$env:COLCON_PYTHON_EXECUTABLE" -PathType Leaf)) { + echo "error: COLCON_PYTHON_EXECUTABLE '$env:COLCON_PYTHON_EXECUTABLE' doesn't exist" + exit 1 + } + $_colcon_python_executable="$env:COLCON_PYTHON_EXECUTABLE" +} else { + # use the Python executable known at configure time + $_colcon_python_executable="/usr/bin/python3" + # if it doesn't exist try a fall back + if (!(Test-Path "$_colcon_python_executable" -PathType Leaf)) { + if (!(Get-Command "python3" -ErrorAction SilentlyContinue)) { + echo "error: unable to find python3 executable" + exit 1 + } + $_colcon_python_executable="python3" + } +} + +# function to source another script with conditional trace output +# first argument: the path of the script +function _colcon_prefix_powershell_source_script { + param ( + $_colcon_prefix_powershell_source_script_param + ) + # source script with conditional trace output + if (Test-Path $_colcon_prefix_powershell_source_script_param) { + if ($env:COLCON_TRACE) { + echo ". '$_colcon_prefix_powershell_source_script_param'" + } + . "$_colcon_prefix_powershell_source_script_param" + } else { + Write-Error "not found: '$_colcon_prefix_powershell_source_script_param'" + } +} + +# get all commands in topological order +$_colcon_ordered_commands = & "$_colcon_python_executable" "$(Split-Path $PSCommandPath -Parent)/_local_setup_util_ps1.py" ps1 + +# execute all commands in topological order +if ($env:COLCON_TRACE) { + echo "Execute generated script:" + echo "<<<" + $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Write-Output + echo ">>>" +} +if ($_colcon_ordered_commands) { + $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression +} diff --git a/install/local_setup.sh b/install/local_setup.sh new file mode 100644 index 0000000..24bb54f --- /dev/null +++ b/install/local_setup.sh @@ -0,0 +1,137 @@ +# generated from colcon_core/shell/template/prefix.sh.em + +# This script extends the environment with all packages contained in this +# prefix path. + +# since a plain shell script can't determine its own path when being sourced +# either use the provided COLCON_CURRENT_PREFIX +# or fall back to the build time prefix (if it exists) +_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/workspace/install" +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then + echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2 + unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX + return 1 + fi +else + _colcon_prefix_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +fi + +# function to prepend a value to a variable +# which uses colons as separators +# duplicates as well as trailing separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +_colcon_prefix_sh_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + + # get values from variable + eval _values=\"\$$_listname\" + # backup the field separator + _colcon_prefix_sh_prepend_unique_value_IFS="$IFS" + IFS=":" + # start with the new value + _all_values="$_value" + _contained_value="" + # iterate over existing values in the variable + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + # ignore duplicates of _value + if [ "$_item" = "$_value" ]; then + _contained_value=1 + continue + fi + # keep non-duplicate values + _all_values="$_all_values:$_item" + done + unset _item + if [ -z "$_contained_value" ]; then + if [ -n "$COLCON_TRACE" ]; then + if [ "$_all_values" = "$_value" ]; then + echo "export $_listname=$_value" + else + echo "export $_listname=$_value:\$$_listname" + fi + fi + fi + unset _contained_value + # restore the field separator + IFS="$_colcon_prefix_sh_prepend_unique_value_IFS" + unset _colcon_prefix_sh_prepend_unique_value_IFS + # export the updated variable + eval export $_listname=\"$_all_values\" + unset _all_values + unset _values + + unset _value + unset _listname +} + +# add this prefix to the COLCON_PREFIX_PATH +_colcon_prefix_sh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" +unset _colcon_prefix_sh_prepend_unique_value + +# check environment variable for custom Python executable +if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then + if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then + echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist" + return 1 + fi + _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE" +else + # try the Python executable known at configure time + _colcon_python_executable="/usr/bin/python3" + # if it doesn't exist try a fall back + if [ ! -f "$_colcon_python_executable" ]; then + if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then + echo "error: unable to find python3 executable" + return 1 + fi + _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"` + fi +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +_colcon_prefix_sh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$1" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# get all commands in topological order +_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh)" +unset _colcon_python_executable +if [ -n "$COLCON_TRACE" ]; then + echo "_colcon_prefix_sh_source_script() { + if [ -f \"\$1\" ]; then + if [ -n \"\$COLCON_TRACE\" ]; then + echo \"# . \\\"\$1\\\"\" + fi + . \"\$1\" + else + echo \"not found: \\\"\$1\\\"\" 1>&2 + fi + }" + echo "# Execute generated script:" + echo "# <<<" + echo "${_colcon_ordered_commands}" + echo "# >>>" + echo "unset _colcon_prefix_sh_source_script" +fi +eval "${_colcon_ordered_commands}" +unset _colcon_ordered_commands + +unset _colcon_prefix_sh_source_script + +unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX diff --git a/install/local_setup.zsh b/install/local_setup.zsh new file mode 100644 index 0000000..b648710 --- /dev/null +++ b/install/local_setup.zsh @@ -0,0 +1,134 @@ +# generated from colcon_zsh/shell/template/prefix.zsh.em + +# This script extends the environment with all packages contained in this +# prefix path. + +# a zsh script is able to determine its own path if necessary +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)" +else + _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +fi + +# function to convert array-like strings into arrays +# to workaround SH_WORD_SPLIT not being set +_colcon_prefix_zsh_convert_to_array() { + local _listname=$1 + local _dollar="$" + local _split="{=" + local _to_array="(\"$_dollar$_split$_listname}\")" + eval $_listname=$_to_array +} + +# function to prepend a value to a variable +# which uses colons as separators +# duplicates as well as trailing separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +_colcon_prefix_zsh_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + + # get values from variable + eval _values=\"\$$_listname\" + # backup the field separator + _colcon_prefix_zsh_prepend_unique_value_IFS="$IFS" + IFS=":" + # start with the new value + _all_values="$_value" + _contained_value="" + # workaround SH_WORD_SPLIT not being set + _colcon_prefix_zsh_convert_to_array _values + # iterate over existing values in the variable + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + # ignore duplicates of _value + if [ "$_item" = "$_value" ]; then + _contained_value=1 + continue + fi + # keep non-duplicate values + _all_values="$_all_values:$_item" + done + unset _item + if [ -z "$_contained_value" ]; then + if [ -n "$COLCON_TRACE" ]; then + if [ "$_all_values" = "$_value" ]; then + echo "export $_listname=$_value" + else + echo "export $_listname=$_value:\$$_listname" + fi + fi + fi + unset _contained_value + # restore the field separator + IFS="$_colcon_prefix_zsh_prepend_unique_value_IFS" + unset _colcon_prefix_zsh_prepend_unique_value_IFS + # export the updated variable + eval export $_listname=\"$_all_values\" + unset _all_values + unset _values + + unset _value + unset _listname +} + +# add this prefix to the COLCON_PREFIX_PATH +_colcon_prefix_zsh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX" +unset _colcon_prefix_zsh_prepend_unique_value +unset _colcon_prefix_zsh_convert_to_array + +# check environment variable for custom Python executable +if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then + if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then + echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist" + return 1 + fi + _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE" +else + # try the Python executable known at configure time + _colcon_python_executable="/usr/bin/python3" + # if it doesn't exist try a fall back + if [ ! -f "$_colcon_python_executable" ]; then + if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then + echo "error: unable to find python3 executable" + return 1 + fi + _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"` + fi +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +_colcon_prefix_sh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$1" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# get all commands in topological order +_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh zsh)" +unset _colcon_python_executable +if [ -n "$COLCON_TRACE" ]; then + echo "$(declare -f _colcon_prefix_sh_source_script)" + echo "# Execute generated script:" + echo "# <<<" + echo "${_colcon_ordered_commands}" + echo "# >>>" + echo "unset _colcon_prefix_sh_source_script" +fi +eval "${_colcon_ordered_commands}" +unset _colcon_ordered_commands + +unset _colcon_prefix_sh_source_script + +unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX diff --git a/install/setup.bash b/install/setup.bash new file mode 100644 index 0000000..10ea0f7 --- /dev/null +++ b/install/setup.bash @@ -0,0 +1,31 @@ +# generated from colcon_bash/shell/template/prefix_chain.bash.em + +# This script extends the environment with the environment of other prefix +# paths which were sourced when this file was generated as well as all packages +# contained in this prefix path. + +# function to source another script with conditional trace output +# first argument: the path of the script +_colcon_prefix_chain_bash_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$1" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# source chained prefixes +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script +COLCON_CURRENT_PREFIX="/opt/ros/humble" +_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash" + +# source this prefix +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script +COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)" +_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash" + +unset COLCON_CURRENT_PREFIX +unset _colcon_prefix_chain_bash_source_script diff --git a/install/setup.ps1 b/install/setup.ps1 new file mode 100644 index 0000000..e9ff565 --- /dev/null +++ b/install/setup.ps1 @@ -0,0 +1,30 @@ + +# generated from colcon_powershell/shell/template/prefix_chain.ps1.em + +# This script extends the environment with the environment of other prefix +# paths which were sourced when this file was generated as well as all packages +# contained in this prefix path. + +# function to source another script with conditional trace output +# first argument: the path of the script +function _colcon_prefix_chain_powershell_source_script { + param ( + $_colcon_prefix_chain_powershell_source_script_param + ) + # source script with conditional trace output + if (Test-Path $_colcon_prefix_chain_powershell_source_script_param) { + if ($env:COLCON_TRACE) { + echo ". '$_colcon_prefix_chain_powershell_source_script_param'" + } + . "$_colcon_prefix_chain_powershell_source_script_param" + } else { + Write-Error "not found: '$_colcon_prefix_chain_powershell_source_script_param'" + } +} + +# source chained prefixes +_colcon_prefix_chain_powershell_source_script "/opt/ros/humble/local_setup.ps1" + +# source this prefix +$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent) +_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX/local_setup.ps1" diff --git a/install/setup.sh b/install/setup.sh new file mode 100644 index 0000000..70a84aa --- /dev/null +++ b/install/setup.sh @@ -0,0 +1,45 @@ +# generated from colcon_core/shell/template/prefix_chain.sh.em + +# This script extends the environment with the environment of other prefix +# paths which were sourced when this file was generated as well as all packages +# contained in this prefix path. + +# since a plain shell script can't determine its own path when being sourced +# either use the provided COLCON_CURRENT_PREFIX +# or fall back to the build time prefix (if it exists) +_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/workspace/install +if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then + _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then + echo "The build time path \"$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2 + unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX + return 1 +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +_colcon_prefix_chain_sh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$1" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# source chained prefixes +# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script +COLCON_CURRENT_PREFIX="/opt/ros/humble" +_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh" + + +# source this prefix +# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script +COLCON_CURRENT_PREFIX="$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" +_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh" + +unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX +unset _colcon_prefix_chain_sh_source_script +unset COLCON_CURRENT_PREFIX diff --git a/install/setup.zsh b/install/setup.zsh new file mode 100644 index 0000000..54799fd --- /dev/null +++ b/install/setup.zsh @@ -0,0 +1,31 @@ +# generated from colcon_zsh/shell/template/prefix_chain.zsh.em + +# This script extends the environment with the environment of other prefix +# paths which were sourced when this file was generated as well as all packages +# contained in this prefix path. + +# function to source another script with conditional trace output +# first argument: the path of the script +_colcon_prefix_chain_zsh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$1" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# source chained prefixes +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script +COLCON_CURRENT_PREFIX="/opt/ros/humble" +_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh" + +# source this prefix +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script +COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)" +_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh" + +unset COLCON_CURRENT_PREFIX +unset _colcon_prefix_chain_zsh_source_script diff --git a/src/bcr_bot/.gitignore b/src/bcr_bot/.gitignore new file mode 100644 index 0000000..43ed185 --- /dev/null +++ b/src/bcr_bot/.gitignore @@ -0,0 +1,19 @@ +# Python +__pycache__/ +*.pyc + +# ROS +build/ +devel/ +logs/ +install/ +build_isolated/ +devel_isolated/ +*.bag +CATKIN_IGNORE + +# Misc +.vscode/ +*.swp +log/ +test/ diff --git a/CHANGELOG.rst b/src/bcr_bot/CHANGELOG.rst similarity index 100% rename from CHANGELOG.rst rename to src/bcr_bot/CHANGELOG.rst diff --git a/CMakeLists.txt b/src/bcr_bot/CMakeLists.txt similarity index 100% rename from CMakeLists.txt rename to src/bcr_bot/CMakeLists.txt diff --git a/Dockerfile b/src/bcr_bot/Dockerfile similarity index 100% rename from Dockerfile rename to src/bcr_bot/Dockerfile diff --git a/LICENSE b/src/bcr_bot/LICENSE similarity index 100% rename from LICENSE rename to src/bcr_bot/LICENSE diff --git a/src/bcr_bot/README.md b/src/bcr_bot/README.md new file mode 100644 index 0000000..842b5ab --- /dev/null +++ b/src/bcr_bot/README.md @@ -0,0 +1,318 @@ +# BCR Bot + +https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8 + +## About + +This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions - + +1. [ROS Noetic + Gazebo Classic 11 (branch ros1)](#noetic--classic-ubuntu-2004) +2. [ROS2 Humble + Gazebo Classic 11 (branch ros2)](#humble--classic-ubuntu-2204) +3. [ROS2 Humble + Gazebo Fortress (branch ros2)](#humble--fortress-ubuntu-2204) +4. [ROS2 Humble + Gazebo Harmonic (branch ros2)](#humble--harmonic-ubuntu-2204) +5. [ROS2 Humble + Isaac Sim (branch ros2)](#humble--isaac-sim-ubuntu-2204) + +Each of the following sections describes depedencies, build and run instructions for each of the above combinations + +## Noetic + Classic (Ubuntu 20.04) + +### Dependencies + +In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep) + +```bash +# From the root directory of the workspace. This will install everything mentioned in package.xml +rosdep install --from-paths src --ignore-src -r -y +``` + +### Source Build + +```bash +catkin build --packages-select bcr_bot +``` + +### Binary Install +To install BCR bot in the binaries: + +```bash +sudo apt-get install ros-noetic-bcr-bot +``` +### Run + +To launch the robot in Gazebo, +```bash +roslaunch bcr_bot gazebo.launch +``` +To view in rviz, +```bash +roslaunch bcr_bot rviz.launch +``` +### Configuration + +The launch file accepts multiple launch arguments, +```bash +roslaunch bcr_bot gazebo.launch + camera_enabled:=True \ + two_d_lidar_enabled:=True \ + position_x:=0.0 \ + position_y:=0.0 \ + orientation_yaw:=0.0 \ + odometry_source:=world \ + world_file:=small_warehouse.world \ + robot_namespace:="bcr_bot" +``` +**Note:** To use stereo_image_proc with the stereo images excute following command: +```bash +ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc +``` + +## Humble + Classic (Ubuntu 22.04) + +### Dependencies + +In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install [gazebo_ros_pkgs](https://github.com/ros-simulation/gazebo_ros_pkgs/tree/ros2) (since the same branch supports Classic and Fortress) + +```bash +sudo apt-get install ros-humble-gazebo-ros-pkgs +``` +Remainder of the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep) + +```bash +# From the root directory of the workspace. This will install everything mentioned in package.xml +rosdep install --from-paths src --ignore-src -r -y +``` + +### Source Build + +```bash +colcon build --packages-select bcr_bot +``` + +### Binary Install +To install BCR bot in the binaries: + +```bash +sudo apt-get install ros-humble-bcr-bot +``` + +### Run + +To launch the robot in Gazebo, +```bash +ros2 launch bcr_bot gazebo.launch.py +``` +To view in rviz, +```bash +ros2 launch bcr_bot rviz.launch.py +``` +### Configuration + +The launch file accepts multiple launch arguments, +```bash +ros2 launch bcr_bot gazebo.launch.py \ + camera_enabled:=True \ + two_d_lidar_enabled:=True \ + stereo_camera_enabled:=False \ + position_x:=0.0 \ + position_y:=0.0 \ + orientation_yaw:=0.0 \ + odometry_source:=world \ + world_file:=small_warehouse.sdf \ + robot_namespace:="bcr_bot" +``` +**Note:** To use stereo_image_proc with the stereo images excute following command: +```bash +ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right +``` +## Humble + Fortress (Ubuntu 22.04) + +### Dependencies + +In addition to ROS2 Humble and [Gazebo Fortress installations](https://gazebosim.org/docs/fortress/install_ubuntu), we need to manually install interfaces between ROS2 and Gazebo sim as follows, + +```bash +sudo apt-get install ros-humble-ros-gz-sim ros-humble-ros-gz-bridge ros-humble-ros-gz-interfaces +``` +Remainder of the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep) + +```bash +# From the root directory of the workspace. This will install everything mentioned in package.xml +rosdep install --from-paths src --ignore-src -r -y +``` + +### Source Build + +```bash +colcon build --packages-select bcr_bot +``` + +### Binary Install +To install BCR bot in the binaries: + +```bash +sudo apt-get install ros-humble-bcr-bot +``` + +### Run + +To launch the robot in Gazebo, +```bash +ros2 launch bcr_bot ign.launch.py +``` +To view in rviz, +```bash +ros2 launch bcr_bot rviz.launch.py +``` + +### Configuration + +The launch file accepts multiple launch arguments, +```bash +ros2 launch bcr_bot ign.launch.py \ + camera_enabled:=True \ + stereo_camera_enabled:=False \ + two_d_lidar_enabled:=True \ + position_x:=0.0 \ + position_y:=0.0 \ + orientation_yaw:=0.0 \ + odometry_source:=world \ + world_file:=small_warehouse.sdf +``` +**Note:** To use stereo_image_proc with the stereo images excute following command: +```bash +ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right +``` + +## Humble + Harmonic (Ubuntu 22.04) + +### Dependencies + +In addition to ROS2 Humble and [Gazebo Harmonic installations](https://gazebosim.org/docs/harmonic/install_ubuntu), we need to manually install interfaces between ROS2 and Gazebo sim as follows, + +```bash +sudo apt-get install ros-humble-ros-gzharmonic +``` +Remainder of the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep) + +```bash +# From the root directory of the workspace. This will install everything mentioned in package.xml +rosdep install --from-paths src --ignore-src -r -y +``` + +### Build + +```bash +colcon build --packages-select bcr_bot +``` + +### Run + +To launch the robot in Gazebo, +```bash +ros2 launch bcr_bot gz.launch.py +``` +To view in rviz, +```bash +ros2 launch bcr_bot rviz.launch.py +``` + +### Configuration + +The launch file accepts multiple launch arguments, +```bash +ros2 launch bcr_bot gz.launch.py \ + camera_enabled:=True \ + stereo_camera_enabled:=False \ + two_d_lidar_enabled:=True \ + position_x:=0.0 \ + position_y:=0.0 \ + orientation_yaw:=0.0 \ + odometry_source:=world \ + world_file:=small_warehouse.sdf +``` +**Note:** +1. To use stereo_image_proc with the stereo images excute following command: +```bash +ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right +``` +2. Harmonic support is not available in the bcr_bot binaries yet. + +**Warning:** `gz-harmonic` cannot be installed alongside gazebo-classic (eg. gazebo11) since both use the `gz` command line tool. + +### Humble + Isaac Sim (Ubuntu 22.04) + +### Dependencies + +In addition to ROS2 Humble [Isaac Sim installation](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/index.html) with ROS2 extension is required. Remainder of bcr_bot specific dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep) + +```bash +# From the root directory of the workspace. This will install everything mentioned in package.xml +rosdep install --from-paths src --ignore-src -r -y +``` + +### Build + +```bash +colcon build --packages-select bcr_bot +``` + +### Run + +To launch the robot in Isaac Sim: +- Open Isaac Sim and load the `warehouse_scene.usd` or `scene.usd` from [here](usd). +- Add in extra viewports for different camera views. +- Start the Simulation: Run the simulation directly within Isaac Sim. +- The following USDs are included in the package: + - `warehouse_scene.usd` - Warehouse scene with a robot. + - `scene.usd` - Scene with a robot in a empty world. + - `bcr_bot.usd` - Robot model that can be imported into any scene. + - `ActionGraphFull.usd` - Action graph for the robot to publish all the required topics. + +To view in rviz: +```bash +ros2 launch bcr_bot rviz.launch.py +``` +NOTE: The command to run mapping and navigation is common between all versions of gazebo and Isaac sim see [here](#mapping-with-slam-toolbox). + +### Mapping with SLAM Toolbox + +SLAM Toolbox is an open-source package designed to map the environment using laser scans and odometry, generating a map for autonomous navigation. + +NOTE: The command to run mapping is common between all versions of gazebo. + +To start mapping: +```bash +ros2 launch bcr_bot mapping.launch.py +``` + +Use the teleop twist keyboard to control the robot and map the area: +```bash +ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=/bcr_bot/cmd_vel +``` + +To save the map: +```bash +cd src/bcr_bot/config +ros2 run nav2_map_server map_saver_cli -f bcr_map +``` + +### Using Nav2 with bcr_bot + +Nav2 is an open-source navigation package that enables a robot to navigate through an environment easily. It takes laser scan and odometry data, along with the map of the environment, as inputs. + +NOTE: The command to run navigation is common between all versions of gazebo and Isaac sim. + +To run Nav2 on bcr_bot: +```bash +ros2 launch bcr_bot nav2.launch.py +``` + +### Simulation and Visualization +1. Gz Sim (Ignition Gazebo) (small_warehouse World): + ![](res/gz.jpg) + +2. Isaac Sim: + ![](res/isaac.jpg) + +3. Rviz (Depth camera) (small_warehouse World): + ![](res/rviz.jpg) diff --git a/src/bcr_bot/config/bcr_map.pgm b/src/bcr_bot/config/bcr_map.pgm new file mode 100644 index 0000000..122b47e --- /dev/null +++ b/src/bcr_bot/config/bcr_map.pgm @@ -0,0 +1,4 @@ +P5 +587 624 +255 + \ No newline at end of file diff --git a/src/bcr_bot/config/bcr_map.yaml b/src/bcr_bot/config/bcr_map.yaml new file mode 100644 index 0000000..07835c9 --- /dev/null +++ b/src/bcr_bot/config/bcr_map.yaml @@ -0,0 +1,7 @@ +image: bcr_map.pgm +mode: trinary +resolution: 0.05 +origin: [-14.3, -15.5, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/src/bcr_bot/config/mapper_params_online_async.yaml b/src/bcr_bot/config/mapper_params_online_async.yaml new file mode 100644 index 0000000..090db9d --- /dev/null +++ b/src/bcr_bot/config/mapper_params_online_async.yaml @@ -0,0 +1,75 @@ +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_link + scan_topic: /bcr_bot/scan + use_map_saver: true + mode: localization + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + # map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + min_laser_range: 0.0 #for rastering images + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30.0 + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true diff --git a/src/bcr_bot/config/nav2_params.yaml b/src/bcr_bot/config/nav2_params.yaml new file mode 100644 index 0000000..e38e85d --- /dev/null +++ b/src/bcr_bot/config/nav2_params.yaml @@ -0,0 +1,323 @@ +amcl: + ros__parameters: + use_sim_time: True + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_link" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::DifferentialMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 1.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: /bcr_bot/scan + + +bt_navigator: + ros__parameters: + use_sim_time: True + global_frame: map + robot_base_frame: base_link + odom_topic: /bcr_bot/odom + bt_loop_duration: 10 + default_server_timeout: 20 + # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: + # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml + # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml + # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + # plugin_lib_names: [] + + # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: + # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml + #/home/tiger/new_nav2/src/bcr_bot_nav2/config/tree.xml + # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_smooth_path_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_assisted_teleop_action_bt_node + - nav2_back_up_action_bt_node + - nav2_drive_on_heading_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_globally_updated_goal_condition_bt_node + - nav2_is_path_valid_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_truncate_path_local_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_path_expiring_timer_condition + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_goal_updated_controller_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + - nav2_controller_cancel_bt_node + - nav2_path_longer_on_approach_bt_node + - nav2_wait_cancel_bt_node + - nav2_spin_cancel_bt_node + - nav2_back_up_cancel_bt_node + - nav2_assisted_teleop_cancel_bt_node + - nav2_drive_on_heading_cancel_bt_node + - nav2_is_battery_charging_condition_bt_node + + +bt_navigator_navigate_through_poses_rclcpp_node: + ros__parameters: + use_sim_time: True + +bt_navigator_navigate_to_pose_rclcpp_node: + ros__parameters: + use_sim_time: True + +controller_server: + ros__parameters: + use_sim_time: True + controller_frequency: 20.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.5 + min_theta_velocity_threshold: 0.001 + progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older + goal_checker_plugins: ["goal_checker"] + controller_plugins: ["FollowPath"] + + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + goal_checker: + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + stateful: True + FollowPath: + plugin: "nav2_rotation_shim_controller::RotationShimController" + primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" + angular_dist_threshold: 0.785 + forward_sampling_distance: 0.5 + rotate_to_heading_angular_vel: 1.8 + max_angular_accel: 3.2 + simulate_ahead_time: 1.0 + rotate_to_goal_heading: false + + # Primary controller params can be placed here below + # ... + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: odom + robot_base_frame: base_link + use_sim_time: True + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + robot_radius: 0.22 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /bcr_bot/scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + always_send_full_costmap: True + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + use_sim_time: True + robot_radius: 0.22 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /bcr_bot/scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + always_send_full_costmap: True + +map_server: + ros__parameters: + use_sim_time: True + # Overridden in launch by the "map" launch configuration or provided default value. + # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below. + yaml_filename: "" + +map_saver: + ros__parameters: + use_sim_time: True + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + expected_planner_frequency: 0.0000000000000001 + use_sim_time: True + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner/NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +smoother_server: + ros__parameters: + use_sim_time: True + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] + spin: + plugin: "nav2_behaviors/Spin" + backup: + plugin: "nav2_behaviors/BackUp" + drive_on_heading: + plugin: "nav2_behaviors/DriveOnHeading" + wait: + plugin: "nav2_behaviors/Wait" + assisted_teleop: + plugin: "nav2_behaviors/AssistedTeleop" + global_frame: odom + robot_base_frame: base_link + transform_tolerance: 0.1 + use_sim_time: true + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +robot_state_publisher: + ros__parameters: + use_sim_time: True + +waypoint_follower: + ros__parameters: + use_sim_time: True + loop_rate: 20 + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 + +velocity_smoother: + ros__parameters: + use_sim_time: True + smoothing_frequency: 20.0 + scale_velocities: False + feedback: "OPEN_LOOP" + max_velocity: [0.26, 0.0, 1.0] + min_velocity: [-0.26, 0.0, -1.0] + max_accel: [2.5, 0.0, 3.2] + max_decel: [-2.5, 0.0, -3.2] + odom_topic: "odom" + odom_duration: 0.1 + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 + diff --git a/src/bcr_bot/launch/bcr_bot_gazebo_spawn.launch.py b/src/bcr_bot/launch/bcr_bot_gazebo_spawn.launch.py new file mode 100644 index 0000000..9cc11f5 --- /dev/null +++ b/src/bcr_bot/launch/bcr_bot_gazebo_spawn.launch.py @@ -0,0 +1,88 @@ +#!/usr/bin/env python3 + +from os.path import join +import xacro + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration, Command +from launch.substitutions import PythonExpression + +from launch_ros.actions import Node + +def get_xacro_to_doc(xacro_file_path, mappings): + doc = xacro.parse(open(xacro_file_path)) + xacro.process_doc(doc, mappings=mappings) + return doc + +def generate_launch_description(): + # Get bcr_bot package's share directory path + bcr_bot_path = get_package_share_directory('bcr_bot') + + # Retrieve launch configuration arguments + position_x = LaunchConfiguration("position_x") + position_y = LaunchConfiguration("position_y") + orientation_yaw = LaunchConfiguration("orientation_yaw") + camera_enabled = LaunchConfiguration("camera_enabled", default=True) + stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False) + two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True) + odometry_source = LaunchConfiguration("odometry_source", default="world") + robot_namespace = LaunchConfiguration("robot_namespace", default='bcr_bot') + + # Path to the Xacro file + xacro_path = join(bcr_bot_path, 'urdf', 'bcr_bot.xacro') + #doc = get_xacro_to_doc(xacro_path, {"wheel_odom_topic": "odom", "sim_gazebo": "true", "two_d_lidar_enabled": "true", "camera_enabled": "true"}) + + # Launch the robot_state_publisher node + robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[ + {'robot_description': Command( \ + ['xacro ', xacro_path, + ' camera_enabled:=', camera_enabled, + ' stereo_camera_enabled:=', stereo_camera_enabled, + ' two_d_lidar_enabled:=', two_d_lidar_enabled, + ' sim_gazebo:=', "true", + ' odometry_source:=', odometry_source, + ' robot_namespace:=', robot_namespace, + ])}], + remappings=[ + ('/joint_states', PythonExpression(['"', robot_namespace, '/joint_states"'])), + ] + ) + + # Launch the spawn_entity node to spawn the robot in Gazebo + spawn_entity = Node( + package='gazebo_ros', + executable='spawn_entity.py', + output='screen', + arguments=[ + '-topic', "/robot_description", + '-entity', PythonExpression(['"', robot_namespace, '_robot"']), #default enitity name _bcr_bot + '-z', "0.28", + '-x', position_x, + '-y', position_y, + '-Y', orientation_yaw + ] + ) + + + + return LaunchDescription([ + # Declare launch arguments + DeclareLaunchArgument("camera_enabled", default_value = camera_enabled), + DeclareLaunchArgument("stereo_camera_enabled", default_value = stereo_camera_enabled), + DeclareLaunchArgument("two_d_lidar_enabled", default_value = two_d_lidar_enabled), + DeclareLaunchArgument("position_x", default_value="0.0"), + DeclareLaunchArgument("position_y", default_value="0.0"), + DeclareLaunchArgument("orientation_yaw", default_value="0.0"), + DeclareLaunchArgument("odometry_source", default_value = odometry_source), + DeclareLaunchArgument("robot_namespace", default_value = robot_namespace), + # DeclareLaunchArgument('robot_description', default_value=doc.toxml()), + robot_state_publisher, + spawn_entity + ]) diff --git a/src/bcr_bot/launch/bcr_bot_gz_spawn.launch.py b/src/bcr_bot/launch/bcr_bot_gz_spawn.launch.py new file mode 100644 index 0000000..6faec90 --- /dev/null +++ b/src/bcr_bot/launch/bcr_bot_gz_spawn.launch.py @@ -0,0 +1,129 @@ +#!/usr/bin/python3 + +from os.path import join +from xacro import parse, process_doc + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration, Command + +from launch_ros.actions import Node + +from ament_index_python.packages import get_package_share_directory + +def get_xacro_to_doc(xacro_file_path, mappings): + doc = parse(open(xacro_file_path)) + process_doc(doc, mappings=mappings) + return doc + +def generate_launch_description(): + + bcr_bot_path = get_package_share_directory("bcr_bot") + position_x = LaunchConfiguration("position_x") + position_y = LaunchConfiguration("position_y") + orientation_yaw = LaunchConfiguration("orientation_yaw") + camera_enabled = LaunchConfiguration("camera_enabled", default=True) + stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False) + two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True) + odometry_source = LaunchConfiguration("odometry_source") + + # robot_description_content = get_xacro_to_doc( + # join(bcr_bot_path, "urdf", "bcr_bot.xacro"), + # {"sim_gz": "true", + # "two_d_lidar_enabled": "true", + # "conveyor_enabled": "false", + # "camera_enabled": "true" + # } + # ).toxml() + + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + parameters=[ + {'robot_description': Command( \ + ['xacro ', join(bcr_bot_path, 'urdf/bcr_bot.xacro'), + ' camera_enabled:=', camera_enabled, + ' stereo_camera_enabled:=', stereo_camera_enabled, + ' two_d_lidar_enabled:=', two_d_lidar_enabled, + ' odometry_source:=', odometry_source, + ' sim_gz:=', "true" + ])}], + remappings=[ + ('/joint_states', 'bcr_bot/joint_states'), + ] + ) + + gz_spawn_entity = Node( + package="ros_gz_sim", + executable="create", + arguments=[ + "-topic", "/robot_description", + "-name", "bcr_bot", + "-allow_renaming", "true", + "-z", "0.28", + "-x", position_x, + "-y", position_y, + "-Y", orientation_yaw + ] + ) + + gz_ros2_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=[ + "/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist", + "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock", + "/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry", + "/tf@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V", + "/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan", + "/kinect_camera@sensor_msgs/msg/Image[gz.msgs.Image", + "/stereo_camera/left/image_raw@sensor_msgs/msg/Image[gz.msgs.Image", + "stereo_camera/right/image_raw@sensor_msgs/msg/Image[gz.msgs.Image", + "kinect_camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo", + "stereo_camera/left/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo", + "stereo_camera/right/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo", + "/kinect_camera/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked", + "/imu@sensor_msgs/msg/Imu[gz.msgs.IMU", + "/world/default/model/bcr_bot/joint_state@sensor_msgs/msg/JointState[gz.msgs.Model" + ], + remappings=[ + ('/world/default/model/bcr_bot/joint_state', 'bcr_bot/joint_states'), + ('/odom', 'bcr_bot/odom'), + ('/scan', 'bcr_bot/scan'), + ('/kinect_camera', 'bcr_bot/kinect_camera'), + ('/stereo_camera/left/image_raw', 'bcr_bot/stereo_camera/left/image_raw'), + ('/stereo_camera/right/image_raw', 'bcr_bot/stereo_camera/right/image_raw'), + ('/imu', 'bcr_bot/imu'), + ('/cmd_vel', 'bcr_bot/cmd_vel'), + ('kinect_camera/camera_info', 'bcr_bot/kinect_camera/camera_info'), + ('stereo_camera/left/camera_info', 'bcr_bot/stereo_camera/left/camera_info'), + ('stereo_camera/right/camera_info', 'bcr_bot/stereo_camera/right/camera_info'), + ('/kinect_camera/points', 'bcr_bot/kinect_camera/points'), + ] + ) + + transform_publisher = Node( + package="tf2_ros", + executable="static_transform_publisher", + arguments = ["--x", "0.0", + "--y", "0.0", + "--z", "0.0", + "--yaw", "0.0", + "--pitch", "0.0", + "--roll", "0.0", + "--frame-id", "kinect_camera", + "--child-frame-id", "bcr_bot/base_footprint/kinect_camera"] + ) + + return LaunchDescription([ + DeclareLaunchArgument("camera_enabled", default_value = camera_enabled), + DeclareLaunchArgument("stereo_camera_enabled", default_value = stereo_camera_enabled), + DeclareLaunchArgument("two_d_lidar_enabled", default_value = two_d_lidar_enabled), + DeclareLaunchArgument("position_x", default_value="0.0"), + DeclareLaunchArgument("position_y", default_value="0.0"), + DeclareLaunchArgument("orientation_yaw", default_value="0.0"), + DeclareLaunchArgument("odometry_source", default_value="world"), + robot_state_publisher, + gz_spawn_entity, transform_publisher, gz_ros2_bridge + ]) \ No newline at end of file diff --git a/src/bcr_bot/launch/bcr_bot_ign_spawn.launch.py b/src/bcr_bot/launch/bcr_bot_ign_spawn.launch.py new file mode 100644 index 0000000..e7671d3 --- /dev/null +++ b/src/bcr_bot/launch/bcr_bot_ign_spawn.launch.py @@ -0,0 +1,129 @@ +#!/usr/bin/python3 + +from os.path import join +from xacro import parse, process_doc + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration, Command + +from launch_ros.actions import Node + +from ament_index_python.packages import get_package_share_directory + +def get_xacro_to_doc(xacro_file_path, mappings): + doc = parse(open(xacro_file_path)) + process_doc(doc, mappings=mappings) + return doc + +def generate_launch_description(): + + bcr_bot_path = get_package_share_directory("bcr_bot") + position_x = LaunchConfiguration("position_x") + position_y = LaunchConfiguration("position_y") + orientation_yaw = LaunchConfiguration("orientation_yaw") + camera_enabled = LaunchConfiguration("camera_enabled", default=True) + stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False) + two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True) + odometry_source = LaunchConfiguration("odometry_source") + + # robot_description_content = get_xacro_to_doc( + # join(bcr_bot_path, "urdf", "bcr_bot.xacro"), + # {"sim_gz": "true", + # "two_d_lidar_enabled": "true", + # "conveyor_enabled": "false", + # "camera_enabled": "true" + # } + # ).toxml() + + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + parameters=[ + {'robot_description': Command( \ + ['xacro ', join(bcr_bot_path, 'urdf/bcr_bot.xacro'), + ' camera_enabled:=', camera_enabled, + ' stereo_camera_enabled:=', stereo_camera_enabled, + ' two_d_lidar_enabled:=', two_d_lidar_enabled, + ' odometry_source:=', odometry_source, + ' sim_ign:=', "true" + ])}], + remappings=[ + ('/joint_states', 'bcr_bot/joint_states'), + ] + ) + + gz_spawn_entity = Node( + package="ros_gz_sim", + executable="create", + arguments=[ + "-topic", "/robot_description", + "-name", "bcr_bot", + "-allow_renaming", "true", + "-z", "0.28", + "-x", position_x, + "-y", position_y, + "-Y", orientation_yaw + ] + ) + + gz_ros2_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=[ + "/cmd_vel@geometry_msgs/msg/Twist@ignition.msgs.Twist", + "/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock", + "/odom@nav_msgs/msg/Odometry[ignition.msgs.Odometry", + "/tf@tf2_msgs/msg/TFMessage[ignition.msgs.Pose_V", + "/scan@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan", + "/kinect_camera@sensor_msgs/msg/Image[ignition.msgs.Image", + "/stereo_camera/left/image_raw@sensor_msgs/msg/Image[ignition.msgs.Image", + "stereo_camera/right/image_raw@sensor_msgs/msg/Image[ignition.msgs.Image", + "kinect_camera/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo", + "stereo_camera/left/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo", + "stereo_camera/right/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo", + "/kinect_camera/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked", + "/imu@sensor_msgs/msg/Imu[ignition.msgs.IMU", + "/world/default/model/bcr_bot/joint_state@sensor_msgs/msg/JointState[ignition.msgs.Model" + ], + remappings=[ + ('/world/default/model/bcr_bot/joint_state', 'bcr_bot/joint_states'), + ('/odom', 'bcr_bot/odom'), + ('/scan', 'bcr_bot/scan'), + ('/kinect_camera', 'bcr_bot/kinect_camera'), + ('/stereo_camera/left/image_raw', 'bcr_bot/stereo_camera/left/image_raw'), + ('/stereo_camera/right/image_raw', 'bcr_bot/stereo_camera/right/image_raw'), + ('/imu', 'bcr_bot/imu'), + ('/cmd_vel', 'bcr_bot/cmd_vel'), + ('kinect_camera/camera_info', 'bcr_bot/kinect_camera/camera_info'), + ('stereo_camera/left/camera_info', 'bcr_bot/stereo_camera/left/camera_info'), + ('stereo_camera/right/camera_info', 'bcr_bot/stereo_camera/right/camera_info'), + ('/kinect_camera/points', 'bcr_bot/kinect_camera/points'), + ] + ) + + transform_publisher = Node( + package="tf2_ros", + executable="static_transform_publisher", + arguments = ["--x", "0.0", + "--y", "0.0", + "--z", "0.0", + "--yaw", "0.0", + "--pitch", "0.0", + "--roll", "0.0", + "--frame-id", "kinect_camera", + "--child-frame-id", "bcr_bot/base_footprint/kinect_camera"] + ) + + return LaunchDescription([ + DeclareLaunchArgument("camera_enabled", default_value = camera_enabled), + DeclareLaunchArgument("stereo_camera_enabled", default_value = stereo_camera_enabled), + DeclareLaunchArgument("two_d_lidar_enabled", default_value = two_d_lidar_enabled), + DeclareLaunchArgument("position_x", default_value="0.0"), + DeclareLaunchArgument("position_y", default_value="0.0"), + DeclareLaunchArgument("orientation_yaw", default_value="0.0"), + DeclareLaunchArgument("odometry_source", default_value="world"), + robot_state_publisher, + gz_spawn_entity, transform_publisher, gz_ros2_bridge + ]) diff --git a/src/bcr_bot/launch/gazebo.launch.py b/src/bcr_bot/launch/gazebo.launch.py new file mode 100644 index 0000000..b82ed11 --- /dev/null +++ b/src/bcr_bot/launch/gazebo.launch.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python3 + +from os.path import join + + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.substitutions import LaunchConfiguration +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.actions import SetEnvironmentVariable +from launch.actions import AppendEnvironmentVariable + +def generate_launch_description(): + # Get bcr_bot package's share directory path + bcr_bot_path = get_package_share_directory('bcr_bot') + + # Retrieve launch configuration arguments + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + + + world_file = LaunchConfiguration("world_file", default = join(bcr_bot_path, 'worlds', 'small_warehouse.sdf')) + + # Include the Gazebo launch file + gazebo_share = get_package_share_directory("gazebo_ros") + gazebo = IncludeLaunchDescription( + PythonLaunchDescriptionSource(join(gazebo_share, "launch", "gazebo.launch.py")) + ) + + # spawing bcr_bot + spawn_bcr_bot_node = IncludeLaunchDescription( + PythonLaunchDescriptionSource(join(bcr_bot_path, "launch", "bcr_bot_gazebo_spawn.launch.py")), + ) + + return LaunchDescription([ + # Declare launch arguments + + AppendEnvironmentVariable( + name='GAZEBO_MODEL_PATH', + value=join(bcr_bot_path, "models")), + + SetEnvironmentVariable( + name='GAZEBO_RESOURCE_PATH', + value="/usr/share/gazebo-11:" + join(bcr_bot_path, "worlds")), + DeclareLaunchArgument('world', default_value = world_file), + DeclareLaunchArgument('gui', default_value='true'), + DeclareLaunchArgument('verbose', default_value='false'), + DeclareLaunchArgument('use_sim_time', default_value = use_sim_time), + gazebo,spawn_bcr_bot_node + ]) diff --git a/src/bcr_bot/launch/gz.launch.py b/src/bcr_bot/launch/gz.launch.py new file mode 100644 index 0000000..1247db2 --- /dev/null +++ b/src/bcr_bot/launch/gz.launch.py @@ -0,0 +1,48 @@ +#!/usr/bin/python3 + +from os.path import join +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.substitutions import LaunchConfiguration,PythonExpression +from launch.launch_description_sources import PythonLaunchDescriptionSource +from ament_index_python.packages import get_package_share_directory +from launch.actions import AppendEnvironmentVariable + + +def generate_launch_description(): + use_sim_time = LaunchConfiguration("use_sim_time", default=True) + + bcr_bot_path = get_package_share_directory("bcr_bot") + world_file = LaunchConfiguration("world_file", default = join(bcr_bot_path, "worlds", "small_warehouse.sdf")) + gz_sim_share = get_package_share_directory("ros_gz_sim") + + gz_sim = IncludeLaunchDescription( + PythonLaunchDescriptionSource(join(gz_sim_share, "launch", "gz_sim.launch.py")), + launch_arguments={ + "gz_args" : PythonExpression(["'", world_file, " -r -s'"]) + + }.items() + ) + + spawn_bcr_bot_node = IncludeLaunchDescription( + PythonLaunchDescriptionSource(join(bcr_bot_path, "launch", "bcr_bot_gz_spawn.launch.py")), + launch_arguments={ + # Pass any arguments if your spawn.launch.py requires + }.items() + ) + + return LaunchDescription([ + + AppendEnvironmentVariable( + name='GZ_SIM_RESOURCE_PATH', + value=join(bcr_bot_path, "worlds")), + + AppendEnvironmentVariable( + name='GZ_SIM_RESOURCE_PATH', + value=join(bcr_bot_path, "models")), + + DeclareLaunchArgument("use_sim_time", default_value=use_sim_time), + DeclareLaunchArgument("world_file", default_value=world_file), + + gz_sim, spawn_bcr_bot_node + ]) \ No newline at end of file diff --git a/src/bcr_bot/launch/ign.launch.py b/src/bcr_bot/launch/ign.launch.py new file mode 100644 index 0000000..fa17271 --- /dev/null +++ b/src/bcr_bot/launch/ign.launch.py @@ -0,0 +1,48 @@ +#!/usr/bin/python3 + +from os.path import join +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.substitutions import LaunchConfiguration,PythonExpression +from launch.launch_description_sources import PythonLaunchDescriptionSource +from ament_index_python.packages import get_package_share_directory +from launch.actions import AppendEnvironmentVariable + + +def generate_launch_description(): + use_sim_time = LaunchConfiguration("use_sim_time", default=True) + + bcr_bot_path = get_package_share_directory("bcr_bot") + world_file = LaunchConfiguration("world_file", default = join(bcr_bot_path, "worlds", "small_warehouse.sdf")) + gz_sim_share = get_package_share_directory("ros_gz_sim") + + gz_sim = IncludeLaunchDescription( + PythonLaunchDescriptionSource(join(gz_sim_share, "launch", "gz_sim.launch.py")), + launch_arguments={ + "gz_args" : PythonExpression(["'", world_file, " -r'"]) + + }.items() + ) + + spawn_bcr_bot_node = IncludeLaunchDescription( + PythonLaunchDescriptionSource(join(bcr_bot_path, "launch", "bcr_bot_ign_spawn.launch.py")), + launch_arguments={ + # Pass any arguments if your spawn.launch.py requires + }.items() + ) + + return LaunchDescription([ + + AppendEnvironmentVariable( + name='IGN_GAZEBO_RESOURCE_PATH', + value=join(bcr_bot_path, "worlds")), + + AppendEnvironmentVariable( + name='IGN_GAZEBO_RESOURCE_PATH', + value=join(bcr_bot_path, "models")), + + DeclareLaunchArgument("use_sim_time", default_value=use_sim_time), + DeclareLaunchArgument("world_file", default_value=world_file), + + gz_sim, spawn_bcr_bot_node + ]) diff --git a/src/bcr_bot/launch/mapping.launch.py b/src/bcr_bot/launch/mapping.launch.py new file mode 100644 index 0000000..383c8b9 --- /dev/null +++ b/src/bcr_bot/launch/mapping.launch.py @@ -0,0 +1,69 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + +def generate_launch_description(): + pkg_slam_toolbox_dir = get_package_share_directory('slam_toolbox') + pkg_bcr = get_package_share_directory('bcr_bot') + + # Declare launch arguments + use_sim_time = LaunchConfiguration('use_sim_time', default='True') + autostart = LaunchConfiguration('autostart', default='True') + + declare_use_sim_time = DeclareLaunchArgument( + 'use_sim_time', + default_value='true', + description='Use simulation (Gazebo) clock if true' + ) + + declare_autostart = DeclareLaunchArgument( + 'autostart', + default_value='true', + description='Automatically start the slam_toolbox stack' + ) + + # Include slam_toolbox launch file + slam_toolbox_launch_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_slam_toolbox_dir, 'launch', 'online_async_launch.py') + ), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'slam_params_file': os.path.join(pkg_bcr, 'config', 'mapper_params_online_async.yaml'), + }.items() + ) + + # Launch RViz + rviz_launch_cmd = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + arguments=[ + '-d', os.path.join(pkg_bcr, 'rviz', 'map.rviz') + ] + ) + + # Static transform publisher + static_transform_publisher_node = Node( + package='tf2_ros', + executable='static_transform_publisher', + name='map_to_odom', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'] + ) + + # Create launch description and add actions + ld = LaunchDescription() + + ld.add_action(declare_use_sim_time) + ld.add_action(declare_autostart) + ld.add_action(slam_toolbox_launch_cmd) + ld.add_action(rviz_launch_cmd) + ld.add_action(static_transform_publisher_node) + + return ld + diff --git a/src/bcr_bot/launch/nav2.launch.py b/src/bcr_bot/launch/nav2.launch.py new file mode 100644 index 0000000..9090d99 --- /dev/null +++ b/src/bcr_bot/launch/nav2.launch.py @@ -0,0 +1,83 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + +def generate_launch_description(): + pkg_nav2_dir = get_package_share_directory('nav2_bringup') + pkg_bcr = get_package_share_directory('bcr_bot') + + use_sim_time = LaunchConfiguration('use_sim_time', default='True') + autostart = LaunchConfiguration('autostart', default='True') + + nav2_launch_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_nav2_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'autostart': autostart, + 'map': os.path.join(pkg_bcr, 'config', 'bcr_map.yaml'), + 'params_file': os.path.join(pkg_bcr, 'config', 'nav2_params.yaml'), + 'package_path': pkg_bcr, + }.items() + ) + + rviz_launch_cmd = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + arguments=[ + '-d' + os.path.join( + get_package_share_directory('nav2_bringup'), + 'rviz', + 'nav2_default_view.rviz' + ) + ] + ) + + amcl_node = Node( + package='nav2_amcl', + executable='amcl', + name='amcl', + output='screen', + parameters=[os.path.join(pkg_bcr, 'config', 'amcl_params.yaml')], + ) + + map_server_node = Node( + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + parameters=[{'yaml_filename': os.path.join(pkg_bcr, 'config', 'bcr_map.yaml')}], + ) + + static_transform_publisher_node = Node( + package='tf2_ros', + executable='static_transform_publisher', + name='map_to_odom', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'] + ) + + remapper_node = Node( + package='bcr_bot', + executable='remapper.py', + name='remapper', + output='screen', + ) + + ld = LaunchDescription() + + ld.add_action(nav2_launch_cmd) + ld.add_action(rviz_launch_cmd) + ld.add_action(amcl_node) + ld.add_action(map_server_node) + ld.add_action(static_transform_publisher_node) + ld.add_action(remapper_node) + + return ld + diff --git a/src/bcr_bot/launch/rviz.launch.py b/src/bcr_bot/launch/rviz.launch.py new file mode 100644 index 0000000..92a793c --- /dev/null +++ b/src/bcr_bot/launch/rviz.launch.py @@ -0,0 +1,63 @@ +#!/usr/bin/env python3 +import os +import xacro +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument, GroupAction +from launch.conditions import IfCondition, UnlessCondition + +def get_xacro_to_doc(xacro_file_path, mappings): + doc = xacro.parse(open(xacro_file_path)) + xacro.process_doc(doc, mappings=mappings) + return doc + +def generate_launch_description(): + # Launch configurations + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + isaac_sim = LaunchConfiguration('isaac_sim') + + # Process XACRO + xacro_path = os.path.join(get_package_share_directory('bcr_bot'), 'urdf', 'bcr_bot.xacro') + doc = get_xacro_to_doc(xacro_path, {"wheel_odom_topic": "odom"}) + + # Nodes + robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[{'use_sim_time': use_sim_time}, {'robot_description': doc.toxml()}], + condition=UnlessCondition(isaac_sim) # Only start if isaac_sim is false + ) + + rviz = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + output='screen', + arguments=['-d', os.path.join(get_package_share_directory('bcr_bot'), 'rviz', 'entire_setup.rviz')] + ) + + return LaunchDescription([ + # Declare arguments + DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use simulation time if true' + ), + DeclareLaunchArgument( + 'isaac_sim', + default_value='false', + description='Set to true when using Isaac Sim' + ), + DeclareLaunchArgument( + 'robot_description', + default_value=doc.toxml(), + description='Robot description in URDF/XACRO format' + ), + # Nodes + robot_state_publisher, + rviz + ]) \ No newline at end of file diff --git a/src/bcr_bot/launch/warehouse_gzweb.launch.py b/src/bcr_bot/launch/warehouse_gzweb.launch.py new file mode 100644 index 0000000..f4cc11f --- /dev/null +++ b/src/bcr_bot/launch/warehouse_gzweb.launch.py @@ -0,0 +1,52 @@ +#!/usr/bin/python3 +"""GzWeb 迷你仓库场景：仅 Gazebo Sim + 机器人，无 RViz / Nav2 / SLAM。""" +from os.path import join + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import ( + AppendEnvironmentVariable, + DeclareLaunchArgument, + IncludeLaunchDescription, + TimerAction, +) +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PythonExpression + + +def generate_launch_description(): + bcr_bot_path = get_package_share_directory('bcr_bot') + world_file = LaunchConfiguration( + 'world_file', + default=join(bcr_bot_path, 'worlds', 'small_warehouse.sdf'), + ) + gz_sim_share = get_package_share_directory('ros_gz_sim') + + gz_sim = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + join(gz_sim_share, 'launch', 'gz_sim.launch.py') + ), + launch_arguments={ + 'gz_args': PythonExpression(["'-r -s ", world_file, "'"]), + }.items(), + ) + + spawn = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + join(bcr_bot_path, 'launch', 'warehouse_spawn.launch.py') + ), + ) + + return LaunchDescription([ + AppendEnvironmentVariable( + name='GZ_SIM_RESOURCE_PATH', value=join(bcr_bot_path, 'worlds')), + AppendEnvironmentVariable( + name='GZ_SIM_RESOURCE_PATH', value=join(bcr_bot_path, 'models')), + AppendEnvironmentVariable( + name='IGN_GAZEBO_RESOURCE_PATH', value=join(bcr_bot_path, 'worlds')), + AppendEnvironmentVariable( + name='IGN_GAZEBO_RESOURCE_PATH', value=join(bcr_bot_path, 'models')), + DeclareLaunchArgument('world_file', default_value=world_file), + gz_sim, + TimerAction(period=8.0, actions=[spawn]), + ]) diff --git a/src/bcr_bot/launch/warehouse_spawn.launch.py b/src/bcr_bot/launch/warehouse_spawn.launch.py new file mode 100644 index 0000000..34298b8 --- /dev/null +++ b/src/bcr_bot/launch/warehouse_spawn.launch.py @@ -0,0 +1,55 @@ +#!/usr/bin/python3 +"""生成 BCR 机器人（GzWeb 可视化，无 ros_gz_bridge / Nav2）。""" +from os.path import join + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import Command, LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + bcr_bot_path = get_package_share_directory('bcr_bot') + position_x = LaunchConfiguration('position_x', default='0.0') + position_y = LaunchConfiguration('position_y', default='0.0') + orientation_yaw = LaunchConfiguration('orientation_yaw', default='0.0') + + robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + parameters=[{ + 'robot_description': Command([ + 'xacro ', join(bcr_bot_path, 'urdf/bcr_bot.xacro'), + ' camera_enabled:=false', + ' stereo_camera_enabled:=false', + ' two_d_lidar_enabled:=false', + ' odometry_source:=world', + ' sim_gz:=true', + ]), + }], + remappings=[('/joint_states', 'bcr_bot/joint_states')], + ) + + gz_spawn_entity = Node( + package='ros_gz_sim', + executable='create', + arguments=[ + '-topic', '/robot_description', + '-name', 'bcr_bot', + '-allow_renaming', 'true', + '-z', '0.28', + '-x', position_x, + '-y', position_y, + '-Y', orientation_yaw, + ], + ) + + return LaunchDescription([ + DeclareLaunchArgument('position_x', default_value='0.0'), + DeclareLaunchArgument('position_y', default_value='0.0'), + DeclareLaunchArgument('orientation_yaw', default_value='0.0'), + robot_state_publisher, + gz_spawn_entity, + ]) diff --git a/src/bcr_bot/meshes/bcr_bot_mesh.dae b/src/bcr_bot/meshes/bcr_bot_mesh.dae new file mode 100644 index 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64.16767 -400.1766 335.7348 62.90817 -406.9403 335.3257 62.90817 -400.1766 336.5622 61.38773 -407.0401 336.147 61.38773 -400.1766 336.9749 59.70669 -407.0899 336.5568 59.70669 -400.1766 336.9458 57.97596 -407.0863 336.5278 57.97596 -400.1766 336.4768 56.30976 -407.0298 336.0622 56.30976 -400.1766 335.5987 54.81801 -406.924 335.1906 54.81801 -400.1766 334.3696 53.59917 -406.7758 333.9704 53.59917 -400.1766 332.8706 52.73364 -406.5951 332.4823 52.73364 -400.1766 331.2005 52.27855 -406.3938 330.8244 52.27855 -412.5203 329.7017 52.27855 -418.4668 327.8487 52.27855 -424.1466 325.2924 52.27855 -429.4768 322.0702 52.27855 -434.3798 318.229 52.27855 -438.7841 313.8247 52.27855 -442.6253 308.9217 52.27855 -445.8475 303.5915 52.27855 -448.4038 297.9117 52.27855 -450.2568 291.9652 52.27855 -451.3796 285.8387 52.27855 -453.0375 286.04 52.73364 -451.8784 292.3649 52.73364 -449.9654 298.5039 52.73364 -447.3263 304.3676 52.73364 -443.9997 309.8704 52.73364 -440.0341 314.9322 52.73364 -435.4873 319.479 52.73364 -430.4255 323.4447 52.73364 -424.9227 326.7712 52.73364 -419.059 329.4103 52.73364 -412.92 331.3233 52.73364 -454.5256 286.2207 53.59917 -453.3338 292.7236 53.59917 -451.367 299.0355 53.59917 -448.6537 305.0643 53.59917 -445.2334 310.722 53.59917 -441.1562 315.9262 53.59917 -436.4813 320.6011 53.59917 -431.2771 324.6783 53.59917 -425.6194 328.0986 53.59917 -419.5906 330.8119 53.59917 -413.2787 332.7787 53.59917 -455.7457 286.3688 54.81801 -454.5272 293.0177 54.81801 -452.5162 299.4713 54.81801 -449.742 305.6354 54.81801 -446.2449 311.4202 54.81801 -442.0762 316.7413 54.81801 -437.2964 321.5211 54.81801 -431.9753 325.6899 54.81801 -426.1905 329.1869 54.81801 -420.0264 331.9611 54.81801 -413.5729 333.9721 54.81801 -456.6173 286.4747 56.30976 -455.3798 293.2279 56.30976 -453.3372 299.7827 56.30976 -450.5195 306.0435 56.30976 -446.9676 311.919 56.30976 -442.7334 317.3235 56.30976 -437.8786 322.1783 56.30976 -432.4741 326.4125 56.30976 -426.5986 329.9643 56.30976 -420.3378 332.7821 56.30976 -413.783 334.8247 56.30976 -457.083 286.5312 57.97596 -455.8352 293.3401 57.97596 -453.7758 299.949 57.97596 -450.9348 306.2615 57.97596 -447.3536 312.1854 57.97596 -443.0845 317.6346 57.97596 -438.1897 322.5294 57.97596 -432.7406 326.7985 57.97596 -426.8166 330.3797 57.97596 -420.5041 333.2207 57.97596 -413.8952 335.2801 57.97596 -457.1119 286.5347 59.70669 -455.8635 293.3471 59.70669 -453.803 299.9593 59.70669 -450.9606 306.275 59.70669 -447.3776 312.202 59.70669 -443.1063 317.6539 59.70669 -438.209 322.5512 59.70669 -432.7571 326.8225 59.70669 -426.8301 330.4054 59.70669 -420.5144 333.2479 59.70669 -413.9022 335.3084 59.70669 -456.7022 286.485 61.38773 -455.4627 293.2483 61.38773 -453.4171 299.813 61.38773 -450.5951 306.0832 61.38773 -447.0379 311.9675 61.38773 -442.7973 317.3802 61.38773 -437.9353 322.2422 61.38773 -432.5226 326.4828 61.38773 -426.6383 330.04 61.38773 -420.3681 332.862 61.38773 -413.8034 334.9076 61.38773 -455.8808 286.3853 62.90817 -454.6594 293.0503 62.90817 -452.6435 299.5196 62.90817 -449.8625 305.6987 62.90817 -446.357 311.4975 62.90817 -442.1781 316.8316 62.90817 -437.3866 321.6229 62.90817 -432.0526 325.8019 62.90817 -426.2538 329.3074 62.90817 -420.0747 332.0884 62.90817 -413.6054 334.1043 62.90817 -454.7021 286.2421 64.16767 -453.5065 292.7662 64.16767 -451.5333 299.0985 64.16767 -448.8111 305.1469 64.16767 -445.3798 310.823 64.16767 -441.2893 316.0441 64.16767 -436.5993 320.7342 64.16767 -431.3781 324.8247 64.16767 -425.702 328.256 64.16767 -419.6536 330.9782 64.16767 -413.3213 332.9514 64.16767 -453.2437 286.065 65.08314 -452.0801 292.4146 65.08314 -450.1596 298.5776 65.08314 -447.5103 304.4642 65.08314 -444.1708 309.9885 65.08314 -440.1897 315.07 65.08314 -435.6251 319.6346 65.08314 -430.5436 323.6156 65.08314 -425.0193 326.9552 65.08314 -419.1327 329.6045 65.08314 -412.9697 331.525 65.08314 -451.602 285.8657 65.59416 -450.4743 292.0188 65.59416 -448.6133 297.9911 65.59416 -446.0459 303.6956 65.59416 -442.8097 309.049 65.59416 -438.9518 313.9733 65.59416 -434.5284 318.3966 65.59416 -429.6041 322.2546 65.59416 -424.2507 325.4908 65.59416 -418.5462 328.0582 65.59416 -412.5739 329.9193 65.59416 -86.77919 330.1084 52.21733 -86.77546 330.2786 52.21519 -86.77753 330.2218 52.21829 -86.77753 330.3353 52.21829 -86.77919 330.4487 52.21733 -86.85984 329.4696 52.26392 -97.21858 329.5763 58.60779 -107.5773 329.6951 65.66702 -86.91129 331.304 52.29366 -121.5978 331.2005 52.27855 -226.0649 331.2005 52.27855 -191.2425 331.2005 52.27855 -191.2425 332.8706 52.73364 -156.4202 332.8706 52.73364 -156.4202 334.3696 53.59917 -121.5978 334.3696 53.59917 -121.5978 335.5987 54.81801 -90.78272 335.4067 54.58227 -92.38997 336.1011 55.56167 -121.5978 336.4768 56.30976 -94.14128 336.6107 56.64868 -121.5978 336.9458 57.97596 -97.74168 337.0171 58.94712 -121.5978 336.9749 59.70669 -97.75187 337.0171 58.95375 -97.76207 337.0171 58.96038 -101.0094 336.6635 61.10815 -121.5978 336.5622 61.38773 -102.5861 336.1967 62.17642 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54.81801 -191.2425 336.4768 56.30976 -156.4202 336.4768 56.30976 -156.4202 336.9458 57.97596 -365.3543 335.7348 62.90817 -330.5319 334.5474 64.16767 -295.7096 333.0784 65.08314 -260.8872 331.4245 65.59416 -365.3543 334.5474 64.16767 -330.5319 333.0784 65.08314 -295.7096 331.4245 65.59416 -365.3543 333.0784 65.08314 -330.5319 331.4245 65.59416 -365.3543 331.4245 65.59416 -89.38227 334.5511 53.74282 -88.1619 333.476 53.02204 -121.5978 332.8706 52.73364 -87.6414 332.8318 52.71761 -87.21202 332.1065 52.46786 -330.5319 332.8706 52.73364 -330.5319 334.3696 53.59917 -330.5319 335.5987 54.81801 -330.5319 336.4768 56.30976 -330.5319 336.9458 57.97596 -330.5319 336.9749 59.70669 -260.8872 331.2005 52.27855 -226.0649 332.8706 52.73364 -156.4202 331.2005 52.27855 -295.7096 334.3696 53.59917 -260.8872 335.5987 54.81801 -226.0649 336.4768 56.30976 -191.2425 336.9458 57.97596 -156.4202 336.9749 59.70669 -191.2425 334.3696 53.59917 -156.4202 335.5987 54.81801 -295.7096 335.5987 54.81801 -295.7096 336.4768 56.30976 -295.7096 336.9458 57.97596 -295.7096 336.9749 59.70669 -295.7096 336.5622 61.38773 -260.8872 336.4768 56.30976 -226.0649 336.9458 57.97596 -191.2425 336.9749 59.70669 -156.4202 336.5622 61.38773 -260.8872 336.9458 57.97596 -260.8872 336.9749 59.70669 -260.8872 336.5622 61.38773 -260.8872 335.7348 62.90817 -226.0649 336.9749 59.70669 -191.2425 336.5622 61.38773 -156.4202 335.7348 62.90817 -226.0649 336.5622 61.38773 -226.0649 335.7348 62.90817 -226.0649 334.5474 64.16767 -191.2425 335.7348 62.90817 -156.4202 334.5474 64.16767 -191.2425 334.5474 64.16767 -191.2425 333.0784 65.08314 -156.4202 333.0784 65.08314 86.4259 330.4487 52.21733 86.42218 330.2786 52.21519 86.42424 330.3353 52.21829 86.42424 330.2218 52.21829 86.4259 330.1084 52.21733 86.50656 329.4696 52.26392 90.50962 331.2005 59.92964 90.92207 332.8706 59.73731 94.27779 332.8706 67.83874 95.09112 334.3696 67.54271 97.75069 334.3696 75.97779 98.928 335.5987 75.66233 100.8653 335.5987 84.40092 102.3344 336.4768 84.14188 103.5197 336.4768 93.14508 105.1795 336.9458 92.99987 105.582 336.9458 102.2173 107.3127 336.9749 102.2173 106.9037 336.9749 111.5857 108.5783 336.5622 111.7322 107.3352 336.5622 121.1746 108.8325 335.7348 121.4386 106.7425 335.7348 130.8662 107.9591 334.5474 131.1922 105.0223 334.5474 140.5066 105.8825 333.0784 140.8197 102.1145 333.0784 149.9165 102.5777 331.4245 150.1324 98.01057 331.4245 158.9057 102.0396 329.6951 151.438 97.41613 329.6951 160.0661 92.69622 331.4245 167.2476 92.06611 329.6951 168.2636 86.67504 331.4245 175.0946 86.02938 329.6951 175.9693 79.99288 331.4245 182.3869 79.35086 329.6951 183.126 72.69878 331.4245 189.0705 72.08027 329.6951 189.6803 64.85363 331.4245 195.0902 64.27175 329.6951 195.5835 56.51177 331.4245 200.4045 55.98341 329.6951 200.7916 47.73847 331.4245 204.9716 47.27698 329.6951 205.2658 38.60051 331.4245 208.7567 38.21727 329.6951 208.9728 29.16744 331.4245 211.7309 28.87173 329.6951 211.8851 19.51104 331.4245 213.8717 19.30992 329.6951 213.9809 9.704798 331.4245 215.1627 9.603043 329.6951 215.2447 -0.1766433 331.4245 215.5942 -0.1766433 329.6951 215.667 -9.95633 329.6951 215.2447 -10.05808 331.4245 215.1627 -19.66321 329.6951 213.9809 -19.86432 331.4245 213.8717 -29.22501 329.6951 211.8851 -29.52073 331.4245 211.7309 -38.57056 329.6951 208.9728 -38.9538 331.4245 208.7567 -47.63027 329.6951 205.2658 -48.09176 331.4245 204.9716 -56.3367 329.6951 200.7916 -56.86505 331.4245 200.4045 -64.62503 329.6951 195.5835 -65.20692 331.4245 195.0902 -72.43356 329.6951 189.6803 -73.05207 331.4245 189.0705 -79.70414 329.6951 183.126 -80.34616 331.4245 182.3869 -86.38266 329.6951 175.9693 -87.02833 331.4245 175.0946 -92.4194 329.6951 168.2636 -93.0495 331.4245 167.2476 -97.76941 329.6951 160.0661 -98.36386 331.4245 158.9057 -102.3929 329.6951 151.438 -102.9309 331.4245 150.1324 -106.2553 329.6951 142.4435 -106.716 331.4245 140.9945 -109.3281 329.6951 133.1494 -109.6902 331.4245 131.5614 -111.5882 329.6951 123.6251 -111.831 331.4245 121.905 -113.0189 329.6951 113.9415 -113.122 331.4245 112.0988 -113.6095 329.6951 104.1705 -113.5535 331.4245 102.2173 -113.3556 329.6951 94.38498 -113.122 331.4245 92.33589 -112.2592 329.6951 84.65779 -111.831 331.4245 82.52966 -110.3283 329.6951 75.06131 -109.6902 331.4245 72.87326 -109.1966 333.0784 73.00552 -108.3124 334.5474 73.24246 -107.0958 335.7348 73.56845 -104.192 335.7348 64.35884 -105.6271 336.5622 73.96196 -102.7633 336.5622 64.87886 -104.0034 336.9749 74.39704 -101.1836 336.9749 65.45381 -102.3316 336.9458 74.84499 -99.55725 336.9458 66.04576 -100.7222 336.4768 75.27624 -97.99153 336.4768 66.61563 -99.28129 335.5987 75.66233 -96.58975 335.5987 67.12584 -98.10398 334.3696 75.97779 -95.44441 334.3696 67.54271 -97.26795 332.8706 76.2018 -94.63108 332.8706 67.83874 -96.82836 331.2005 76.31959 -94.20343 331.2005 67.99439 -94.60576 329.4696 69.16493 -91.12624 329.4696 60.53411 90.77295 329.4696 60.53411 93.85015 331.2005 67.99439 96.91466 332.8706 76.2018 99.66497 334.3696 84.61257 102.0336 335.5987 93.2751 103.9158 336.4768 102.2173 105.1795 336.9458 111.4348 105.6797 336.9749 120.8827 105.2739 336.5622 130.4727 103.8387 335.7348 140.0758 101.2848 334.5474 149.5296 97.56801 333.0784 158.6502 94.25247 329.4696 69.16493 96.47507 331.2005 76.31959 98.8126 332.8706 84.76287 100.8194 334.3696 93.38133 102.424 335.5987 102.2173 103.5197 336.4768 111.2896 103.9753 336.9458 120.5821 103.6501 336.9749 130.0376 102.41 336.5622 139.5558 100.1433 335.7348 148.9973 96.77519 334.5474 158.1925 92.27761 333.0784 166.9545 96.91503 329.4696 78.08172 98.36442 331.2005 84.84189 99.95717 332.8706 93.45677 101.2052 334.3696 102.2173 102.0336 335.5987 111.1596 102.3344 336.4768 120.2928 101.9784 336.9458 129.5897 100.8303 336.9749 138.9809 98.76534 336.5622 148.3547 95.68444 335.7348 157.5628 91.5277 334.5474 166.4294 86.28358 333.0784 174.7661 98.73756 329.4696 87.20732 99.50381 331.2005 93.49643 100.3397 332.8706 102.2173 100.8194 334.3696 111.0533 100.8653 335.5987 120.0338 100.3689 336.4768 129.1584 99.20396 336.9458 138.3889 97.24179 336.9749 147.6443 94.36769 336.5622 156.8025 90.49598 335.7348 165.707 85.58229 334.5474 174.1776 79.63153 333.0784 182.0255 99.70431 329.4696 96.46279 99.88458 331.2005 102.2173 99.95717 332.8706 110.9779 99.66497 334.3696 119.8221 98.928 335.5987 128.7723 97.63824 336.4768 137.819 95.67323 336.9458 146.9129 92.91187 336.9749 155.962 89.25051 336.5622 164.8349 84.61746 335.7348 173.368 78.9842 334.5474 181.3782 72.36853 333.0784 188.6806 99.80692 329.4696 105.768 99.50381 331.2005 110.9383 98.8126 332.8706 119.6718 97.75069 334.3696 128.4569 96.23646 335.5987 137.3088 94.16313 336.4768 146.2087 91.41302 336.9458 155.0966 87.87348 336.9749 163.8707 83.45273 336.5622 172.3907 78.0936 335.7348 180.4876 71.77833 334.5474 187.9807 64.56053 333.0784 194.6716 99.04449 329.4696 115.0426 98.36442 331.2005 119.5928 96.91466 332.8706 128.2329 95.09112 334.3696 136.892 92.81115 335.5987 145.5783 89.97004 336.4768 154.2635 86.45575 336.9458 162.878 82.16498 336.9749 171.3102 77.01849 336.5622 179.4125 70.96704 335.7348 187.0173 64.03543 334.5474 193.9217 56.25626 333.0784 199.962 97.42362 329.4696 124.2061 96.47507 331.2005 128.1151 94.27779 332.8706 136.5959 91.70651 334.3696 145.0632 88.67816 335.5987 153.5177 85.09088 336.4768 161.9223 80.83917 336.9458 170.1977 75.82981 336.9749 178.2238 69.98809 336.5622 185.854 63.31301 335.7348 192.8899 55.79853 334.5474 199.1692 47.52251 333.0784 204.5085 94.95835 329.4696 133.1795 93.85015 331.2005 136.4403 90.92207 332.8706 144.6974 87.6226 334.3696 152.9082 83.86891 335.5987 161.0667 79.56278 336.4768 169.1266 74.606 336.9458 177 68.90597 336.9749 184.5675 62.44092 336.5622 191.6445 55.16877 335.7348 198.0784 47.13561 334.5474 203.6788 38.42573 333.0784 208.2765 91.66999 329.4696 141.8849 90.50962 331.2005 144.505 86.87303 332.8706 152.4755 82.87049 334.3696 160.3676 78.42004 335.5987 168.1678 73.42781 336.4768 175.8218 67.79197 336.9458 183.243 61.47671 336.9749 190.2675 54.40855 336.5622 196.7617 46.60332 335.7348 202.5373 38.11263 334.5474 207.4162 29.03518 333.0784 211.2373 87.58699 329.4696 150.2472 86.47891 331.2005 152.2479 82.1615 332.8706 159.8711 77.48635 334.3696 167.3843 72.373 335.5987 174.767 66.71949 336.4768 181.9678 60.48401 336.9458 188.8497 53.56803 336.9749 195.3058 45.96076 336.5622 201.1593 37.68185 335.7348 206.2327 28.79824 334.5474 210.3531 19.4223 333.0784 213.3684 82.74468 329.4696 158.1939 81.78871 331.2005 159.6101 76.82332 332.8706 166.828 71.51114 334.3696 173.9051 65.75918 335.5987 180.8263 59.52832 336.4768 187.4848 52.70267 336.9458 193.807 45.25032 336.9749 199.6358 37.16183 336.5622 204.804 28.47225 335.7348 209.1365 19.26333 334.5474 212.4669 9.660261 333.0784 214.6537 77.18496 329.4696 165.6563 76.4747 331.2005 166.5354 70.89912 332.8706 173.2931 64.97428 334.3696 179.8938 58.67269 335.5987 186.2629 51.86957 336.4768 192.364 44.51888 336.9458 198.0672 36.58688 336.9749 203.2243 28.07873 336.5622 207.6678 19.04462 335.7348 211.2265 9.580472 334.5474 213.7417 -0.1766433 333.0784 215.0831 70.95592 329.4696 172.5699 70.57733 331.2005 172.9713 64.41648 332.8706 179.232 57.97359 334.3696 185.2645 51.12369 335.5987 191.0721 43.81472 336.4768 196.5571 35.99494 336.9458 201.5979 27.64365 336.9749 206.0441 18.7806 336.5622 209.7292 9.470699 335.7348 212.4869 -0.1766433 334.5474 214.1677 -10.01355 333.0784 214.6537 64.11146 329.4696 178.8748 64.12245 331.2005 178.8846 57.47714 332.8706 184.5555 50.51427 334.3696 190.0166 43.18428 335.5987 195.2051 35.42506 336.4768 200.0322 27.1957 336.9458 204.3723 18.48869 336.9749 208.0737 9.338184 336.5622 210.9723 -0.1766433 335.7348 212.9082 -9.933758 334.5474 213.7417 -19.77559 333.0784 213.3684 57.21611 331.2005 184.1827 56.7108 329.4696 184.5164 49.85396 331.2005 188.8729 48.81796 329.4696 189.446 42.11105 331.2005 192.9036 40.50123 329.4696 193.621 34.04631 331.2005 196.2441 31.83257 329.4696 197.0052 25.72111 331.2005 198.869 22.88697 329.4696 199.5692 17.19881 331.2005 200.7584 13.74182 329.4696 201.291 8.544267 331.2005 201.8978 4.476264 329.4696 202.1557 -0.1766433 331.2005 202.2785 -4.829551 329.4696 202.1557 -8.897553 331.2005 201.8978 -14.09511 329.4696 201.291 -17.55209 331.2005 200.7584 -23.24025 329.4696 199.5692 -26.07439 331.2005 198.869 -32.18585 329.4696 197.0052 -34.39959 331.2005 196.2441 -40.85451 329.4696 193.621 -42.46434 331.2005 192.9036 -49.17124 329.4696 189.446 -50.20725 331.2005 188.8729 -57.06408 329.4696 184.5164 -57.5694 331.2005 184.1827 -64.46475 329.4696 178.8748 -64.47573 331.2005 178.8846 -70.93061 331.2005 172.9713 -64.76977 332.8706 179.232 -71.25241 332.8706 173.2931 -65.32757 334.3696 179.8938 -71.86443 334.3696 173.9051 -66.11247 335.5987 180.8263 -72.72628 335.5987 174.767 -73.7811 336.4768 175.8218 -79.91606 336.4768 169.1266 -81.19245 336.9458 170.1977 -86.80904 336.9458 162.878 -88.22677 336.9749 163.8707 -93.26515 336.9749 155.962 -94.72098 336.5622 156.8025 -99.11862 336.5622 148.3547 -100.4966 335.7348 148.9973 -104.192 335.7348 140.0758 -105.3756 334.5474 140.5066 -108.3124 334.5474 131.1922 -109.1966 333.0784 131.4291 -111.3278 333.0784 121.8163 -71.30921 329.4696 172.5699 -76.82798 331.2005 166.5354 -77.17661 332.8706 166.828 -82.51479 332.8706 159.8711 -83.22378 334.3696 160.3676 -87.97589 334.3696 152.9082 -89.03144 335.5987 153.5177 -93.16444 335.5987 145.5783 -94.51642 336.4768 146.2087 -97.99153 336.4768 137.819 -99.55725 336.9458 138.3889 -102.3316 336.9458 129.5897 -104.0034 336.9749 130.0376 -106.033 336.9749 120.8827 -107.6885 336.5622 121.1746 -108.9316 336.5622 111.7322 -110.4463 335.7348 111.8647 -110.8675 335.7348 102.2173 -112.127 334.5474 102.2173 -111.701 334.5474 92.46022 -112.613 333.0784 92.38043 -111.3278 333.0784 82.6184 -77.53825 329.4696 165.6563 -82.14199 331.2005 159.6101 -87.22632 332.8706 152.4755 -92.05979 334.3696 145.0632 -96.58975 335.5987 137.3088 -100.7222 336.4768 129.1584 -104.3286 336.9458 120.5821 -107.257 336.9749 111.5857 -109.347 336.5622 102.2173 -110.4463 335.7348 92.56999 -110.4262 334.5474 82.77737 -83.09796 329.4696 158.1939 -86.8322 331.2005 152.2479 -91.27536 332.8706 144.6974 -95.44441 334.3696 136.892 -99.28129 335.5987 128.7723 -102.6877 336.4768 120.2928 -105.5328 336.9458 111.4348 -107.666 336.9749 102.2173 -108.9316 336.5622 92.70251 -109.1858 335.7348 82.99608 -87.94027 329.4696 150.2472 -90.8629 331.2005 144.505 -94.63108 332.8706 136.5959 -98.10398 334.3696 128.4569 -101.2186 335.5987 120.0338 -103.873 336.4768 111.2896 -105.9353 336.9458 102.2173 -107.257 336.9749 92.84902 -107.6885 336.5622 83.2601 -92.02327 329.4696 141.8849 -94.20343 331.2005 136.4403 -97.26795 332.8706 128.2329 -100.0183 334.3696 119.8221 -102.3869 335.5987 111.1596 -104.2691 336.4768 102.2173 -105.5328 336.9458 92.99987 -106.033 336.9749 83.55201 -95.31163 329.4696 133.1795 -96.82836 331.2005 128.1151 -99.16589 332.8706 119.6718 -101.1727 334.3696 111.0533 -102.7773 335.5987 102.2173 -103.873 336.4768 93.14508 -104.3286 336.9458 83.85255 -97.77691 329.4696 124.2061 -98.71771 331.2005 119.5928 -100.3105 332.8706 110.9779 -101.5585 334.3696 102.2173 -102.3869 335.5987 93.2751 -102.6877 336.4768 84.14188 -99.39778 329.4696 115.0426 -99.8571 331.2005 110.9383 -100.693 332.8706 102.2173 -101.1727 334.3696 93.38133 -101.2186 335.5987 84.40092 -100.1602 329.4696 105.768 -100.2379 331.2005 102.2173 -100.3105 332.8706 93.45677 -100.0183 334.3696 84.61257 -100.0576 329.4696 96.46279 -99.8571 331.2005 93.49643 -99.16589 332.8706 84.76287 -99.09085 329.4696 87.20732 -98.71771 331.2005 84.84189 -97.26831 329.4696 78.08172 -90.8629 331.2005 59.92964 -91.27536 332.8706 59.73731 -92.05979 334.3696 59.37152 -93.16444 335.5987 58.85641 -94.51642 336.4768 58.22598 105.902 329.6951 142.4435 106.3627 331.4245 140.9945 108.8434 333.0784 131.4291 110.0729 334.5474 121.6573 110.093 335.7348 111.8647 108.9938 336.5622 102.2173 106.9037 336.9749 92.84902 103.9753 336.9458 83.85255 100.3689 336.4768 75.27624 96.23646 335.5987 67.12584 91.70651 334.3696 59.37152 87.2933 332.8392 52.72064 86.86132 332.1119 52.46936 108.9748 329.6951 133.1494 109.337 331.4245 131.5614 110.9745 333.0784 121.8163 111.3477 334.5474 111.9745 110.5142 335.7348 102.2173 108.5783 336.5622 92.70251 105.6797 336.9749 83.55201 101.9784 336.9458 74.84499 97.63824 336.4768 66.61563 92.81115 335.5987 58.85641 89.04511 334.5628 53.75241 87.81652 333.4845 53.02668 111.2349 329.6951 123.6251 111.4777 331.4245 121.905 112.2597 333.0784 112.0542 111.7737 334.5474 102.2173 110.093 335.7348 92.56999 107.3352 336.5622 83.2601 103.6501 336.9749 74.39704 99.20396 336.9458 66.04576 94.16313 336.4768 58.22598 92.0343 336.1003 55.56024 90.43939 335.4118 54.5883 112.6656 329.6951 113.9415 112.7687 331.4245 112.0988 112.6892 333.0784 102.2173 111.3477 334.5474 92.46022 108.8325 335.7348 82.99608 105.2739 336.5622 73.96196 100.8303 336.9749 65.45381 97.38634 337.0171 58.94578 93.7796 336.6087 56.64333 113.2562 329.6951 104.1705 113.2002 331.4245 102.2173 112.2597 333.0784 92.38043 110.0729 334.5474 82.77737 106.7425 335.7348 73.56845 102.41 336.5622 64.87886 99.21322 336.911 60.14549 97.41084 337.0171 58.96172 113.0024 329.6951 94.38498 112.7687 331.4245 92.33589 110.9745 333.0784 82.6184 107.9591 334.5474 73.24246 103.9534 335.3762 63.36098 103.8387 335.7348 64.35884 102.5119 336.0886 62.36725 100.9252 336.5994 61.28973 111.9059 329.6951 84.65779 111.4777 331.4245 82.52966 108.8434 333.0784 73.00552 106.3764 333.1232 65.06251 105.2734 334.4025 64.28308 109.975 329.6951 75.06131 109.337 331.4245 72.87326 106.8005 332.3551 65.36439 107.224 329.6951 65.66702 107.2481 330.6086 65.68423 107.1005 331.5113 65.57861 97.39859 337.0171 58.95375 86.55877 331.3069 52.2941 50.08151 332.8706 189.267 42.66917 334.3696 194.1005 34.91485 335.5987 198.6304 26.76446 336.4768 202.7629 18.18815 336.9458 206.3692 9.191672 336.9749 209.2976 -0.1766433 336.5622 211.3877 -9.823986 335.7348 212.4869 -19.61662 334.5474 212.4669 -29.38846 333.0784 211.2373 42.30338 332.8706 193.3161 34.49798 334.3696 197.4851 26.37837 335.5987 201.322 17.89882 336.4768 204.7284 9.040829 336.9458 207.5735 -0.1766433 336.9749 209.7067 -9.691471 336.5622 210.9723 -19.39791 335.7348 211.2265 -29.15152 334.5474 210.3531 -38.77902 333.0784 208.2765 34.20196 332.8706 196.6718 26.06291 334.3696 200.1447 17.63978 335.5987 203.2593 8.895609 336.4768 205.9136 -0.1766433 336.9458 207.976 -9.544958 336.9749 209.2976 -19.13388 336.5622 209.7292 -28.82554 335.7348 209.1365 -38.46591 334.5474 207.4162 -47.87579 333.0784 204.5085 25.83889 332.8706 199.3086 17.42813 334.3696 202.0589 8.765596 335.5987 204.4276 -0.1766433 336.4768 206.3097 -9.394115 336.9458 207.5735 -18.84197 336.9749 208.0737 -28.43202 336.5622 207.6678 -38.03514 335.7348 206.2327 -47.4889 334.5474 203.6788 -56.60955 333.0784 199.962 17.27783 332.8706 201.2066 8.659366 334.3696 203.2134 -0.1766433 335.5987 204.818 -9.248896 336.4768 205.9136 -18.54144 336.9458 206.3692 -27.99694 336.9749 206.0441 -37.51512 336.5622 204.804 -46.95661 335.7348 202.5373 -56.15181 334.5474 199.1692 -64.91381 333.0784 194.6716 -72.72181 333.0784 188.6806 -79.98482 333.0784 182.0255 8.58393 332.8706 202.3511 -0.1766433 334.3696 203.5992 -9.118882 335.5987 204.4276 -18.2521 336.4768 204.7284 -27.54899 336.9458 204.3723 -36.94017 336.9749 203.2243 -46.31404 336.5622 201.1593 -55.52206 335.7348 198.0784 -64.38872 334.5474 193.9217 -72.13162 334.5474 187.9807 -79.33749 334.5474 181.3782 -86.63687 333.0784 174.7661 -0.1766433 332.8706 202.7336 -9.012653 334.3696 203.2134 -17.99307 335.5987 203.2593 -27.11775 336.4768 202.7629 -36.34822 336.9458 201.5979 -45.60361 336.9749 199.6358 -54.76184 336.5622 196.7617 -63.6663 335.7348 192.8899 -71.32033 335.7348 187.0173 -78.44689 335.7348 180.4876 -85.93558 334.5474 174.1776 -92.6309 333.0784 166.9545 -8.937217 332.8706 202.3511 -17.78141 334.3696 202.0589 -26.73165 335.5987 201.322 -35.77835 336.4768 200.0322 -44.87217 336.9458 198.0672 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332.8706 193.3161 -50.86756 334.3696 190.0166 -59.02597 335.5987 186.2629 -50.4348 332.8706 189.267 -58.32687 334.3696 185.2645 -57.83043 332.8706 184.5555 -77.83963 334.3696 167.3843 -78.77333 335.5987 168.1678 -84.2222 335.5987 161.0667 -85.44416 336.4768 161.9223 -90.32333 336.4768 154.2635 -91.76631 336.9458 155.0966 -96.02651 336.9458 146.9129 -97.59508 336.9749 147.6443 -101.1836 336.9749 138.9809 -102.7633 336.5622 139.5558 -105.6271 336.5622 130.4727 -107.0958 335.7348 130.8662 -109.1858 335.7348 121.4386 -110.4262 334.5474 121.6573 -111.701 334.5474 111.9745 -112.613 333.0784 112.0542 -113.0425 333.0784 102.2173 96.86529 329.5763 58.60779 399.8234 329.6951 65.66702 399.8234 329.4696 52.26392 121.2445 331.2005 52.27855 156.0669 331.2005 52.27855 190.8892 331.2005 52.27855 190.8892 332.8706 52.73364 225.7116 332.8706 52.73364 225.7116 334.3696 53.59917 260.5339 334.3696 53.59917 260.5339 335.5987 54.81801 295.3563 335.5987 54.81801 295.3563 336.4768 56.30976 330.1787 336.4768 56.30976 330.1787 336.9458 57.97596 365.001 336.9458 57.97596 365.001 336.9749 59.70669 399.8234 336.9749 59.70669 399.8234 336.5622 61.38773 365.001 336.5622 61.38773 399.8234 335.7348 62.90817 365.001 335.7348 62.90817 399.8234 334.5474 64.16767 365.001 334.5474 64.16767 399.8234 333.0784 65.08314 365.001 333.0784 65.08314 399.8234 331.4245 65.59416 365.001 331.4245 65.59416 330.1787 331.4245 65.59416 295.3563 331.4245 65.59416 295.3563 333.0784 65.08314 260.5339 333.0784 65.08314 260.5339 334.5474 64.16767 225.7116 334.5474 64.16767 225.7116 335.7348 62.90817 190.8892 335.7348 62.90817 190.8892 336.5622 61.38773 156.0669 336.5622 61.38773 156.0669 336.9749 59.70669 121.2445 336.9749 59.70669 121.2445 336.9458 57.97596 121.2445 336.4768 56.30976 121.2445 335.5987 54.81801 121.2445 334.3696 53.59917 121.2445 332.8706 52.73364 121.2445 336.5622 61.38773 121.2445 335.7348 62.90817 121.2445 334.5474 64.16767 121.2445 333.0784 65.08314 121.2445 331.4245 65.59416 225.7116 331.4245 65.59416 190.8892 331.4245 65.59416 190.8892 333.0784 65.08314 156.0669 333.0784 65.08314 156.0669 334.5474 64.16767 399.8234 336.9458 57.97596 365.001 336.4768 56.30976 330.1787 335.5987 54.81801 295.3563 334.3696 53.59917 260.5339 332.8706 52.73364 225.7116 331.2005 52.27855 399.8234 336.4768 56.30976 365.001 335.5987 54.81801 330.1787 334.3696 53.59917 295.3563 332.8706 52.73364 260.5339 331.2005 52.27855 399.8234 335.5987 54.81801 365.001 334.3696 53.59917 330.1787 332.8706 52.73364 295.3563 331.2005 52.27855 399.8234 334.3696 53.59917 365.001 332.8706 52.73364 330.1787 331.2005 52.27855 399.8234 332.8706 52.73364 365.001 331.2005 52.27855 399.8234 331.2005 52.27855 156.0669 332.8706 52.73364 156.0669 334.3696 53.59917 156.0669 335.5987 54.81801 156.0669 336.4768 56.30976 156.0669 336.9458 57.97596 190.8892 334.3696 53.59917 225.7116 335.5987 54.81801 260.5339 336.4768 56.30976 295.3563 336.9458 57.97596 330.1787 336.9749 59.70669 190.8892 335.5987 54.81801 190.8892 336.4768 56.30976 190.8892 336.9458 57.97596 190.8892 336.9749 59.70669 225.7116 336.4768 56.30976 260.5339 336.9458 57.97596 295.3563 336.9749 59.70669 330.1787 336.5622 61.38773 225.7116 336.9458 57.97596 225.7116 336.9749 59.70669 225.7116 336.5622 61.38773 260.5339 336.9749 59.70669 295.3563 336.5622 61.38773 330.1787 335.7348 62.90817 260.5339 336.5622 61.38773 260.5339 335.7348 62.90817 156.0669 335.7348 62.90817 190.8892 334.5474 64.16767 225.7116 333.0784 65.08314 260.5339 331.4245 65.59416 295.3563 335.7348 62.90817 330.1787 334.5474 64.16767 295.3563 334.5474 64.16767 330.1787 333.0784 65.08314 156.0669 331.4245 65.59416 449.6714 279.6215 52.26392 449.897 279.6215 65.66702 449.2449 286.128 52.26392 449.4685 286.1575 65.66702 447.9729 292.5232 52.26392 448.1907 292.5815 65.66702 445.877 298.6976 52.26392 446.0853 298.7839 65.66702 442.9931 304.5456 52.26392 443.1884 304.6583 65.66702 439.3705 309.9671 52.26392 439.5494 310.1044 65.66702 435.0713 314.8694 52.26392 435.2307 315.0289 65.66702 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2414 2685 2686 2420 2689 2689 2437 2705 2718 2436 2703 2717 2414 2685 2686 2438 2706 2946 2420 2689 2945 2421 2690 2944 2438 2706 2719 2437 2705 2718 2420 2689 2689 1695 2019 3074 2419 2688 3088 2417 2704 3090 2439 2707 2947 2438 2706 2946 2421 2690 2944 1696 2020 3076 2422 2691 3089 2419 2688 3088 2440 2708 2948 2421 2690 2944 2423 1935 2235 2440 2708 2948 2439 2707 2947 2421 2690 2944 2441 1938 2251 2440 2708 2948 2423 1935 2235 2443 2709 2535 1471 1720 1576 1472 1719 1575 2443 2709 2535 2442 1722 1578 1471 1720 1576 2444 2710 2536 1472 1719 1575 1473 1717 1572 2444 2710 2536 2443 2709 2535 1472 1719 1575 2445 2711 2537 1473 2712 1572 1474 2713 1574 2445 2714 2537 2444 2710 2536 1473 1717 1572 2446 2715 2720 1474 1716 2588 1475 1715 2587 2446 2715 2720 2445 2714 2721 1474 1716 2588 2447 2716 2738 1475 1715 2587 1476 1713 2585 2447 2716 2738 2446 2715 2720 1475 1715 2587 2448 1711 2583 2447 2716 2738 1476 1713 2585 2463 2717 2538 2442 1722 1578 2443 2709 2535 2463 2717 2538 2462 1723 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1908 1154 449 1909 1155 450 1910 1156 449 1911 1155 451 1912 1157 447 1913 1158 449 1914 1155 447 1915 1158 444 1916 1159 450 1917 1156 449 1918 1155 444 1919 1160 450 1920 1156 444 1921 1160 446 1922 1161 448 1923 1154 450 1924 1156 446 1925 1162 448 1926 1154 446 1927 1162 445 1928 1163 451 1929 1164 448 1930 1165 445 1931 1166 451 1932 1164 445 1933 1166 447 1934 1167 454 1935 1170 452 1936 1168 453 1937 1169 452 1938 1168 455 1939 1171 453 1940 1169 457 1941 1173 456 1942 1172 459 1943 1175 456 1944 1172 457 1945 1173 458 1946 1174 457 1947 1173 459 1948 1175 455 1949 1176 457 1950 1173 455 1951 1176 452 1952 1177 458 1953 1174 457 1954 1173 452 1955 1178 458 1956 1174 452 1957 1178 454 1958 1179 456 1959 1172 458 1960 1174 454 1961 1180 456 1962 1172 454 1963 1180 453 1964 1181 453 1965 1185 455 1966 1183 456 1967 1182 459 1968 1184 456 1969 1182 455 1970 1183

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 + + + + + + + + + + + + 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.0000001.000000 + 30.0000000.0000003.333333 + + + + + + diff --git a/src/bcr_bot/models/aws_robomaker_warehouse_WallB_01/model.config b/src/bcr_bot/models/aws_robomaker_warehouse_WallB_01/model.config new file mode 100644 index 0000000..ba404b6 --- /dev/null +++ b/src/bcr_bot/models/aws_robomaker_warehouse_WallB_01/model.config @@ -0,0 +1,11 @@ + + + aws_robomaker_warehouse_WallB_01 + 1.0 + model.sdf + + + + + + diff --git a/src/bcr_bot/models/aws_robomaker_warehouse_WallB_01/model.sdf b/src/bcr_bot/models/aws_robomaker_warehouse_WallB_01/model.sdf new file mode 100644 index 0000000..66af32f --- /dev/null +++ b/src/bcr_bot/models/aws_robomaker_warehouse_WallB_01/model.sdf @@ -0,0 +1,46 @@ + + + + + + 1000 + + 840083.33 + 0 + 0 + 475500.0 + 0 + 1302083.33 + + + + + + model://aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_collision.DAE + 1 1 1 + + + + + + 0.5 + 0.5 + 0 0 0 + 0 + 0 + + + + + + + + model://aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_visual.DAE + + + 2 + + +1 + + diff --git a/src/bcr_bot/package.xml b/src/bcr_bot/package.xml new file mode 100644 index 0000000..4f3afc9 --- /dev/null +++ b/src/bcr_bot/package.xml @@ -0,0 +1,23 @@ + + + bcr_bot + 1.0.2 + bcr_bot + + Gaurav Gupta + Devanshu Sharma + Angelo Antu + Apache License 2.0 + + ament_cmake + + ament_index_python + launch + launch_ros + robot_state_publisher + xacro + + + ament_cmake + + diff --git a/res/gz.jpg b/src/bcr_bot/res/gz.jpg similarity index 100% rename from res/gz.jpg rename to src/bcr_bot/res/gz.jpg diff --git a/res/isaac.jpg b/src/bcr_bot/res/isaac.jpg similarity index 100% rename from res/isaac.jpg rename to src/bcr_bot/res/isaac.jpg diff --git a/res/rviz.jpg b/src/bcr_bot/res/rviz.jpg similarity index 100% rename from res/rviz.jpg rename to src/bcr_bot/res/rviz.jpg diff --git a/src/bcr_bot/rviz/entire_setup.rviz b/src/bcr_bot/rviz/entire_setup.rviz new file mode 100644 index 0000000..d796426 --- /dev/null +++ b/src/bcr_bot/rviz/entire_setup.rviz @@ -0,0 +1,285 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /PointCloud21 + - /LaserScan1 + Splitter Ratio: 0.5 + Tree Height: 733 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + back_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + back_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + chassis_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + kinect_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + kinect_camera_optical: + Alpha: 1 + Show Axes: false + Show Trail: false + middle_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + middle_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + roof_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + two_d_lidar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 6.866762161254883 + Min Value: 0.9795620441436768 + Value: true + Axis: X + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /bcr_bot/kinect_camera/points + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /bcr_bot/scan + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 5.990618705749512 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.230170339345932 + Y: 0.0032365412916988134 + Z: -0.0925377607345581 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.27039834856987 + Target Frame: + Value: Orbit (rviz) + Yaw: 2.5153987407684326 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 962 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 1366 + Y: 27 diff --git a/src/bcr_bot/rviz/map.rviz b/src/bcr_bot/rviz/map.rviz new file mode 100644 index 0000000..754e96d --- /dev/null +++ b/src/bcr_bot/rviz/map.rviz @@ -0,0 +1,333 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + - /TF1/Tree1 + Splitter Ratio: 0.5833333134651184 + Tree Height: 499 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: nav2_rviz_plugins/Navigation 2 + Name: Navigation 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + back_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + back_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + front_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + kinect_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + kinect_camera_optical: + Alpha: 1 + Show Axes: false + Show Trail: false + middle_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + middle_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + roof_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + two_d_lidar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + back_left_wheel: + Value: true + back_right_wheel: + Value: true + base_footprint: + Value: true + base_link: + Value: true + bcr_bot/base_link/kinect_camera: + Value: true + front_left_wheel: + Value: true + front_right_wheel: + Value: true + imu_frame: + Value: true + kinect_camera: + Value: true + kinect_camera_optical: + Value: true + map: + Value: true + middle_left_wheel: + Value: true + middle_right_wheel: + Value: true + odom: + Value: true + roof_link: + Value: true + two_d_lidar: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + map: + odom: + base_link: + back_left_wheel: + {} + back_right_wheel: + {} + base_footprint: + roof_link: + {} + front_left_wheel: + {} + front_right_wheel: + {} + imu_frame: + {} + kinect_camera: + bcr_bot/base_link/kinect_camera: + {} + kinect_camera_optical: + {} + middle_left_wheel: + {} + middle_right_wheel: + {} + two_d_lidar: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /bcr_bot/scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map_updates + Use Timestamp: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + - Class: nav2_rviz_plugins/GoalTool + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Angle: -1.5607999563217163 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 50.63653564453125 + Target Frame: + Value: TopDownOrtho (rviz_default_plugins) + X: 0 + Y: 0 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1001 + Hide Left Dock: false + Hide Right Dock: true + Navigation 2: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1634 + X: 70 + Y: 27 + diff --git a/src/bcr_bot/scripts/remapper.py b/src/bcr_bot/scripts/remapper.py new file mode 100644 index 0000000..1496b16 --- /dev/null +++ b/src/bcr_bot/scripts/remapper.py @@ -0,0 +1,48 @@ +#! /usr/bin/env python3 +import rclpy +from rclpy.node import Node +from rclpy.qos import QoSProfile, ReliabilityPolicy, QoSDurabilityPolicy +from geometry_msgs.msg import Twist + +class CmdVelRemapper(Node): + def __init__(self): + super().__init__('cmd_vel_remapper') + + qos_profile = QoSProfile( + reliability=ReliabilityPolicy.RELIABLE, + durability=QoSDurabilityPolicy.VOLATILE, + depth=10 + ) + + # Create a subscriber for the cmd_vel topic + self.subscription = self.create_subscription( + Twist, + 'cmd_vel', + self.cmd_vel_callback, + qos_profile + ) + self.subscription # Prevent unused variable warning + + # Create a publisher for the bcr_bot/cmd_vel topic + self.publisher = self.create_publisher(Twist, 'bcr_bot/cmd_vel', qos_profile) + + def cmd_vel_callback(self, msg): + # Republish the received message to bcr_bot/cmd_vel + self.publisher.publish(msg) + +def main(args=None): + rclpy.init(args=args) + + cmd_vel_remapper = CmdVelRemapper() + + try: + rclpy.spin(cmd_vel_remapper) + except KeyboardInterrupt: + pass + finally: + cmd_vel_remapper.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() + diff --git a/src/bcr_bot/urdf/bcr_bot.xacro b/src/bcr_bot/urdf/bcr_bot.xacro new file mode 100644 index 0000000..7cac6a9 --- /dev/null +++ b/src/bcr_bot/urdf/bcr_bot.xacro @@ -0,0 +1,322 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/White + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/bcr_bot/urdf/gazebo.xacro b/src/bcr_bot/urdf/gazebo.xacro new file mode 100644 index 0000000..35a4bb0 --- /dev/null +++ b/src/bcr_bot/urdf/gazebo.xacro @@ -0,0 +1,223 @@ + + + + + false + + + + + + + + $(arg robot_namespace) + cmd_vel:=cmd_vel + odom:=odom + + false + 50.0 + middle_left_wheel_joint + middle_right_wheel_joint + ${traction_track_width+traction_wheel_width-0.01} + ${2*traction_wheel_radius+0.01} + base_footprint + ${traction_max_wheel_torque} + cmd_vel + $(arg wheel_odom_topic) + odom + $(arg publish_wheel_odom_tf) + true + true + 5.0 + + + 1 + + + 0 + + + + + + + + + true + 5 + + + $(arg robot_namespace) + ~/out:=imu + + + + + + + + + + + + + $(arg robot_namespace) + odom:=p3d_ground_truth + + true + 30.0 + base_footprint + 0.00 + $(arg ground_truth_frame) + + + + + + + + + true + + 0 0 0 0 0 0 + false + ${two_d_lidar_update_rate} + + + + ${two_d_lidar_sample_size} + 1 + ${radians(two_d_lidar_min_angle)} + ${radians(two_d_lidar_max_angle)} + + + + ${two_d_lidar_min_range} + ${two_d_lidar_max_range} + 0.01 + + + gaussian + 0.0 + 0.0 + + + + + ~/out:=$(arg robot_namespace)/scan + + sensor_msgs/LaserScan + two_d_lidar + + + + + + + + + + + 0 0 0 0 0 0 + true + 30 + + 1.089 + + R8G8B8 + 640 + 480 + + + 0.05 + 8.0 + + + + + $(arg robot_namespace) + + kinect_camera_optical + 0.1 + 100 + + + + + + + + + + + 10.0 + true + + 0 0 0 0 0 0 + 1.3962634 + + 1024 + 1024 + R8G8B8 + + + 0.3 + 20 + + + gaussian + 0.0 + 0.0 + + + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 +
0.5 0.5
+ + + + + 0 -0.12 0 0 0 0 + 1.3962634 + + 1024 + 1024 + R8G8B8 + + + 0.3 + 20 + + + gaussian + 0.0 + 0.0 + + + 0.0 + 0.00 + 0.0 + 0.0 + 0.0 +
0.5 0.5
+ + + + + + $(arg robot_namespace) + image_raw:=image_raw + camera_info:=camera_info + + stereo_camera + stereo_camera_optical + 0.12 + + + + + + \ No newline at end of file diff --git a/src/bcr_bot/urdf/gz.xacro b/src/bcr_bot/urdf/gz.xacro new file mode 100644 index 0000000..9ec32c6 --- /dev/null +++ b/src/bcr_bot/urdf/gz.xacro @@ -0,0 +1,164 @@ + + + + + + + + ogre2 + + + + + + + + + + + + middle_left_wheel_joint + middle_right_wheel_joint + ${traction_track_width+traction_wheel_width-0.01} + ${traction_wheel_radius+0.01} + 30 + /cmd_vel + + $(arg wheel_odom_topic) + /tf + + odom + base_footprint + + + + + + + + + odom + base_footprint + $(arg wheel_odom_topic) + /tf + 2 + 10 + + + + + + + + + + scan + ${two_d_lidar_update_rate} + two_d_lidar + + + + ${two_d_lidar_sample_size} + 1 + ${radians(two_d_lidar_min_angle)} + ${radians(two_d_lidar_max_angle)} + + + + ${two_d_lidar_min_range} + ${two_d_lidar_max_range} + 0.01 + + + gaussian + 0.0 + 0.001 + + + 1 + true + + + + + + + + + + 30.0 + kinect_camera + kinect_camera + + kinect_camera/camera_info + ${radians(camera_horizontal_fov)} + + 640 + 480 + R8G8B8 + + + 0.05 + 8.0 + + + + + + + + + + + 1 + 1 + imu_frame + true + imu + + + + + + + + 10.0 + true + stereo_camera_optical + 0 -0.12 0 0 0 0 + stereo_camera/right/image_raw + stereo_camera/right/camera_info + 1.3962634 + + 1024 + 1024 + R8G8B8 + + + 0.3 + 20 + + + + + stereo_camera/left/image_raw + 10.0 + true + stereo_camera_optical + stereo_camera/left/camera_info + 0 0 0 0 0 0 + 1.3962634 + + 1024 + 1024 + R8G8B8 + + + 0.3 + 20 + + + + + \ No newline at end of file diff --git a/src/bcr_bot/urdf/ign.xacro b/src/bcr_bot/urdf/ign.xacro new file mode 100644 index 0000000..bb5857c --- /dev/null +++ b/src/bcr_bot/urdf/ign.xacro @@ -0,0 +1,164 @@ + + + + + + + + ogre2 + + + + + + + + + + + + middle_left_wheel_joint + middle_right_wheel_joint + ${traction_track_width+traction_wheel_width-0.01} + ${traction_wheel_radius+0.01} + 30 + /cmd_vel + + $(arg wheel_odom_topic) + /tf + + odom + base_footprint + + + + + + + + + odom + base_footprint + $(arg wheel_odom_topic) + /tf + 2 + 10 + + + + + + + + + + scan + ${two_d_lidar_update_rate} + two_d_lidar + + + + ${two_d_lidar_sample_size} + 1 + ${radians(two_d_lidar_min_angle)} + ${radians(two_d_lidar_max_angle)} + + + + ${two_d_lidar_min_range} + ${two_d_lidar_max_range} + 0.01 + + + gaussian + 0.0 + 0.001 + + + 1 + true + + + + + + + + + + 30.0 + kinect_camera + kinect_camera + kinect_camera/camera_info + + ${radians(camera_horizontal_fov)} + + 640 + 480 + R8G8B8 + + + 0.05 + 8.0 + + + + + + + + + + + 1 + 1 + imu_frame + true + imu + + + + + + + + 10.0 + true + stereo_camera_optical + 0 -0.12 0 0 0 0 + stereo_camera/right/image_raw + stereo_camera/right/camera_info + 1.3962634 + + 1024 + 1024 + R8G8B8 + + + 0.3 + 20 + + + + + stereo_camera/left/image_raw + 10.0 + true + stereo_camera_optical + stereo_camera/left/camera_info + 0 0 0 0 0 0 + 1.3962634 + + 1024 + 1024 + R8G8B8 + + + 0.3 + 20 + + + + + \ No newline at end of file diff --git a/src/bcr_bot/urdf/macros.xacro b/src/bcr_bot/urdf/macros.xacro new file mode 100644 index 0000000..1bdf9cc --- /dev/null +++ b/src/bcr_bot/urdf/macros.xacro @@ -0,0 +1,81 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.0 + + + + + + + + + + + Gazebo/Black + + + + + + + + + + + false + + + + + + + + + 5.0 + + + + + + + + + + + Gazebo/Black + + + + \ No newline at end of file diff --git a/src/bcr_bot/urdf/materials.xacro b/src/bcr_bot/urdf/materials.xacro new file mode 100644 index 0000000..064d906 --- /dev/null +++ b/src/bcr_bot/urdf/materials.xacro @@ -0,0 +1,56 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/usd/ActionGraphFull.usd b/src/bcr_bot/usd/ActionGraphFull.usd similarity index 100% rename from usd/ActionGraphFull.usd rename to src/bcr_bot/usd/ActionGraphFull.usd diff --git a/usd/bcr_bot.usd b/src/bcr_bot/usd/bcr_bot.usd similarity index 100% rename from usd/bcr_bot.usd rename to src/bcr_bot/usd/bcr_bot.usd diff --git a/usd/scene.usd b/src/bcr_bot/usd/scene.usd similarity index 100% rename from usd/scene.usd rename to src/bcr_bot/usd/scene.usd diff --git a/usd/warehouse_scene.usd b/src/bcr_bot/usd/warehouse_scene.usd similarity index 100% rename from usd/warehouse_scene.usd rename to src/bcr_bot/usd/warehouse_scene.usd diff --git a/src/bcr_bot/worlds/empty.sdf b/src/bcr_bot/worlds/empty.sdf new file mode 100644 index 0000000..8554aa6 --- /dev/null +++ b/src/bcr_bot/worlds/empty.sdf @@ -0,0 +1,44 @@ + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + \ No newline at end of file diff --git a/src/bcr_bot/worlds/small_warehouse.sdf b/src/bcr_bot/worlds/small_warehouse.sdf new file mode 100644 index 0000000..831b553 --- /dev/null +++ b/src/bcr_bot/worlds/small_warehouse.sdf @@ -0,0 +1,245 @@ + + + + + + + + model://aws_robomaker_warehouse_RoofB_01 + + 0.0 0.0 0 0 0 0 + + + + + model://aws_robomaker_warehouse_ShelfF_01 + + -5.795143 -0.956635 0 0 0 0 + + + + + model://aws_robomaker_warehouse_WallB_01 + + 0.0 0.0 0 0 0 0 + + + + + model://aws_robomaker_warehouse_ShelfE_01 + + 4.73156 0.57943 0 0 0 0 + + + + + model://aws_robomaker_warehouse_ShelfE_01 + + 4.73156 -4.827049 0 0 0 0 + + + + + model://aws_robomaker_warehouse_ShelfE_01 + + 4.73156 -8.6651 0 0 0 0 + + + + + model://aws_robomaker_warehouse_ShelfD_01 + + 4.73156 -1.242668 0 0 0 0 + + + + + model://aws_robomaker_warehouse_ShelfD_01 + + 4.73156 -3.038551 0 0 0 0 + + + + + model://aws_robomaker_warehouse_ShelfD_01 + + 4.73156 -6.750542 0 0 0 0 + + + + + model://aws_robomaker_warehouse_GroundB_01 + + 0.0 0.0 -0.090092 0 0 0 + + + + + model://aws_robomaker_warehouse_Lamp_01 + + 0 0 -4 0 0 0 + + + + + model://aws_robomaker_warehouse_Bucket_01 + + 0.433449 9.631706 0 0 0 -1.563161 + + + + + model://aws_robomaker_warehouse_Bucket_01 + + 0.433449 8.59 0 0 0 -1.563161 + + + + + model://aws_robomaker_warehouse_ClutteringA_01 + + 5.708138 8.616844 -0.017477 0 0 0 + + + + + model://aws_robomaker_warehouse_ClutteringA_01 + + 3.408638 8.616844 -0.017477 0 0 0 + + + + + model://aws_robomaker_warehouse_ClutteringA_01 + + -1.491287 5.222435 -0.017477 0 0 -1.583185 + + + + + + model://aws_robomaker_warehouse_ClutteringC_01 + + 3.324959 3.822449 -0.012064 0 0 1.563871 + + + + + model://aws_robomaker_warehouse_ClutteringC_01 + + 5.54171 3.816475 -0.015663 0 0 -1.583191 + + + + + model://aws_robomaker_warehouse_ClutteringC_01 + + 5.384239 6.137154 0 0 0 3.150000 + + + + + model://aws_robomaker_warehouse_ClutteringC_01 + + 3.236 6.137154 0 0 0 3.150000 + + + + + model://aws_robomaker_warehouse_ClutteringC_01 + + -1.573677 2.301994 -0.015663 0 0 -3.133191 + + + + + model://aws_robomaker_warehouse_ClutteringC_01 + + -1.2196 9.407 -0.015663 0 0 1.563871 + + + + + model://aws_robomaker_warehouse_ClutteringD_01 + + -1.634682 -7.811813 -0.319559 0 0 0 + + + + + model://aws_robomaker_warehouse_TrashCanC_01 + + -1.592441 7.715420 0 0 0 0 + + + + + + + + 0 0 9 0 0 0 + 0.5 0.5 0.5 1 + 0.2 0.2 0.2 1 + + 800 + 0.2 + 0.01 + 0.001 + + 1 + 0.1 0.1 -1 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + -3.90827 -4.65526 4.77216 0 0.623643 0.728194 + orbit + perspective + + + + diff --git a/src/websocket.gzlaunch b/src/websocket.gzlaunch new file mode 100644 index 0000000..2fdbe71 --- /dev/null +++ b/src/websocket.gzlaunch @@ -0,0 +1,9 @@ + + + + 9002 + 30 + -1 + +