update

.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/

CHANGELOG.rst

@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package bcr_bot
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.0.2 (2024-04-02)
+------------------
+* Setting Gazebo resource paths through launch files
+* Modified launch files to dynamically spawn bcr_bot

CMakeLists.txt

@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.5)
+project(bcr_bot)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY launch meshes models urdf worlds rviz
+    DESTINATION share/${PROJECT_NAME}/
+)
+
+install( DIRECTORY config/
+         DESTINATION share/${PROJECT_NAME}/config)
+         
+         
+install(PROGRAMS scripts/remapper.py
+        DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

Dockerfile

@@ -0,0 +1,47 @@
+ARG ROS_DISTRO=humble
+
+# Use base image, https://hub.docker.com/_/ros/
+FROM ros:$ROS_DISTRO-ros-base
+
+# Prevent console from interacting with the user
+# Read more here - https://bobcares.com/blog/debian_frontendnoninteractive-docker
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Prevent hash mismatch error for apt-get update, qqq makes the terminal quiet while downloading pkgs
+RUN apt-get clean && rm -rf /var/lib/apt/lists/* && apt-get update -yqqq
+
+# Set folder for RUNTIME_DIR. Only to prevent warnings when running RViz2 and Gz
+RUN mkdir tmp/runtime-root && chmod 0700 tmp/runtime-root
+ENV XDG_RUNTIME_DIR='/tmp/runtime-root'
+
+# https://stackoverflow.com/questions/51023312/docker-having-issues-installing-apt-utils
+
+# Non Python/ROS Dependencies
+# apt-utils: https://stackoverflow.com/questions/51023312/docker-having-issues-installing-apt-utils
+RUN apt-get install --no-install-recommends -yqqq \
+    apt-utils \
+    vim \
+    git
+
+# Python Dependencies
+RUN apt-get install --no-install-recommends -yqqq \
+    python3-pip
+        
+# Install additional ROS packages
+RUN apt-get install --no-install-recommends -yqq \
+    ros-$ROS_DISTRO-rviz2 \
+    ros-$ROS_DISTRO-xacro \
+    ros-$ROS_DISTRO-teleop-twist-keyboard \
+    ros-$ROS_DISTRO-navigation2 \
+    ros-$ROS_DISTRO-nav2-bringup
+
+# Using shell to use bash commands like 'source'
+SHELL ["/bin/bash", "-c"]
+
+# Target workspace for ROS2 packages
+ARG WORKSPACE=/root/ros2_ws
+
+# Add target workspace in environment
+ENV WORKSPACE=$WORKSPACE
+
+WORKDIR $WORKSPACE

LICENSE

@@ -0,0 +1,201 @@
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README.md

@@ -1,18 +1,318 @@
-# 开始拉取代码
+# BCR Bot
 
----
+https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8
-```
-git clone http://git-test.databall.tech:3000/databall-official/3ebe2700b00340d09a1256d3b4a34b9b.git
 
-cd 3ebe2700b00340d09a1256d3b4a34b9b
+## About
 
-# add your files to repo
+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 - 
-git push
+
+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
 ```
-cd existing_repo
+
-git remote add origin http://git-test.databall.tech:3000/databall-official/3ebe2700b00340d09a1256d3b4a34b9b.git
+### Binary Install
-git branch -M main
+To install BCR bot in the binaries:
-git push -uf origin main
+
-```
+```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)

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

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

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
+

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
+    ])

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
+    ])

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
+    ])

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
+    ])

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'"])
+
+        }.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
+    ])

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
+    ])

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
+

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
+

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
+    ])

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]),
+    ])

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,
+    ])

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models/aws_robomaker_warehouse_Bucket_01/model.config

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models/aws_robomaker_warehouse_Bucket_01/model.sdf

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models/aws_robomaker_warehouse_ClutteringA_01/meshes/aws_robomaker_warehouse_ClutteringA_01_collision.DAE

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models/aws_robomaker_warehouse_ClutteringA_01/model.config

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models/aws_robomaker_warehouse_ClutteringA_01/model.sdf

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models/aws_robomaker_warehouse_ClutteringC_01/meshes/aws_robomaker_warehouse_ClutteringC_01_collision.DAE

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models/aws_robomaker_warehouse_ClutteringC_01/model.config

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+<?xml version="1.0" ?>
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+    <name>aws_robomaker_warehouse_ClutteringC_01</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>

models/aws_robomaker_warehouse_ClutteringC_01/model.sdf

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+<?xml version="1.0" ?>
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+            </torsional>
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+        </surface>
+      </collision>
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models/aws_robomaker_warehouse_ClutteringD_01/meshes/aws_robomaker_warehouse_ClutteringD_01_collision.DAE

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models/aws_robomaker_warehouse_ClutteringD_01/model.config

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models/aws_robomaker_warehouse_ClutteringD_01/model.sdf

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models/aws_robomaker_warehouse_DeskC_01/model.config

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+<?xml version="1.0" ?>
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+    <name>aws_robomaker_warehouse_DeskC_01</name>
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models/aws_robomaker_warehouse_DeskC_01/model.sdf

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models/aws_robomaker_warehouse_GroundB_01/meshes/aws_robomaker_warehouse_GroundB_01_collision.DAE

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models/aws_robomaker_warehouse_GroundB_01/model.config

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models/aws_robomaker_warehouse_GroundB_01/model.sdf

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models/aws_robomaker_warehouse_Lamp_01/model.config

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models/aws_robomaker_warehouse_Lamp_01/model.sdf

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models/aws_robomaker_warehouse_PalletJackB_01/model.config

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models/aws_robomaker_warehouse_PalletJackB_01/model.sdf

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models/aws_robomaker_warehouse_RoofB_01/meshes/aws_robomaker_warehouse_RoofB_01_collision.DAE

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models/aws_robomaker_warehouse_RoofB_01/model.config

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models/aws_robomaker_warehouse_RoofB_01/model.sdf

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