Merge branch 'humble' into francocipollone/github

.github/CODEOWNERS

@@ -0,0 +1,4 @@
+# More info:
+# https://help.github.com/en/github/creating-cloning-and-archiving-repositories/about-code-owners
+
+*                     @agalbachicar @lneumarkt @francocipollone

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,27 @@
+---
+name: Bug report
+about: Report a bug
+labels: bug
+---
+
+
+## Environment
+* OS Version: <!-- e.g, Ubuntu 22.04 -->
+* Source or binary build?
+  <!-- If binary, which version? -->
+  <!-- If source, which branch and what is the latest commit? -->
+
+## Description
+* Expected behavior: <!-- Tell us what you expected to happen -->
+* Actual behavior: <!-- What happened instead -->
+
+## Steps to reproduce
+<!-- Provide steps so we can try to reproduce this issue -->
+
+1.
+2.
+3.
+
+## Output
+<!-- Provide screenshots, console logs, backtraces, and/or anything that could
+be useful to us resolving this issue -->

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Request a new feature
+labels: enhancement
+---
+
+
+## Desired behavior
+<!-- Describe the current problem and the feature you want implemented.-->
+
+## Alternatives considered
+<!-- Describe alternate solutions or features you've considered.-->
+
+## Implementation suggestion
+<!-- Provide a suggestion on how to implement this feature, which could help us
+expedite this implementation.-->
+
+## Additional context
+<!-- Provide any other additional context (e.g., screenshots) about your feature
+request.-->

.github/pull_request_template.md

@@ -0,0 +1,43 @@
+<!--
+Please remove the appropriate section.
+For example, if this is a new feature, remove all sections except for the "New feature" section
+
+If this is your first time opening a PR, be sure to check the contribution guide:
+https://github.com/Ekumen-OS/andino_gz/blob/humble/CONTRIBUTING.md
+-->
+
+# 🦟 Bug fix
+
+Fixes #<NUMBER>
+
+## Summary
+<!-- Describe your fix, including an explanation of how to reproduce the bug
+before and after the PR.-->
+
+## Checklist
+- [ ] Signed all commits for DCO
+- [ ] Added tests
+- [ ] Updated documentation (as needed)
+- [ ] Updated migration guide (as needed)
+
+
+🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸
+
+# 🎉 New feature
+
+Closes #<NUMBER>
+
+## Summary
+<!--Explain changes made, the expected behavior, and provide any other additional
+context (e.g., screenshots, gifs) if appropriate.-->
+
+## Test it
+<!--Explain how reviewers can test this new feature manually.-->
+
+## Checklist
+- [ ] Signed all commits for DCO
+- [ ] Added tests
+- [ ] Added example and/or tutorial
+- [ ] Updated documentation (as needed)
+- [ ] Updated migration guide (as needed)
+

README.md

@@ -63,6 +63,20 @@ If you'd like to work from ROS you can launch the ros bridge via:
 Make sure to review the required topics using `ign topics` and `ros2 topic` CLI tools.
 Also, consider using looking at the translation entries under `andino_gz/config/bridge_config.yaml`.
 
+### Spawn multiple Andinos
+
+Launch simulation as before:
+  ```sh
+  ros2 launch andino_gz andino_gz.launch.py
+  ```
+
+This will spawn only one Andino in the simulation
+
+For spawning more Andinos you can use the `spawn_robot` launch file. Make sure a different `entity` name is passed as argument as well as initial positions.
+  ```sh
+  ros2 launch andino_gz spawn_robot.launch.py entity:=andino_n initial_pose_x:=1 initial_pose_y:=1
+  ```
+
 ## :raised_hands: Contributing
 
 Issues or PRs are always welcome! Please refer to [CONTRIBUTING](CONTRIBUTING.md) doc.

andino_gz/launch/andino_gz.launch.py

@@ -11,53 +11,42 @@
 import xacro
 
 
-pkg_andino_description = get_package_share_directory('andino_description')
-pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
-pkg_andino_gz = get_package_share_directory('andino_gz')
-
-
 def generate_launch_description():
+    pkg_andino_gz = get_package_share_directory('andino_gz')
+
     rviz_arg = DeclareLaunchArgument('rviz', default_value='false', description='Start RViz.')
-    rsp_arg = DeclareLaunchArgument('rsp', default_value='false', description='Run robot state publisher node.')
     jsp_gui_arg = DeclareLaunchArgument('jsp_gui', default_value='false', description='Run joint state publisher gui node.')
 
-    # Parse robot description from xacro
-    robot_description_file = os.path.join(pkg_andino_gz, 'urdf', 'andino_gz.urdf.xacro')
-    mappings = {'use_fixed_caster': 'false'}
-    robot_description_config = xacro.process_file(robot_description_file, mappings=mappings)
-    robot_desc = robot_description_config.toprettyxml(indent='  ')
-    # Passing absolute path to the robot description due to Gazebo issues finding andino_description pkg path.
-    robot_desc = robot_desc.replace(
-        'package://andino_description/', f'file://{pkg_andino_description}/'
-    )
-
     world_name = 'depot.sdf'
     world_path = os.path.join(pkg_andino_gz, 'worlds', world_name)
 
     # Uncomment the following line to use the empty world
     # world_path = '-r empty.sdf'
 
-    # Robot state publisher
-    robot_state_publisher = Node(
-        package='robot_state_publisher',
-        executable='robot_state_publisher',
-        name='robot_state_publisher',
-        output='both',
-        parameters=[
-            {
-                'robot_description': robot_desc,
-            }
-        ],
-    )
-
     # Gazebo Sim
     gazebo = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')
+            os.path.join(get_package_share_directory('ros_gz_sim'), 'launch', 'gz_sim.launch.py')
         ),
         launch_arguments={'gz_args': world_path}.items(),
     )
 
+    # Spawn the robot and the Robot State Publisher node.
+    spawn_robot_and_rsp = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_andino_gz, 'launch', 'spawn_robot.launch.py')
+        ),
+        launch_arguments={
+            'entity': 'andino',
+            'initial_pose_x': '0',
+            'initial_pose_y': '0',
+            'initial_pose_z': '0.1',
+            'initial_pose_yaw': '0',
+            'robot_description_topic': '/robot_description',
+            'use_sim_time': 'true',
+        }.items(),
+    )
+
     # RViz
     rviz = Node(
         package='rviz2',
@@ -75,32 +64,14 @@ def generate_launch_description():
         condition=IfCondition(LaunchConfiguration('jsp_gui'))
     )
 
-    # Spawn
-    spawn = Node(
-        package='ros_gz_sim',
-        executable='create',
-        arguments=[
-            '-name', 'andino',
-            '-topic', 'robot_description',
-            '-x', '0',
-            '-y', '0',
-            '-z', '0.1',
-        ],
-        output='screen',
-    )
-
-    ld = LaunchDescription(
+    return LaunchDescription(
         [
             # Arguments and Nodes
             jsp_gui_arg,
-            rsp_arg,
             rviz_arg,
             gazebo,
+            spawn_robot_and_rsp,
             jsp_gui,
-            robot_state_publisher,
             rviz,
-            spawn,
         ]
     )
-
-    return ld

andino_gz/launch/spawn_robot.launch.py

@@ -0,0 +1,140 @@
+"""Spawn an Andino robot in new Gazebo, also launch the robot_state_publisher."""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch.substitutions import PythonExpression
+from launch_ros.actions import Node
+from xacro import process_file
+
+PKG_ANDINO_DESCRIPTION = get_package_share_directory('andino_description')
+PKG_ANDINO_GZ = get_package_share_directory('andino_gz')
+
+def get_robot_description() -> str:
+    """
+    Obtain the URDF from the xacro file.
+
+    This replace package tag by file tag to works with gazebo
+    # See  https://github.com/ros-simulation/gazebo_ros_pkgs/pull/1284
+
+    Considerations: the URDF model of the robot will be set with certain
+    presets:
+    - use_fixed_caster: false
+
+    Returns
+    -------
+        URDF of the robot with gazebo data
+
+    """
+    # Parse robot description from xacro
+    robot_description_file_path = os.path.join(PKG_ANDINO_GZ, 'urdf', 'andino_gz.urdf.xacro')
+    mappings = {'use_fixed_caster': 'false'}
+    robot_description_config = process_file(robot_description_file_path, mappings=mappings)
+    robot_desc = robot_description_config.toprettyxml(indent='  ')
+    # Passing absolute path to the robot description due to Gazebo issues finding andino_description pkg path.
+    robot_desc = robot_desc.replace(
+        'package://andino_description/', f'file://{PKG_ANDINO_DESCRIPTION}/'
+    )
+    return robot_desc
+
+
+def generate_launch_description():
+    # Arguments
+    entity = LaunchConfiguration('entity')
+    initial_pose_x = LaunchConfiguration('initial_pose_x')
+    initial_pose_y = LaunchConfiguration('initial_pose_y')
+    initial_pose_z = LaunchConfiguration('initial_pose_z')
+    initial_pose_yaw = LaunchConfiguration('initial_pose_yaw')
+    robot_description_topic = LaunchConfiguration('robot_description_topic')
+    rsp_frequency = LaunchConfiguration('rsp_frequency')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+
+    entity_argument = DeclareLaunchArgument(
+        'entity', default_value='andino', description='Name of the robot.'
+    )
+    x_argument = DeclareLaunchArgument(
+        'initial_pose_x',
+        default_value='0.0',
+        description='Initial x pose of andino in the simulation.',
+    )
+    y_argument = DeclareLaunchArgument(
+        'initial_pose_y',
+        default_value='0.0',
+        description='Initial y pose of andino in the simulation',
+    )
+    z_argument = DeclareLaunchArgument(
+        'initial_pose_z',
+        default_value='0.1',
+        description='Initial z pose of andino in the simulation.',
+    )
+    yaw_argument = DeclareLaunchArgument(
+        'initial_pose_yaw',
+        default_value='0.0',
+        description='Initial yaw pose of andino in the simulation.',
+    )
+    robot_desc_argument = DeclareLaunchArgument(
+        'robot_description_topic',
+        default_value='/robot_description',
+        description='Robot description topic.',
+    )
+    rsp_frequency_argument = DeclareLaunchArgument(
+        'rsp_frequency',
+        default_value='30.0',
+        description='Robot State Publisher frequency.',
+    )
+    use_sim_time_argument = DeclareLaunchArgument(
+        'use_sim_time',
+        default_value='true',
+        description='Use simulation (Gazebo) clock if true',
+    )
+
+    # Robot state publisher.
+    rsp_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='both',
+        parameters=[
+            {
+                'use_sim_time': use_sim_time,
+                'publish_frequency': rsp_frequency,
+                'robot_description': get_robot_description(),
+            }
+        ],
+    )
+
+    # Spawn the robot model.
+    spawn_node = Node(
+        package='ros_gz_sim',
+        executable='create',
+        arguments=[
+            '-name', entity,
+            '-topic', robot_description_topic,
+            '-x', initial_pose_x,
+            '-y', initial_pose_y,
+            '-z', initial_pose_z,
+            '-R', '0',
+            '-P', '0',
+            '-Y', initial_pose_yaw,
+        ],
+        output='screen',
+    )
+
+    return LaunchDescription(
+        [
+            entity_argument,
+            x_argument,
+            y_argument,
+            z_argument,
+            yaw_argument,
+            robot_desc_argument,
+            rsp_frequency_argument,
+            use_sim_time_argument,
+            rsp_node,
+            spawn_node,
+        ]
+    )