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Add curiosity_gazebo package for ignition gazebo integration
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resolves space-ros/space-ros#178

 - Fix control parameters for curiosity_description
 - Move curiosity_path world to curiosity_gazebo
 - Add launch file for spinning of gazebo world
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@franklinselva
franklinselva committed Sep 10, 2024
1 parent 688c0b4 commit 195cbd9
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Showing 12 changed files with 518 additions and 25 deletions.
43 changes: 43 additions & 0 deletions curiosity_rover/curiosity_gazebo/CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(curiosity_gazebo)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_python REQUIRED)
find_package(control_msgs REQUIRED)
find_package(curiosity_description REQUIRED)
find_package(rclcpp REQUIRED)
find_package(ament_cmake REQUIRED)

install(DIRECTORY
config
launch
models
worlds
DESTINATION share/${PROJECT_NAME}
)

ament_python_install_package(${PROJECT_NAME})

install(PROGRAMS
nodes/odom_tf_publisher
DESTINATION lib/${PROJECT_NAME}
)

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()

ament_package()
0 ...rover_demo/config/mars_rover_control.yaml → ...ity_gazebo/config/mars_rover_control.yaml
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Empty file added curiosity_rover/curiosity_gazebo/curiosity_gazebo/__init__.py
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240 changes: 240 additions & 0 deletions curiosity_rover/curiosity_gazebo/launch/curiosity_gazebo.launch.py
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"""Mars Rover Demo Launch File."""

import os

from http.server import executable
from launch import LaunchDescription
from launch.actions import (
DeclareLaunchArgument,
ExecuteProcess,
RegisterEventHandler,
IncludeLaunchDescription,
)
from launch.substitutions import (
TextSubstitution,
PathJoinSubstitution,
LaunchConfiguration,
Command,
)
from launch_ros.actions import Node, SetParameter
from launch_ros.substitutions import FindPackageShare
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.event_handlers import OnProcessExit, OnExecutionComplete

from ament_index_python.packages import get_package_share_directory

import xacro


def generate_launch_description():
"""Launch the mars rover demo."""

curiosity_gazebo_path = get_package_share_directory("curiosity_gazebo")
curiosity_rover_models_path = get_package_share_directory("curiosity_description")

env = {
"IGN_GAZEBO_SYSTEM_PLUGIN_PATH": ":".join(
[
os.environ.get("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", default=""),
os.environ.get("LD_LIBRARY_PATH", default=""),
]
),
"IGN_GAZEBO_RESOURCE_PATH": ":".join(
[
os.environ.get("IGN_GAZEBO_RESOURCE_PATH", default=""),
curiosity_gazebo_path + "/models",
curiosity_rover_models_path,
]
),
}

urdf_model_path = os.path.join(
curiosity_rover_models_path,
"models",
"urdf",
"curiosity_mars_rover.xacro",
)
mars_world_model = os.path.join(
curiosity_gazebo_path, "worlds", "mars_curiosity.world"
)

doc = xacro.process_file(urdf_model_path)
robot_description = {"robot_description": doc.toxml()}

odom_node = Node(
package="curiosity_gazebo",
executable="odom_tf_publisher",
name="odom_tf_publisher",
output="screen",
)

start_world = ExecuteProcess(
cmd=["ign gazebo", mars_world_model, "-r"],
output="screen",
additional_env=env,
shell=True,
)

robot_state_publisher = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
name="robot_state_publisher",
output="screen",
parameters=[robot_description],
)

ros_gz_bridge = Node(
package="ros_gz_bridge",
executable="parameter_bridge",
arguments=[
"/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock",
"/model/curiosity_mars_rover/odometry@nav_msgs/msg/Odometry@ignition.msgs.Odometry",
"/scan@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan",
],
output="screen",
)

image_bridge = Node(
package="ros_gz_image",
executable="image_bridge",
arguments=["/image_raw", "/image_raw"],
output="screen",
)

spawn = Node(
package="ros_ign_gazebo",
executable="create",
arguments=[
"-name",
"curiosity_mars_rover",
"-topic",
robot_description,
"-z",
"-7.5",
],
output="screen",
)

## Control Components

component_state_msg = '{name: "IgnitionSystem", target_state: {id: 3, label: ""}}'

## a hack to resolve current bug
set_hardware_interface_active = ExecuteProcess(
cmd=[
"ros2",
"service",
"call",
"controller_manager/set_hardware_component_state",
"controller_manager_msgs/srv/SetHardwareComponentState",
component_state_msg,
]
)

load_joint_state_broadcaster = ExecuteProcess(
cmd=[
"ros2",
"control",
"load_controller",
"--set-state",
"active",
"joint_state_broadcaster",
],
output="screen",
)

load_arm_joint_traj_controller = ExecuteProcess(
cmd=[
"ros2",
"control",
"load_controller",
"--set-state",
"active",
"arm_joint_trajectory_controller",
],
output="screen",
)

load_mast_joint_traj_controller = ExecuteProcess(
cmd=[
"ros2",
"control",
"load_controller",
"--set-state",
"active",
"mast_joint_trajectory_controller",
],
output="screen",
)

load_wheel_joint_traj_controller = ExecuteProcess(
cmd=[
"ros2",
"control",
"load_controller",
"--set-state",
"active",
"wheel_velocity_controller",
],
output="screen",
)

load_steer_joint_traj_controller = ExecuteProcess(
cmd=[
"ros2",
"control",
"load_controller",
"--set-state",
"active",
"steer_position_controller",
],
output="screen",
)

load_suspension_joint_traj_controller = ExecuteProcess(
cmd=[
"ros2",
"control",
"load_controller",
"--set-state",
"active",
"wheel_tree_position_controller",
],
output="screen",
)

return LaunchDescription(
[
SetParameter(name="use_sim_time", value=True),
start_world,
robot_state_publisher,
spawn,
odom_node,
ros_gz_bridge,
image_bridge,
RegisterEventHandler(
OnProcessExit(
target_action=spawn,
on_exit=[set_hardware_interface_active],
)
),
RegisterEventHandler(
OnProcessExit(
target_action=set_hardware_interface_active,
on_exit=[load_joint_state_broadcaster],
)
),
RegisterEventHandler(
OnProcessExit(
target_action=load_joint_state_broadcaster,
on_exit=[
load_arm_joint_traj_controller,
load_mast_joint_traj_controller,
load_wheel_joint_traj_controller,
load_steer_joint_traj_controller,
load_suspension_joint_traj_controller,
],
)
),
]
)
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99 changes: 99 additions & 0 deletions curiosity_rover/curiosity_gazebo/models/curiosity_path/meshes/mars_path_simple1.dae
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13 changes: 13 additions & 0 deletions curiosity_rover/curiosity_gazebo/models/curiosity_path/model.config
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<?xml version="1.0"?>
<model>
<name>curiosity_path</name>
<version>0.1.0</version>
<author>
<name>Miguel Angel Rodriguez</name>
<email>duckfrost@theconstructsim.com</email>
</author>
<sdf version="1.9">model.sdf</sdf>
<description>
NASA's most advanced Mars rover Curiosity has landed on the Red Planet.Source 3D Models: https://nasa3d.arc.nasa.gov/detail/curiosity-path
</description>
</model>
66 changes: 66 additions & 0 deletions curiosity_rover/curiosity_gazebo/models/curiosity_path/model.sdf
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<?xml version="1.0" ?>
<sdf version='1.9'>
<model name="curiosity_path">
<static>1</static>
<link name="link">
<inertial>
<mass>0.25</mass>
<inertia>
<ixx>0.00015</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.00015</iyy>
<iyz>0.000000</iyz>
<izz>0.00015</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://curiosity_path/meshes/curiosity_path.stl</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>30.0</mu>
<mu2>30.0</mu2>
</ode>
</friction>
<contact>
<ode>
<kp>1000000.0</kp>
<kd>100.0</kd>
<max_vel>1.0</max_vel>
<min_depth>0.002</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://curiosity_path/meshes/mars_path_simple1.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<!--
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
-->
</visual>
<velocity_decay>
<linear>0.000000</linear>
<angular>0.000000</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
</sdf>
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