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Add canadarm_gazebo package for ignition gazebo integration
resolves space-ros/space-ros#178 - Add canadarm_description package - Move earth and iss world models to canadarm_gazebo
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| Original file line number | Diff line number | Diff line change |
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| build/ | ||
| install/ | ||
| log/ |
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| cmake_minimum_required(VERSION 3.8) | ||
| project(canadarm_gazebo) | ||
|
|
||
| if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
| add_compile_options(-Wall -Wextra -Wpedantic) | ||
| endif() | ||
|
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||
| # find dependencies | ||
| find_package(ament_cmake REQUIRED) | ||
| find_package(canadarm_description REQUIRED) | ||
|
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| install(DIRECTORY | ||
| launch | ||
| models | ||
| worlds | ||
| DESTINATION share/${PROJECT_NAME} | ||
| ) | ||
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||
| 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() | ||
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||
| ament_package() |
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| """Canadarm2 Gazebo launch file.""" | ||
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| import os | ||
| from launch import LaunchDescription # type: ignore | ||
| from launch.actions import ExecuteProcess, RegisterEventHandler # type: ignore | ||
| from launch.event_handlers import OnProcessExit # type: ignore | ||
| from launch_ros.actions import Node # type: ignore | ||
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| from ament_index_python.packages import get_package_share_directory # type: ignore | ||
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| import xacro # type: ignore | ||
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| def generate_launch_description(): | ||
| """Generate launch description with multiple components.""" | ||
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| canadarm_gazebo_path = get_package_share_directory("canadarm_gazebo") | ||
| simulation_models_path = get_package_share_directory("canadarm_description") | ||
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| 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=""), | ||
| canadarm_gazebo_path + "/models", | ||
| ] | ||
| ), | ||
| } | ||
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| urdf_model_path = os.path.join( | ||
| simulation_models_path, | ||
| "models", | ||
| "urdf", | ||
| "SSRMS_Canadarm2.urdf.xacro", | ||
| ) | ||
| leo_model = os.path.join(canadarm_gazebo_path, "worlds", "simple.world") | ||
|
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| doc = xacro.process_file( | ||
| urdf_model_path, mappings={"xyz": "1.0 0.0 1.5", "rpy": "3.1416 0.0 0.0"} | ||
| ) | ||
| robot_description = {"robot_description": doc.toxml()} | ||
|
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| start_world = ExecuteProcess( | ||
| cmd=["ign gazebo", leo_model, "-r"], | ||
| output="screen", | ||
| additional_env=env, | ||
| shell=True, | ||
| ) | ||
|
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| robot_state_publisher = Node( | ||
| package="robot_state_publisher", | ||
| executable="robot_state_publisher", | ||
| name="robot_state_publisher", | ||
| output="screen", | ||
| parameters=[robot_description], | ||
| ) | ||
|
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| spawn = Node( | ||
| package="ros_ign_gazebo", | ||
| executable="create", | ||
| arguments=[ | ||
| "-name", | ||
| "canadarm", | ||
| "-topic", | ||
| robot_description, | ||
| ], | ||
| output="screen", | ||
| ) | ||
|
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| # Control | ||
| load_joint_state_broadcaster = ExecuteProcess( | ||
| cmd=[ | ||
| "ros2", | ||
| "control", | ||
| "load_controller", | ||
| "--set-state", | ||
| "active", | ||
| "joint_state_broadcaster", | ||
| ], | ||
| output="screen", | ||
| ) | ||
|
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| load_canadarm_joint_controller = ExecuteProcess( | ||
| cmd=[ | ||
| "ros2", | ||
| "control", | ||
| "load_controller", | ||
| "--set-state", | ||
| "active", | ||
| "canadarm_joint_trajectory_controller", | ||
| ], | ||
| output="screen", | ||
| ) | ||
|
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| return LaunchDescription( | ||
| [ | ||
| start_world, | ||
| robot_state_publisher, | ||
| spawn, | ||
| RegisterEventHandler( | ||
| OnProcessExit( | ||
| target_action=spawn, | ||
| on_exit=[load_joint_state_broadcaster], | ||
| ) | ||
| ), | ||
| RegisterEventHandler( | ||
| OnProcessExit( | ||
| target_action=load_joint_state_broadcaster, | ||
| on_exit=[load_canadarm_joint_controller], | ||
| ) | ||
| ), | ||
| ] | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,27 @@ | ||
| <?xml version="1.0"?> | ||
| <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="3"> | ||
| <name>canadarm_gazebo</name> | ||
| <version>0.0.0</version> | ||
| <description>TODO: Package description</description> | ||
| <maintainer email="franklinselva10@gmail.com">franklinselva</maintainer> | ||
| <license>TODO: License declaration</license> | ||
|
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| <buildtool_depend>ament_cmake</buildtool_depend> | ||
| <depend>canadarm_description</depend> | ||
| <depend>ros_gz</depend> | ||
|
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| <exec_depend>ign_ros2_control</exec_depend> | ||
| <exec_depend>ros2_control</exec_depend> | ||
| <exec_depend>ros2_controllers</exec_depend> | ||
|
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| <test_depend>ament_lint_auto</test_depend> | ||
| <test_depend>ament_lint_common</test_depend> | ||
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| <test_depend>ament_lint_auto</test_depend> | ||
| <test_depend>ament_lint_common</test_depend> | ||
|
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| <export> | ||
| <build_type>ament_cmake</build_type> | ||
| </export> | ||
| </package> |
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