Move maps into config/rmf

Signed-off-by: Yadunund <yadunund@gmail.com>

nexus_integration_tests/CMakeLists.txt

@@ -115,7 +115,7 @@ add_custom_target(generate_zenoh_bridge_configs ALL
   COMMAND ros2 run nexus_network_configuration nexus_network_configuration -n ${nexus_network_cfg_path} -o ${zenoh_cfg_output_dir}
 )
 
-install(DIRECTORY launch config rviz scripts maps DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY launch config rviz scripts DESTINATION share/${PROJECT_NAME})
 # Install the zenoh config directory containing generated configs.
 message("zenoh_cfg_output_dir: " ${zenoh_cfg_output_dir})
 install(DIRECTORY ${zenoh_cfg_output_dir} DESTINATION share/${PROJECT_NAME}/config/)
@@ -178,15 +178,15 @@ endif()
 
 # Modified from rmf_demos_maps
 # Get absolute path of the building map
-set(building_map "maps/depot/depot.building.yaml")
+set(building_map "config/rmf/maps/depot/depot.building.yaml")
 get_filename_component(building_map_path ${building_map} REALPATH)
 
 # Get the output world name
 string(REGEX REPLACE "\\.[^.]*\.[^.]*$" "" no_extension_path ${building_map_path})
 string(REGEX MATCH "[^\/]+$" world_name  ${no_extension_path})
 
 set(output_world_name ${world_name})
-set(output_dir ${CMAKE_CURRENT_BINARY_DIR}/maps/${output_world_name})
+set(output_dir ${CMAKE_CURRENT_BINARY_DIR}/config/rmf/maps/${output_world_name})
 set(output_world_path ${output_dir}/${output_world_name}.world)
 set(output_model_dir ${output_dir}/models)
 
@@ -199,15 +199,15 @@ message("REPLACING ROBOT MODELS WITH THOSE FROM FUEL")
 if (NO_DOWNLOAD_MODELS)
   add_custom_command(
     DEPENDS ${building_map_path}
-    COMMAND ros2 run rmf_building_map_tools building_map_generator gazebo ${building_map_path} ${output_world_path} ${output_model_dir} --TEMPLATE_WORLD_FILE ${CMAKE_CURRENT_SOURCE_DIR}/maps/depot/depot_template.sdf --SKIP_CAMERA_POSE
+    COMMAND ros2 run rmf_building_map_tools building_map_generator gazebo ${building_map_path} ${output_world_path} ${output_model_dir} --TEMPLATE_WORLD_FILE ${CMAKE_CURRENT_SOURCE_DIR}/config/rmf/maps/depot/depot_template.sdf --SKIP_CAMERA_POSE
     COMMAND sed -i 's|<uri>model:\/\/DeliveryRobot<\/uri>|<uri>https:\/\/fuel.gazebosim.org\/1.0\/Open-RMF\/models\/DeliveryRobotWithConveyor<\/uri>|g' ${output_world_path}
     OUTPUT ${output_world_path}
   )
 else()
   message("DOWNLOADING MODELS WITH COMMAND: ros2 run rmf_building_map_tools building_map_model_downloader ${building_map_path}")
   add_custom_command(
     DEPENDS ${building_map_path}
-    COMMAND ros2 run rmf_building_map_tools building_map_generator gazebo ${building_map_path} ${output_world_path} ${output_model_dir} --TEMPLATE_WORLD_FILE ${CMAKE_CURRENT_SOURCE_DIR}/maps/depot/depot_template.sdf --SKIP_CAMERA_POSE
+    COMMAND ros2 run rmf_building_map_tools building_map_generator gazebo ${building_map_path} ${output_world_path} ${output_model_dir} --TEMPLATE_WORLD_FILE ${CMAKE_CURRENT_SOURCE_DIR}/config/rmf/maps/depot/depot_template.sdf --SKIP_CAMERA_POSE
     COMMAND sed -i 's|<uri>model:\/\/DeliveryRobot<\/uri>|<uri>https:\/\/fuel.gazebosim.org\/1.0\/Open-RMF\/models\/DeliveryRobotWithConveyor<\/uri>|g' ${output_world_path}
     COMMAND ros2 run rmf_building_map_tools building_map_model_downloader ${building_map_path} -e ~/.gazebo/models
     OUTPUT ${output_world_path}
@@ -232,7 +232,7 @@ add_custom_target(generate_${output_world_name}_nav_graphs ALL
 
 install(
   DIRECTORY ${output_dir}
-  DESTINATION share/${PROJECT_NAME}/maps
+  DESTINATION share/${PROJECT_NAME}/config/rmf/maps
 )
 
 ament_package()

nexus_integration_tests/launch/rmf_transporter.launch.xml

@@ -22,7 +22,7 @@
 
   <!-- Building Map  -->
   <group>
-    <node pkg="rmf_building_map_tools" exec="building_map_server" args="$(find-pkg-share nexus_integration_tests)/maps/$(var building_map_name)/$(var building_map_name).building.yaml">
+    <node pkg="rmf_building_map_tools" exec="building_map_server" args="$(find-pkg-share nexus_integration_tests)/config/rmf/maps/$(var building_map_name)/$(var building_map_name).building.yaml">
       <param name="use_sim_time" value="$(var use_simulator)"/>
     </node>
   </group>
@@ -50,7 +50,7 @@
   <group>
     <include file="$(find-pkg-share rmf_demos_fleet_adapter)/launch/fleet_adapter.launch.xml">
       <arg name="use_sim_time" value="$(var use_simulator)"/>
-      <arg name="nav_graph_file" value="$(find-pkg-share nexus_integration_tests)/maps/$(var building_map_name)/nav_graphs/0.yaml" />
+      <arg name="nav_graph_file" value="$(find-pkg-share nexus_integration_tests)/config/rmf/maps/$(var building_map_name)/nav_graphs/0.yaml" />
       <arg name="config_file" value="$(find-pkg-share nexus_integration_tests)/config/rmf/deliveryRobot_config.yaml"/>
     </include>
   </group>
@@ -63,8 +63,8 @@
   <!-- Simulator launch -->
   <let name="gz_headless" if="$(var headless)" value="-s"/>
   <let name="gz_headless" unless="$(var headless)" value="" />
-  <let name="world_path" value="$(find-pkg-share nexus_integration_tests)/maps/$(var building_map_name)/$(var building_map_name).world" />
-  <let name="model_path" value="$(find-pkg-share nexus_integration_tests)/maps/$(var building_map_name)/models" />
+  <let name="world_path" value="$(find-pkg-share nexus_integration_tests)/config/rmf/maps/$(var building_map_name)/$(var building_map_name).world" />
+  <let name="model_path" value="$(find-pkg-share nexus_integration_tests)/config/rmf/maps/$(var building_map_name)/models" />
 
   <executable if="$(var use_simulator)" cmd="gz sim $(var gz_headless) -r -v 3 $(var world_path) -z $(var sim_update_rate)" output="both">
     <env name="GZ_SIM_RESOURCE_PATH" value="$(var model_path):$(var world_path)" />