Merge pull request #761 from JdeRobot/test-drones-again

Test drones in urdf

Author: javizqh

CustomRobots/quadrotor/launch/quadrotor.launch.py

@@ -66,11 +66,12 @@ def launch_setup(context):
     gz_spawn_entity = Node(
         package="ros_gz_sim",
         executable="create",
+        namespace=gz_namespace,
         arguments=[
             "-topic",
-            namespace + "/robot_description",
+            "robot_description",
             "-name",
-            "quadrotor",
+            namespace,
             "-allow_renaming",
             "true",
             "-x",
@@ -104,9 +105,9 @@ def launch_setup(context):
         output="screen",
         parameters=[
             {
-                "name_space": gz_namespace,
+                "name_space": namespace,
                 "pose_frame_id": "earth",
-                "twist_frame_id": [gz_namespace, "/base_link"],
+                "twist_frame_id": namespace + "/base_link",
             },
         ],
     )
@@ -119,7 +120,7 @@ def launch_setup(context):
             ]
         ),
         launch_arguments={
-            "namespace": namespace,
+            "namespace": gz_namespace,
         }.items(),
     )
 

CustomRobots/quadrotor/models/quadrotor/quadrotor.urdf.xacro

@@ -12,7 +12,7 @@
   <xacro:quadrotor namespace="${namespace}"/>
 
   <xacro:if value="$(arg camera)">
-    <xacro:camera xyz="0 0 0" rpy="0 -1.57 0" mass="0.035" name="frontal_cam" parent="base_link" namespace="${namespace}"/>
-    <xacro:camera xyz="0 0 0" rpy="0 -1.57 0" mass="0.035" name="ventral_cam" parent="base_link" namespace="${namespace}"/>
+    <xacro:camera xyz="0 0 0" rpy="0 0 0" mass="0.035" name="frontal_cam" parent="base_link" namespace="${namespace}"/>
+    <xacro:camera xyz="0 0 0" rpy="0 1.57 0" mass="0.035" name="ventral_cam" parent="base_link" namespace="${namespace}"/>
   </xacro:if>
 </robot>

CustomRobots/quadrotor/models/quadrotor/quadrotor_common.urdf.xacro

@@ -10,19 +10,19 @@
     <color rgba="0 0 1 1.0"/>
   </material>
 
-  <xacro:macro name="rotor" params="rotor parent xyz color">
+  <xacro:macro name="rotor" params="rotor parent xyz color namespace">
     <link name='rotor_${rotor}'>
       <inertial>
         <mass value="0.005"/>
         <inertia ixx="9.75e-07" ixy="0" ixz="0" iyy="4.17041e-05" iyz="0" izz="4.26041e-05"/>
       </inertial>
 
-      <collision name='rotor_${rotor}_collision'>
+      <collision>
         <geometry>
           <cylinder length="0.005" radius="0.1"/>
         </geometry>
       </collision>
-      <visual name='rotor_${rotor}_visual'>
+      <visual>
         <geometry>
           <mesh filename="$(find as2_gazebo_assets)/models/quadrotor_base/meshes/propeller_ccw.dae" scale="0.1 0.1 0.1"/>
         </geometry>
@@ -44,11 +44,11 @@
 
   <xacro:macro name="quadrotor" params="namespace">
 
-    <link name="base"></link>
-
     <!-- This is from quadrotor_base from as2 -->
     <link name="base_link">
-      <enable_wind>true</enable_wind>
+      <gazebo>
+        <enable_wind>true</enable_wind>
+      </gazebo>
       <inertial>
         <mass value="1.5"/>
         <inertia ixx="0.025" ixy="0" ixz="0" iyy="0.009" iyz="0" izz="0.033"/>
@@ -58,7 +58,7 @@
           <box size="0.47 0.47 0.11"/>
         </geometry>
       </collision>
-      <visual name='base_link_inertia_visual'>
+      <visual>
         <geometry>
           <mesh filename="$(find as2_gazebo_assets)/models/quadrotor_base/meshes/quadrotor.dae"/>
         </geometry>
@@ -86,21 +86,15 @@
       </visual>
     </link>
 
-    <joint name="base_to_base_link" type="fixed">
-      <parent link="base"/>
-      <child link="base_link"/>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-    </joint>
-
-    <xacro:rotor rotor="0" parent="base_link" xyz="0.13 -0.22 0.023" color="Blue"/>
-    <xacro:rotor rotor="1" parent="base_link" xyz="-0.13 0.2 0.023" color="Red"/>
-    <xacro:rotor rotor="2" parent="base_link" xyz="0.13 0.22 0.023" color="Blue"/>
-    <xacro:rotor rotor="3" parent="base_link" xyz="-0.13 -0.2 0.023" color="Red"/>
+    <xacro:rotor rotor="0" parent="base_link" xyz="0.13 -0.22 0.023" color="Blue" namespace="${namespace}"/>
+    <xacro:rotor rotor="1" parent="base_link" xyz="-0.13 0.2 0.023" color="Red" namespace="${namespace}"/>
+    <xacro:rotor rotor="2" parent="base_link" xyz="0.13 0.22 0.023" color="Blue" namespace="${namespace}"/>
+    <xacro:rotor rotor="3" parent="base_link" xyz="-0.13 -0.2 0.023" color="Red" namespace="${namespace}"/>
 
-    <xacro:imu mass="0.005" parent="base_link"/>
-    <xacro:velocity namespace="${namespace}"/>
     <xacro:tf freq="100"/>
-    <xacro:odom topic="/${namespace}/odom" freq="100"/>
+    <xacro:imu mass="0.005" parent="base_link" namespace="${namespace}"/>
+    <xacro:odom topic="odom" freq="100" namespace="${namespace}"/>
     <xacro:motors namespace="${namespace}"/>
+    <xacro:velocity namespace="${namespace}"/>
   </xacro:macro>
 </robot>

CustomRobots/quadrotor/models/quadrotor/quadrotor_gz.urdf.xacro

@@ -100,19 +100,19 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="odom" params="topic freq">
+  <xacro:macro name="odom" params="topic freq namespace">
     <gazebo>
       <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
         <!-- <odom_frame>odom</odom_frame>
-        <robot_base_frame>base</robot_base_frame>
+        <robot_base_frame>base_link</robot_base_frame>
         <odom_topic>${topic}</odom_topic> -->
         <odom_publish_frequency>${freq}</odom_publish_frequency>
         <dimensions>3</dimensions>
       </plugin>
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="imu" params="parent mass">
+  <xacro:macro name="imu" params="parent mass namespace">
     <gazebo>
       <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu">
       </plugin>
@@ -244,7 +244,7 @@
         <motorConstant>8.54858e-06</motorConstant>
         <momentConstant>0.016</momentConstant>
         <commandSubTopic>command/motor_speed</commandSubTopic>
-        <motorNumber>${rotor-1}</motorNumber>
+        <actuator_number>${rotor-1}</actuator_number>
         <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
         <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
         <motorSpeedPubTopic>motor_speed/${rotor-1}</motorSpeedPubTopic>

Launchers/3d_reconstruction.launch.py

@@ -1,22 +1,16 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
-from launch.actions import (
-    IncludeLaunchDescription,
-    SetEnvironmentVariable,
-    AppendEnvironmentVariable,
-)
+from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.actions import Node
 
 
 def generate_launch_description():
-    package_dir = get_package_share_directory("custom_robots")
     ros_gz_sim = get_package_share_directory("ros_gz_sim")
 
-    gazebo_models_path = os.path.join(package_dir, "models")
-
     world_file_name = "kobuki_1_reconstruction3d.world"
     worlds_dir = "/opt/jderobot/Worlds"
     world_path = os.path.join(worlds_dir, world_file_name)
@@ -39,13 +33,6 @@ def generate_launch_description():
     )
 
     ld = LaunchDescription()
-
-    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
-    set_env_vars_resources = AppendEnvironmentVariable(
-        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
-    )
-    ld.add_action(set_env_vars_resources)
-
     ld.add_action(gazebo_server)
     ld.add_action(world_entity_cmd)
 

Launchers/autopark_battery.launch.py

@@ -3,26 +3,14 @@
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import (
-    DeclareLaunchArgument,
-    IncludeLaunchDescription,
-    SetEnvironmentVariable,
-    AppendEnvironmentVariable,
-)
+from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, Command
 from launch_ros.actions import Node
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-from launch_ros.parameter_descriptions import ParameterValue
 
 
 def generate_launch_description():
-    package_dir = get_package_share_directory("custom_robots")
     ros_gz_sim = get_package_share_directory("ros_gz_sim")
 
-    gazebo_models_path = os.path.join(package_dir, "models")
-
     world_file_name = "autopark_battery.world"
     worlds_dir = "/opt/jderobot/Worlds"
     world_path = os.path.join(worlds_dir, world_file_name)
@@ -45,13 +33,6 @@ def generate_launch_description():
     )
 
     ld = LaunchDescription()
-
-    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
-    set_env_vars_resources = AppendEnvironmentVariable(
-        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
-    )
-    ld.add_action(set_env_vars_resources)
-
     ld.add_action(gazebo_server)
     ld.add_action(world_entity_cmd)
 

Launchers/autopark_line.launch.py

@@ -3,26 +3,14 @@
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import (
-    DeclareLaunchArgument,
-    IncludeLaunchDescription,
-    SetEnvironmentVariable,
-    AppendEnvironmentVariable,
-)
+from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, Command
 from launch_ros.actions import Node
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-from launch_ros.parameter_descriptions import ParameterValue
 
 
 def generate_launch_description():
-    package_dir = get_package_share_directory("custom_robots")
     ros_gz_sim = get_package_share_directory("ros_gz_sim")
 
-    gazebo_models_path = os.path.join(package_dir, "models")
-
     world_file_name = "autopark_line.world"
     worlds_dir = "/opt/jderobot/Worlds"
     world_path = os.path.join(worlds_dir, world_file_name)
@@ -45,13 +33,6 @@ def generate_launch_description():
     )
 
     ld = LaunchDescription()
-
-    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
-    set_env_vars_resources = AppendEnvironmentVariable(
-        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
-    )
-    ld.add_action(set_env_vars_resources)
-
     ld.add_action(gazebo_server)
     ld.add_action(world_entity_cmd)
 

Launchers/autopark_sideways.launch.py

@@ -3,26 +3,14 @@
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import (
-    DeclareLaunchArgument,
-    IncludeLaunchDescription,
-    SetEnvironmentVariable,
-    AppendEnvironmentVariable,
-)
+from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, Command
 from launch_ros.actions import Node
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-from launch_ros.parameter_descriptions import ParameterValue
 
 
 def generate_launch_description():
-    package_dir = get_package_share_directory("custom_robots")
     ros_gz_sim = get_package_share_directory("ros_gz_sim")
 
-    gazebo_models_path = os.path.join(package_dir, "models")
-
     world_file_name = "autopark_sideways.world"
     worlds_dir = "/opt/jderobot/Worlds"
     world_path = os.path.join(worlds_dir, world_file_name)
@@ -45,13 +33,6 @@ def generate_launch_description():
     )
 
     ld = LaunchDescription()
-
-    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
-    set_env_vars_resources = AppendEnvironmentVariable(
-        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
-    )
-    ld.add_action(set_env_vars_resources)
-
     ld.add_action(gazebo_server)
     ld.add_action(world_entity_cmd)
 

Launchers/basic_city.launch.py

@@ -1,22 +1,16 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
-from launch.actions import (
-    IncludeLaunchDescription,
-    SetEnvironmentVariable,
-    AppendEnvironmentVariable,
-)
+from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.actions import Node
 
 
 def generate_launch_description():
-    package_dir = get_package_share_directory("custom_robots")
     ros_gz_sim = get_package_share_directory("ros_gz_sim")
 
-    gazebo_models_path = os.path.join(package_dir, "models")
-
     world_file_name = "basic_city.world"
     worlds_dir = "/opt/jderobot/Worlds"
     world_path = os.path.join(worlds_dir, world_file_name)
@@ -39,13 +33,6 @@ def generate_launch_description():
     )
 
     ld = LaunchDescription()
-
-    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
-    set_env_vars_resources = AppendEnvironmentVariable(
-        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
-    )
-    ld.add_action(set_env_vars_resources)
-
     ld.add_action(gazebo_server)
     ld.add_action(world_entity_cmd)