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Allows world selection from launch file. #36

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Apr 22, 2024
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Allows world selection from launch file. #36

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2 changes: 2 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,8 @@ Once the package is built and sourced, you can start a simulation.
ros2 launch andino_gz andino_gz.launch.py
```

_Note: You can use `--world_name` flag to indicate other [world](andino_gz/worlds/) to use. (For example: `depot.sdf`(default), `empty.sdf`)_

If you'd like to work from ROS you can launch the ros bridge via:

```sh
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11 changes: 5 additions & 6 deletions andino_gz/launch/andino_gz.launch.py
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Expand Up @@ -6,7 +6,7 @@
from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
import xacro

Expand All @@ -16,12 +16,10 @@ def generate_launch_description():

rviz_arg = DeclareLaunchArgument('rviz', default_value='false', description='Start RViz.')
jsp_gui_arg = DeclareLaunchArgument('jsp_gui', default_value='false', description='Run joint state publisher gui node.')
world_name_arg = DeclareLaunchArgument('world_name', default_value='depot.sdf', description='Name of the world to load.')

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'
world_name = LaunchConfiguration('world_name')
world_path = PathJoinSubstitution([pkg_andino_gz, 'worlds', world_name])

# Gazebo Sim
gazebo = IncludeLaunchDescription(
Expand Down Expand Up @@ -69,6 +67,7 @@ def generate_launch_description():
# Arguments and Nodes
jsp_gui_arg,
rviz_arg,
world_name_arg,
gazebo,
spawn_robot_and_rsp,
jsp_gui,
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210 changes: 210 additions & 0 deletions andino_gz/worlds/empty.sdf
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@@ -0,0 +1,210 @@
<?xml version='1.0' encoding='ASCII'?>
<sdf version='1.7'>
<world name='empty'>
<physics name='1ms' type='ignored'>
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
</physics>
<plugin name='ignition::gazebo::systems::Physics' filename='libignition-gazebo-physics-system.so'/>
<plugin name='ignition::gazebo::systems::UserCommands' filename='libignition-gazebo-user-commands-system.so'/>
<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='libignition-gazebo-scene-broadcaster-system.so'/>
<plugin name="ignition::gazebo::systems::Sensors" filename="libignition-gazebo-sensors-system.so">
<render_engine>ogre2</render_engine>
</plugin>

<scene>
<ambient>1 1 1 1</ambient>
<background>0.8 0.8 0.8 1.0</background>
<shadows>1</shadows>
<grid>1</grid>
</scene>

<gui fullscreen="0">

<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-0.7 0.7 0.7 0 0.3 -0.3</camera_pose>
</plugin>

<!-- Play / pause / step -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>

</plugin>

<!-- Time / RTF -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>

</plugin>

<!-- Insert simple shapes -->
<plugin filename="Shapes" name="Shapes">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">0</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</ignition-gui>
</plugin>

<!-- Insert lights -->
<plugin filename="Lights" name="Lights">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">250</property>
<property key="y" type="double">0</property>
<property key="width" type="double">150</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</ignition-gui>
</plugin>

<!-- Translate / rotate -->
<plugin filename="TransformControl" name="Transform control">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">50</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</ignition-gui>
</plugin>

<!-- Screenshot -->
<plugin filename="Screenshot" name="Screenshot">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">250</property>
<property key="y" type="double">50</property>
<property key="width" type="double">50</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</ignition-gui>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<ignition-gui>
<property type="string" key="state">docked_collapsed</property>
</ignition-gui>
</plugin>

<!-- Inspector -->
<plugin filename="ComponentInspector" name="Component inspector">
<ignition-gui>
<property type="string" key="state">docked_collapsed</property>
</ignition-gui>
</plugin>

<!-- Teleop -->
<plugin filename="Teleop" name="Teleop">
<ignition-gui>
<property type="string" key="state">docked_collapsed</property>
</ignition-gui>
<topic>/model/andino/cmd_vel</topic>
</plugin>

<!-- Image of the Camera display -->
<plugin filename="ImageDisplay" name="Image Display">
<ignition-gui>
<property key="state" type="string">docked</property>
</ignition-gui>
</plugin>

</gui>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>10 10</size>
</plane>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
</link>
<pose>0 0 0 0 0 0</pose>
</model>

</world>
</sdf>
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