Merge remote-tracking branch 'origin/humble' into mergify/bp/humble/p…

…r-299
Robotic-Decision-Making-Lab · Sep 14, 2024 · c9327f6 · c9327f6
2 parents f0c3ce2 + cba3a86
commit c9327f6
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Showing 11 changed files with 8 additions and 108 deletions.
diff --git a/.docker/Dockerfile b/.docker/Dockerfile
@@ -205,13 +205,6 @@ export GZ_SIM_SYSTEM_PLUGIN_PATH=\$HOME/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_P
 
 # Add ardupilot_gazebo models and worlds
 export GZ_SIM_RESOURCE_PATH=\$HOME/ardupilot_gazebo/models:\$HOME/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH
-
-# Add blue models and worlds
-BLUE_DESCRIPTION=\$USER_WORKSPACE/src/blue/blue_description
-export GZ_SIM_RESOURCE_PATH=\$BLUE_DESCRIPTION/gazebo/models:\$BLUE_DESCRIPTION/gazebo/worlds:\$GZ_SIM_RESOURCE_PATH
-
-# Add blue meshes
-export GZ_SIM_RESOURCE_PATH=\$BLUE_DESCRIPTION/meshes:\$GZ_SIM_RESOURCE_PATH
 EOT
 
 FROM desktop AS desktop-nvidia

diff --git a/.docker/compose/nouveau-desktop.yaml b/.docker/compose/nouveau-desktop.yaml
@@ -1,4 +1,3 @@
-version: "3"
 services:
   blue:
     image: ghcr.io/robotic-decision-making-lab/blue:humble-desktop

diff --git a/.docker/compose/nvidia-desktop.yaml b/.docker/compose/nvidia-desktop.yaml
@@ -1,4 +1,3 @@
-version: "3"
 services:
   blue:
     image: ghcr.io/robotic-decision-making-lab/blue:humble-desktop-nvidia

diff --git a/blue_bringup/launch/bluerov2/bluerov2.launch.yaml b/blue_bringup/launch/bluerov2/bluerov2.launch.yaml
@@ -39,7 +39,7 @@ launch:
 
   - arg:
       name: gazebo_world_file
-      default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world
+      default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world
 
   - arg:
       name: mavros_file

diff --git a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml
@@ -39,7 +39,7 @@ launch:
 
   - arg:
       name: gazebo_world_file
-      default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world
+      default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world
 
   - arg:
       name: mavros_file

diff --git a/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml b/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml
@@ -39,7 +39,7 @@ launch:
 
   - arg:
       name: gazebo_world_file
-      default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world
+      default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world
 
   - arg:
       name: mavros_file

diff --git a/blue_description/CMakeLists.txt b/blue_description/CMakeLists.txt
@@ -8,4 +8,6 @@ install(
   DESTINATION share/blue_description
 )
 
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/hooks.dsv.in")
+
 ament_package()
diff --git a/blue_description/gazebo/worlds/bluerov2_heavy_reach_underwater.world b/blue_description/gazebo/worlds/bluerov2_heavy_reach_underwater.world
diff --git a/blue_description/gazebo/worlds/bluerov2_heavy_underwater.world b/blue_description/gazebo/worlds/bluerov2_heavy_underwater.world
diff --git a/...n/gazebo/worlds/bluerov2_underwater.world → ...escription/gazebo/worlds/underwater.world b/...n/gazebo/worlds/bluerov2_underwater.world → ...escription/gazebo/worlds/underwater.world
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <sdf version="1.6">
-  <world name="bluerov2_underwater">
+  <world name="underwater_world">
 
     <plugin
       filename="gz-sim-physics-system"
@@ -31,7 +31,6 @@
           <density>1</density>
         </density_change>
       </graded_buoyancy>
-      <enable>bluerov2</enable>
     </plugin>
 
     <include>

diff --git a/blue_description/hooks/hooks.dsv.in b/blue_description/hooks/hooks.dsv.in
@@ -0,0 +1,2 @@
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/gazebo/models
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/gazebo/worlds
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/gazebo/models
		prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/gazebo/worlds