fix startup

Signed-off-by: Alberto Soragna <[email protected]>
iRobotEducation · Jun 15, 2024 · 4c1b57f · 4c1b57f
1 parent 515804e
commit 4c1b57f
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diff --git a/README.md b/README.md
@@ -41,6 +41,7 @@ mkdir -p ~/create3_ws/src
 ```
 
 - Clone this repository into the src directory from above.
+- Clone the []`irobot_create_msgs` repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace
 
 - Navigate to the workspace and install ROS 2 dependencies with:
 
@@ -53,65 +54,12 @@ rosdep install --from-path src -yi
 - Build the workspace with:
 
 ```bash
-export IGNITION_VERSION=fortress
 colcon build --symlink-install
 source install/local_setup.bash
 ```
 
 ## Run
 
-#### Classic Gazebo
-
-##### Empty world
-
-Create® 3 can be spawned in an empty world in Gazebo and monitored through RViz with:
-
-```bash
-ros2 launch irobot_create_gazebo_bringup create3_gazebo.launch.py
-```
-
-The spawn point can be changed with the `x`, `y`, `z` and `yaw` launch arguments:
-
-```bash
-ros2 launch irobot_create_gazebo_bringup create3_gazebo.launch.py x:=1.0 y:=0.5 yaw:=1.5707
-```
-
-##### Namespacing
-
-A namespace can be applied to the robot using the `namespace` launch argument:
-
-```bash
-ros2 launch irobot_create_gazebo_bringup create3_gazebo.launch.py namespace:=my_robot
-```
-
-Multiple robots can be spawned with unique namespaces:
-
-```bash
-ros2 launch irobot_create_gazebo_bringup create3_gazebo.launch.py namespace:=robot1
-ros2 launch irobot_create_gazebo_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0
-```
-
-> :warning: `create3_gazebo.launch.py` should only be used once as it launches the Gazebo simulator itself. Additional robots should be spawned with `create3_spawn.launch.py`. Namespaces and spawn points should be unique for each robot.
-
-##### AWS house
-
-Create® 3 can be spawned in the AWS small house in Gazebo and monitored through RViz.
-This requires that the package `aws_robomaker_small_house_world` is available.
-
-If you need it, you can build `aws_robomaker_small_house_world` in your ROS 2 workspace by doing:
-```bash
-vcs import ~/create3_ws/src/ < ~/create3_ws/src/create3_sim/irobot_create_gazebo/demo.repos
-cd ~/create3_ws
-colcon build --symlink-install
-source install/local_setup.bash
-```
-
-Then you can run:
-
-```bash
-ros2 launch irobot_create_gazebo_bringup create3_gazebo_aws_small.launch.py
-```
-
 #### Ignition Gazebo
 
 Create® 3 can be spawned in a demo world in Ignition and monitored through RViz with
@@ -154,11 +102,6 @@ This repository contains packages for both the Classic and Ignition Gazebo simul
     - `irobot_create_nodes` Nodes for simulating robot topics and motion control
     - `irobot_create_toolbox` Tools and helpers for creating nodes and plugins
 
-- `irobot_create_gazebo` Packages used for the Classic Gazebo Simulator
-    - `irobot_create_gazebo_bringup` Launch files and configurations
-    - `irobot_create_gazebo_plugins` Sensor plugins
-    - `irobot_create_gazebo_sim`  Metapackage
-
 - `irobot_create_ignition` Packages used for the Ignition Gazebo Simulator
     - `irobot_create_ignition_bringup` Launch files and configurations
     - `irobot_create_ignition_plugins` GUI plugins

diff --git a/irobot_create_common/irobot_create_description/urdf/create3.urdf.xacro b/irobot_create_common/irobot_create_description/urdf/create3.urdf.xacro
@@ -134,7 +134,7 @@
 
   <xacro:if value="${'$(arg gazebo)' == 'ignition'}">
     <gazebo>
-      <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::IgnitionROS2ControlPlugin">
+      <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
         <parameters>$(find irobot_create_control)/config/control.yaml</parameters>
         <ros>
           <remapping>~/odom:=odom</remapping>
@@ -284,7 +284,7 @@
 
   <xacro:if value="${'$(arg gazebo)' == 'ignition'}">
     <gazebo>
-      <plugin filename="libignition-gazebo-pose-publisher-system.so" name="ignition::gazebo::systems::PosePublisher">
+      <plugin filename="libgz-sim-pose-publisher-system.so" name="gz::sim::systems::PosePublisher">
         <publish_link_pose>true</publish_link_pose>
         <publish_nested_model_pose>true</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
@@ -293,11 +293,11 @@
     </gazebo>
 
     <gazebo>
-      <plugin filename="libignition-gazebo-contact-system.so" name="ignition::gazebo::systems::Contact"></plugin>
+      <plugin filename="libgz-sim-contact-system.so" name="gz::sim::systems::Contact"></plugin>
     </gazebo>
 
     <gazebo>
-      <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
+      <plugin filename="libgz-sim-sensors-system.so" name="gz::sim::systems::Sensors">
         <render_engine>ogre</render_engine>
       </plugin>
     </gazebo>

diff --git a/irobot_create_common/irobot_create_description/urdf/dock/standard_dock.urdf.xacro b/irobot_create_common/irobot_create_description/urdf/dock/standard_dock.urdf.xacro
@@ -106,7 +106,7 @@
     <gazebo>
       <static>true</static>
       <!-- Ground truth pose-->
-      <plugin filename="libignition-gazebo-pose-publisher-system.so" name="ignition::gazebo::systems::PosePublisher">
+      <plugin filename="libgz-sim-pose-publisher-system.so" name="gz::sim::systems::PosePublisher">
         <publish_link_pose>true</publish_link_pose>
         <publish_nested_model_pose>true</publish_nested_model_pose>   
         <use_pose_vector_msg>true</use_pose_vector_msg>   

diff --git a/irobot_create_common/irobot_create_description/urdf/wheel.urdf.xacro b/irobot_create_common/irobot_create_description/urdf/wheel.urdf.xacro
@@ -60,7 +60,7 @@
   <xacro:if value="${gazebo == 'ignition'}">
     <ros2_control name="${wheel_link_name}_controller" type="system">
       <hardware>
-        <plugin>gz_ros2_control/IgnitionSystem</plugin>
+        <plugin>gz_ros2_control/GazeboSimSystem</plugin>
       </hardware>
       <joint name="${wheel_joint_name}">
         <state_interface name="velocity" />

diff --git a/irobot_create_ignition/irobot_create_ignition_bringup/gui/create3/gui.config b/irobot_create_ignition/irobot_create_ignition_bringup/gui/create3/gui.config
@@ -1,17 +1,16 @@
 <?xml version="1.0" ?>
 
 <!-- 3D scene -->
-<plugin filename="GzScene3D" name="3D View">
-  <gz-gui>
-    <title>3D View</title>
-    <property type="bool" key="showTitleBar">false</property>
-    <property type="string" key="state">docked</property>
-  </gz-gui>
-
-  <engine>ogre2</engine>
-  <scene>scene</scene>
-  <camera_pose>-0.0176 -0.737 0.017 0 -0.135 1.64</camera_pose>
-</plugin>
+ <plugin filename="MinimalScene" name="3D View"> 
+   <gz-gui> 
+     <title>3D View</title> 
+     <property type="bool" key="showTitleBar">false</property> 
+     <property type="string" key="state">docked</property> 
+   </gz-gui> 
+   <engine>ogre2</engine> 
+   <scene>scene</scene> 
+   <camera_pose>-0.0176 -0.737 0.017 0 -0.135 1.64</camera_pose>
+ </plugin> 
 
 <!-- Play / pause / step -->
 <plugin filename="WorldControl" name="World control">
@@ -92,6 +91,7 @@
 </plugin>
 
 <!-- HMI -->
+<!--
 <plugin filename="Create3Hmi" name="Create3Hmi">
   <gz-gui>
     <property type="bool" key="showTitleBar">true</property>
@@ -100,6 +100,7 @@
     <property key="resizable" type="bool">true</property>
   </gz-gui>
 </plugin>
+-->
 
 <!-- Teleop -->
 <plugin filename="Teleop">

diff --git a/irobot_create_ignition/irobot_create_ignition_bringup/launch/ignition.launch.py b/irobot_create_ignition/irobot_create_ignition_bringup/launch/ignition.launch.py
@@ -29,34 +29,34 @@ def generate_launch_description():
     # Directories
     pkg_irobot_create_ignition_bringup = get_package_share_directory(
         'irobot_create_ignition_bringup')
-    pkg_irobot_create_ignition_plugins = get_package_share_directory(
-        'irobot_create_ignition_plugins')
+    #pkg_irobot_create_ignition_plugins = get_package_share_directory(
+    #    'irobot_create_ignition_plugins')
     pkg_irobot_create_description = get_package_share_directory(
         'irobot_create_description')
     pkg_ros_gz_sim = get_package_share_directory(
         'ros_gz_sim')
 
     # Set Ignition resource path
-    ign_resource_path = SetEnvironmentVariable(name='IGN_GAZEBO_RESOURCE_PATH',
+    ign_resource_path = SetEnvironmentVariable(name='GZ_SIM_RESOURCE_PATH',
                                                value=[os.path.join(
                                                       pkg_irobot_create_ignition_bringup,
                                                       'worlds'), ':' +
                                                       str(Path(
                                                           pkg_irobot_create_description).
                                                           parent.resolve())])
 
-    ign_gui_plugin_path = SetEnvironmentVariable(name='IGN_GUI_PLUGIN_PATH',
-                                                 value=[os.path.join(
-                                                        pkg_irobot_create_ignition_plugins,
-                                                        'lib')])
+    #gz_gui_plugin_path = SetEnvironmentVariable(name='GZ_GUI_PLUGIN_PATH',
+    #                                             value=[os.path.join(
+    #                                                    pkg_irobot_create_ignition_plugins,
+    #                                                    'lib')])
 
     # Paths
-    ign_gazebo_launch = PathJoinSubstitution(
-        [pkg_ros_gz_sim, 'launch', 'ign_gazebo.launch.py'])
+    gz_sim_launch = PathJoinSubstitution(
+        [pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py'])
 
     # Ignition gazebo
     ignition_gazebo = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([ign_gazebo_launch]),
+        PythonLaunchDescriptionSource([gz_sim_launch]),
         launch_arguments=[
             ('ign_args', [LaunchConfiguration('world'),
                           '.sdf',
@@ -78,7 +78,7 @@ def generate_launch_description():
     # Create launch description and add actions
     ld = LaunchDescription(ARGUMENTS)
     ld.add_action(ign_resource_path)
-    ld.add_action(ign_gui_plugin_path)
+    #ld.add_action(gz_gui_plugin_path)
     ld.add_action(ignition_gazebo)
     ld.add_action(clock_bridge)
     return ld
diff --git a/irobot_create_ignition/irobot_create_ignition_bringup/package.xml b/irobot_create_ignition/irobot_create_ignition_bringup/package.xml
@@ -15,7 +15,6 @@
   <exec_depend>irobot_create_description</exec_depend>
   <exec_depend>irobot_create_common_bringup</exec_depend>
   <exec_depend>irobot_create_ignition_toolbox</exec_depend>
-  <exec_depend>irobot_create_ignition_plugins</exec_depend>
 
   <!-- ROS IGN -->
   <exec_depend>gz_ros2_control</exec_depend>

diff --git a/irobot_create_ignition/irobot_create_ignition_bringup/worlds/depot.sdf b/irobot_create_ignition/irobot_create_ignition_bringup/worlds/depot.sdf
@@ -8,10 +8,10 @@
       <max_step_size>0.003</max_step_size>
       <real_time_factor>1.0</real_time_factor>
     </physics>
-    <plugin filename="ignition-gazebo-physics-system" name="ignition::gazebo::systems::Physics"></plugin>
-    <plugin filename="ignition-gazebo-user-commands-system" name="ignition::gazebo::systems::UserCommands"></plugin>
-    <plugin filename="ignition-gazebo-scene-broadcaster-system" name="ignition::gazebo::systems::SceneBroadcaster"></plugin>
-    <plugin filename="ignition-gazebo-contact-system" name="ignition::gazebo::systems::Contact"></plugin>
+    <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics"></plugin>
+    <plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands"></plugin>
+    <plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster"></plugin>
+    <plugin filename="gz-sim-contact-system" name="gz::sim::systems::Contact"></plugin>
 
     <include>
       <uri>

diff --git a/irobot_create_ignition/irobot_create_ignition_bringup/worlds/maze.sdf b/irobot_create_ignition/irobot_create_ignition_bringup/worlds/maze.sdf
@@ -5,10 +5,10 @@
             <real_time_factor>1</real_time_factor>
             <real_time_update_rate>1000</real_time_update_rate>
         </physics>
-        <plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system' />
-        <plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system' />
-        <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system' />
-        <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system' />
+        <plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system' />
+        <plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system' />
+        <plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system' />
+        <plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system' />
         <light name='sun' type='directional'>
             <cast_shadows>1</cast_shadows>
             <pose>0 0 10 0 -0 0</pose>