Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Initial support to the new Gazebo #3634

Merged
Merged
Changes from 1 commit
Commits
Show all changes
32 commits
Select commit Hold shift + click to select a range
c52b2b0
Initial support to the new Gazebo
ahcorde Jun 16, 2023
fd50e02
Added feedback
ahcorde Jun 16, 2023
2500c8c
Fixed build
ahcorde Jun 19, 2023
5215768
Added feeback
ahcorde Jun 20, 2023
d3c421a
Fixed physics tag
ahcorde Jun 20, 2023
975bc78
Fixed physics tag
ahcorde Jun 20, 2023
469c2a2
Fix copyright and urdf
ahcorde Jun 20, 2023
34f466e
min range cannot be zero
ahcorde Jun 21, 2023
01babc9
Simplify files
ahcorde Jun 21, 2023
00b5885
Merge remote-tracking branch 'origin/main' into ahcorde/initial_suppo…
ahcorde Jun 23, 2023
792569a
Added feedback
ahcorde Jun 23, 2023
960fdd7
Added feedback
ahcorde Jun 26, 2023
5a3e06c
Fix
ahcorde Jun 28, 2023
b17def8
Try to reduce load
ahcorde Jul 3, 2023
b413994
Removed cast shadows
ahcorde Jul 17, 2023
ed65b71
Use Gazebo plugins instead of gz_ros2_control
ahcorde Jul 24, 2023
41d7f4e
update dependency
ahcorde Jul 24, 2023
9a36ecd
Removed dependency
ahcorde Jul 24, 2023
027f113
Merge remote-tracking branch 'origin/main' into ahcorde/initial_suppo…
ahcorde Oct 5, 2023
564cf39
Removed ros2_control and use ogre
ahcorde Oct 5, 2023
4b8b006
Merge remote-tracking branch 'origin/main' into ahcorde/initial_suppo…
ahcorde Nov 14, 2023
ddb760d
Use param file to configure bridge
ahcorde Nov 14, 2023
076f1f0
Use sdf model and change to ogre instead of ogre2 for sensors
azeey Dec 15, 2023
04912e6
Merge branch 'main' into support_gz-sim
azeey Dec 15, 2023
b2deaee
Support Garden and later, performance improvements
azeey Dec 20, 2023
43ef810
Merge pull request #1 from azeey/support_gz-sim
ahcorde Dec 28, 2023
1cc1474
Use xacro for world file (#2)
azeey Feb 15, 2024
6a462be
Reviewer feedback
azeey Feb 17, 2024
225f1f3
Add comment explaining temp file
azeey Feb 17, 2024
1d8634d
Fix linter
azeey Feb 17, 2024
5bf14e2
Merge branch 'main' into ahcorde/initial_support/gazebo
SteveMacenski May 28, 2024
cc5bde0
Update nav2_bringup/worlds/gz_world_only.sdf.xacro
SteveMacenski May 28, 2024
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Prev Previous commit
Next Next commit
Use sdf model and change to ogre instead of ogre2 for sensors
Signed-off-by: Addisu Z. Taddese <[email protected]>
azeey committed Dec 15, 2023

Verified

This commit was created on GitHub.com and signed with GitHub’s verified signature. The key has expired.
commit 076f1f02b23a993ae55c2e8b43b219db72317c7e
11 changes: 8 additions & 3 deletions nav2_bringup/launch/tb3_gz_simulation_launch.py
Original file line number Diff line number Diff line change
@@ -158,18 +158,23 @@ def generate_launch_description():

declare_robot_sdf_cmd = DeclareLaunchArgument(

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Not sure how much I like saying sdf when it's urdf being converted to "okay-ish at best" sdf.

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Possible to consider having an in tree sdf that uses same assets as urdf?

'robot_sdf',
default_value=os.path.join(bringup_dir, 'urdf', 'gz_turtlebot3_waffle.urdf'),
default_value=os.path.join(bringup_dir, 'worlds', 'gz_waffle.model'),
description='Full path to robot sdf file to spawn the robot in gazebo')

urdf = os.path.join(bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
with open(urdf, 'r') as infp:
robot_description = infp.read()

start_robot_state_publisher_cmd = Node(
condition=IfCondition(use_robot_state_pub),
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
namespace=namespace,
output='screen',
parameters=[{'use_sim_time': use_sim_time,
'robot_description': Command(['xacro', ' ', robot_sdf])}],
parameters=[
{'use_sim_time': use_sim_time, 'robot_description': robot_description}
],
remappings=remappings)

rviz_cmd = IncludeLaunchDescription(
3 changes: 2 additions & 1 deletion nav2_bringup/launch/tb3_simulation_launch.py
Original file line number Diff line number Diff line change
@@ -176,6 +176,7 @@ def generate_launch_description():
condition=IfCondition(use_simulator),
cmd=[
'gzserver',
'--verbose',
'-s',
'libgazebo_ros_init.so',
'-s',
@@ -292,6 +293,6 @@ def generate_launch_description():
# Add the actions to launch all of the navigation nodes
ld.add_action(start_robot_state_publisher_cmd)
ld.add_action(rviz_cmd)
ld.add_action(bringup_cmd)
# ld.add_action(bringup_cmd)

return ld
Loading