add URMC 2025 gazebo world #250
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| #!/usr/bin/env python3 | ||
| # | ||
| # Copyright 2019 ROBOTIS CO., LTD. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
| # | ||
| # Authors: Joep Tool, Hyungyu Kim | ||
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| import os | ||
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| from ament_index_python.packages import get_package_share_directory | ||
| from launch import LaunchDescription | ||
| from launch.actions import IncludeLaunchDescription | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch.substitutions import LaunchConfiguration | ||
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| def generate_launch_description(): | ||
| launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') | ||
| pkg_gazebo_ros = get_package_share_directory('gazebo_ros') | ||
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| use_sim_time = LaunchConfiguration('use_sim_time', default='true') | ||
| # x_pose = LaunchConfiguration('x_pose', default='-1.75') | ||
| # y_pose = LaunchConfiguration('y_pose', default='0.2') | ||
| # yaw = LaunchConfiguration('yaw', default='1.57') | ||
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| x_pose = LaunchConfiguration('x_pose', default='0.2') | ||
| y_pose = LaunchConfiguration('y_pose', default='-1.8') | ||
| yaw = LaunchConfiguration('yaw', default='0') | ||
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| world = os.path.join( | ||
| get_package_share_directory('turtlebot3_gazebo'), | ||
| 'worlds', | ||
| 'turtlebot3_urmc_2025.world' | ||
| ) | ||
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| gzserver_cmd = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') | ||
| ), | ||
| launch_arguments={'world': world}.items() | ||
| ) | ||
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| gzclient_cmd = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') | ||
| ) | ||
| ) | ||
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| robot_state_publisher_cmd = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') | ||
| ), | ||
| launch_arguments={'use_sim_time': use_sim_time}.items() | ||
| ) | ||
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| spawn_turtlebot_cmd = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') | ||
| ), | ||
| launch_arguments={ | ||
| 'x_pose': x_pose, | ||
| 'y_pose': y_pose, | ||
| 'yaw': yaw | ||
| }.items() | ||
| ) | ||
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| ld = LaunchDescription() | ||
| ld.add_action(gzserver_cmd) | ||
| ld.add_action(gzclient_cmd) | ||
| ld.add_action(robot_state_publisher_cmd) | ||
| ld.add_action(spawn_turtlebot_cmd) | ||
| return ld | ||
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| material checker | ||
| { | ||
| technique | ||
| { | ||
| pass | ||
| { | ||
| texture_unit | ||
| { | ||
| texture checker.png | ||
| } | ||
| } | ||
| } | ||
| } | ||
|
|
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| @@ -0,0 +1,16 @@ | ||
| <?xml version="1.0"?> | ||
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| <model> | ||
| <name>checker</name> | ||
| <version>1.0</version> | ||
| <sdf version='1.6'>model.sdf</sdf> | ||
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| <author> | ||
| <name>Gilbert</name> | ||
| <email>kkjong@robotis.com</email> | ||
| </author> | ||
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| <description> | ||
| Model with links of simple shapes and texture applied. | ||
| </description> | ||
| </model> |
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| <?xml version="1.0" ?> | ||
| <sdf version="1.6"> | ||
| <model name="checker"> | ||
| <static>true</static> | ||
| <link name="box"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>0.02 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <box> | ||
| <size>0.02 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>model://turtlebot3_urmc_2025/checker/materials/scripts</uri> | ||
| <uri>model://turtlebot3_urmc_2025/checker/materials/textures</uri> | ||
| <name>checker</name> | ||
| </script> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
| </sdf> |
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| Original file line number | Diff line number | Diff line change |
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| material course | ||
| { | ||
| technique | ||
| { | ||
| pass | ||
| { | ||
| texture_unit | ||
| { | ||
| texture course.png | ||
| } | ||
| } | ||
| } | ||
| } | ||
|
|
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,16 @@ | ||
| <?xml version="1.0"?> | ||
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| <model> | ||
| <name>course</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.6">model.sdf</sdf> | ||
| <author> | ||
| <name>sdq</name> | ||
| <email>test@gmail.com</email> | ||
| </author> | ||
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| <description> | ||
| A simple textured ground plane | ||
| </description> | ||
| </model> | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| <?xml version="1.0" ?> | ||
| <sdf version="1.6"> | ||
| <model name="course"> | ||
| <static>true</static> | ||
| <link name="course_link"> | ||
| <collision name="course_collision"> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <size>4 4</size> | ||
| </plane> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>100</mu> | ||
| <mu2>50</mu2> | ||
| </ode> | ||
| </friction> | ||
| </surface> | ||
| </collision> | ||
| <visual name="course_visual"> | ||
| <cast_shadows>false</cast_shadows> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <size>4 4</size> | ||
| </plane> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <!--uri>file://materials/scripts/floor.material</uri--> | ||
| <uri>model://turtlebot3_urmc_2025/course/materials/scripts</uri> | ||
| <uri>model://turtlebot3_urmc_2025/course/materials/textures</uri> | ||
| <name>course</name> | ||
| </script> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
| </sdf> | ||
|
|
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|---|---|---|
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| material piste_droit | ||
| { | ||
| technique | ||
| { | ||
| pass | ||
| { | ||
| texture_unit | ||
| { | ||
| texture test_bande.png | ||
| scale 1 1 | ||
| } | ||
| } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,11 @@ | ||
| <?xml version="1.0" ?> | ||
| <model> | ||
| <name>PIste_droite_texture</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.7">model.sdf</sdf> | ||
| <author> | ||
| <name></name> | ||
| <email></email> | ||
| </author> | ||
| <description></description> | ||
| </model> |
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| @@ -0,0 +1,108 @@ | ||||||||||
| <?xml version='1.0'?> | ||||||||||
| <sdf version='1.7'> | ||||||||||
| <model name='PIste_droite_texture'> | ||||||||||
| <link name='link_0'> | ||||||||||
| <inertial> | ||||||||||
| <mass>1</mass> | ||||||||||
| <inertia> | ||||||||||
| <ixx>0.166667</ixx> | ||||||||||
| <ixy>0</ixy> | ||||||||||
| <ixz>0</ixz> | ||||||||||
| <iyy>0.166667</iyy> | ||||||||||
| <iyz>0</iyz> | ||||||||||
| <izz>0.166667</izz> | ||||||||||
| </inertia> | ||||||||||
| <pose>0 0 0 0 -0 0</pose> | ||||||||||
| </inertial> | ||||||||||
| <pose>0 0 0 0 -0 0</pose> | ||||||||||
| <gravity>1</gravity> | ||||||||||
| <self_collide>0</self_collide> | ||||||||||
| <kinematic>0</kinematic> | ||||||||||
| <enable_wind>0</enable_wind> | ||||||||||
| <visual name='visual'> | ||||||||||
| <pose>0 0 0 0 -0 0</pose> | ||||||||||
| <geometry> | ||||||||||
| <mesh> | ||||||||||
| <uri>/home/alexis/Téléchargements/piste_droit_texture.dae</uri> | ||||||||||
|
There was a problem hiding this comment. This hardcoded absolute path will break the model loading on any other machine. Please use a relative
Suggested change
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| <scale>0.02 0.02 0.02</scale> | ||||||||||
| </mesh> | ||||||||||
| </geometry> | ||||||||||
| <material> | ||||||||||
| <lighting>1</lighting> | ||||||||||
| <script> | ||||||||||
| <url>model://Piste_droite_texture/materials/scripts</url> | ||||||||||
| <url>model://Piste_droite_texture/materials/textures</url> | ||||||||||
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There was a problem hiding this comment. The model URI for scripts and textures seems incorrect. Based on other models in this PR, it should probably include the parent directories from the
Suggested change
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| <name>piste_droit</name> | ||||||||||
| </script> | ||||||||||
| <shader type='pixel'> | ||||||||||
| <normal_map>__default__</normal_map> | ||||||||||
| </shader> | ||||||||||
| <ambient>0.3 0.3 0.3 1</ambient> | ||||||||||
| <diffuse>0.7 0.7 0.7 1</diffuse> | ||||||||||
| <specular>0.01 0.01 0.01 1</specular> | ||||||||||
| <emissive>0 0 0 1</emissive> | ||||||||||
| </material> | ||||||||||
| <transparency>0</transparency> | ||||||||||
| <cast_shadows>1</cast_shadows> | ||||||||||
| </visual> | ||||||||||
| <collision name='collision'> | ||||||||||
| <laser_retro>0</laser_retro> | ||||||||||
| <max_contacts>10</max_contacts> | ||||||||||
| <pose>0 0 0 0 -0 0</pose> | ||||||||||
| <geometry> | ||||||||||
| <mesh> | ||||||||||
| <uri>/home/alexis/Téléchargements/piste_droit_texture.dae</uri> | ||||||||||
|
There was a problem hiding this comment. This hardcoded absolute path will break the model loading on any other machine. Please use a relative
Suggested change
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| <scale>0.02 0.02 0.02</scale> | ||||||||||
| </mesh> | ||||||||||
| </geometry> | ||||||||||
| <surface> | ||||||||||
| <friction> | ||||||||||
| <ode> | ||||||||||
| <mu>1</mu> | ||||||||||
| <mu2>1</mu2> | ||||||||||
| <fdir1>0 0 0</fdir1> | ||||||||||
| <slip1>0</slip1> | ||||||||||
| <slip2>0</slip2> | ||||||||||
| </ode> | ||||||||||
| <torsional> | ||||||||||
| <coefficient>1</coefficient> | ||||||||||
| <patch_radius>0</patch_radius> | ||||||||||
| <surface_radius>0</surface_radius> | ||||||||||
| <use_patch_radius>1</use_patch_radius> | ||||||||||
| <ode> | ||||||||||
| <slip>0</slip> | ||||||||||
| </ode> | ||||||||||
| </torsional> | ||||||||||
| </friction> | ||||||||||
| <bounce> | ||||||||||
| <restitution_coefficient>0</restitution_coefficient> | ||||||||||
| <threshold>1e+06</threshold> | ||||||||||
| </bounce> | ||||||||||
| <contact> | ||||||||||
| <collide_without_contact>0</collide_without_contact> | ||||||||||
| <collide_without_contact_bitmask>1</collide_without_contact_bitmask> | ||||||||||
| <collide_bitmask>1</collide_bitmask> | ||||||||||
| <ode> | ||||||||||
| <soft_cfm>0</soft_cfm> | ||||||||||
| <soft_erp>0.2</soft_erp> | ||||||||||
| <kp>1e+13</kp> | ||||||||||
| <kd>1</kd> | ||||||||||
| <max_vel>0.01</max_vel> | ||||||||||
| <min_depth>0</min_depth> | ||||||||||
| </ode> | ||||||||||
| <bullet> | ||||||||||
| <split_impulse>1</split_impulse> | ||||||||||
| <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> | ||||||||||
| <soft_cfm>0</soft_cfm> | ||||||||||
| <soft_erp>0.2</soft_erp> | ||||||||||
| <kp>1e+13</kp> | ||||||||||
| <kd>1</kd> | ||||||||||
| </bullet> | ||||||||||
| </contact> | ||||||||||
| </surface> | ||||||||||
| </collision> | ||||||||||
| </link> | ||||||||||
| <static>1</static> | ||||||||||
| <allow_auto_disable>1</allow_auto_disable> | ||||||||||
| </model> | ||||||||||
| </sdf> | ||||||||||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,11 @@ | ||
| <?xml version="1.0" ?> | ||
| <model> | ||
| <name>Parking_1</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.7">model.sdf</sdf> | ||
| <author> | ||
| <name></name> | ||
| <email></email> | ||
| </author> | ||
| <description></description> | ||
| </model> |
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For consistency with
x_poseandy_pose, you should also add aDeclareLaunchArgumentfor the newyawparameter and add it to theLaunchDescription. This makes the launch file's arguments explicit and discoverable.