ROS 2 Foxy update

README.md

@@ -0,0 +1,28 @@
+# dingo_simulator
+This is the ROS 2 simulation package for the Dingo robot
+
+## Installation
+Make sure you run rosdep from your workspace folder.
+```
+rosdep install --from-paths src --ignore-src -r -y
+```
+
+Then simply build the packages using colcon build
+```
+colcon build --symlink-install
+```
+
+Finally, add the following line to your .bashrc file
+```
+export DINGO_LASER_3D 1
+```
+
+## Using
+In order to use the simulation, you will need to run the following launch file.
+```
+ros2 launch dingo_gazebo dingo_world.launch.py
+```
+Wait for Gazebo to fully start.
+The Velodyne simulator can take up to 30 seconds to start, meaning the gazebo_ros spawner will take that long.
+As a result, ros2_control is delayed by about 20 seconds.
+This will ensure that the controllers don't time out while waiting to connect to the server started in the urdf.

dingo_gazebo/CMakeLists.txt

@@ -1,15 +1,23 @@
-cmake_minimum_required(VERSION 2.8.3)
+################################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 3.5)
 project(dingo_gazebo)
 
-find_package(catkin REQUIRED)
+################################################################################
+# Find ament packages and libraries for ament and system dependencies
+################################################################################
+find_package(ament_cmake REQUIRED)
 
-catkin_package()
-
-install(DIRECTORY config launch worlds
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+################################################################################
+# Install
+################################################################################
+install(
+  DIRECTORY launch worlds
+  DESTINATION share/${PROJECT_NAME}
 )
 
-if(CATKIN_ENABLE_TESTING)
-  find_package(roslaunch REQUIRED)
-  roslaunch_add_file_check(launch/dingo_world.launch)
-endif()
+################################################################################
+# Macro for ament package
+################################################################################
+ament_package()

dingo_gazebo/launch/dingo_world.launch.py

@@ -0,0 +1,95 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, PythonExpression
+
+
+def generate_launch_description():
+	# Get the launch directory
+	this_directory = get_package_share_directory('dingo_gazebo')
+
+	# Launch configuration variables specific to simulation
+	headless = LaunchConfiguration('headless')
+	world = LaunchConfiguration('world')
+	x_pose = LaunchConfiguration('x_pose')
+	y_pose = LaunchConfiguration('y_pose')
+	z_pose = LaunchConfiguration('z_pose')
+	yaw = LaunchConfiguration('yaw')
+	config = LaunchConfiguration('config')
+
+	# Declare the launch arguments
+	declare_x_position_cmd = DeclareLaunchArgument(
+		'x_pose', default_value='0.0',
+		description='x_pose')
+
+	declare_y_position_cmd = DeclareLaunchArgument(
+		'y_pose', default_value='0.0',
+		description='y_pose')
+
+	declare_z_position_cmd = DeclareLaunchArgument(
+		'z_pose', default_value='0.1',
+		description='z_pose')
+
+	declare_yaw_cmd = DeclareLaunchArgument(
+		'yaw', default_value='0.0',
+		description='yaw')
+
+	declare_config_cmd = DeclareLaunchArgument(
+		'config',
+		default_value=os.getenv('DINGO_CONFIG', 'base'),
+		description='get the dingo configuration')
+
+	declare_headless_cmd = DeclareLaunchArgument(
+		'headless',
+		default_value='False',
+		description='Whether to execute gzclient)')
+
+	declare_world_cmd = DeclareLaunchArgument(
+		'world',
+		default_value=os.path.join(this_directory, 'worlds', 'dingo_race.world'),
+		description='Full path to world model file to load')
+
+	# Specify the actions
+	start_gazebo_server_cmd = ExecuteProcess(
+		cmd=['gzserver', '--verbose', '-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so', world],
+		cwd=[this_directory], output='screen')
+
+	start_gazebo_client_cmd = ExecuteProcess(
+		condition=IfCondition(PythonExpression(['not ', headless])),
+		cmd=['gzclient'],
+		cwd=[this_directory], output='screen')
+
+	spawn_dingo_cmd = IncludeLaunchDescription(
+		PythonLaunchDescriptionSource(os.path.join(this_directory, 'launch', 'spawn_dingo.launch.py')),
+		launch_arguments={
+			'config' : config,
+			'x_pose' : x_pose,
+			'y_pose' : y_pose,
+			'z_pose' : z_pose,
+			'yaw' : yaw	
+		}.items()
+	)
+
+	# Create the launch description and populate
+	ld = LaunchDescription()
+
+	# Declare the launch options
+	ld.add_action(declare_headless_cmd)
+	ld.add_action(declare_world_cmd)
+	ld.add_action(declare_x_position_cmd)
+	ld.add_action(declare_y_position_cmd)
+	ld.add_action(declare_z_position_cmd)
+	ld.add_action(declare_yaw_cmd)
+	ld.add_action(declare_config_cmd)
+
+	# Add any conditioned actions
+	ld.add_action(start_gazebo_server_cmd)
+	ld.add_action(start_gazebo_client_cmd)
+	ld.add_action(spawn_dingo_cmd)
+
+	return ld

dingo_gazebo/launch/empty_world.launch.py

@@ -0,0 +1,88 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, PythonExpression
+
+
+def generate_launch_description():
+	# Get the launch directory
+	this_directory = get_package_share_directory('dingo_gazebo')
+
+	# Launch configuration variables specific to simulation
+	headless = LaunchConfiguration('headless')
+	x_pose = LaunchConfiguration('x_pose')
+	y_pose = LaunchConfiguration('y_pose')
+	z_pose = LaunchConfiguration('z_pose')
+	yaw = LaunchConfiguration('yaw')
+	config = LaunchConfiguration('config')
+
+	# Declare the launch arguments
+	declare_x_position_cmd = DeclareLaunchArgument(
+		'x_pose', default_value='0.0',
+		description='x_pose')
+
+	declare_y_position_cmd = DeclareLaunchArgument(
+		'y_pose', default_value='0.0',
+		description='y_pose')
+
+	declare_z_position_cmd = DeclareLaunchArgument(
+		'z_pose', default_value='0.1',
+		description='z_pose')
+
+	declare_yaw_cmd = DeclareLaunchArgument(
+		'yaw', default_value='0.0',
+		description='yaw')
+
+	declare_config_cmd = DeclareLaunchArgument(
+		'config',
+		default_value=os.getenv('DINGO_CONFIG', 'base'),
+		description='get the dingo configuration')
+
+	declare_headless_cmd = DeclareLaunchArgument(
+		'headless',
+		default_value='False',
+		description='Whether to execute gzclient)')
+
+	# Specify the actions
+	start_gazebo_server_cmd = ExecuteProcess(
+		cmd=['gzserver', '--verbose', '-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so'],
+		cwd=[this_directory], output='screen')
+
+	start_gazebo_client_cmd = ExecuteProcess(
+		condition=IfCondition(PythonExpression(['not ', headless])),
+		cmd=['gzclient'],
+		cwd=[this_directory], output='screen')
+
+	spawn_dingo_cmd = IncludeLaunchDescription(
+		PythonLaunchDescriptionSource(os.path.join(this_directory, 'launch', 'spawn_dingo.launch.py')),
+		launch_arguments={
+			'config' : config,
+			'x_pose' : x_pose,
+			'y_pose' : y_pose,
+			'z_pose' : z_pose,
+			'yaw' : yaw	
+		}.items()
+	)
+
+	# Create the launch description and populate
+	ld = LaunchDescription()
+
+	# Declare the launch options
+	ld.add_action(declare_headless_cmd)
+	ld.add_action(declare_x_position_cmd)
+	ld.add_action(declare_y_position_cmd)
+	ld.add_action(declare_z_position_cmd)
+	ld.add_action(declare_yaw_cmd)
+	ld.add_action(declare_config_cmd)
+
+	# Add any conditioned actions
+	ld.add_action(start_gazebo_server_cmd)
+	ld.add_action(start_gazebo_client_cmd)
+	ld.add_action(spawn_dingo_cmd)
+
+	return ld