Merge branch 'mjcarroll/sdf'

Signed-off-by: Michael Carroll <michael@openrobotics.org>
gazebosim · Oct 19, 2022 · 573d847 · 573d847
2 parents ee53768 + 44a8857
commit 573d847
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Showing 6 changed files with 104 additions and 42 deletions.
diff --git a/ros_gz_example_bringup/CMakeLists.txt b/ros_gz_example_bringup/CMakeLists.txt
@@ -4,16 +4,6 @@ project(ros_gz_example_bringup)
 
 find_package(ament_cmake REQUIRED)
 
-find_package(gz-cmake3 REQUIRED)
-find_package(gz-plugin2 REQUIRED COMPONENTS register)
-set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
-find_package(gz-common5 REQUIRED COMPONENTS profiler)
-set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
-find_package(gz-sim7 REQUIRED)
-set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
-
-find_package(sdformat_urdf)
-
 # Install project launch files
 install(
   DIRECTORY

diff --git a/ros_gz_example_bringup/rviz/diff_drive.rviz → ...gz_example_bringup/config/diff_drive.rviz b/ros_gz_example_bringup/rviz/diff_drive.rviz → ...gz_example_bringup/config/diff_drive.rviz
@@ -6,12 +6,8 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-        - /Grid1
-        - /RobotModel1
-        - /RobotModel1/Status1
-        - /RobotModel1/Links1
       Splitter Ratio: 0.5
-    Tree Height: 555
+    Tree Height: 719
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -29,7 +25,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: ""
+    SyncSource: LaserScan
 Visualization Manager:
   Class: ""
   Displays:
@@ -102,6 +98,79 @@ Visualization Manager:
       Update Interval: 0
       Value: true
       Visual Enabled: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz_default_plugins/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /diff_drive/odometry
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: -999999
+      Min Color: 0; 0; 0
+      Min Intensity: 999999
+      Name: LaserScan
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /diff_drive/scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -148,7 +217,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 10
+      Distance: 24.40549659729004
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -171,10 +240,10 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 846
+  Height: 1016
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000002d8000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000000bd000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d0065010000000000000736000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c50000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -183,6 +252,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1200
-  X: 72
-  Y: 60
+  Width: 1846
+  X: 74
+  Y: 27
diff --git a/ros_gz_example_bringup/config/ros_gz_example_bridge.yaml b/ros_gz_example_bringup/config/ros_gz_example_bridge.yaml
@@ -19,18 +19,23 @@
   ros_type_name: "sensor_msgs/msg/LaserScan"
   gz_type_name: "gz.msgs.LaserScan"
   direction: GZ_TO_ROS
-- ros_topic_name: "/world/demo/model/diff_drive"
-  gz_topic_name: "/joint_state"
+- ros_topic_name: "/clock"
+  gz_topic_name: "/clock"
+  ros_type_name: "rosgraph_msgs/msg/clock"
+  gz_type_name: "gz.msgs.Clock"
+  direction: GZ_TO_ROS
+- ros_topic_name: "/joint_states"
+  gz_topic_name: "/world/demo/model/diff_drive/joint_state"
   ros_type_name: "sensor_msgs/msg/JointState"
   gz_type_name: "gz.msgs.Model"
   direction: GZ_TO_ROS
-- ros_topic_name: "/model/diff_drive/"
-  gz_topic_name: "/pose"
+- ros_topic_name: "/tf"
+  gz_topic_name: "/model/diff_drive/pose"
   ros_type_name: "tf2_msgs/msg/TFMessage"
   gz_type_name: "gz.msgs.Pose_V"
   direction: GZ_TO_ROS
-- ros_topic_name: "/model/diff_drive/"
-  gz_topic_name: "/pose_static"
+- ros_topic_name: "/tf_static"
+  gz_topic_name: "/model/diff_drive/pose_static"
   ros_type_name: "tf2_msgs/msg/TFMessage"
   gz_type_name: "gz.msgs.Pose_V"
   direction: GZ_TO_ROS

diff --git a/ros_gz_example_bringup/launch/diff_drive.launch.py b/ros_gz_example_bringup/launch/diff_drive.launch.py
@@ -30,14 +30,13 @@ def generate_launch_description():
     pkg_project_bringup = get_package_share_directory('ros_gz_example_bringup')
     pkg_project_gazebo = get_package_share_directory('ros_gz_example_gazebo')
     pkg_project_description = get_package_share_directory('ros_gz_example_description')
+    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
 
+    # Load the SDF file from "description" package
     sdf_file  =  os.path.join(pkg_project_description, 'models', 'diff_drive', 'model.sdf')
-
     with open(sdf_file, 'r') as infp:
         robot_desc = infp.read()
 
-    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
-
     gz_sim = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),
@@ -59,26 +58,25 @@ def generate_launch_description():
         ]
     )
 
+    # RViz
+    rviz = Node(
+       package='rviz2',
+       executable='rviz2',
+       arguments=['-d', os.path.join(pkg_project_bringup, 'config', 'diff_drive.rviz')],
+       condition=IfCondition(LaunchConfiguration('rviz'))
+    )
+
     # Bridge
     bridge = Node(
         package='ros_gz_bridge',
         executable='parameter_bridge',
         parameters=[{
             'config_file': os.path.join(pkg_project_bringup, 'config', 'ros_gz_example_bridge.yaml'),
-            'qos_overrides./model/diff_drive.subscriber.reliability': 'reliable',
+            'qos_overrides./tf_static.publisher.durability': 'transient_local',
         }],
         output='screen'
     )
 
-    # RViz
-    rviz = Node(
-       package='rviz2',
-       executable='rviz2',
-       arguments=['-d', os.path.join(pkg_project_bringup, 'rviz', 'diff_drive.rviz')],
-       condition=IfCondition(LaunchConfiguration('rviz'))
-    )
-
-
     return LaunchDescription([
         gz_sim,
         DeclareLaunchArgument('rviz', default_value='true',

diff --git a/ros_gz_example_description/models/diff_drive/model.sdf b/ros_gz_example_description/models/diff_drive/model.sdf
@@ -164,6 +164,7 @@
         <sensor name='gpu_lidar' type='gpu_lidar'>
           <pose>0 0 0 0 0 0</pose>
           <topic>scan</topic>
+          <ignition_frame_id>diff_drive/lidar_link</ignition_frame_id>
           <update_rate>10</update_rate>
           <lidar>
             <scan>

diff --git a/ros_gz_example_gazebo/worlds/diff_drive.sdf b/ros_gz_example_gazebo/worlds/diff_drive.sdf
@@ -26,7 +26,6 @@
       filename="gz-sim-user-commands-system"
       name="gz::sim::systems::UserCommands">
     </plugin>
-
     <plugin
       filename="BasicSystem"
       name="ros_gz_example_gazebo::BasicSystem">