Example ros_gz package in support of presentation (#1)

Signed-off-by: Michael Carroll <michael@openrobotics.org>
Signed-off-by: Dharini Dutia <dharini@openrobotics.org>
Co-authored-by: Michael Carroll <michael@openrobotics.org>

README.md

@@ -1,2 +1,78 @@
 # ros_gz_project_template
 A template project integrating ROS and Gazebo simulator
+
+## Included packages
+
+* `ros_gz_example_description` - holds the sdf description of the simulated system and any other assets
+
+* `ros_gz_example_gazebo` - holds gazebo specific code and configurations.  Namely this is where systems end up.
+
+* `ros_gz_example_application` - holds ros2 specific code and configurations
+
+* `ros_gz_example_bringup` - holds launch files and high level utilities
+
+
+## Install
+### Use as template
+Directly `Use this template` and create your project repository on github.
+
+### On Host System
+##### Requirements
+On Ubuntu Jammy
+
+1. Install [ROS 2 Humble](https://docs.ros.org/en/humble/index.html)
+
+1. Install [Gazebo Garden](https://gazebosim.org/docs/garden)
+
+1. Install necessary tools
+
+    `sudo apt install python3-vcstool python3-colcon-common-extensions git wget`
+
+##### Usage
+
+1. Create a workspace, for example:
+
+    ```
+    mkdir -p ~/template_ws/src
+    cd ~/template_ws/src
+    ```
+
+1. Clone the template:
+
+    ```
+    git clone 
+    wget https://raw.githubusercontent.com/gazebosim/ros_gz_project_template/main/template_workspace.yaml
+    vcs import < template_workspace.yaml
+    cd ~/template_ws
+    ```
+
+1. Set the Gazebo version to Garden:
+
+    ```
+    export GZ_VERSION=garden
+    ```
+
+1. Install ROS dependencies
+
+    ```
+    sudo rosdep init
+    rosdep update
+    rosdep install --from-paths src --ignore-src -r -y -i
+    ```
+
+1. Build and install
+
+    ```
+    cd ~/template_ws
+    colcon build --cmake-args -DBUILD_TESTING=ON
+    ```
+
+##### Run
+
+1. Source the workspace
+
+    `. ~/template_ws/install/setup.sh`
+
+1. Launch the simulation
+
+    `ros2 launch ros_gz_example_bringup example.launch.py`

ros_gz_example_bringup/CMakeLists.txt

@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.5)
+
+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 ${gz-sim7_VERSION_MAJOR})
+
+# Install project launch files
+install(
+  DIRECTORY
+    launch/
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
+# Install project configuration files
+install(
+  DIRECTORY
+    config/
+  DESTINATION share/${PROJECT_NAME}/config
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

ros_gz_example_bringup/config/ros_gz_example_bridge.yaml

@@ -0,0 +1,17 @@
+---
+- ros_topic_name: "/diff_drive/cmd_vel"
+  gz_topic_name: "/model/diff_drive/cmd_vel"
+  ros_type_name: "geometry_msgs/msg/Twist"
+  gz_type_name: "gz.msgs.Twist"
+  direction: ROS_TO_GZ
+- ros_topic_name: "/diff_drive/odometry"
+  gz_topic_name: "/model/diff_drive/odometry"
+  ros_type_name: "nav_msgs/msg/Odometry"
+  gz_type_name: "gz.msgs.Odometry"
+  direction: GZ_TO_ROS
+- ros_topic_name: "/diff_drive/scan"
+  gz_topic_name: "/scan"
+  ros_type_name: "sensor_msgs/msg/LaserScan"
+  gz_type_name: "gz.msgs.LaserScan"
+  direction: GZ_TO_ROS
+

ros_gz_example_bringup/launch/diff_drive.launch.py

@@ -0,0 +1,70 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
+from launch_ros.actions import Node
+
+
+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_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')),
+        launch_arguments={'gz_args': PathJoinSubstitution([
+            pkg_project_gazebo,
+            'worlds',
+            'diff_drive.sdf'
+        ])}.items(),
+    )
+
+    # RViz
+    rviz = Node(
+       package='rviz2',
+       executable='rviz2',
+       arguments=['-d', os.path.join(pkg_project_bringup, 'rviz', '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',
+        }],
+        output='screen'
+    )
+
+    return LaunchDescription([
+        gz_sim,
+        DeclareLaunchArgument('rviz', default_value='true',
+                              description='Open RViz.'),
+        bridge,
+        rviz
+    ])

ros_gz_example_bringup/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ros_gz_example_bringup</name>
+  <version>0.0.0</version>
+  <description>Contains launch files for the ros_gz_example project</description>
+  <maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
+  <license>Apache 2.0</license>
+  <author>Michael Carroll</author>
+  <author>Dharini Dutia</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+

ros_gz_example_bringup/rviz/diff_drive.rviz

@@ -0,0 +1,169 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /LaserScan1
+        - /LaserScan1/Status1
+      Splitter Ratio: 0.5
+    Tree Height: 1079
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      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: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Points
+      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
+    Fixed Frame: diff_drive/lidar_link/gpu_lidar
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 43.2213249206543
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.38051652908325195
+        Y: -1.564827799797058
+        Z: 1.3577169179916382
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6403982639312744
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 2.4303994178771973
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1376
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000239000004c2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004c2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000004c2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000004c2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065010000000000000a00000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000006ac000004c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 2560
+  X: 1440
+  Y: 1147