diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 0000000..58132eb --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1,56 @@ +# Contributing Guidelines +Thank you for your interest in contributing to this project +Whether it's a bug report, new feature, correction, or additional +documentation, we greatly value feedback and contributions from our community. + +Please read through this document before submitting any issues or pull requests to ensure we have all the necessary +information to effectively respond to your bug report or contribution. + + +## Reporting Bugs/Feature Requests +We welcome you to use the GitHub issue tracker to report bugs or suggest features. + +When filing an issue, please check existing open issues, or recently closed, issues to make sure + somebody else hasn't already reported the issue. +Please try to include as much information as you can. Details like these are incredibly useful: + +* A reproducible test case or series of steps +* The version of our code being used +* Any modifications you've made relevant to the bug +* Anything unusual about your environment or deployment + + +## Contributing via Pull Requests +Contributions via pull requests are much appreciated. +Before sending us a pull request, please ensure that: + +1. You are working against the latest source on the *master* branch. +2. You check existing open, and recently merged, pull requests to make sure someone else hasn't addressed the problem already. +3. You open an issue to discuss any significant work - we would hate for your time to be wasted. + +To send us a pull request, please: + +1. Fork the repository. +2. Modify the source; please focus on the specific change you are contributing. + If you also reformat all the code, it will be hard for us to focus on your change. +3. Ensure local tests pass. (`colcon test`) +4. Commit to your fork using clear commit messages. +5. Send a pull request, answering any default questions in the pull request interface. +6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation. + +GitHub provides additional documentation on [forking a repository](https://help.github.com/articles/fork-a-repo/) and +[creating a pull request](https://help.github.com/articles/creating-a-pull-request/). + + +## Licensing +Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): + +~~~ +5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. +~~~ diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..cc36203 --- /dev/null +++ b/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2021, PAL Robotics S.L. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/pmb2_2dnav_gazebo/CHANGELOG.rst b/pmb2_2dnav_gazebo/CHANGELOG.rst index 70633ee..e07c10d 100644 --- a/pmb2_2dnav_gazebo/CHANGELOG.rst +++ b/pmb2_2dnav_gazebo/CHANGELOG.rst @@ -2,6 +2,25 @@ Changelog for package pmb2_2dnav_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.0.2 (2021-10-19) +------------------ + +3.0.1 (2021-08-13) +------------------ +* Resolve missing dependency +* Merge branch 'foxy_obstacle_avoidance' into 'foxy-devel' + default world + See merge request robots/pmb2_simulation!33 +* default world +* Contributors: Noel Jimenez Garcia, Victor Lopez, victor + +3.0.0 (2021-07-20) +------------------ +* Add ament and apply corrections +* Migrate pmb2_2dnav_gazebo to ROS2 +* First gazebo launch with ROS2 +* Contributors: Victor Lopez + 2.0.24 (2021-01-13) ------------------- * Merge branch 'mapping-rgbd' into 'erbium-devel' diff --git a/pmb2_2dnav_gazebo/CMakeLists.txt b/pmb2_2dnav_gazebo/CMakeLists.txt index 9e5505f..b190915 100644 --- a/pmb2_2dnav_gazebo/CMakeLists.txt +++ b/pmb2_2dnav_gazebo/CMakeLists.txt @@ -1,11 +1,16 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.4.0) project(pmb2_2dnav_gazebo) -find_package(catkin REQUIRED) +find_package(ament_cmake_auto REQUIRED) -catkin_package() +# PAL Robotics stricter build flags, other developers should not worry about this +find_package(ament_cmake_pal QUIET) -foreach(dir launch) - install(DIRECTORY ${dir}/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) -endforeach(dir) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package(INSTALL_TO_SHARE launch) diff --git a/pmb2_2dnav_gazebo/launch/localization.launch b/pmb2_2dnav_gazebo/launch/localization.launch deleted file mode 100644 index 6504a61..0000000 --- a/pmb2_2dnav_gazebo/launch/localization.launch +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/pmb2_2dnav_gazebo/launch/mapping.launch b/pmb2_2dnav_gazebo/launch/mapping.launch deleted file mode 100644 index 76bea1a..0000000 --- a/pmb2_2dnav_gazebo/launch/mapping.launch +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - diff --git a/pmb2_2dnav_gazebo/launch/navigation.launch b/pmb2_2dnav_gazebo/launch/navigation.launch deleted file mode 100644 index 56ab241..0000000 --- a/pmb2_2dnav_gazebo/launch/navigation.launch +++ /dev/null @@ -1,80 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/pmb2_2dnav_gazebo/launch/pmb2_mapping.launch b/pmb2_2dnav_gazebo/launch/pmb2_mapping.launch deleted file mode 100644 index 83fd075..0000000 --- a/pmb2_2dnav_gazebo/launch/pmb2_mapping.launch +++ /dev/null @@ -1,54 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/pmb2_2dnav_gazebo/launch/pmb2_mapping_gazebo.launch.py b/pmb2_2dnav_gazebo/launch/pmb2_mapping_gazebo.launch.py new file mode 100644 index 0000000..c6efd7d --- /dev/null +++ b/pmb2_2dnav_gazebo/launch/pmb2_mapping_gazebo.launch.py @@ -0,0 +1,34 @@ +# Copyright (c) 2021 PAL Robotics S.L. +# +# 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. + +from launch import LaunchDescription +from launch_pal.include_utils import include_launch_py_description + + +def generate_launch_description(): + # Create the launch description and populate + ld = LaunchDescription([ + include_launch_py_description( + 'pmb2_gazebo', ['launch', 'pmb2_gazebo.launch.py'], + launch_arguments={ + 'world_name': 'pal_office', + }.items()), + include_launch_py_description( + 'pmb2_2dnav', ['launch', 'pmb2_nav_bringup.launch.py'], + launch_arguments={ + 'slam': 'True' + }.items()), + ]) + + return ld diff --git a/pmb2_2dnav_gazebo/launch/pmb2_navigation.launch b/pmb2_2dnav_gazebo/launch/pmb2_navigation.launch deleted file mode 100644 index 7f9269f..0000000 --- a/pmb2_2dnav_gazebo/launch/pmb2_navigation.launch +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/pmb2_2dnav_gazebo/launch/pmb2_navigation_gazebo.launch.py b/pmb2_2dnav_gazebo/launch/pmb2_navigation_gazebo.launch.py new file mode 100644 index 0000000..1769c81 --- /dev/null +++ b/pmb2_2dnav_gazebo/launch/pmb2_navigation_gazebo.launch.py @@ -0,0 +1,32 @@ +# Copyright (c) 2021 PAL Robotics S.L. +# +# 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. + +from launch import LaunchDescription +from launch_pal.include_utils import include_launch_py_description + + +def generate_launch_description(): + # Create the launch description and populate + ld = LaunchDescription([ + include_launch_py_description( + 'pmb2_gazebo', ['launch', 'pmb2_gazebo.launch.py'] + ), + include_launch_py_description( + 'pmb2_2dnav', ['launch', 'pmb2_nav_bringup.launch.py'], + launch_arguments={ + 'slam': 'False' + }.items()), + ]) + + return ld diff --git a/pmb2_2dnav_gazebo/package.xml b/pmb2_2dnav_gazebo/package.xml index 90edcc5..dfef615 100644 --- a/pmb2_2dnav_gazebo/package.xml +++ b/pmb2_2dnav_gazebo/package.xml @@ -1,16 +1,25 @@ - + pmb2_2dnav_gazebo - 2.0.24 + 3.0.2 PMB2-specific launch files needed to run navigation on the PMB2 robot. + Victor Lopez PAL Robotics TIAGo support PAL Robotics Modified BSD - Enrique Fernandez + Victor Lopez - catkin + ament_cmake_auto + + pmb2_gazebo + pmb2_2dnav + + ament_lint_auto + ament_lint_common + + + ament_cmake + - pmb2_gazebo - pmb2_2dnav diff --git a/pmb2_controller_configuration_gazebo/CHANGELOG.rst b/pmb2_controller_configuration_gazebo/CHANGELOG.rst deleted file mode 100644 index 42586b1..0000000 --- a/pmb2_controller_configuration_gazebo/CHANGELOG.rst +++ /dev/null @@ -1,114 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package pmb2_controller_configuration_gazebo -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -2.0.24 (2021-01-13) -------------------- - -2.0.23 (2020-07-30) -------------------- - -2.0.22 (2020-04-14) -------------------- - -2.0.21 (2020-04-03) -------------------- - -2.0.20 (2020-03-19) -------------------- - -2.0.19 (2019-10-22) -------------------- - -2.0.18 (2019-10-14) -------------------- - -2.0.17 (2019-10-10) -------------------- - -2.0.16 (2019-10-10) -------------------- - -2.0.15 (2019-10-10) -------------------- - -2.0.14 (2019-09-25) -------------------- - -2.0.13 (2019-09-23) -------------------- - -2.0.12 (2019-08-14) -------------------- - -2.0.11 (2019-08-01) -------------------- - -2.0.10 (2019-07-02) -------------------- - -2.0.9 (2019-06-17) ------------------- - -2.0.8 (2019-05-20) ------------------- - -2.0.7 (2019-02-01) ------------------- - -2.0.6 (2019-01-25) ------------------- - -2.0.5 (2019-01-23) ------------------- - -2.0.4 (2019-01-17) ------------------- - -2.0.3 (2018-12-19) ------------------- - -2.0.2 (2018-07-25) ------------------- - -2.0.1 (2018-07-17) ------------------- - -2.0.0 (2018-02-05) ------------------- -* Add missing run depend -* Contributors: Victor Lopez - -1.0.1 (2017-02-28) ------------------- -* refs #14797. Add public_sim argument -* add tiago_support as maintainer -* Contributors: Jordi Pages - -1.0.0 (2016-04-20) ------------------- - -0.9.7 (2016-04-15) ------------------- - -0.9.6 (2016-02-09) ------------------- - -0.9.5 (2015-10-27) ------------------- -* Update maintainer -* Contributors: Bence Magyar - -0.9.4 (2015-02-18) ------------------- -* Make rgbd camera fixed -* Contributors: Enrique Fernandez - -0.9.3 (2015-02-03) ------------------- - -0.9.2 (2015-02-02) ------------------- -* Replace ant -> pmb2 -* Rename files -* Contributors: Enrique Fernandez diff --git a/pmb2_controller_configuration_gazebo/CMakeLists.txt b/pmb2_controller_configuration_gazebo/CMakeLists.txt deleted file mode 100644 index f328828..0000000 --- a/pmb2_controller_configuration_gazebo/CMakeLists.txt +++ /dev/null @@ -1,11 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(pmb2_controller_configuration_gazebo) - -find_package(catkin REQUIRED) - -catkin_package() - -foreach(dir config) - install(DIRECTORY ${dir}/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) -endforeach(dir) diff --git a/pmb2_controller_configuration_gazebo/config/mobile_base_controller.yaml b/pmb2_controller_configuration_gazebo/config/mobile_base_controller.yaml deleted file mode 100644 index 09eb0a7..0000000 --- a/pmb2_controller_configuration_gazebo/config/mobile_base_controller.yaml +++ /dev/null @@ -1,46 +0,0 @@ -mobile_base_controller: - type : "diff_drive_controller/DiffDriveController" - left_wheel : 'wheel_left_joint' - right_wheel : 'wheel_right_joint' - publish_rate: 50.0 - pose_covariance_diagonal : [0.001, 0.001, 1.0e-3, 1.0e-3, 1.0e-3, 0.01] - twist_covariance_diagonal: [0.001, 0.001, 1.0e-3, 1.0e-3, 1.0e-3, 0.01] - - enable_pose_covariance_update: true - error_constant_left : 0.001 - error_constant_right: 0.001 - - # Velocity commands timeout [s] - cmd_vel_timeout: 0.25 - - # Base frame_id - base_frame_id: base_footprint - - # Preserve turning radius when limiting speed/acceleration/jerk - preserve_turning_radius: true - - # Publish limited velocity - publish_cmd: false - - # Publish wheel data - publish_wheel_data: true - - # Velocity and acceleration limits - # Whenever a min_* is unspecified, default to -max_* - linear: - x: - has_velocity_limits : true - max_velocity : 1.0 # m/s - min_velocity : -0.2 # m/s - has_acceleration_limits: true - max_acceleration : 1.0 # m/s^2 - has_jerk_limits : false - max_jerk : 5.0 # m/s^3 - angular: - z: - has_velocity_limits : true - max_velocity : !degrees 120.0 - has_acceleration_limits: true - max_acceleration : !degrees 120.0 - has_jerk_limits : false - max_jerk : !degrees 600.0 diff --git a/pmb2_controller_configuration_gazebo/config/mobile_base_controller_multipliers.yaml b/pmb2_controller_configuration_gazebo/config/mobile_base_controller_multipliers.yaml deleted file mode 100644 index 9f3fb54..0000000 --- a/pmb2_controller_configuration_gazebo/config/mobile_base_controller_multipliers.yaml +++ /dev/null @@ -1,3 +0,0 @@ -mobile_base_controller: - wheel_separation_multiplier: 1.0 - wheel_radius_multiplier : 1.0 diff --git a/pmb2_controller_configuration_gazebo/package.xml b/pmb2_controller_configuration_gazebo/package.xml deleted file mode 100644 index ef80962..0000000 --- a/pmb2_controller_configuration_gazebo/package.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - pmb2_controller_configuration_gazebo - 2.0.24 - Gazebo-specifig launch files and scripts needed to configure - the controllers of the PMB2 robot in simulation. - PAL Robotics - TIAGo support PAL Robotics - Modified BSD - Enrique Fernandez - - catkin - diff_drive_controller - - diff --git a/pmb2_gazebo/CHANGELOG.rst b/pmb2_gazebo/CHANGELOG.rst index 8746e62..7b6d3f1 100644 --- a/pmb2_gazebo/CHANGELOG.rst +++ b/pmb2_gazebo/CHANGELOG.rst @@ -2,6 +2,31 @@ Changelog for package pmb2_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.0.2 (2021-10-19) +------------------ +* Add gazebo_ros2_control dependency +* Contributors: Victor Lopez + +3.0.1 (2021-08-13) +------------------ +* Resolve missing dependency +* Merge branch 'foxy_obstacle_avoidance' into 'foxy-devel' + default world + See merge request robots/pmb2_simulation!33 +* default world +* Contributors: Noel Jimenez Garcia, Victor Lopez, victor + +3.0.0 (2021-07-20) +------------------ +* Cleanup old launch files +* Correct python launch file +* Add ament and apply corrections +* Cleanup +* Cleanup pmb2_gazebo spawn +* Path fixes for gazebo +* First gazebo launch with ROS2 +* Contributors: Victor Lopez + 2.0.24 (2021-01-13) ------------------- diff --git a/pmb2_gazebo/CMakeLists.txt b/pmb2_gazebo/CMakeLists.txt index 95c94df..990c493 100644 --- a/pmb2_gazebo/CMakeLists.txt +++ b/pmb2_gazebo/CMakeLists.txt @@ -1,11 +1,16 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.4.0) project(pmb2_gazebo) -find_package(catkin REQUIRED) +find_package(ament_cmake_auto REQUIRED) -catkin_package() +# PAL Robotics stricter build flags, other developers should not worry about this +find_package(ament_cmake_pal QUIET) -foreach(dir launch Media models worlds) - install(DIRECTORY ${dir}/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) -endforeach(dir) +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + + ament_lint_auto_find_test_dependencies() +endif() + +# Media commented out +ament_auto_package(INSTALL_TO_SHARE launch models worlds) diff --git a/pmb2_gazebo/launch/pmb2_empty_world.launch b/pmb2_gazebo/launch/pmb2_empty_world.launch deleted file mode 100644 index 5305925..0000000 --- a/pmb2_gazebo/launch/pmb2_empty_world.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/pmb2_gazebo/launch/pmb2_gazebo.launch b/pmb2_gazebo/launch/pmb2_gazebo.launch deleted file mode 100644 index ffd0056..0000000 --- a/pmb2_gazebo/launch/pmb2_gazebo.launch +++ /dev/null @@ -1,58 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/pmb2_gazebo/launch/pmb2_gazebo.launch.py b/pmb2_gazebo/launch/pmb2_gazebo.launch.py new file mode 100644 index 0000000..d4582a2 --- /dev/null +++ b/pmb2_gazebo/launch/pmb2_gazebo.launch.py @@ -0,0 +1,64 @@ +# Copyright (c) 2021 PAL Robotics S.L. +# +# 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 os import environ, pathsep + +from ament_index_python.packages import get_package_share_directory, get_package_prefix + +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable, DeclareLaunchArgument +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration + +from launch_pal.include_utils import include_launch_py_description + + +def generate_launch_description(): + # This should be removed, it should be retrieved automatically from pal_gazebo.launch.py + # See https://github.com/ros2/launch/issues/313 + declare_world_name = DeclareLaunchArgument( + 'world_name', default_value='pal_office', + description='Specify world name, we\'ll convert to full path' + ) + + gazebo = IncludeLaunchDescription( + PythonLaunchDescriptionSource([os.path.join( + get_package_share_directory('pal_gazebo_worlds'), 'launch'), '/pal_gazebo.launch.py']), + launch_arguments={ + 'world_name': LaunchConfiguration('world_name')}.items(), + ) + + pmb2_spawn = include_launch_py_description( + 'pmb2_gazebo', ['launch', 'pmb2_spawn.launch.py']) + pmb2_bringup = include_launch_py_description( + 'pmb2_bringup', ['launch', 'pmb2_bringup.launch.py']) + + pkg_path = get_package_prefix('pmb2_description') + model_path = os.path.join(pkg_path, "share") + resource_path = pkg_path + + if 'GAZEBO_MODEL_PATH' in environ: + model_path += pathsep + environ['GAZEBO_MODEL_PATH'] + if 'GAZEBO_RESOURCE_PATH' in environ: + resource_path += pathsep + environ['GAZEBO_RESOURCE_PATH'] + return LaunchDescription([ + SetEnvironmentVariable("GAZEBO_MODEL_PATH", model_path), + # Using this prevents shared library from being found + # SetEnvironmentVariable("GAZEBO_RESOURCE_PATH", resource_path), + declare_world_name, + gazebo, + pmb2_spawn, + pmb2_bringup + ]) diff --git a/pmb2_gazebo/launch/pmb2_spawn.launch b/pmb2_gazebo/launch/pmb2_spawn.launch deleted file mode 100644 index 2d27774..0000000 --- a/pmb2_gazebo/launch/pmb2_spawn.launch +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - - - "pmb2" - - - - - - - - - - - - - - - - diff --git a/pmb2_gazebo/launch/pmb2_spawn.launch.py b/pmb2_gazebo/launch/pmb2_spawn.launch.py new file mode 100644 index 0000000..3cbc270 --- /dev/null +++ b/pmb2_gazebo/launch/pmb2_spawn.launch.py @@ -0,0 +1,53 @@ +# Copyright (c) 2021 PAL Robotics S.L. +# +# 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. + + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration + +from launch_ros.actions import Node + +from launch_pal.include_utils import include_launch_py_description + + +def generate_launch_description(): + # This format doesn't work because because we have to expand gzpose into + # different args for spawn_entity.py + # declare_gz_pose = DeclareLaunchArgument( + # 'gzpose', default_value='-x 0 -y 0 -z 0.0 -R 0.0 -P 0.0 -Y 0.0 ', + # description='Spawn gazebo position as provided to spawn_entity.py' + # ) + declare_model_name = DeclareLaunchArgument( + 'model_name', default_value='pmb2', + description='Gazebo model name' + ) + + pmb2_state_publisher = include_launch_py_description('pmb2_description', + ['launch', + 'robot_state_publisher.launch.py']) + spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py', + arguments=['-topic', 'robot_description', + '-entity', LaunchConfiguration( + 'model_name'), + # LaunchConfiguration('gzpose'), + ], + output='screen') + + return LaunchDescription([ + # declare_gz_pose, + declare_model_name, + pmb2_state_publisher, + spawn_entity, + ]) diff --git a/pmb2_gazebo/launch/simulation_pmb2_bringup.launch b/pmb2_gazebo/launch/simulation_pmb2_bringup.launch deleted file mode 100644 index 49689ae..0000000 --- a/pmb2_gazebo/launch/simulation_pmb2_bringup.launch +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/pmb2_gazebo/package.xml b/pmb2_gazebo/package.xml index 03d387c..09925ed 100644 --- a/pmb2_gazebo/package.xml +++ b/pmb2_gazebo/package.xml @@ -1,22 +1,35 @@ - + pmb2_gazebo - 2.0.24 + 3.0.2 Simulation files for the PMB2 robot. + Victor Lopez PAL Robotics TIAGo support PAL Robotics Modified BSD - Enrique Fernandez + Victor Lopez - catkin + ament_cmake_auto + + launch_pal + pmb2_description + pmb2_bringup + gazebo_ros + gazebo_plugins + gazebo_ros2_control + pal_gazebo_worlds + pmb2_controller_configuration + + + + ament_lint_auto + ament_lint_common + + + ament_cmake + - pmb2_controller_configuration_gazebo - pmb2_description - pal_hardware_gazebo - pmb2_bringup - gazebo_ros - gazebo_plugins - pal_gazebo_worlds - simple_models_gazebo diff --git a/pmb2_multi/CMakeLists.txt b/pmb2_multi/CMakeLists.txt index ca4bb7a..7073b6c 100644 --- a/pmb2_multi/CMakeLists.txt +++ b/pmb2_multi/CMakeLists.txt @@ -11,5 +11,5 @@ install( foreach(dir config launch) install(DIRECTORY ${dir}/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) -endforeach(dir) +endforeach() diff --git a/pmb2_multi/COLCON_IGNORE b/pmb2_multi/COLCON_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/pmb2_simulation/CHANGELOG.rst b/pmb2_simulation/CHANGELOG.rst index 081047b..e27344d 100644 --- a/pmb2_simulation/CHANGELOG.rst +++ b/pmb2_simulation/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package pmb2_simulation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.0.2 (2021-10-19) +------------------ + +3.0.1 (2021-08-13) +------------------ + +3.0.0 (2021-07-20) +------------------ +* Add ament and apply corrections +* Remove pmb2_controller_configuration_gazebo, use default one for gazebo + For now we can use the default one +* First gazebo launch with ROS2 +* Contributors: Victor Lopez + 2.0.24 (2021-01-13) ------------------- diff --git a/pmb2_simulation/CMakeLists.txt b/pmb2_simulation/CMakeLists.txt index 0a84221..13c5cb9 100644 --- a/pmb2_simulation/CMakeLists.txt +++ b/pmb2_simulation/CMakeLists.txt @@ -1,4 +1,11 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(pmb2_simulation) -find_package(catkin REQUIRED) -catkin_metapackage() +find_package(ament_cmake REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/pmb2_simulation/package.xml b/pmb2_simulation/package.xml index 8e82257..13a66a1 100644 --- a/pmb2_simulation/package.xml +++ b/pmb2_simulation/package.xml @@ -1,7 +1,7 @@ - + pmb2_simulation - 2.0.24 + 3.0.2 PMB2-specific simulation components. These include plugins and launch scripts necessary for running PMB2 in simulation. PAL Robotics @@ -9,14 +9,15 @@ BSD Enrique Fernandez - catkin + ament_cmake - pmb2_controller_configuration_gazebo - pmb2_gazebo - pal_hardware_gazebo - pmb2_2dnav_gazebo + pmb2_gazebo + + pmb2_2dnav_gazebo + ament_lint_auto   + ament_lint_common - + ament_cmake