Merge pull request #2 from IOES-Lab/fuel-models

Fuel model usage and migration to ROS 2 launch files
IOES-Lab · Jun 20, 2024 · 06b2c3a · 06b2c3a
2 parents af720f4 + 8e4df54
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diff --git a/dave_demos/CMakeLists.txt b/dave_demos/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.8)
+project(dave_demos)
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY launch
+  DESTINATION share/dave_demos
+)
+
+ament_package()
diff --git a/dave_demos/README.md b/dave_demos/README.md
@@ -0,0 +1,53 @@
+## Examples
+
+### 1. Launching a Dave Model using Fuel URI
+
+To launch a Dave model directly from a Fuel URI, follow these steps:
+
+1. Build and source the workspace:
+
+   ```bash
+   colcon build && source install/setup.bash
+   ```
+
+2. Launch the model using the specified launch file:
+
+   ```bash
+   ros2 launch dave_demos model_in_empty_world.launch.py model_name:='mossy_cinder_block'
+   ```
+
+This method simplifies the process by pulling the model directly from Fuel, ensuring you always have the latest version without needing to manage local files.
+
+### 2. Launching a Dave Model using Downloaded Model Files
+
+If you prefer to use model files downloaded from Fuel, proceed as follows:
+
+1. Add a hook within the `dave_model_description` package to configure the necessary environment variables for Gazebo model lookup.
+
+   ```bash
+   cd <path-to-dave_ws>/src/dave/dave_model_description
+   mkdir hooks && cd hooks
+   touch dave_model_description.dsv.in
+   echo "prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@" >> dave_model_description.dsv.in
+   ```
+
+2. Append the following line to the CMakeLists.txt file in the `dave_model_description` package:
+
+   ```bash
+   ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
+   ```
+
+3. Build and source the workspace:
+
+   ```bash
+   cd <path-to-dave_ws>
+   colcon build && source install/setup.bash
+   ```
+
+4. Launch the model using the provided launch file:
+
+   ```bash
+   ros2 launch dave_demos model_in_empty_world.launch.py model_name:='nortek_dvl500_300'
+   ```
+
+This approach gives you more control over the models you use, allowing for offline use and customization. It's especially useful when working in environments with limited internet connectivity or when specific model versions are required.
diff --git a/dave_demos/launch/model_in_empty_world.launch.py b/dave_demos/launch/model_in_empty_world.launch.py
@@ -0,0 +1,82 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.substitutions import (
+    LaunchConfiguration,
+    PathJoinSubstitution
+    )
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.conditions import IfCondition
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    use_sim = LaunchConfiguration("use_sim")
+    model_name = LaunchConfiguration("model_name")
+    gazebo_world_file = LaunchConfiguration("gazebo_world_file")
+
+    # Declare the launch arguments with default values
+    args = [
+        DeclareLaunchArgument(
+            "gazebo_world_file",
+            default_value="empty.sdf",
+            description="Gazebo world file to launch",
+        ),
+        DeclareLaunchArgument(
+            "use_sim",
+            default_value="true",
+            description="Flag to indicate whether to use simulation",
+        ),
+        DeclareLaunchArgument(
+            "model_name",
+            default_value="mossy_cinder_block",
+            description="Name of the model to load",
+        ),
+    ]
+
+    # Include the first launch file
+    gz_sim_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("ros_gz_sim"),
+                        "launch",
+                        "gz_sim.launch.py",
+                    ]
+                )
+            ]
+        ),
+        launch_arguments=[
+            (
+                "gz_args",
+                [
+                    "-r ",
+                    gazebo_world_file,
+                ],
+            ),
+        ],
+        condition=IfCondition(use_sim),
+    )
+
+    # Include the second launch file with model name
+    model_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("dave_model_description"),
+                        "launch",
+                        "upload_model.launch.py",
+                    ]
+                )
+            ]
+        ),
+        launch_arguments={
+            "model_name": model_name,
+            "use_sim": use_sim,
+        }.items(),
+    )
+
+    include = [gz_sim_launch, model_launch]
+
+    return LaunchDescription(args + include)
diff --git a/dave_demos/package.xml b/dave_demos/package.xml
@@ -0,0 +1,18 @@
+<?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>dave_demos</name>
+  <version>0.1.0</version>
+  <description> A package for demo launch files.</description>
+
+  <maintainer email="[email protected]">Rakesh Vivekanandan</maintainer>
+
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/dave_model_description/CMakeLists.txt b/dave_model_description/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.8)
+project(dave_model_description)
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY description launch meshes
+  DESTINATION share/dave_model_description
+)
+
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
+
+ament_package()
diff --git a/dave_model_description/description/mossy_cinder_block/model.sdf b/dave_model_description/description/mossy_cinder_block/model.sdf
@@ -0,0 +1,10 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <include>
+    <name>mossy_cinder_block</name>
+    <pose>0 0 0 0 0 0</pose>
+    <uri>
+      https://fuel.gazebosim.org/1.0/hmoyen/models/mossy_cinder_block
+    </uri>
+  </include>
+</sdf>
diff --git a/dave_model_description/description/nortek_dvl500_300/model.sdf b/dave_model_description/description/nortek_dvl500_300/model.sdf
@@ -0,0 +1,97 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="dvl500_300">
+    <link name="dvl500_base_link">
+      <pose>0 0 0 0 0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>3.5</mass>
+        <inertia>
+          <ixx>0.0195872</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0195872</iyy>
+          <iyz>0</iyz>
+          <izz>0.0151357</izz>
+        </inertia>
+      </inertial>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <!-- Removed sensor -->
+      <self_collide>0</self_collide>
+      <enable_wind>0</enable_wind>
+      <kinematic>0</kinematic>
+      <visual name="dvl500_base_link_visual">
+        <pose>0 0 0 0 0 3.14159</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <!-- Mesh is actually for a Nortek DVL1000-4000m for now -->
+            <uri>model://meshes/nortek_dvl500_300/DVL500-300m.dae</uri>
+          </mesh>
+        </geometry>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name="dvl500_base_link_collision">
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose>0 0 0 3.14159 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.093</radius>
+            <length>0.203</length>
+          </cylinder>
+        </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>0</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>
diff --git a/dave_model_description/hooks/dave_model_description.dsv.in b/dave_model_description/hooks/dave_model_description.dsv.in
@@ -0,0 +1 @@
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@
diff --git a/dave_model_description/launch/upload_model.launch.py b/dave_model_description/launch/upload_model.launch.py
@@ -0,0 +1,53 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, RegisterEventHandler, LogInfo
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.conditions import IfCondition
+from launch_ros.substitutions import FindPackageShare
+from launch.event_handlers import OnProcessExit
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    model_name = LaunchConfiguration("model_name")
+    use_sim = LaunchConfiguration("use_sim")
+
+    args = [
+        DeclareLaunchArgument(
+            "model_name",
+            default_value="model",
+            description="Name of the model to load",
+        ),
+        DeclareLaunchArgument(
+            "use_sim",
+            default_value="true",
+            description="Flag to indicate whether to use simulation",
+        ),
+    ]
+
+    description_file = PathJoinSubstitution(
+        [
+            FindPackageShare("dave_model_description"),
+            "description",
+            model_name,
+            "model.sdf",
+        ]
+    )
+
+    gz_spawner = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", model_name, "-file", description_file],
+        output="both",
+        condition=IfCondition(use_sim),
+        parameters=[{"use_sim_time": use_sim}],
+    )
+
+    nodes = [gz_spawner]
+
+    event_handlers = [
+        RegisterEventHandler(
+            OnProcessExit(target_action=gz_spawner, on_exit=LogInfo(msg="Model Uploaded"))
+        )
+    ]
+
+    return LaunchDescription(args + nodes + event_handlers)
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		prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@