[GSOC-46] Fuel model usage and migration to ROS 2 launch files

dave_demos/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(dave_demos)
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY launch
+  DESTINATION share/dave_demos
+)
+
+ament_package()

dave_demos/README.md

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+## 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 mossy_cinder_block.launch.yaml
+   ```
+
+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. Set the resource path to your local model files:
+   ```bash
+   export GZ_SIM_RESOURCE_PATH=<Path-to-dave_ws>/src/dave/dave_model_description
+   ```
+2. Build and source the workspace:
+   ```bash
+   colcon build && source install/setup.bash
+   ```
+3. Launch the model using the provided launch file:
+   ```bash
+   ros2 launch dave_demos nortek_dvl500_300_bare_model.launch.yaml
+   ```
+
+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.

dave_demos/launch/mossy_cinder_block.launch.yaml

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+launch:
+  - arg:
+      name: gazebo_world_file
+      default: empty.sdf
+
+  - arg:
+      name: use_sim
+      default: "true"
+
+  - arg:
+      name: model_name
+      default: mossy_cinder_block
+
+  - include:
+      file: $(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py
+      arg:
+        - name: gz_args
+          value: -v 4 -r $(var gazebo_world_file)
+
+  - include:
+      file: $(find-pkg-share dave_model_description)/launch/$(var model_name)/upload_$(var model_name).launch.yaml
+      arg:
+        - name: namespace
+          value: $(var model_name)
+        - name: use_sim
+          value: $(var use_sim)

dave_demos/launch/nortek_dvl500_300_bare_model.launch.yaml

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+launch:
+  - arg:
+      name: gazebo_world_file
+      default: empty.sdf
+
+  - arg:
+      name: use_sim
+      default: "true"
+
+  - arg:
+      name: model_name
+      default: nortek_dvl500_300_bare_model
+
+  - include:
+      file: $(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py
+      arg:
+        - name: gz_args
+          value: -v 4 -r $(var gazebo_world_file)
+
+  - include:
+      file: $(find-pkg-share dave_model_description)/launch/$(var model_name)/upload_$(var model_name).launch.yaml
+      arg:
+        - name: namespace
+          value: $(var model_name)
+        - name: use_sim
+          value: $(var use_sim)

dave_demos/package.xml

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+<?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>

dave_model_description/CMakeLists.txt

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+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_package()

dave_model_description/description/mossy_cinder_block/model.sdf

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+<?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>

dave_model_description/description/nortek_dvl500_300_bare_model/model.sdf

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+<?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_bare_model/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>

dave_model_description/launch/mossy_cinder_block/upload_mossy_cinder_block.launch.yaml

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+launch:
+
+  - arg:
+      name: use_sim
+      default: "true"
+
+  - arg:
+      name: model_name
+      default: mossy_cinder_block
+
+  - let:
+      name: description_file
+      value: $(find-pkg-share dave_model_description)/description/$(var model_name)/model.sdf
+
+  - node:
+      pkg: ros_gz_sim
+      exec: create
+      args: -name $(var model_name) -file $(var description_file)

dave_model_description/launch/nortek_dvl500_300_bare_model/upload_nortek_dvl500_300_bare_model.launch.yaml

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+launch:
+
+  - arg:
+      name: use_sim
+      default: "true"
+
+  - arg:
+      name: model_name
+      default: nortek_dvl500_300_bare_model
+
+  - let:
+      name: description_file
+      value: $(find-pkg-share dave_model_description)/description/$(var model_name)/model.sdf
+
+  - node:
+      pkg: ros_gz_sim
+      exec: create
+      args: -name $(var model_name) -x 0 -y 0 -z 0 -file $(var description_file)

dave_model_description/package.xml

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+<?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_model_description</name>
+  <version>0.1.0</version>
+  <description> Dave model description files are placed here. </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>