Add 2D/3D Lidar Launch Arg in iris_with_lidar.launch.py (#64)

* add models for iris with 2d and 3d lidar
* add 2D/3D lidar launch arg and point cloud ros_gz bridge config
* remove iris_with_lidar model
* add dynamic lidar model selection and use ros_gz_sim to spawn robot in the world
* remove overriding of lidar_dim argument
* use separate config file for lidar config instead of loading both in ros_gz_bridge
* add pointcloud representation in rviz

ardupilot_gz_bringup/config/iris_lidar_bridge.yaml → ardupilot_gz_bringup/config/iris_2Dlidar_bridge.yaml

@@ -31,14 +31,14 @@
   gz_type_name: "gz.msgs.IMU"
   direction: GZ_TO_ROS
 
-- ros_topic_name: "scan"
-  gz_topic_name: "/lidar"
-  ros_type_name: "sensor_msgs/msg/LaserScan"
-  gz_type_name: "gz.msgs.LaserScan"
-  direction: GZ_TO_ROS
-
 - ros_topic_name: "battery"
   gz_topic_name: "/model/iris/battery/linear_battery/state"
   ros_type_name: "sensor_msgs/msg/BatteryState"
   gz_type_name: "gz.msgs.BatteryState"
   direction: GZ_TO_ROS
+
+- ros_topic_name: "scan"
+  gz_topic_name: "/lidar"
+  ros_type_name: "sensor_msgs/msg/LaserScan"
+  gz_type_name: "gz.msgs.LaserScan"
+  direction: GZ_TO_ROS

ardupilot_gz_bringup/config/iris_3Dlidar_bridge.yaml

@@ -0,0 +1,44 @@
+---
+- 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/map/model/iris/joint_state"
+  ros_type_name: "sensor_msgs/msg/JointState"
+  gz_type_name: "gz.msgs.Model"
+  direction: GZ_TO_ROS
+- ros_topic_name: "odometry"
+  gz_topic_name: "/model/iris/odometry"
+  ros_type_name: "nav_msgs/msg/Odometry"
+  gz_type_name: "gz.msgs.Odometry"
+  direction: GZ_TO_ROS
+- ros_topic_name: "gz/tf"
+  gz_topic_name: "/model/iris/pose"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+- ros_topic_name: "gz/tf_static"
+  gz_topic_name: "/model/iris/pose_static"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "imu"
+  gz_topic_name: "/world/map/model/iris/link/imu_link/sensor/imu_sensor/imu"
+  ros_type_name: "sensor_msgs/msg/Imu"
+  gz_type_name: "gz.msgs.IMU"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "battery"
+  gz_topic_name: "/model/iris/battery/linear_battery/state"
+  ros_type_name: "sensor_msgs/msg/BatteryState"
+  gz_type_name: "gz.msgs.BatteryState"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "cloud_in"
+  gz_topic_name: "/lidar/points"
+  ros_type_name: "sensor_msgs/msg/PointCloud2"
+  gz_type_name: "gz.msgs.PointCloudPacked"
+  direction: GZ_TO_ROS

ardupilot_gz_bringup/launch/iris_maze.launch.py

@@ -65,7 +65,16 @@ def generate_launch_description():
                     ]
                 ),
             ]
-        )
+        ),
+        launch_arguments={
+            "model": "iris_with_lidar",
+            "name": "iris",
+            "x": "0",
+            "y": "0",
+            "z": "0.194923",
+            "R": "0.0",
+            "P": "0.0",
+        }.items(),
     )
 
     # Gazebo.