feat: task 1 added CL

aws-robomaker-small-warehouse-world/README.md

@@ -85,6 +85,3 @@ ros2 launch aws_robomaker_small_warehouse_world small_warehouse.launch.py
 ## Notes
 - Lighting might vary on different system(s) (e.g brighter on system without CPU and darker on system with GPU)
 - Adjust lighting parameters in .world file as you need
-
-
-## We have delinked this repo for solely eYRC-23-24 purpose

ebot_description/CMakeLists.txt

@@ -41,12 +41,23 @@ endif()
 install(
   DIRECTORY
     launch
+    worlds
     models
     meshes
     plugins
   DESTINATION
     share/${PROJECT_NAME}/
 )
 
+install(
+  PROGRAMS
+  launch/spawn_robot.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(PROGRAMS
+
+  DESTINATION lib/${PROJECT_NAME}
+)
 
 ament_package()

ebot_description/launch/ebot_gazebo_launch.py

@@ -5,71 +5,82 @@
 *****************************************************************************************
 *
 *        =============================================
-*           Cosmo Logistic (CL) Theme (eYRC 2023-24)
+*                  CL Theme (eYRC 2023-24)
 *        =============================================
 *
 *
 *  Filename:			ebot_gazebo_launch.py
 *  Description:         Use this file to spawn ebot inside e-yantra warehouse world in the gazebo simulator and publish robot states.
 *  Created:				16/07/2023
-*  Last Modified:	    16/07/2023
-*  Modified by:         Archit
+*  Last Modified:	    16/09/2023
+*  Modified by:         Ravikumar
 *  Author:				e-Yantra Team
-*  Copyright (c):       2023 eYantra IITB 
 *  
 *****************************************************************************************
 '''
 
-import os
-import xacro
 import launch
 import launch_ros
-from launch.actions import IncludeLaunchDescription
-from launch.substitutions import Command, LaunchConfiguration
+import os
+import xacro
 from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 
+def get_package_file(package, file_path):
+    """Get the location of a file installed in an ament package"""
+    package_path = get_package_share_directory(package)
+    absolute_file_path = os.path.join(package_path, file_path)
+    return absolute_file_path
 
 def generate_launch_description():
-
-    # Getting package share directory
     pkg_share = launch_ros.substitutions.FindPackageShare(package='ebot_description').find('ebot_description')
 
-    # Loading xacro as robot description
-    xacro_file_ebot = os.path.join(pkg_share, 'models/','ebot/', 'ebot_description.xacro')
-    assert os.path.exists(xacro_file_ebot), "The ebot_bot.xacro doesnt exist in "+str(xacro_file_ebot)
+    xacro_file_ebot = os.path.join(pkg_share, 'models/','ebot/', 'ebot_trolley.xacro')
+    assert os.path.exists(xacro_file_ebot), "The box_bot.xacro doesnt exist in "+str(xacro_file_ebot)
     robot_description_config_ebot = xacro.process_file(xacro_file_ebot)
     robot_description_ebot = robot_description_config_ebot.toxml()
-
+
+
     start_world = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(get_package_share_directory('ebot_description'), 'launch', 'start_world_launch.py'),
         )
     )
 
-    # Publishing robot state
     robot_state_publisher_node_ebot = launch_ros.actions.Node(
         package='robot_state_publisher',
         name='ebot_RD',
         executable='robot_state_publisher',
         parameters=[{"robot_description": robot_description_ebot}],
         remappings=[('robot_description', 'robot_description_ebot')]
+
     )
-    # Spawn mobile robot (ebot) at xyz location in gazebo environment
+
+    static_transform = launch_ros.actions.Node(
+        package='tf2_ros',
+        executable='static_transform_publisher',
+        name='static_transform_publisher',
+        arguments = ["1.6", "-2.4", "-0.8", "3.14", "0", "0", "world", "odom"],
+        output='screen')
+
     spawn_ebot = launch_ros.actions.Node(
     	package='gazebo_ros', 
         name='ebot_spawner',
     	executable='spawn_entity.py',
-        arguments=['-entity', 'ebot', '-topic', 'robot_description_ebot'],
+        # arguments=['-entity', 'ebot', '-topic', 'robot_description_ebot', '-x', '1.1', '-y', '4.35', '-z', '0.1', '-Y', '3.14'],
+        arguments=['-entity', 'ebot', '-topic', 'robot_description_ebot', '-x', '0.0', '-y', '0.0', '-z', '0.1', '-Y', '0.0'],
         output='screen'
     )
 
+
     return launch.LaunchDescription([
         launch.actions.DeclareLaunchArgument(name='gui', default_value='True',
                                             description='Flag to enable joint_state_publisher_gui'),
         launch.actions.DeclareLaunchArgument(name='use_sim_time', default_value='True',
                                             description='Flag to enable use_sim_time'),
         start_world,
         robot_state_publisher_node_ebot,
-        spawn_ebot
+        spawn_ebot,
+        static_transform
     ])

ebot_description/launch/spawn_robot.py

@@ -0,0 +1,38 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+import os
+import sys
+import rclpy
+from gazebo_msgs.srv import SpawnEntity
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = rclpy.create_node('minimal_client')
+    cli = node.create_client(SpawnEntity, '/spawn_entity')
+
+    content = sys.argv[1]
+
+    req = SpawnEntity.Request()
+    req.name = "ebot"
+    req.xml = content
+    req.robot_namespace = ""
+    req.reference_frame = "world"
+
+    while not cli.wait_for_service(timeout_sec=1.0):
+        node.get_logger().info('service not available, waiting again...')
+
+    future = cli.call_async(req)
+    rclpy.spin_until_future_complete(node, future)
+
+    if future.result() is not None:
+        node.get_logger().info(
+            'Result ' + str(future.result().success) + " " + future.result().status_message)
+    else:
+        node.get_logger().info('Service call failed %r' % (future.exception(),))
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

ebot_description/launch/start_world_launch.py

@@ -5,7 +5,7 @@
 *****************************************************************************************
 *
 *        =============================================
-*           Cosmo Logistic (CL) Theme (eYRC 2023-24)
+*                  TBD Theme (eYRC 2023-24)
 *        =============================================
 *
 *
@@ -15,22 +15,23 @@
 *  Last Modified:	    12/07/2023
 *  Modified by:         Amit
 *  Author:				e-Yantra Team
-*  Copyright (c):       2023 eYantra IITB 
 *  
 *****************************************************************************************
 '''
 
+
 import os
-from launch_ros.actions import Node
+
+from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.conditions import IfCondition
-from launch.actions import ExecuteProcess
 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
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess
 from ament_index_python.packages import get_package_prefix
-from ament_index_python.packages import get_package_share_directory
-from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 pkg_name='eyantra_warehouse'
 
@@ -40,6 +41,7 @@ def generate_launch_description():
     pkg_models_dir = get_package_share_directory(pkg_name)
 
     install_dir = get_package_prefix(pkg_name)
+
     if 'GAZEBO_MODEL_PATH' in os.environ:
         gazebo_models_path = os.path.join(pkg_models_dir, 'models')
         os.environ['GAZEBO_MODEL_PATH'] = gazebo_models_path
@@ -51,7 +53,7 @@ def generate_launch_description():
     else:
         os.environ['GAZEBO_PLUGIN_PATH'] = install_dir + '/lib'
 
-    # Launch gazebo
+    # Gazebo launch
     gazebo = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py'),
@@ -61,7 +63,8 @@ def generate_launch_description():
     return LaunchDescription([
         DeclareLaunchArgument(
           'world',
-          default_value=[os.path.join(pkg_models_dir, 'worlds', 'eyantra_warehouse.world'), ''],
+          default_value=[os.path.join(pkg_models_dir, 'worlds', 'eyantra_warehouse.world'), ''], # Change name of world file if required.
           description='SDF world file'),
         gazebo
+        # ExecuteProcess(cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'], output='screen'),
     ])