Replace sdf with urfs

.github/workflows/python_lint.yaml

@@ -4,31 +4,31 @@ name: Python Linting
 on: [push]
 
 jobs:
-    black-lint:
-        runs-on: ubuntu-latest
-        name: Python black Lint
-        steps:
-            - uses: actions/checkout@v4
-            - uses: psf/black@stable
-              with:
-                  version: "24.2.0"
-    # flake8-lint:
-    #     runs-on: ubuntu-latest
-    #     name: Python flake8 Lint
-    #     steps:
-    #         - name: Check out source repository
-    #           uses: actions/checkout@v3
+  black-lint:
+    runs-on: ubuntu-latest
+    name: Python black Lint
+    steps:
+      - uses: actions/checkout@v4
+      - uses: psf/black@stable
+        with:
+          version: "26.5.1"
+  # flake8-lint:
+  #     runs-on: ubuntu-latest
+  #     name: Python flake8 Lint
+  #     steps:
+  #         - name: Check out source repository
+  #           uses: actions/checkout@v3
 
-    #         - name: Set up Python environment
-    #           uses: actions/setup-python@v4
-    #           with:
-    #             python-version: "3.11"
+  #         - name: Set up Python environment
+  #           uses: actions/setup-python@v4
+  #           with:
+  #             python-version: "3.11"
 
-    #         - name: flake8 Lint
-    #           uses: py-actions/flake8@v2
-    #           with:
-    #             ignore: "E701,W503,E203"
-    #             exclude: "docs,.idea"
-    #             max-line-length: "88"
-    #             path: "."
-    #             plugins: "flake8-docstrings flake8-black"
+  #         - name: flake8 Lint
+  #           uses: py-actions/flake8@v2
+  #           with:
+  #             ignore: "E701,W503,E203"
+  #             exclude: "docs,.idea"
+  #             max-line-length: "88"
+  #             path: "."
+  #             plugins: "flake8-docstrings flake8-black"

CustomRobots/CMakeLists.txt

@@ -78,54 +78,89 @@ install(
   DIRECTORY
     follow_person_harmonic/models
     follow_person_harmonic/params
-    Turtlebot2/turtlebot2_simulated/kobuki_description/launch
-    Turtlebot2/turtlebot2_simulated/kobuki_description/meshes
-    Turtlebot2/turtlebot2_simulated/kobuki_description/rviz
-    Turtlebot2/turtlebot2_simulated/kobuki_description/urdf
-    Turtlebot2/turtlebot2_simulated/turtlebot2/launch
-    Turtlebot2/turtlebot2_simulated/turtlebot2/rviz
-    Turtlebot2/turtlebot2_simulated/turtlebot2/urdf
+
     f1/models
     f1/params
+    f1/launch
+
+    autonomous_car/models
+    autonomous_car/params
+    autonomous_car/launch
+
+    vacuum_cleaner/models
+    vacuum_cleaner/params
+    vacuum_cleaner/launch
+
+    quadrotor/models
+    quadrotor/params
+    quadrotor/launch
+
+    rover_4wd/model
+    rover_4wd/params
+    rover_4wd/launch
+
+    Turtlebot2/model
+    Turtlebot2/params
+    Turtlebot2/launch
+
+    turtlebot3/models
+    turtlebot3/params
+    turtlebot3/launch
+
+    logistic_holonomic_robot/models
+    logistic_holonomic_robot/params
+    logistic_holonomic_robot/launch
+
+    logistic_ackermann_robot/models
+    logistic_ackermann_robot/params
+    logistic_ackermann_robot/launch
+
+    ur5/launch
+
     roomba_robot/models
-    roomba_robot/params
+
     ackermann_cars/models
-    ackermann_cars/params
+
     car_junction/models
     car_junction/scripts
+
     # AMAZON WAREHOUSE ROBOT
     amazon_robot_classic/models
     amazon_robot_classic/urdf
     amazon_robot_classic/meshes
+
     amazon_warehouse_harmonic/models
-    amazon_warehouse_harmonic/params
+
     package_delivery/models
+
     # AMAZON HOSPITAL
     amazon_hospital/models
-    amazon_hospital/hospital_world/launch
-    amazon_hospital/hospital_world/worlds
     amazon_hospital/worlds
+
     ackermann_logistic_robot/models
+
     autoparking/models
+
     autopark_harmonic/models
-    autopark_harmonic/params
+
     drone_assets/models
     drone_assets/bridges
+
     taxi_navigator/models
-    taxi_navigator/params
+
     3d_reconstruction/models
-    3d_reconstruction/params
+
     marker_visual_loc/models
-    turtlebot3/models
+
     turtlebot3/urdf
-    turtlebot3/params
+
     laser_mapping/models
+
     restaurant/models
+
     pick_place/models
     pick_place/urdf
-    rover_4wd_description/meshes
-    rover_4wd_description/urdf
-    rover_4wd_description/config
+
   DESTINATION share/${PROJECT_NAME})
 
 # install(

CustomRobots/Turtlebot2/launch/turtlebot2.launch.py

@@ -0,0 +1,143 @@
+import os
+import xacro
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.substitutions import LaunchConfiguration, Command, IfElseSubstitution
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+
+
+def launch_setup(context):
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    R = LaunchConfiguration("R")
+    P = LaunchConfiguration("P")
+    Y = LaunchConfiguration("Y")
+    gz_sensor = LaunchConfiguration("sensor")
+
+    package_dir = get_package_share_directory("custom_robots")
+
+    nodes_to_start = []
+
+    sensor = gz_sensor.perform(context)
+
+    bridge_yaml = os.path.join(package_dir, "params", f"turtlebot2_{sensor}.yaml")
+
+    # =========================
+    # ROBOT DESCRIPTION (URDF)
+    # =========================
+    xacro_file = os.path.join(
+        package_dir,
+        "model",
+        "turtlebot2",
+        "turtlebot2.urdf.xacro",
+    )
+
+    robot_description_content = xacro.process_file(
+        xacro_file,
+        mappings={
+            "camera": "true" if sensor == "camera" else "false",
+            "stereo": "true" if sensor == "stereo" else "false",
+        },
+    ).toxml()
+
+    robot_description = {"robot_description": robot_description_content}
+
+    robot_state_publisher_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        name="robot_state_publisher",
+        output="screen",
+        parameters=[robot_description, {"use_sim_time": True}],
+    )
+
+    gz_spawn_entity = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=[
+            "-topic",
+            "/robot_description",
+            "-name",
+            "turtlebot2",
+            "-allow_renaming",
+            "true",
+            "-x",
+            x,
+            "-y",
+            y,
+            "-z",
+            z,
+            "-R",
+            R,
+            "-P",
+            P,
+            "-Y",
+            Y,
+        ],
+        output="screen",
+    )
+
+    gz_ros2_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=["--ros-args", "-p", f"config_file:={bridge_yaml}"],
+        output="screen",
+    )
+
+    nodes_to_start.append(robot_state_publisher_node)
+    nodes_to_start.append(gz_spawn_entity)
+    nodes_to_start.append(gz_ros2_bridge)
+
+    # Sensor deppending on sensor arguments
+    if sensor == "stereo":
+        gz_ros2_image_left_bridge = Node(
+            package="ros_gz_image",
+            executable="image_bridge",
+            arguments=["/cam_turtlebot_left/image_raw"],
+            output="screen",
+        )
+
+        gz_ros2_image_right_bridge = Node(
+            package="ros_gz_image",
+            executable="image_bridge",
+            arguments=["/cam_turtlebot_right/image_raw"],
+            output="screen",
+        )
+
+        nodes_to_start.append(gz_ros2_image_left_bridge)
+        nodes_to_start.append(gz_ros2_image_right_bridge)
+    elif sensor == "":
+        gz_ros2_image_bridge = Node(
+            package="ros_gz_image",
+            executable="image_bridge",
+            arguments=["/depth_camera/image_raw"],
+            output="screen",
+        )
+
+        nodes_to_start.append(gz_ros2_image_bridge)
+
+    return nodes_to_start
+
+
+def generate_launch_description():
+    declared_arguments = []
+
+    # Add any entry parameter
+    declared_arguments.append(
+        DeclareLaunchArgument("use_sim_time", default_value="true")
+    )
+    declared_arguments.append(DeclareLaunchArgument("x", default_value="0"))
+    declared_arguments.append(DeclareLaunchArgument("y", default_value="0"))
+    declared_arguments.append(DeclareLaunchArgument("z", default_value="0"))
+    declared_arguments.append(DeclareLaunchArgument("R", default_value="0"))
+    declared_arguments.append(DeclareLaunchArgument("P", default_value="0"))
+    declared_arguments.append(DeclareLaunchArgument("Y", default_value="0"))
+    declared_arguments.append(DeclareLaunchArgument("sensor", default_value="stereo"))
+
+    return LaunchDescription(
+        declared_arguments + [OpaqueFunction(function=launch_setup)]
+    )

CustomRobots/Turtlebot2/turtlebot2_simulated/kobuki_description/urdf/common_properties.urdf.xacro → CustomRobots/Turtlebot2/model/turtlebot2/common_properties.urdf.xacro

@@ -2,8 +2,9 @@
 <!--
   Various useful properties such as constants and materials 
  -->
-<robot name="xacro_properties" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:property name="M_PI" value="3.1415926535897931" /> 
+<robot name="xacro_properties"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:property name="M_PI" value="3.1415926535897931" />
   <xacro:property name="material_white">
     <material name="white">
       <color rgba="1 1 1 1"/>

CustomRobots/Turtlebot2/model/turtlebot2/turtlebot2.urdf.xacro

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<robot name="turtlebot2"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:arg name="camera" default="true"/>
+  <xacro:arg name="stereo" default="false"/>
+
+  <xacro:include filename="$(find custom_robots)/model/turtlebot2/turtlebot2_gz.urdf.xacro"/>
+  <xacro:include filename="$(find custom_robots)/model/turtlebot2/turtlebot2_common.urdf.xacro"/>
+
+  <xacro:turtlebot2/>
+
+  <xacro:if value="$(arg camera)">
+    <xacro:camera xyz="-0.118 0 0.2812" rpy="0 0 0" name="depth_camera" parent="base_link"/>
+    <xacro:laser xyz="0 0 0.44" rpy="0 0 0" name="laser" parent="base_link" topic="scan"/>
+  </xacro:if>
+
+  <xacro:if value="$(arg stereo)">
+    <xacro:fake_camera xyz="-0.118 0 0.23" rpy="0 0 0" name="depth_camera" parent="base_link"/>
+    <xacro:stereo_camera xyz="-0.05 0.076 0.2424" rpy="0 0 0" name="cam_turtlebot_left" parent="base_link"/>
+    <xacro:stereo_camera xyz="-0.05 -0.076 0.2424" rpy="0 0 0" name="cam_turtlebot_right" parent="base_link"/>
+  </xacro:if>
+
+</robot>