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Update to jazzy - gz harmonic #27

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Update to jazzy - gz harmonic #27

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4 changes: 2 additions & 2 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@ project(aws_robomaker_small_warehouse_world)
# Find ament packages and libraries for ament and system dependencies
################################################################################
find_package(ament_cmake REQUIRED)
find_package(gazebo_ros REQUIRED)
find_package(ros_gz_sim REQUIRED)

################################################################################
# Install
Expand All @@ -21,7 +21,7 @@ install(
ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/aws_robomaker_small_warehouse_world.dsv.in")

ament_export_dependencies(ament_cmake)
ament_export_dependencies(gazebo_ros)
ament_export_dependencies(ros_gz_sim)

################################################################################
# Macro for ament package
Expand Down
35 changes: 12 additions & 23 deletions launch/small_warehouse.launch.py
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Expand Up @@ -16,24 +16,18 @@

from ament_index_python.packages import get_package_share_directory

import launch
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument, ExecuteProcess
from launch.substitutions import LaunchConfiguration
from launch.actions import SetEnvironmentVariable


def generate_launch_description():
# Get the launch directory
aws_small_warehouse_dir = get_package_share_directory('aws_robomaker_small_warehouse_world')
gazebo_ros = get_package_share_directory('gazebo_ros')

# Launch configuration variables specific to simulation
use_sim_time = LaunchConfiguration('use_sim_time')
use_simulator = LaunchConfiguration('use_simulator')
headless = LaunchConfiguration('headless')

world = LaunchConfiguration('world')

declare_use_sim_time_cmd = DeclareLaunchArgument(
Expand All @@ -51,17 +45,13 @@ def generate_launch_description():
default_value=os.path.join(aws_small_warehouse_dir, 'worlds', 'small_warehouse', 'small_warehouse.world'),
description='Full path to world model file to load')

# Specify the actions
start_gazebo_server_cmd = launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.PythonLaunchDescriptionSource(
os.path.join(gazebo_ros, 'launch', 'gzserver.launch.py'))
)
model_path = os.path.join(aws_small_warehouse_dir, 'models')

gazebo_server_cmd_line = [
'gz', 'sim', '-r', '-v4', world]

start_gazebo_client_cmd = launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.PythonLaunchDescriptionSource(
os.path.join(gazebo_ros, 'launch', 'gzclient.launch.py')),
condition=IfCondition(PythonExpression(['not ', headless]))
)
gazebo = ExecuteProcess(
cmd=gazebo_server_cmd_line, output='screen')

# Create the launch description and populate
ld = LaunchDescription()
Expand All @@ -70,9 +60,8 @@ def generate_launch_description():
ld.add_action(declare_use_sim_time_cmd)
ld.add_action(declare_simulator_cmd)
ld.add_action(declare_world_cmd)

ld.add_action(SetEnvironmentVariable('GZ_SIM_RESOURCE_PATH', model_path))
# Add any conditioned actions
ld.add_action(start_gazebo_server_cmd)
ld.add_action(start_gazebo_client_cmd)
ld.add_action(gazebo)

return ld
4 changes: 2 additions & 2 deletions models/aws_robomaker_warehouse_Bucket_01/model.sdf
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Expand Up @@ -21,7 +21,7 @@
<visual name='visual'>
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_Bucket_01/meshes/aws_robomaker_warehouse_Bucket_01_visual.DAE</uri>
<uri>model://aws_robomaker_warehouse_Bucket_01/meshes/aws_robomaker_warehouse_Bucket_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
Expand All @@ -32,7 +32,7 @@
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_Bucket_01/meshes/aws_robomaker_warehouse_Bucket_01_collision.DAE</uri>
<uri>model://aws_robomaker_warehouse_Bucket_01/meshes/aws_robomaker_warehouse_Bucket_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
Expand Down
4 changes: 2 additions & 2 deletions models/aws_robomaker_warehouse_ClutteringA_01/model.sdf
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Expand Up @@ -16,7 +16,7 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_ClutteringA_01/meshes/aws_robomaker_warehouse_ClutteringA_01_collision.DAE</uri>
<uri>model://aws_robomaker_warehouse_ClutteringA_01/meshes/aws_robomaker_warehouse_ClutteringA_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
Expand Down Expand Up @@ -44,7 +44,7 @@
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_ClutteringA_01/meshes/aws_robomaker_warehouse_ClutteringA_01_visual.DAE</uri>
<uri>model://aws_robomaker_warehouse_ClutteringA_01/meshes/aws_robomaker_warehouse_ClutteringA_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
Expand Down
4 changes: 2 additions & 2 deletions models/aws_robomaker_warehouse_ClutteringC_01/model.sdf
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Expand Up @@ -16,7 +16,7 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_ClutteringC_01/meshes/aws_robomaker_warehouse_ClutteringC_01_collision.DAE</uri>
<uri>model://aws_robomaker_warehouse_ClutteringC_01/meshes/aws_robomaker_warehouse_ClutteringC_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
Expand Down Expand Up @@ -44,7 +44,7 @@
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_ClutteringC_01/meshes/aws_robomaker_warehouse_ClutteringC_01_visual.DAE</uri>
<uri>model://aws_robomaker_warehouse_ClutteringC_01/meshes/aws_robomaker_warehouse_ClutteringC_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
Expand Down
4 changes: 2 additions & 2 deletions models/aws_robomaker_warehouse_ClutteringD_01/model.sdf
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Expand Up @@ -16,7 +16,7 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_ClutteringD_01/meshes/aws_robomaker_warehouse_ClutteringD_01_collision.DAE</uri>
<uri>model://aws_robomaker_warehouse_ClutteringD_01/meshes/aws_robomaker_warehouse_ClutteringD_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
Expand Down Expand Up @@ -44,7 +44,7 @@
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_ClutteringD_01/meshes/aws_robomaker_warehouse_ClutteringD_01_visual.DAE</uri>
<uri>model://aws_robomaker_warehouse_ClutteringD_01/meshes/aws_robomaker_warehouse_ClutteringD_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
Expand Down
4 changes: 2 additions & 2 deletions models/aws_robomaker_warehouse_DeskC_01/model.sdf
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Expand Up @@ -16,7 +16,7 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_DeskC_01/meshes/aws_robomaker_warehouse_DeskC_01_collision.DAE</uri>
<uri>model://aws_robomaker_warehouse_DeskC_01/meshes/aws_robomaker_warehouse_DeskC_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
Expand All @@ -35,7 +35,7 @@
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_DeskC_01/meshes/aws_robomaker_warehouse_DeskC_01_visual.DAE</uri>
<uri>model://aws_robomaker_warehouse_DeskC_01/meshes/aws_robomaker_warehouse_DeskC_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
Expand Down
12 changes: 2 additions & 10 deletions models/aws_robomaker_warehouse_GroundB_01/model.sdf
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Expand Up @@ -4,19 +4,11 @@
<link name="link">
<inertial>
<mass>1000</mass>
<inertia>
<ixx>1200083.33</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>8333416.66</iyy>
<iyz>0</iyz>
<izz>2033333.33</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_GroundB_01/meshes/aws_robomaker_warehouse_GroundB_01_collision.DAE</uri>
<uri>model://aws_robomaker_warehouse_GroundB_01/meshes/aws_robomaker_warehouse_GroundB_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
Expand All @@ -35,7 +27,7 @@
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_GroundB_01/meshes/aws_robomaker_warehouse_GroundB_01_visual.DAE</uri>
<uri>model://aws_robomaker_warehouse_GroundB_01/meshes/aws_robomaker_warehouse_GroundB_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
Expand Down
4 changes: 2 additions & 2 deletions models/aws_robomaker_warehouse_Lamp_01/model.sdf
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Expand Up @@ -16,7 +16,7 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_Lamp_01/meshes/aws_robomaker_warehouse_Lamp_01_collision.DAE</uri>
<uri>model://aws_robomaker_warehouse_Lamp_01/meshes/aws_robomaker_warehouse_Lamp_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
Expand All @@ -35,7 +35,7 @@
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_Lamp_01/meshes/aws_robomaker_warehouse_Lamp_01_visual.DAE</uri>
<uri>model://aws_robomaker_warehouse_Lamp_01/meshes/aws_robomaker_warehouse_Lamp_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
Expand Down
4 changes: 2 additions & 2 deletions models/aws_robomaker_warehouse_PalletJackB_01/model.sdf
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Expand Up @@ -16,7 +16,7 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_PalletJackB_01/meshes/aws_robomaker_warehouse_PalletJackB_01_collision.DAE</uri>
<uri>model://aws_robomaker_warehouse_PalletJackB_01/meshes/aws_robomaker_warehouse_PalletJackB_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
Expand All @@ -35,7 +35,7 @@
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_PalletJackB_01/meshes/aws_robomaker_warehouse_PalletJackB_01_visual.DAE</uri>
<uri>model://aws_robomaker_warehouse_PalletJackB_01/meshes/aws_robomaker_warehouse_PalletJackB_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
Expand Down
14 changes: 3 additions & 11 deletions models/aws_robomaker_warehouse_RoofB_01/model.sdf
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@@ -1,23 +1,15 @@
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="aws_robomaker_warehouse_RoofB_01">
<link name="link">
<link name="body">
<inertial>
<mass>1000</mass>
<pose frame=''>0 0 0 0 0 0</pose>
<inertia>
<ixx>834024.533</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>459441.200</iyy>
<iyz>0</iyz>
<izz>1302083.333</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_RoofB_01/meshes/aws_robomaker_warehouse_RoofB_01_collision.DAE</uri>
<uri>model://aws_robomaker_warehouse_RoofB_01/meshes/aws_robomaker_warehouse_RoofB_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
Expand Down Expand Up @@ -45,7 +37,7 @@
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_RoofB_01/meshes/aws_robomaker_warehouse_RoofB_01_visual.DAE</uri>
<uri>model://aws_robomaker_warehouse_RoofB_01/meshes/aws_robomaker_warehouse_RoofB_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 3 </layer></meta>
Expand Down
4 changes: 2 additions & 2 deletions models/aws_robomaker_warehouse_ShelfD_01/model.sdf
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Expand Up @@ -16,7 +16,7 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_ShelfD_01/meshes/aws_robomaker_warehouse_ShelfD_01_collision.DAE</uri>
<uri>model://aws_robomaker_warehouse_ShelfD_01/meshes/aws_robomaker_warehouse_ShelfD_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
Expand All @@ -35,7 +35,7 @@
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_ShelfD_01/meshes/aws_robomaker_warehouse_ShelfD_01_visual.DAE</uri>
<uri>model://aws_robomaker_warehouse_ShelfD_01/meshes/aws_robomaker_warehouse_ShelfD_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
Expand Down
4 changes: 2 additions & 2 deletions models/aws_robomaker_warehouse_ShelfE_01/model.sdf
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Expand Up @@ -16,7 +16,7 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_ShelfE_01/meshes/aws_robomaker_warehouse_ShelfE_01_collision.DAE</uri>
<uri>model://aws_robomaker_warehouse_ShelfE_01/meshes/aws_robomaker_warehouse_ShelfE_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
Expand All @@ -35,7 +35,7 @@
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_ShelfE_01/meshes/aws_robomaker_warehouse_ShelfE_01_visual.DAE</uri>
<uri>model://aws_robomaker_warehouse_ShelfE_01/meshes/aws_robomaker_warehouse_ShelfE_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
Expand Down
4 changes: 2 additions & 2 deletions models/aws_robomaker_warehouse_ShelfF_01/model.sdf
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Expand Up @@ -16,7 +16,7 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_ShelfF_01/meshes/aws_robomaker_warehouse_ShelfF_01_collision.DAE</uri>
<uri>model://aws_robomaker_warehouse_ShelfF_01/meshes/aws_robomaker_warehouse_ShelfF_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
Expand All @@ -35,7 +35,7 @@
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_ShelfF_01/meshes/aws_robomaker_warehouse_ShelfF_01_visual.DAE</uri>
<uri>model://aws_robomaker_warehouse_ShelfF_01/meshes/aws_robomaker_warehouse_ShelfF_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
Expand Down
4 changes: 2 additions & 2 deletions models/aws_robomaker_warehouse_TrashCanC_01/model.sdf
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Expand Up @@ -16,7 +16,7 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_TrashCanC_01/meshes/aws_robomaker_warehouse_TrashCanC_01_collision.DAE</uri>
<uri>model://aws_robomaker_warehouse_TrashCanC_01/meshes/aws_robomaker_warehouse_TrashCanC_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
Expand All @@ -35,7 +35,7 @@
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_TrashCanC_01/meshes/aws_robomaker_warehouse_TrashCanC_01_visual.DAE</uri>
<uri>model://aws_robomaker_warehouse_TrashCanC_01/meshes/aws_robomaker_warehouse_TrashCanC_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 1 </layer></meta>
Expand Down
4 changes: 2 additions & 2 deletions models/aws_robomaker_warehouse_WallB_01/model.sdf
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Expand Up @@ -16,7 +16,7 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_collision.DAE</uri>
<uri>model://aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
Expand All @@ -35,7 +35,7 @@
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_visual.DAE</uri>
<uri>model://aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_visual.DAE</uri>
</mesh>
</geometry>
<meta> <layer> 2 </layer></meta>
Expand Down
5 changes: 1 addition & 4 deletions package.xml
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Expand Up @@ -11,12 +11,9 @@

<buildtool_depend>ament_cmake</buildtool_depend>

<depend>gazebo_ros</depend>
<exec_depend>gazebo</exec_depend>
<exec_depend>gazebo_plugins</exec_depend>
<depend>ros_gz_sim</depend>

<export>
<build_type>ament_cmake</build_type>
<gazebo_ros plugin_path="${prefix}/lib" gazebo_media_path="${prefix}" gazebo_model_path="${prefix}/models"/>
</export>
</package>
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