Separate drones in urdf

CustomRobots/quadrotor/launch/quadrotor.launch.py

@@ -37,25 +37,25 @@ def launch_setup(context):
     # =========================
     # ROBOT DESCRIPTION (URDF)
     # =========================
-    # xacro_file = os.path.join(
-    #     package_dir,
-    #     "models",
-    #     "quadrotor",
-    #     "quadrotor.urdf.xacro",
-    # )
-
-    # robot_description_content = xacro.process_file(
-    #     xacro_file,
-    #     mappings={
-    #         "camera": "true" if sensor == "camera" else "false",
-    #         "namespace": namespace,
-    #     },
-    # ).toxml()
+    xacro_file = os.path.join(
+        package_dir,
+        "models",
+        "quadrotor",
+        "quadrotor.urdf.xacro",
+    )
+
+    robot_description_content = xacro.process_file(
+        xacro_file,
+        mappings={
+            "camera": "true" if sensor == "camera" else "false",
+            "namespace": namespace,
+        },
+    ).toxml()
 
     ## Temporary SDF load to fix bumpers
-    sdf_file = os.path.join(package_dir, "models", "quadrotor", "quadrotor.sdf")
-    with open(sdf_file, "r") as infp:
-        robot_description_content = infp.read()
+    # sdf_file = os.path.join(package_dir, "models", "quadrotor", "quadrotor.sdf")
+    # with open(sdf_file, "r") as infp:
+    #     robot_description_content = infp.read()
 
     robot_description = {"robot_description": robot_description_content}
 

Launchers/rescue_people.launch.py

@@ -1,84 +1,58 @@
-"""
-rescue_people.launch.py
-
-Entry point for the Rescue People exercise.
-"""
-
 import os
 
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.conditions import IfCondition
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
 
 
 def generate_launch_description():
-    custom_robots_share = get_package_share_directory("custom_robots")
-    bridges_path = os.path.join(custom_robots_share, "bridges", "rescue_people.yaml")
+    package_dir = get_package_share_directory("custom_robots")
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    gazebo_models_path = os.path.join(package_dir, "models")
 
     world_file_name = "rescue_people_harmonic.world"
     worlds_dir = "/opt/jderobot/Worlds"
     world_path = os.path.join(worlds_dir, world_file_name)
 
-    ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ##############
-    declare_use_simulator_cmd = DeclareLaunchArgument(
-        name="use_simulator",
-        default_value="True",
-        description="Whether to start the simulator",
-    )
-
-    # Start Gazebo server
-    gzsim = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [
-                os.path.join(get_package_share_directory("jderobot_drones"), "launch"),
-                "/gz_sim.launch.py",
-            ]
-        ),
-        condition=IfCondition(LaunchConfiguration("use_simulator")),
-        launch_arguments={
-            "namespace": "drone0",
-            "bridges_file": bridges_path,
-            "world_file": world_path,
-        }.items(),
-    )
-
-    as2 = IncludeLaunchDescription(
+    gazebo_server = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            [
-                os.path.join(get_package_share_directory("jderobot_drones"), "launch"),
-                "/as2_default_gazebo_sim.launch.py",
-            ]
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
         ),
         launch_arguments={
-            "namespace": "drone0",
+            "gz_args": ["-s -v4 ", world_path],
+            "on_exit_shutdown": "true",
         }.items(),
     )
 
-    start_gazebo_frontal_image_bridge_cmd = Node(
-        package="ros_gz_image",
-        executable="image_bridge",
-        arguments=["/drone0/frontal_cam/image_raw"],
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
         output="screen",
     )
 
-    start_gazebo_ventral_image_bridge_cmd = Node(
-        package="ros_gz_image",
-        executable="image_bridge",
-        arguments=["/drone0/ventral_cam/image_raw"],
-        output="screen",
+    ld = LaunchDescription()
+
+    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
+    set_env_vars_resources = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
     )
+    ld.add_action(set_env_vars_resources)
 
-    # Create the launch description and populate
-    ld = LaunchDescription()
-    ld.add_action(declare_use_simulator_cmd)
-    ld.add_action(gzsim)
-    ld.add_action(as2)
-    ld.add_action(start_gazebo_frontal_image_bridge_cmd)
-    ld.add_action(start_gazebo_ventral_image_bridge_cmd)
+    ld.add_action(gazebo_server)
+    ld.add_action(world_entity_cmd)
 
     return ld

Worlds/rescue_people_harmonic.world

@@ -71,12 +71,5 @@
       <uri>model://ocean</uri>
       <pose>0 0 -0.02 0 0 -1.57</pose>
     </include>
-
-    <include>
-      <uri>model://quadrotor_dual_cam</uri>
-      <name>drone0</name>
-      <pose>0 0 1.45 0 0 0</pose>
-    </include>
-
   </world>
 </sdf>

database/universes.sql

@@ -158,7 +158,7 @@ COPY public.universes (id, name, world_id, robot_id) FROM stdin;
 28	Restaurant	21	0
 29	Vacuums House Markers	25	17
 30	Small Laser Mapping Warehouse	33	21
-31	Rescue People Harmonic	31	0
+31	Rescue People Harmonic	31	11
 32	Follow Road Harmonic	32	0
 33	Laser Mapping Warehouse Low Noise	12	21
 34	Pick And Place World	34	0