From cdc793226e7a06edd22032a705d90923cf1d047b Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Fri, 20 Sep 2024 22:28:14 -0500 Subject: [PATCH] Add a tray to the turtlebot4 (#6) * Use composition for ros_gz and Gazebo in Nav2 launch files * Reimplements the turtlebot4 launch file from nav2_bringup in order to use composition for ros_gz and Gazebo. Hopefully, some of this will be upstreamed to Nav2. * This also updates the step size to 0.004 to speed up simulation Signed-off-by: Addisu Z. Taddese * Add a tray to the turtlebot4 Signed-off-by: Addisu Z. Taddese --------- Signed-off-by: Addisu Z. Taddese --- ionic_demo/CMakeLists.txt | 1 + ionic_demo/hooks/ionic_demo.dsv.in | 1 + ionic_demo/launch/tb4_spawn_launch.py | 2 +- ionic_demo/models/ionic_tb4.urdf.xacro | 37 ++++++++++++++++++++++++++ 4 files changed, 40 insertions(+), 1 deletion(-) create mode 100644 ionic_demo/models/ionic_tb4.urdf.xacro diff --git a/ionic_demo/CMakeLists.txt b/ionic_demo/CMakeLists.txt index 5b00c56..889d499 100644 --- a/ionic_demo/CMakeLists.txt +++ b/ionic_demo/CMakeLists.txt @@ -15,6 +15,7 @@ install(DIRECTORY configs DESTINATION share/${PROJECT_NAME}) install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) install(DIRECTORY maps DESTINATION share/${PROJECT_NAME}) install(DIRECTORY worlds DESTINATION share/${PROJECT_NAME}) +install(DIRECTORY models DESTINATION share/${PROJECT_NAME}) ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in") diff --git a/ionic_demo/hooks/ionic_demo.dsv.in b/ionic_demo/hooks/ionic_demo.dsv.in index e200b7a..c15c47b 100644 --- a/ionic_demo/hooks/ionic_demo.dsv.in +++ b/ionic_demo/hooks/ionic_demo.dsv.in @@ -1 +1,2 @@ prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/@PROJECT_NAME@/worlds/ +prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/@PROJECT_NAME@/models/ diff --git a/ionic_demo/launch/tb4_spawn_launch.py b/ionic_demo/launch/tb4_spawn_launch.py index d1b78fa..a7ccf9f 100644 --- a/ionic_demo/launch/tb4_spawn_launch.py +++ b/ionic_demo/launch/tb4_spawn_launch.py @@ -49,7 +49,7 @@ def generate_launch_description(): # Launch configuration variables specific to simulation robot_name = 'ionic_tb4' - robot_sdf = xacro.process(desc_dir / 'urdf' / 'standard' / 'turtlebot4.urdf.xacro') + robot_sdf = xacro.process(ionic_demo_dir / 'models' / 'ionic_tb4.urdf.xacro') remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')] diff --git a/ionic_demo/models/ionic_tb4.urdf.xacro b/ionic_demo/models/ionic_tb4.urdf.xacro new file mode 100644 index 0000000..1af9f28 --- /dev/null +++ b/ionic_demo/models/ionic_tb4.urdf.xacro @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +