sciurus17_gazeboのROS 2対応 (#140)

* COLCON_IGNORE追加 * ROS 2対応 * gui.config追加 * worldファイル更新 * 不要なスクリプトの削除 * launchファイルのROS 2対応 * 不要なライブラリのインポートを削除 * industrial_ciをhumbleに変更 * Gazebo上のモデルURL更新
rt-net · Oct 16, 2023 · 1401779 · 1401779
1 parent 9fb93b6
commit 1401779
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diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml
@@ -7,25 +7,14 @@ on:
   pull_request:
     paths-ignore:
     - '**.md'
-  schedule:
-    - cron: "0 2 * * 0" # Weekly on Sundays at 02:00
-env:
-  UPSTREAM_WORKSPACE: .ci.rosinstall
+  workflow_dispatch:
 
 jobs:
   industrial_ci:
-    continue-on-error: ${{ matrix.experimental }}
     strategy:
       matrix:
         env:
-          - { ROS_DISTRO: melodic, ROS_REPO: main }
-          - { ROS_DISTRO: noetic, ROS_REPO: main }
-        experimental: [false]
-        include:
-          - env: { ROS_DISTRO: melodic, ROS_REPO: testing }
-            experimental: true
-          - env: { ROS_DISTRO: noetic, ROS_REPO: testing }
-            experimental: true
+          - { ROS_DISTRO: humble, ROS_REPO: ros, BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source /root/target_ws/install/setup.bash" }
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4

diff --git a/sciurus17/COLCON_IGNORE b/sciurus17/COLCON_IGNORE
diff --git a/sciurus17_bringup/COLCON_IGNORE b/sciurus17_bringup/COLCON_IGNORE
diff --git a/sciurus17_control/COLCON_IGNORE b/sciurus17_control/COLCON_IGNORE
diff --git a/sciurus17_examples/COLCON_IGNORE b/sciurus17_examples/COLCON_IGNORE
diff --git a/sciurus17_gazebo/CMakeLists.txt b/sciurus17_gazebo/CMakeLists.txt
@@ -1,34 +1,26 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(sciurus17_gazebo)
 
-find_package(catkin REQUIRED COMPONENTS
-  rospy
-  gazebo_msgs
-  std_srvs
+find_package(ament_cmake REQUIRED COMPONENTS
+  gazebo_ros
+  gazebo_plugins
+  gazebo_ros_control
 )
 
-# catkin_python_setup()
-
-###################################
-## catkin specific configuration ##
-###################################
-catkin_package(
+install(DIRECTORY
+  launch
+  worlds
+  gui
+  DESTINATION share/${PROJECT_NAME}/
 )
 
-###########
-## Build ##
-###########
-link_directories(${GAZEBO_LIBRARY_DIRS})
 include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-install(DIRECTORY launch worlds
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
 
-file(GLOB python_scripts scripts/*.py)
-catkin_install_python(
-  PROGRAMS ${python_scripts}
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+ament_package()
diff --git a/sciurus17_gazebo/gui/gui.config b/sciurus17_gazebo/gui/gui.config
@@ -0,0 +1,253 @@
+<?xml version="1.0"?>
+
+<!-- Window -->
+<window>
+  <width>1000</width>
+  <height>845</height>
+  <style
+    material_theme="Light"
+    material_primary="DeepOrange"
+    material_accent="LightBlue"
+    toolbar_color_light="#f3f3f3"
+    toolbar_text_color_light="#111111"
+    toolbar_color_dark="#414141"
+    toolbar_text_color_dark="#f3f3f3"
+    plugin_toolbar_color_light="#bbdefb"
+    plugin_toolbar_text_color_light="#111111"
+    plugin_toolbar_color_dark="#607d8b"
+    plugin_toolbar_text_color_dark="#eeeeee"
+  />
+  <menus>
+    <drawer default="false">
+    </drawer>
+  </menus>
+  <dialog_on_exit>true</dialog_on_exit>
+</window>
+
+<!-- GUI plugins -->
+
+<!-- 3D scene -->
+<plugin filename="MinimalScene" name="3D View">
+  <ignition-gui>
+    <title>3D View</title>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="string" key="state">docked</property>
+  </ignition-gui>
+
+  <engine>ogre2</engine>
+  <scene>scene</scene>
+  <ambient_light>0.4 0.4 0.4</ambient_light>
+  <background_color>0.8 0.8 0.8</background_color>
+  <camera_pose>1.0 0 2.0 0 0.5 3.14</camera_pose>
+</plugin>
+
+<!-- Plugins that add functionality to the scene -->
+<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+  <ignition-gui>
+    <property key="state" type="string">floating</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+<plugin filename="GzSceneManager" name="Scene Manager">
+  <ignition-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+<plugin filename="InteractiveViewControl" name="Interactive view control">
+  <ignition-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+<plugin filename="CameraTracking" name="Camera Tracking">
+  <ignition-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+<plugin filename="MarkerManager" name="Marker manager">
+  <ignition-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+<plugin filename="SelectEntities" name="Select Entities">
+  <ignition-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+
+<plugin filename="Spawn" name="Spawn Entities">
+  <ignition-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+
+<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
+  <ignition-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+
+<!-- World control -->
+<plugin filename="WorldControl" name="World control">
+  <ignition-gui>
+    <title>World control</title>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="bool" key="resizable">false</property>
+    <property type="double" key="height">72</property>
+    <property type="double" key="width">121</property>
+    <property type="double" key="z">1</property>
+
+    <property type="string" key="state">floating</property>
+    <anchors target="3D View">
+      <line own="left" target="left"/>
+      <line own="bottom" target="bottom"/>
+    </anchors>
+  </ignition-gui>
+
+  <play_pause>true</play_pause>
+  <step>true</step>
+  <start_paused>true</start_paused>
+  <use_event>true</use_event>
+
+</plugin>
+
+<!-- World statistics -->
+<plugin filename="WorldStats" name="World stats">
+  <ignition-gui>
+    <title>World stats</title>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="bool" key="resizable">false</property>
+    <property type="double" key="height">110</property>
+    <property type="double" key="width">290</property>
+    <property type="double" key="z">1</property>
+
+    <property type="string" key="state">floating</property>
+    <anchors target="3D View">
+      <line own="right" target="right"/>
+      <line own="bottom" target="bottom"/>
+    </anchors>
+  </ignition-gui>
+
+  <sim_time>true</sim_time>
+  <real_time>true</real_time>
+  <real_time_factor>true</real_time_factor>
+  <iterations>true</iterations>
+</plugin>
+
+<!-- Insert simple shapes -->
+<plugin filename="Shapes" name="Shapes">
+  <ignition-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="x" type="double">0</property>
+    <property key="y" type="double">0</property>
+    <property key="width" type="double">250</property>
+    <property key="height" type="double">50</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+    <property key="cardBackground" type="string">#666666</property>
+  </ignition-gui>
+</plugin>
+
+<!-- Insert lights -->
+<plugin filename="Lights" name="Lights">
+  <ignition-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="x" type="double">250</property>
+    <property key="y" type="double">0</property>
+    <property key="width" type="double">150</property>
+    <property key="height" type="double">50</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+    <property key="cardBackground" type="string">#666666</property>
+  </ignition-gui>
+</plugin>
+
+<!-- Translate / rotate -->
+<plugin filename="TransformControl" name="Transform control">
+  <ignition-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="x" type="double">0</property>
+    <property key="y" type="double">50</property>
+    <property key="width" type="double">250</property>
+    <property key="height" type="double">50</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+    <property key="cardBackground" type="string">#777777</property>
+  </ignition-gui>
+
+  <!-- disable legacy features used to connect this plugin to GzScene3D -->
+  <legacy>false</legacy>
+</plugin>
+
+<!-- Screenshot -->
+<plugin filename="Screenshot" name="Screenshot">
+  <ignition-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="x" type="double">250</property>
+    <property key="y" type="double">50</property>
+    <property key="width" type="double">50</property>
+    <property key="height" type="double">50</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+    <property key="cardBackground" type="string">#777777</property>
+  </ignition-gui>
+</plugin>
+
+<!-- Copy/Paste -->
+<plugin filename="CopyPaste" name="CopyPaste">
+  <ignition-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="x" type="double">300</property>
+    <property key="y" type="double">50</property>
+    <property key="width" type="double">100</property>
+    <property key="height" type="double">50</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+    <property key="cardBackground" type="string">#777777</property>
+  </ignition-gui>
+</plugin>
+
+<!-- Inspector -->
+<plugin filename="ComponentInspector" name="Component inspector">
+  <ignition-gui>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="string" key="state">docked</property>
+  </ignition-gui>
+</plugin>
+
+<!-- Entity tree -->
+<plugin filename="EntityTree" name="Entity tree">
+  <ignition-gui>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="string" key="state">docked</property>
+  </ignition-gui>
+</plugin>
diff --git a/sciurus17_gazebo/launch/sciurus17_with_table.launch b/sciurus17_gazebo/launch/sciurus17_with_table.launch