From cd2aff4c304d043f71e094b208bd72a1bef4afa1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Thu, 25 Jan 2024 21:28:57 +0100 Subject: [PATCH 1/2] Use xacro; added new dep MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Francisco Martín Rico --- launch/simulation.launch.py | 17 ++++++++--------- thirdparty.repos | 4 ++++ 2 files changed, 12 insertions(+), 9 deletions(-) diff --git a/launch/simulation.launch.py b/launch/simulation.launch.py index b44515b..2d3abd4 100644 --- a/launch/simulation.launch.py +++ b/launch/simulation.launch.py @@ -25,7 +25,8 @@ DeclareLaunchArgument) from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node -from launch.substitutions import LaunchConfiguration +import launch_ros.descriptions +from launch.substitutions import LaunchConfiguration, Command def get_model_paths(packages_names): @@ -102,10 +103,7 @@ def generate_launch_description(): kobuki_dir = get_package_share_directory('kobuki_description') - urdf_file = os.path.join(kobuki_dir, 'urdf', 'kobuki_gazebo.urdf') - - with open(urdf_file, 'r') as info: - robot_desc = info.read() + urdf_xacro_file = os.path.join(kobuki_dir, 'urdf', 'kobuki_hexagons_asus_xtion_pro.urdf.xacro') model_name = DeclareLaunchArgument( 'model_name', default_value='robot', @@ -116,10 +114,11 @@ def generate_launch_description(): robot_model = Node( package='robot_state_publisher', executable='robot_state_publisher', - parameters=[{'robot_description': robot_desc, - 'use_sim_time': True}], - arguments=[urdf_file] - ) + parameters=[{ + 'robot_description': launch_ros.descriptions.ParameterValue( + Command(['xacro ', urdf_xacro_file]), value_type=str), + 'use_sim_time': True + }]) # TF Tree joint_state_publisher_node = Node( diff --git a/thirdparty.repos b/thirdparty.repos index 87265b6..b7213de 100644 --- a/thirdparty.repos +++ b/thirdparty.repos @@ -43,3 +43,7 @@ repositories: type: git url: https://github.com/Juancams/rplidar_ros.git version: ros2 + ThirdParty/gazebo_plugins: + type: git + url: https://github.com/fmrico/gazebo_ros_pkgs.git + version: ros2_fix_depth From 9362ac27ac554c8375eb8d564b4d837ec9e62409 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Fri, 26 Jan 2024 09:58:42 +0100 Subject: [PATCH 2/2] Fix launchers with new xacros MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Francisco Martín Rico --- launch/kobuki.launch.py | 2 +- launch/simulation.launch.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/launch/kobuki.launch.py b/launch/kobuki.launch.py index 15bd164..87cb6b1 100644 --- a/launch/kobuki.launch.py +++ b/launch/kobuki.launch.py @@ -97,7 +97,7 @@ def generate_launch_description(): robot_astra_description_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource([os.path.join( get_package_share_directory('kobuki_description'), - 'launch/'), 'kobuki_astra_description.launch.py']), + 'launch/'), 'kobuki_description.launch.py']), condition=IfCondition(PythonExpression([astra]))) ld.add_action(declare_astra_cmd) diff --git a/launch/simulation.launch.py b/launch/simulation.launch.py index 2d3abd4..a9ffc23 100644 --- a/launch/simulation.launch.py +++ b/launch/simulation.launch.py @@ -103,7 +103,7 @@ def generate_launch_description(): kobuki_dir = get_package_share_directory('kobuki_description') - urdf_xacro_file = os.path.join(kobuki_dir, 'urdf', 'kobuki_hexagons_asus_xtion_pro.urdf.xacro') + urdf_xacro_file = os.path.join(kobuki_dir, 'urdf', 'kobuki_hexagons_asus_xtion_pro_sim.urdf.xacro') model_name = DeclareLaunchArgument( 'model_name', default_value='robot',