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Update to jazzy - gz harmonic #20

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Update to jazzy - gz harmonic #20

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80f2b7e
Update to jazzy - gz harmonic
Juancams Jul 26, 2024
efd9837
Added plugins
Juancams Oct 17, 2024
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Expand Up @@ -7,7 +7,7 @@ if(NOT CMAKE_CXX_STANDARD)
endif()

find_package(ament_cmake REQUIRED)
find_package(gazebo_ros REQUIRED)
find_package(ros_gz_sim REQUIRED)

install(DIRECTORY launch maps models routes param worlds
DESTINATION share/${PROJECT_NAME}
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31 changes: 11 additions & 20 deletions launch/bookstore.launch.py
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@@ -1,39 +1,30 @@
import os
import sys

import launch
from launch.conditions import IfCondition
from launch.substitutions import PythonExpression
from ament_index_python.packages import get_package_share_directory
from launch.actions import ExecuteProcess, SetEnvironmentVariable


def generate_launch_description():
world_file_name = "bookstore.world"
world = os.path.join(get_package_share_directory('aws_robomaker_bookstore_world'), 'worlds', world_file_name)
package_dir = get_package_share_directory('aws_robomaker_bookstore_world')
world = os.path.join(package_dir, 'worlds', world_file_name)

gazebo_ros = get_package_share_directory('gazebo_ros')
gazebo_client = launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.PythonLaunchDescriptionSource(
os.path.join(gazebo_ros, 'launch', 'gzclient.launch.py')),
condition=launch.conditions.IfCondition(launch.substitutions.LaunchConfiguration('gui'))
)
gazebo_server = launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.PythonLaunchDescriptionSource(
os.path.join(gazebo_ros, 'launch', 'gzserver.launch.py'))
)
model_path = os.path.join(package_dir, 'models')

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

gazebo = ExecuteProcess(
cmd=gazebo_server_cmd_line, output='screen')

ld = launch.LaunchDescription([
SetEnvironmentVariable('GZ_SIM_RESOURCE_PATH', model_path),
launch.actions.DeclareLaunchArgument(
'world',
default_value=[world, ''],
description='SDF world file'),
launch.actions.DeclareLaunchArgument(
name='gui',
default_value='false'
),
gazebo_server,
gazebo_client
gazebo,
])
return ld

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4 changes: 2 additions & 2 deletions models/aws_robomaker_retail_AirConditionerC_01/model.sdf
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Expand Up @@ -8,15 +8,15 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_AirConditionerC_01/meshes/aws_AirConditionerC_01_collision.DAE</uri>
<uri>model://aws_robomaker_retail_AirConditionerC_01/meshes/aws_AirConditionerC_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_AirConditionerC_01/meshes/aws_AirConditionerC_01_visual.DAE</uri>
<uri>model://aws_robomaker_retail_AirConditionerC_01/meshes/aws_AirConditionerC_01_visual.DAE</uri>
</mesh>
</geometry>
<meta>
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4 changes: 2 additions & 2 deletions models/aws_robomaker_retail_Bicycle_01/model.sdf
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Expand Up @@ -16,15 +16,15 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_Bicycle_01/meshes/aws_Bicycle_01_collision.DAE</uri>
<uri>model://aws_robomaker_retail_Bicycle_01/meshes/aws_Bicycle_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_Bicycle_01/meshes/aws_Bicycle_01_visual.DAE</uri>
<uri>model://aws_robomaker_retail_Bicycle_01/meshes/aws_Bicycle_01_visual.DAE</uri>
</mesh>
</geometry>
<meta>
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4 changes: 2 additions & 2 deletions models/aws_robomaker_retail_BookA_01/model.sdf
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Expand Up @@ -8,15 +8,15 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookA_01/meshes/aws_BookA_01_collision.DAE</uri>
<uri>model://aws_robomaker_retail_BookA_01/meshes/aws_BookA_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookA_01/meshes/aws_BookA_01_visual.DAE</uri>
<uri>model://aws_robomaker_retail_BookA_01/meshes/aws_BookA_01_visual.DAE</uri>
</mesh>
</geometry>
<meta>
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4 changes: 2 additions & 2 deletions models/aws_robomaker_retail_BookB_01/model.sdf
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Expand Up @@ -8,15 +8,15 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookB_01/meshes/aws_BookB_01_collision.DAE</uri>
<uri>model://aws_robomaker_retail_BookB_01/meshes/aws_BookB_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookB_01/meshes/aws_BookB_01_visual.DAE</uri>
<uri>model://aws_robomaker_retail_BookB_01/meshes/aws_BookB_01_visual.DAE</uri>
</mesh>
</geometry>
<meta>
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4 changes: 2 additions & 2 deletions models/aws_robomaker_retail_BookC_01/model.sdf
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Expand Up @@ -8,15 +8,15 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookC_01/meshes/aws_BookC_01_collision.DAE</uri>
<uri>model://aws_robomaker_retail_BookC_01/meshes/aws_BookC_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookC_01/meshes/aws_BookC_01_visual.DAE</uri>
<uri>model://aws_robomaker_retail_BookC_01/meshes/aws_BookC_01_visual.DAE</uri>
</mesh>
</geometry>
<meta>
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4 changes: 2 additions & 2 deletions models/aws_robomaker_retail_BookD_01/model.sdf
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Expand Up @@ -8,15 +8,15 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookD_01/meshes/aws_BookD_01_collision.DAE</uri>
<uri>model://aws_robomaker_retail_BookD_01/meshes/aws_BookD_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookD_01/meshes/aws_BookD_01_visual.DAE</uri>
<uri>model://aws_robomaker_retail_BookD_01/meshes/aws_BookD_01_visual.DAE</uri>
</mesh>
</geometry>
<meta>
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4 changes: 2 additions & 2 deletions models/aws_robomaker_retail_BookE_01/model.sdf
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Expand Up @@ -16,15 +16,15 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookE_01/meshes/aws_BookE_01_collision.DAE</uri>
<uri>model://aws_robomaker_retail_BookE_01/meshes/aws_BookE_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookE_01/meshes/aws_BookE_01_visual.DAE</uri>
<uri>model://aws_robomaker_retail_BookE_01/meshes/aws_BookE_01_visual.DAE</uri>
</mesh>
</geometry>
<meta>
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4 changes: 2 additions & 2 deletions models/aws_robomaker_retail_BookF_01/model.sdf
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Expand Up @@ -16,15 +16,15 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookF_01/meshes/aws_BookF_01_collision.DAE</uri>
<uri>model://aws_robomaker_retail_BookF_01/meshes/aws_BookF_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookF_01/meshes/aws_BookF_01_visual.DAE</uri>
<uri>model://aws_robomaker_retail_BookF_01/meshes/aws_BookF_01_visual.DAE</uri>
</mesh>
</geometry>
<meta>
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4 changes: 2 additions & 2 deletions models/aws_robomaker_retail_BookshelfA_01/model.sdf
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Expand Up @@ -16,15 +16,15 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookshelfA_01/meshes/aws_BookshelfA_01_collision.DAE</uri>
<uri>model://aws_robomaker_retail_BookshelfA_01/meshes/aws_BookshelfA_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookshelfA_01/meshes/aws_BookshelfA_01_visual.DAE</uri>
<uri>model://aws_robomaker_retail_BookshelfA_01/meshes/aws_BookshelfA_01_visual.DAE</uri>
</mesh>
</geometry>
<meta>
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4 changes: 2 additions & 2 deletions models/aws_robomaker_retail_BookshelfB_01/model.sdf
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Expand Up @@ -16,15 +16,15 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookshelfB_01/meshes/aws_BookshelfB_01_collision.DAE</uri>
<uri>model://aws_robomaker_retail_BookshelfB_01/meshes/aws_BookshelfB_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookshelfB_01/meshes/aws_BookshelfB_01_visual.DAE</uri>
<uri>model://aws_robomaker_retail_BookshelfB_01/meshes/aws_BookshelfB_01_visual.DAE</uri>
</mesh>
</geometry>
<meta>
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4 changes: 2 additions & 2 deletions models/aws_robomaker_retail_BookshelfC_01/model.sdf
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Expand Up @@ -16,15 +16,15 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookshelfC_01/meshes/aws_BookshelfC_01_collision.DAE</uri>
<uri>model://aws_robomaker_retail_BookshelfC_01/meshes/aws_BookshelfC_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookshelfC_01/meshes/aws_BookshelfC_01_visual.DAE</uri>
<uri>model://aws_robomaker_retail_BookshelfC_01/meshes/aws_BookshelfC_01_visual.DAE</uri>
</mesh>
</geometry>
<meta>
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4 changes: 2 additions & 2 deletions models/aws_robomaker_retail_BookstoreLogo_01/model.sdf
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Expand Up @@ -8,15 +8,15 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookstoreLogo_01/meshes/aws_BookstoreLogo_01_collision.DAE</uri>
<uri>model://aws_robomaker_retail_BookstoreLogo_01/meshes/aws_BookstoreLogo_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_BookstoreLogo_01/meshes/aws_BookstoreLogo_01_visual.DAE</uri>
<uri>model://aws_robomaker_retail_BookstoreLogo_01/meshes/aws_BookstoreLogo_01_visual.DAE</uri>
</mesh>
</geometry>
<meta>
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4 changes: 2 additions & 2 deletions models/aws_robomaker_retail_ChairB_01/model.sdf
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Expand Up @@ -16,15 +16,15 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_ChairB_01/meshes/aws_ChairB_01_collision.DAE</uri>
<uri>model://aws_robomaker_retail_ChairB_01/meshes/aws_ChairB_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_ChairB_01/meshes/aws_ChairB_01_visual.DAE</uri>
<uri>model://aws_robomaker_retail_ChairB_01/meshes/aws_ChairB_01_visual.DAE</uri>
</mesh>
</geometry>
<meta>
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4 changes: 2 additions & 2 deletions models/aws_robomaker_retail_ColumnA_01/model.sdf
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<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_ColumnA_01/meshes/aws_ColumnA_01_collision.DAE</uri>
<uri>model://aws_robomaker_retail_ColumnA_01/meshes/aws_ColumnA_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_ColumnA_01/meshes/aws_ColumnA_01_visual.DAE</uri>
<uri>model://aws_robomaker_retail_ColumnA_01/meshes/aws_ColumnA_01_visual.DAE</uri>
</mesh>
</geometry>
<meta>
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4 changes: 2 additions & 2 deletions models/aws_robomaker_retail_ColumnB_01/model.sdf
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Expand Up @@ -16,15 +16,15 @@
<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_ColumnB_01/meshes/aws_ColumnB_01_collision.DAE</uri>
<uri>model://aws_robomaker_retail_ColumnB_01/meshes/aws_ColumnB_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_ColumnB_01/meshes/aws_ColumnB_01_visual.DAE</uri>
<uri>model://aws_robomaker_retail_ColumnB_01/meshes/aws_ColumnB_01_visual.DAE</uri>
</mesh>
</geometry>
<meta>
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4 changes: 2 additions & 2 deletions models/aws_robomaker_retail_Computer_01/model.sdf
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<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_Computer_01/meshes/aws_Computer_01_collision.DAE</uri>
<uri>model://aws_robomaker_retail_Computer_01/meshes/aws_Computer_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_Computer_01/meshes/aws_Computer_01_visual.DAE</uri>
<uri>model://aws_robomaker_retail_Computer_01/meshes/aws_Computer_01_visual.DAE</uri>
</mesh>
</geometry>
<meta>
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4 changes: 2 additions & 2 deletions models/aws_robomaker_retail_DeskA_01/model.sdf
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<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_DeskA_01/meshes/aws_DeskA_01_collision.DAE</uri>
<uri>model://aws_robomaker_retail_DeskA_01/meshes/aws_DeskA_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_DeskA_01/meshes/aws_DeskA_01_visual.DAE</uri>
<uri>model://aws_robomaker_retail_DeskA_01/meshes/aws_DeskA_01_visual.DAE</uri>
</mesh>
</geometry>
<meta>
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4 changes: 2 additions & 2 deletions models/aws_robomaker_retail_DeskB_01/model.sdf
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<collision name="collision">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_DeskB_01/meshes/aws_DeskB_01_collision.DAE</uri>
<uri>model://aws_robomaker_retail_DeskB_01/meshes/aws_DeskB_01_collision.DAE</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>file://models/aws_robomaker_retail_DeskB_01/meshes/aws_DeskB_01_visual.DAE</uri>
<uri>model://aws_robomaker_retail_DeskB_01/meshes/aws_DeskB_01_visual.DAE</uri>
</mesh>
</geometry>
<meta>
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