LCAS · marc-hanheide · Feb 23, 2024 · Feb 22, 2024 · Feb 23, 2024 · Feb 23, 2024
diff --git a/.gitmodules b/.gitmodules
@@ -1,4 +0,0 @@
-[submodule "uol_turtlebot_simulator/gzmaze"]
-	path = uol_turtlebot_simulator/gzmaze
-	url = https://github.com/LCAS/gzmaze.git
-	branch = melodic

diff --git a/README.md b/README.md
@@ -1,17 +1,6 @@
 LCAS Teaching Repo
 ========
 
-A repository for all the teaching stuff (mainly CMP3103M)
+A repository for all the teaching stuff (mainly CMP3103)
 
 
-
-## Some useful launch commands
-
-### Nav2
-
-Run a full navigation stack (requires additional packages), see https://navigation.ros.org/getting_started/index.html
-
-```
-ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False world:=/opt/ros/lcas_addons/install/uol_turtlebot_simulator/share/uol_turtlebot_simulator/worlds/object-search-training.world slam:=True autostart:=True x_pose:=0.0 y_pose:=0.0
-```
-
diff --git a/uol_tidybot/env-hooks/90.gazebo_models_uol.dsv.in b/uol_tidybot/env-hooks/90.gazebo_models_uol.dsv.in
@@ -1,3 +1,2 @@
 prepend-non-duplicate;GAZEBO_MODEL_PATH;share/@PROJECT_NAME@/models
 prepend-non-duplicate;GAZEBO_RESOURCE_PATH;share/@PROJECT_NAME@/models;share/@PROJECT_NAME@/worlds
-set-if-unset;TURTLEBOT3_MODEL;waffle
diff --git a/uol_tidybot/launch/tidybot.launch.py b/uol_tidybot/launch/tidybot.launch.py
@@ -5,18 +5,18 @@
 from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
 from launch.conditions import IfCondition, UnlessCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import Command, LaunchConfiguration, PythonExpression
+from launch.substitutions import Command, LaunchConfiguration, PythonExpression, PathJoinSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 from ament_index_python.packages import get_package_share_directory
 
 
 def generate_launch_description():
 
-  # Constants for paths to different files and folders
+  # setting defaults
   urdf_model_name = 'tidybot.gazebo'
-  world_file_name = 'level_1_1.world'
   rviz_config_file_name = 'urdf.rviz'
+  default_world = 'level_1_1.world'
 
   robot_name_in_model = 'limo_gazebosim'
 
@@ -30,18 +30,20 @@ def generate_launch_description():
 
   # Set the path to different files and folders.  
   pkg_gazebo_ros = FindPackageShare(package='gazebo_ros').find('gazebo_ros')   
+  pkg_uol_tidybot = FindPackageShare(package='uol_tidybot').find('uol_tidybot')   
 
   default_urdf_model_path = os.path.join(
     get_package_share_directory('uol_tidybot'), 
     'urdf',
     urdf_model_name
   )
 
-  world_path = os.path.join(
-    get_package_share_directory('uol_tidybot'), 
-    'worlds',
-    world_file_name
-  )
+  #world_path_prefix = os.path.join(
+  #  get_package_share_directory('uol_tidybot'), 
+  #  'worlds'
+  #)
+
+  world_path_prefix = PathJoinSubstitution([FindPackageShare('uol_tidybot'), 'worlds'])
 
   gazebo_models_path = os.path.join(
     get_package_share_directory('uol_tidybot'), 
@@ -68,7 +70,7 @@ def generate_launch_description():
   use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
   use_rviz = LaunchConfiguration('use_rviz')
   use_simulator = LaunchConfiguration('use_simulator')
-  world = LaunchConfiguration('world')
+  world = LaunchConfiguration('world', default=default_world)
 
   remappings = [((namespace, '/tf'), '/tf'),
                 ((namespace, '/tf_static'), '/tf_static'),
@@ -128,8 +130,8 @@ def generate_launch_description():
 
   declare_world_cmd = DeclareLaunchArgument(
     name='world',
-    default_value=world_path,
-    description='Full path to the world model file to load')
+    default_value=default_world,
+    description='Name of the world file in uol_tidybot package')
 
   # Subscribe to the joint states of the robot, and publish the 3D pose of each link.    
   start_robot_state_publisher_cmd = Node(
@@ -174,7 +176,7 @@ def generate_launch_description():
   start_gazebo_server_cmd = IncludeLaunchDescription(
     PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')),
     condition=IfCondition(use_simulator),
-    launch_arguments={'world': world}.items())
+    launch_arguments={'world': PathJoinSubstitution([world_path_prefix, world])}.items())
 
   # Start Gazebo client    
   start_gazebo_client_cmd = IncludeLaunchDescription(

diff --git a/uol_tidybot/models/dice_simple_red/meshes/6cm cubes 4x.mtl b/uol_tidybot/models/dice_simple_red/meshes/6cm cubes 4x.mtl
@@ -0,0 +1,14 @@
+# Color definition for Tinkercad Obj File 2015
+
+newmtl color_4634441
+Ka 0 0 0 
+Kd 0.27450980392156865 0.7176470588235294 0.28627450980392155
+d 1
+illum 0.0
+
+newmtl color_15277357
+Ka 0 0 0 
+Kd 0.9137254901960784 0.11372549019607843 0.17647058823529413
+d 1
+illum 0.0
+
diff --git a/uol_tidybot/models/dice_simple_red/meshes/6cm cubes 4x.obj b/uol_tidybot/models/dice_simple_red/meshes/6cm cubes 4x.obj
@@ -0,0 +1,103 @@
+# Object Export From Tinkercad Server 2015
+
+mtllib obj.mtl
+
+o obj_0
+v 70 		-71 		60
+v 70 		-71 		0
+v 70 		-11 		0
+v 70 		-11 		60
+v 70 		-1 		60
+v 70 		-1 		0
+v 70 		59 		0
+v 70 		59 		60
+v 0 		-71 		60
+v 0 		-71 		0
+v 0 		-11 		0
+v 0 		-1 		60
+v 0 		-11 		60
+v 0 		-1 		0
+v 0 		59 		0
+v 0 		59 		60
+v -60 		-11 		60
+v -60 		-11 		0
+v -60 		-71 		0
+v -60 		-71 		60
+v -60 		59 		60
+v -60 		59 		0
+v -60 		-1 		0
+v -60 		-1 		60
+v 10 		59 		0
+v 10 		59 		60
+v 10 		-1 		0
+v 10 		-1 		60
+v 10 		-11 		60
+v 10 		-71 		60
+v 10 		-11 		0
+v 10 		-71 		0
+# 32 vertices
+
+g group_0_4634441
+
+usemtl color_4634441
+s 0
+
+f 1 	2 	3
+f 1 	3 	4
+f 9 	10 	11
+f 9 	11 	13
+f 17 	18 	19
+f 17 	19 	20
+f 13 	17 	20
+f 13 	20 	9
+f 13 	11 	18
+f 13 	18 	17
+f 4 	29 	30
+f 4 	30 	1
+f 29 	31 	32
+f 29 	32 	30
+f 10 	19 	18
+f 10 	18 	11
+f 2 	32 	31
+f 2 	31 	3
+f 20 	19 	10
+f 20 	10 	9
+f 30 	32 	2
+f 30 	2 	1
+f 4 	3 	31
+f 4 	31 	29
+# 24 faces
+
+g group_0_15277357
+
+usemtl color_15277357
+s 0
+
+f 5 	6 	7
+f 5 	7 	8
+f 12 	14 	15
+f 12 	15 	16
+f 21 	22 	23
+f 21 	23 	24
+f 8 	7 	25
+f 8 	25 	26
+f 24 	23 	14
+f 24 	14 	12
+f 26 	25 	27
+f 26 	27 	28
+f 16 	15 	22
+f 16 	22 	21
+f 16 	21 	24
+f 16 	24 	12
+f 8 	26 	28
+f 8 	28 	5
+f 14 	23 	22
+f 14 	22 	15
+f 6 	27 	25
+f 6 	25 	7
+f 28 	27 	6
+f 28 	6 	5
+# 24 faces
+
+ #end of obj_0
+
diff --git a/uol_tidybot/models/dice_simple_red/meshes/dice_simple.dae b/uol_tidybot/models/dice_simple_red/meshes/dice_simple.dae
@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Mon Jan 15 11:28:00 2024 GMT</created>
+        <modified>Mon Jan 15 11:28:00 2024 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
+                    <float_array id="shape0-lib-positions-array" count="24">-0.03 -0.03 0.03 0.03 -0.03 0.03 0.03 0.03 0.03 -0.03 0.03 0.03 0.03 0.03 -0.03 -0.03 0.03 -0.03 0.03 -0.03 -0.03 -0.03 -0.03 -0.03</float_array>
+                    <technique_common>
+                        <accessor count="8" source="#shape0-lib-positions-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="shape0-lib-vertices">
+                    <input semantic="POSITION" source="#shape0-lib-positions"/>
+                </vertices>
+                <triangles count="12">
+                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
+                    <p>3 2 4 3 4 5 0 1 2 0 2 3 5 4 6 5 6 7 7 6 1 7 1 0 1 6 4 1 4 2 7 0 3 7 3 5</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib"/>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/uol_tidybot/models/dice_simple_red/model.config b/uol_tidybot/models/dice_simple_red/model.config
@@ -0,0 +1,6 @@
+<?xml version="1.0" ?>
+<model>
+  <name>dice_simple_red</name>
+  <description>a model of a red dice_simple</description>
+  <sdf version="1.5">model.sdf</sdf>
+</model>
diff --git a/uol_tidybot/models/dice_simple_red/model.sdf b/uol_tidybot/models/dice_simple_red/model.sdf
@@ -0,0 +1,61 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="dice_simple_red">
+    <link name="link">
+      <inertial>
+        <pose>  0.0000000000e+00  0.0000000000e+00  0.0000000000e+00 0 0 0 </pose>
+        <mass> 0.02 </mass>
+        <inertia>
+          <ixx>  3.3333332480e-03 </ixx>
+          <ixy>  0.0000000000e+00 </ixy>
+          <ixz>  0.0000000000e+00 </ixz>
+          <iyy>  3.3333332480e-03 </iyy>
+          <iyz>  0.0000000000e+00 </iyz>
+          <izz>  3.3333332480e-03 </izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>  0.0000000000e+00  0.0000000000e+00  0.0000000000e+00 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <uri>model://dice_simple_red/meshes/dice_simple.dae</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>0.1</mu>
+              <mu2>0.1</mu2>
+            </ode>
+          </friction>
+          <!-- <contact>
+            <ode>
+              <kp>10000000.0</kp>
+              <kd>1.0</kd>
+              <min_depth>0.001</min_depth>
+              <max_vel>0.1</max_vel>
+            </ode>
+          </contact> -->
+        </surface>
+      </collision>
+      <visual name="visual">
+        <pose>  0.0000000000e+00  0.0000000000e+00  0.0000000000e+00 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <uri>model://dice_simple_red/meshes/dice_simple.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Red</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0</linear>
+        <angular>0.005</angular>
+      </velocity_decay>
+    </link>
+  </model>
+</sdf>
diff --git a/uol_tidybot/setup.py b/uol_tidybot/setup.py
@@ -18,6 +18,8 @@
         (path.join('share', package_name, 'worlds'), glob(path.join('worlds', '*.world'))),
         (path.join('share', package_name, 'models', 'dice_simple'), glob(path.join('models', 'dice_simple', 'model.*'))),
         (path.join('share', package_name, 'models', 'dice_simple','meshes'), glob(path.join('models', 'dice_simple', 'meshes', '*.dae'))),
+        (path.join('share', package_name, 'models', 'dice_simple_red'), glob(path.join('models', 'dice_simple_red', 'model.*'))),
+        (path.join('share', package_name, 'models', 'dice_simple_red','meshes'), glob(path.join('models', 'dice_simple_red', 'meshes', '*.dae'))),
         (path.join('share', package_name, 'meshes'), glob(path.join('meshes', '*'))),
     ],
     install_requires=['setuptools'],