diff --git a/CMakeLists.txt b/CMakeLists.txt index a019daec855093a2b146fd8249018b1dc100e35e..2e866864023c213ad7ff43f43baf2d61e2487ba5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -17,19 +17,11 @@ endif() # find dependencies find_package(ament_cmake REQUIRED) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) +find_package(gazebo REQUIRED) +find_package(gazebo_ros_pkgs REQUIRED) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # uncomment the line when a copyright and license is not present in all source files - #set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # uncomment the line when this package is not in a git repo - #set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() +install(DIRECTORY launch models worlds + DESTINATION share/${PROJECT_NAME}/ +) ament_package() diff --git a/images/house1.png b/images/house1.png new file mode 100644 index 0000000000000000000000000000000000000000..8d10cbf9825430a64afe185e1459b174a18abdd9 Binary files /dev/null and b/images/house1.png differ diff --git a/launch/house1.launch.py b/launch/house1.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..66a26d368236061bbca6b7a4c49e1bfadafbdabb --- /dev/null +++ b/launch/house1.launch.py @@ -0,0 +1,56 @@ +#!/usr/bin/env python3 +# +# Copyright 2019 ROBOTIS CO., LTD. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Authors: Darby Lim, Ryan Shim + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration + +TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] + + +def generate_launch_description(): + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + world_file_name = 'turtlebot3_houses/' + TURTLEBOT3_MODEL + '.model' + world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), + 'worlds', world_file_name) + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + return LaunchDescription([ + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items(), + ), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ), + ), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']), + launch_arguments={'use_sim_time': use_sim_time}.items(), + ), + ]) \ No newline at end of file diff --git a/models/apple/.model.sdf.swp b/models/apple/.model.sdf.swp new file mode 100644 index 0000000000000000000000000000000000000000..60497aa71fda85775ba437522fcec6d055ad7c94 Binary files /dev/null and b/models/apple/.model.sdf.swp differ diff --git a/models/apple/materials/textures/apple.png b/models/apple/materials/textures/apple.png new file mode 100644 index 0000000000000000000000000000000000000000..5a0f378daa7b4bd54e1164783fb7e54b75221022 Binary files /dev/null and b/models/apple/materials/textures/apple.png differ diff --git a/models/apple/meshes/apple.dae b/models/apple/meshes/apple.dae new file mode 100644 index 0000000000000000000000000000000000000000..e475ec5b9996d12de3733ad24253c94c9aeb830d --- /dev/null +++ b/models/apple/meshes/apple.dae @@ -0,0 +1,123 @@ + + + + + Blender User + Blender 2.79.0 + + 2020-06-02T16:50:12 + 2020-06-02T16:50:12 + + Z_UP + + + + apple.png + + + + + + + + apple_png + + + + + apple_png-surface + + + + + + 1 1 1 1 + + + 1 1 1 1 + + + + + + 0.5 0.5 0.5 1 + + + 400 + + + 1 + + + + + + + + + + + + + + + + 1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1 + + + + + + + + + + 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0 + + + + + + + + + + 0 0 1 1 0 1 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 1 1 0 1 1 0 0 1 0 0 0 0 1 0 1 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 0 0 1 0 1 1 1 0 1 1 0 1 + + + + + + + + + + + + + + +

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+ + + + + + + + + 0.09000003 0 0 0 0 0.09000003 0 0 0 0 0.09000003 0 0 0 0 1 + + + + + + + + + + + + + + diff --git a/models/apple/model.config b/models/apple/model.config new file mode 100644 index 0000000000000000000000000000000000000000..25ff49e2b8f4a7e220aedf1ea82d2a30678a1001 --- /dev/null +++ b/models/apple/model.config @@ -0,0 +1,11 @@ + + + + apple + 1.0 + model.sdf + + + apple + + diff --git a/models/apple/model.sdf b/models/apple/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..50c2f5a69029647182873a369c4856ac6920b1ce --- /dev/null +++ b/models/apple/model.sdf @@ -0,0 +1,24 @@ + + + + true + + + 0 0 0 0 0 0 + + + model://apple/meshes/apple.dae + + + + + 0 0 0 0 0 0 + + + model://apple/meshes/apple.dae + + + + + + diff --git a/models/banana/materials/textures/banana.png b/models/banana/materials/textures/banana.png new file mode 100644 index 0000000000000000000000000000000000000000..c998bf5e0560041c94d99b1915cf14f13422d0c0 Binary files /dev/null and b/models/banana/materials/textures/banana.png differ diff --git a/models/banana/meshes/banana.dae b/models/banana/meshes/banana.dae new file mode 100644 index 0000000000000000000000000000000000000000..a692b65e0675d7b5c3d737054411b0f5969d5d33 --- /dev/null +++ b/models/banana/meshes/banana.dae @@ -0,0 +1,123 @@ + + + + + Blender User + Blender 2.79.0 + + 2020-06-02T16:50:12 + 2020-06-02T16:50:12 + + Z_UP + + + + banana.png + + + + + + + + banana_png + + + + + banana_png-surface + + + + + + 1 1 1 1 + + + 1 1 1 1 + + + + + + 0.5 0.5 0.5 1 + + + 400 + + + 1 + + + + + + + + + + + + + + + + 1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1 + + + + + + + + + + 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0 + + + + + + + + + + 0 0 1 1 0 1 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 1 1 0 1 1 0 0 1 0 0 0 0 1 0 1 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 0 0 1 0 1 1 1 0 1 1 0 1 + + + + + + + + + + + + + + +

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+ + + + + + + + + 0.09000003 0 0 0 0 0.09000003 0 0 0 0 0.09000003 0 0 0 0 1 + + + + + + + + + + + + + + diff --git a/models/banana/model.config b/models/banana/model.config new file mode 100644 index 0000000000000000000000000000000000000000..2cf859dd76c896b1029f9fde059b6c1bff90a7ad --- /dev/null +++ b/models/banana/model.config @@ -0,0 +1,11 @@ + + + + banana + 1.0 + model.sdf + + + banana + + diff --git a/models/banana/model.sdf b/models/banana/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..c620fbefa4364dcee11112c97592fe0adb3dfdfb --- /dev/null +++ b/models/banana/model.sdf @@ -0,0 +1,22 @@ + + + + true + + + + + model://banana/meshes/banana.dae + + + + + + + model://banana/meshes/banana.dae + + + + + + diff --git a/models/coffee/.model.sdf.swp b/models/coffee/.model.sdf.swp new file mode 100644 index 0000000000000000000000000000000000000000..60497aa71fda85775ba437522fcec6d055ad7c94 Binary files /dev/null and b/models/coffee/.model.sdf.swp differ diff --git a/models/coffee/materials/textures/coffee.png b/models/coffee/materials/textures/coffee.png new file mode 100644 index 0000000000000000000000000000000000000000..ed4585dbf1f7587e3ff166f12cd3a378e820f257 Binary files /dev/null and b/models/coffee/materials/textures/coffee.png differ diff --git a/models/coffee/meshes/coffee.dae b/models/coffee/meshes/coffee.dae new file mode 100644 index 0000000000000000000000000000000000000000..def1bdef59310296d5ffc0c958ed39eaeaa20e2a --- /dev/null +++ b/models/coffee/meshes/coffee.dae @@ -0,0 +1,123 @@ + + + + + Blender User + Blender 2.79.0 + + 2020-06-02T16:50:12 + 2020-06-02T16:50:12 + + Z_UP + + + + coffee.png + + + + + + + + coffee_png + + + + + coffee_png-surface + + + + + + 1 1 1 1 + + + 1 1 1 1 + + + + + + 0.5 0.5 0.5 1 + + + 400 + + + 1 + + + + + + + + + + + + + + + + 1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1 + + + + + + + + + + 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0 + + + + + + + + + + 0 0 1 1 0 1 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 1 1 0 1 1 0 0 1 0 0 0 0 1 0 1 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 0 0 1 0 1 1 1 0 1 1 0 1 + + + + + + + + + + + + + + +

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+ + + + + + + + + 0.09000003 0 0 0 0 0.09000003 0 0 0 0 0.09000003 0 0 0 0 1 + + + + + + + + + + + + + + diff --git a/models/coffee/model.config b/models/coffee/model.config new file mode 100644 index 0000000000000000000000000000000000000000..551b4683d892eeb4694b9b31ccdd626f8a268bd5 --- /dev/null +++ b/models/coffee/model.config @@ -0,0 +1,11 @@ + + + + coffee + 1.0 + model.sdf + + + coffee + + diff --git a/models/coffee/model.sdf b/models/coffee/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..512a37e662ea074193fd3577144c2f3bda6dc2e9 --- /dev/null +++ b/models/coffee/model.sdf @@ -0,0 +1,24 @@ + + + + true + + + 0 0 0 0 0 0 + + + model://coffee/meshes/coffee.dae + + + + + 0 0 0 0 0 0 + + + model://coffee/meshes/coffee.dae + + + + + + diff --git a/models/dining_room/.model.sdf.swp b/models/dining_room/.model.sdf.swp new file mode 100644 index 0000000000000000000000000000000000000000..60497aa71fda85775ba437522fcec6d055ad7c94 Binary files /dev/null and b/models/dining_room/.model.sdf.swp differ diff --git a/models/dining_room/materials/textures/dining_room.png b/models/dining_room/materials/textures/dining_room.png new file mode 100644 index 0000000000000000000000000000000000000000..fb7094f7d6574f920fd22f5c7dd62f120afed9d4 Binary files /dev/null and b/models/dining_room/materials/textures/dining_room.png differ diff --git a/models/dining_room/meshes/dining_room.dae b/models/dining_room/meshes/dining_room.dae new file mode 100644 index 0000000000000000000000000000000000000000..2f48ef46f419eb44338f28c3797a03cafb628a56 --- /dev/null +++ b/models/dining_room/meshes/dining_room.dae @@ -0,0 +1,123 @@ + + + + + Blender User + Blender 2.79.0 + + 2020-06-02T16:50:12 + 2020-06-02T16:50:12 + + Z_UP + + + + dining_room.png + + + + + + + + dining_room_png + + + + + dining_room_png-surface + + + + + + 1 1 1 1 + + + 1 1 1 1 + + + + + + 0.5 0.5 0.5 1 + + + 400 + + + 1 + + + + + + + + + + + + + + + + 1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1 + + + + + + + + + + 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0 + + + + + + + + + + 0 0 1 1 0 1 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 1 1 0 1 1 0 0 1 0 0 0 0 1 0 1 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 0 0 1 0 1 1 1 0 1 1 0 1 + + + + + + + + + + + + + + +

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+ + + + + + + + + 0.09000003 0 0 0 0 0.09000003 0 0 0 0 0.09000003 0 0 0 0 1 + + + + + + + + + + + + + + diff --git a/models/study/model.config b/models/study/model.config new file mode 100644 index 0000000000000000000000000000000000000000..226d52583bcc2b719935a5464b73dc91ebc473b2 --- /dev/null +++ b/models/study/model.config @@ -0,0 +1,11 @@ + + + + study + 1.0 + model.sdf + + + study + + diff --git a/models/study/model.sdf b/models/study/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..287a7f159205ce52f7bf203e3ce31e73fae96e20 --- /dev/null +++ b/models/study/model.sdf @@ -0,0 +1,24 @@ + + + + true + + + 0 0 0 0 0 0 + + + model://study/meshes/study.dae + + + + + 0 0 0 0 0 0 + + + model://study/meshes/study.dae + + + + + + diff --git a/package.xml b/package.xml index 938f2a8f8bf0c143eb73ad0878195a3871da7cbc..cb9b2184cb3193bebeea292cf0598cdb0a1a1f3a 100644 --- a/package.xml +++ b/package.xml @@ -8,11 +8,11 @@ TODO: License declaration ament_cmake - - ament_lint_auto - ament_lint_common + gazebo_ros_pkgs + turtlebot3_description ament_cmake + diff --git a/worlds/house1.model b/worlds/house1.model new file mode 100644 index 0000000000000000000000000000000000000000..c6541167b377fb981ff688cf055f7a9b22648e5a --- /dev/null +++ b/worlds/house1.model @@ -0,0 +1,99 @@ + + + + + + model://ground_plane + + + + model://sun + + + + false + + + + + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + orbit + perspective + + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + 1 + + model://turtlebot3_house + + + -3.0 0.5 0.1 0.0 0.0 0.0 + model://living_room/ + + + -7.0 -3.5 0.1 0.0 0.0 0.0 + model://storage_room/ + + + -7.0 -3.5 0.1 0.0 0.0 0.0 + model://study/ + + + 2.0 3.0 0.1 0.0 0.0 0.0 + model://pantry/ + + + 5.0 3.0 0.1 0.0 0.0 0.0 + model://dining_room/ + + + 6.0 -2.0 0.1 0.0 0.0 0.0 + model://kitchen/ + + + -4.0 3.5 0.1 0.0 0.0 0.0 + model://apple/ + + + 4.0 4.5 0.1 0.0 0.0 0.0 + model://banana/ + + + -6.0 -0.5 0.1 0.0 0.0 0.0 + model://orange/ + + + 3.5 2 0.1 0.0 0.0 0.0 + model://coffee/ + + + + + -2.0 -0.5 0.01 0.0 0.0 0.0 + model://turtlebot3_waffle_pi + + + +