Move world directory to common, add common prefix to packages

Author: Ryan4253

README.md

@@ -35,9 +35,9 @@ The simulation is fairly computation intensive so a GPU is recommended. Note tha
 4. ```source install/setup.bash```
 
 ### Launching
-Running ```ros2 launch marvin_simulation display.launch.py``` will open RViz and display the robot model. This launch file is made to quickly check if the robot model is correctly formatted and used internally when developing the stack.
+Running ```ros2 launch simulation_marvin display.launch.py``` will open RViz and display the robot model. This launch file is made to quickly check if the robot model is correctly formatted and used internally when developing the stack.
 
-Running ```ros2 launch marvin_simulation simulation.launch.py``` will spawn the robot in Gazebo and visualize sensor outputs in RViz. Any project interfacing with the simulation should use this launch file.
+Running ```ros2 launch simulation_marvin simulation.launch.py``` will spawn the robot in Gazebo and visualize sensor outputs in RViz. Any project interfacing with the simulation should use this launch file.
 
 
 ## Interfacing with the Stack
@@ -101,4 +101,4 @@ This error is caused by [snap variables leaking into terminal variables](https:/
 ## Credits
 Jason Ning and Kari Naga on the sensors team, who created the original URDF files and the Gazebo World in the [marvin](https://github.com/umigv/marvin/tree/main/urdf) repository.  
 
-[UTRA ART](https://github.com/UTRA-ART) for their [full IGVC course world](https://github.com/UTRA-ART/Caffeine/tree/master/worlds/). Any file or folder containing IGVC is under the original [Apache 2.0 license](https://github.com/umigv/simulation_stack/blob/igvc_course/marvin_simulation/world/LICENSE)
+[UTRA ART](https://github.com/UTRA-ART) for their [full IGVC course world](https://github.com/UTRA-ART/Caffeine/tree/master/worlds/). Any file or folder containing IGVC is under the original [Apache 2.0 license](https://github.com/umigv/simulation_stack/blob/igvc_course/simulation_marvin/world/LICENSE)

marvin_simulation/urdf/plugins.xacro

@@ -19,6 +19,6 @@ colcon build --symlink-install
 source install/setup.bash)
 
 # Install IGVC World Models
-bash marvin_simulation/world/igvc_models/install_models.sh)
+bash simulation_common/world/igvc_models/install_models.sh)
 
 echo "Setup successful!"

scripts/setup.bash

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(common_xacro)
+project(simulation_common)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -12,7 +12,7 @@ find_package(ament_cmake REQUIRED)
 # find_package(<dependency> REQUIRED)
 
 install(
-  DIRECTORY urdf
+  DIRECTORY urdf world
   DESTINATION share/${PROJECT_NAME}
 )
 

common_xacro/CMakeLists.txt simulation_common/CMakeLists.txtcommon_xacro/CMakeLists.txt renamed to simulation_common/CMakeLists.txt

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>common_xacro</name>
+  <name>simulation_common</name>
   <version>1.0.0</version>
-  <description>ARV Common Xacro Files</description>
+  <description>ARV Simulation Common Files</description>
   <maintainer email="[email protected]">Ryan Liao</maintainer>
   <license>MIT</license>
 

common_xacro/package.xml simulation_common/package.xmlcommon_xacro/package.xml renamed to simulation_common/package.xml

@@ -11,7 +11,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="depth_camera">
     <xacro:macro name="depth_camera" params="name parent:=base_link *joint_origin">
         <!-- Includes -->
-        <xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
+        <xacro:include filename="$(find simulation_common)/urdf/physics/inertia.xacro"/>
 
         <!-- Constants -->
         <xacro:property name="mass" value="0.230"/>

common_xacro/urdf/physics/inertia.xacro …lation_common/urdf/physics/inertia.xacrocommon_xacro/urdf/physics/inertia.xacro renamed to simulation_common/urdf/physics/inertia.xacro common_xacro/urdf/physics/inertia.xacro renamed to simulation_common/urdf/physics/inertia.xacro

@@ -11,7 +11,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="caster">
     <xacro:macro name="imu" params="name parent:=base_link *joint_origin">
         <!-- Includes -->
-        <xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
+        <xacro:include filename="$(find simulation_common)/urdf/physics/inertia.xacro"/>
 
         <!-- Constants -->
         <xacro:property name="mass" value="0.025"/>

…mon_xacro/urdf/sensor/depth_camera.xacro …on_common/urdf/sensor/depth_camera.xacrocommon_xacro/urdf/sensor/depth_camera.xacro renamed to simulation_common/urdf/sensor/depth_camera.xacro common_xacro/urdf/sensor/depth_camera.xacro renamed to simulation_common/urdf/sensor/depth_camera.xacro

@@ -10,7 +10,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="caster">
     <xacro:macro name="caster" params="name parent:=base_link *joint_origin">
         <!-- Includes -->
-        <xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
+        <xacro:include filename="$(find simulation_common)/urdf/physics/inertia.xacro"/>
 
         <!-- Constants -->
         <xacro:property name="radius" value="${3.5*0.0254}"/>

common_xacro/urdf/sensor/imu.xacro simulation_common/urdf/sensor/imu.xacrocommon_xacro/urdf/sensor/imu.xacro renamed to simulation_common/urdf/sensor/imu.xacro

@@ -10,7 +10,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="wheel">
     <xacro:macro name="wheel" params="name parent:=base_link *joint_origin">
         <!-- Includes -->
-        <xacro:include filename="$(find common_xacro)/urdf/physics/inertia.xacro"/>
+        <xacro:include filename="$(find simulation_common)/urdf/physics/inertia.xacro"/>
 
         <!-- Constants -->
         <xacro:property name="radius" value="${6.1875*0.0254}"/>