Make sensor dimension specific to xacro

README.md

@@ -1,5 +1,5 @@
 # Simulation Stack
-This package allows you to simulate Marvin (ARV's 2022-2024 robot) using RViz and Gazebo
+This package allows you to simulate ARV robots using RViz and Gazebo
 
 
 ## Package Dependencies
@@ -23,8 +23,7 @@ The simulation is fairly computation intensive so a GPU is recommended. Note tha
 ## Installation
 1. ```cd``` into ```ws/src```
 2. ```git clone https://github.com/umigv/simulation_stack.git```
-3. ```cd simulation_stack```
-4. ```./scripts/setup.bash```
+3. ```./simulation_stack/scripts/setup.bash```
 
 
 ## Running the Stack
@@ -35,36 +34,17 @@ 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_common 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.
-
-
-## Interfacing with the Stack
-### Topics
-#### Robot
-```/cmd_vel``` (```geometry_msgs/msg/Twist```) - target velocity for the robot to move in  
-```/odom``` (```nav_msgs/msg/Odometry```) - an estimation of the robot's position and velocity  
-
-#### LiDAR
-```/velodyne_points``` (```sensor_msgs/msg/PointCloud2```) - pointcloud output of the LiDAR  
-```/scan``` (```sensor_msgs/msg/LaserScan```) - converted laser scan of the LiDAR pointcloud on the x-y plane  
-
-#### Camera
-```/zed/camera_info``` (```sensor_msgs/msg/CameraInfo```) - Information about the camera  
-```/zed/depth/camera_info``` (```sensor_msgs/msg/CameraInfo```) - Information about the depth camera  
-```/zed/depth/image_raw``` (```sensor_msgs/msg/Image```) - Raw depth image  
-```/zed/image_raw``` (```sensor_msgs/msg/Image```) - Raw image  
-```/zed/points``` (```sensor_msgs/msg/PointCloud2```) - Point cloud of the camera's depth data (warning: visualizing this in RViz is VERY computationally intensive)  
-
-#### IMU
-```/imu_controller/out``` (```sensor_msgs/msg/Imu```) - IMU data  
+Running ```ros2 launch simulation_common 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.
 
 ### Launch File Arguments
 #### display.launch.py
+```model``` (default: ```marvin```) - the model to display (remove simulation_ to get model name)  
 ```joint_gui``` (default: ```True```) - whether to enable joint_state_publisher_gui
 
 #### simulation.launch.py
+```model``` (default: ```marvin```) - the model to simulate (remove simulation_ to get model name)  
 ```headless``` (default: ```False```) - whether to enable RViz. If you have other code that runs their own instance of RViz (ex. Nav2), you should set headless to True  
 ```world``` (default: ```empty```) - Name of the Gazebo world file in the world directory
 
@@ -79,12 +59,16 @@ Running ```ros2 launch marvin_simulation simulation.launch.py``` will spawn the
 ### Simulation Stack as a Subpackage
 Since multiple subteams may use this stack as a dependency, **do not include this stack directly in another subteam stack either as a package or git submodule**. Having multiple instances in the same package will result in conflicts. Instead, develop with simulation without adding simulation to your repostitory, and include this project as a submodule in the main stack.
 
+
 ## Sample Image
 ![image](https://github.com/umigv/simulation_stack/assets/71594512/d06b174b-d1e1-4ed9-87ef-9c0c3b0abce3)
 ![image](https://github.com/umigv/simulation_stack/assets/71594512/9130685b-c081-4591-942f-6b38e1be852f)
 
+
 ## Learning more
-Visit the [wiki](https://github.com/umigv/simulation_stack/wiki) to learn about how to set up robot models for simulation
+Visit the [wiki](https://github.com/umigv/simulation_stack/wiki) to learn about how to set up robot models for simulation  
+Go into the folder of individual robots to see the topics that is outputted
+
 
 ## Possible Issues
 ### symbol lookup error: ... undefined symbol: __libc_pthread_init, version GLIBC_PRIVATE
@@ -101,4 +85,4 @@ 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_common/world/LICENSE)

scripts/setup.bash

@@ -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!"

marvin_simulation/CMakeLists.txt → simulation_common/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(marvin_simulation)
+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 launch rviz urdf world
+  DIRECTORY launch urdf rviz world
   DESTINATION share/${PROJECT_NAME}
 )
 

marvin_simulation/launch/display.launch.py → simulation_common/launch/display.launch.py

@@ -2,27 +2,40 @@
 import launch
 import launch_ros
 from launch.actions import DeclareLaunchArgument
-from launch.substitutions import Command, LaunchConfiguration
+from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 import os
 
-def generate_launch_description():
-    # Constants
-    package_directory = get_package_share_directory('marvin_simulation')
-    model = os.path.join(package_directory, 'urdf', 'marvin.xacro')
-    rviz_config = os.path.join(package_directory, 'rviz', 'display.rviz')
+DEFAULT_MODEL_NAME = 'marvin'
 
+def generate_launch_description():
     # Arguments
     enable_joint_publisher_launch_arg = DeclareLaunchArgument(
         name='joint_gui', 
         default_value='True',
         description='Flag to enable joint_state_publisher_gui'
     )
 
+    model_launch_arg = DeclareLaunchArgument(
+        name = 'model',
+        default_value = DEFAULT_MODEL_NAME,
+        description = 'name of the robot model'
+    )
+
+    # Constants
+    package_directory = get_package_share_directory('simulation_common')
+    rviz_config = os.path.join(package_directory, 'rviz', 'display.rviz')
+    xacro_file_path = PathJoinSubstitution([
+        FindPackageShare(["simulation_", LaunchConfiguration('model')]),
+        'urdf',
+        'model.xacro'
+    ])
+
     # Robot Node
     robot_state_publisher_node = launch_ros.actions.Node(
         package='robot_state_publisher',
         executable='robot_state_publisher',
-        parameters=[{'robot_description': Command(['xacro ', model])}]
+        parameters=[{'robot_description': Command(['xacro ', xacro_file_path])}]
     )
 
     # Wheel Node
@@ -52,6 +65,7 @@ def generate_launch_description():
     #Launch Description
     return launch.LaunchDescription([
         enable_joint_publisher_launch_arg,
+        model_launch_arg,
         joint_state_publisher_node,
         joint_state_publisher_gui_node,
         robot_state_publisher_node,

marvin_simulation/launch/simulation.launch.py → simulation_common/launch/simulation.launch.py

@@ -2,22 +2,19 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
 from launch.actions import DeclareLaunchArgument, ExecuteProcess
-from launch.substitutions import Command, LaunchConfiguration
+from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from launch.conditions import UnlessCondition
 import os
 
-def generate_launch_description():
-    # Constants
-    package_directory = get_package_share_directory('marvin_simulation')
-    cwd = os.path.join(package_directory, 'launch')
-    model = os.path.join(package_directory, 'urdf', 'marvin.xacro')
-    rviz_config = os.path.join(package_directory, 'rviz', 'simulation.rviz')
-    default_world_name = 'empty'
+DEFAULT_MODEL_NAME = 'marvin'
+DEFAULT_WORLD_NAME = 'empty'
 
+def generate_launch_description():
     # Arguments
     world_launch_arg = DeclareLaunchArgument(
         name='world',
-        default_value=default_world_name,
+        default_value = DEFAULT_WORLD_NAME,
         description='Name of world file in the world directory'
     )
 
@@ -27,13 +24,29 @@ def generate_launch_description():
         description='Show RViz and Gazebo'
     )
 
+    model_launch_arg = DeclareLaunchArgument(
+        name = 'model',
+        default_value = DEFAULT_MODEL_NAME,
+        description = 'name of the robot model'
+    )
+
+    # Variables
+    package_directory = get_package_share_directory('simulation_common')
+    cwd = os.path.join(package_directory, 'launch')
+    rviz_config = os.path.join(package_directory, 'rviz', 'simulation.rviz')
+    xacro_file_path = PathJoinSubstitution([
+        FindPackageShare(["simulation_", LaunchConfiguration('model')]),
+        'urdf',
+        'model.xacro'
+    ])
+
     # Robot node
     robot_state_publisher_node = Node(
         package='robot_state_publisher',
         executable='robot_state_publisher',
         output='screen',
-        parameters=[{'robot_description': Command(['xacro ', model]),
-                     'use_sim_time': True}]
+        parameters=[{'robot_description': Command(['xacro ', xacro_file_path]), 
+                     'use_sim_time': True}] 
     )
 
     # Gazebo node
@@ -57,7 +70,7 @@ def generate_launch_description():
         package='gazebo_ros', 
         executable='spawn_entity.py',
         arguments=['-topic', 'robot_description', 
-                    '-entity', 'marvin'],
+                    '-entity', LaunchConfiguration('model')],
         output='screen'
     )
 
@@ -90,6 +103,7 @@ def generate_launch_description():
     return LaunchDescription([
         world_launch_arg,
         headless_launch_arg,
+        model_launch_arg,
         robot_state_publisher_node,
         gazebo_server, 
         gazebo_client,

common_xacro/package.xml → simulation_common/package.xml

@@ -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>