Gazebo World Model Update
This commit is contained in:
@@ -1,110 +1,62 @@
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#!/usr/bin/env python3
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"""
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Gazebo Launch File - Drone Landing Simulation
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Launches Gazebo with the world and spawns the drone.
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Supports both 'gz' (newer) and 'ign' (Fortress) commands.
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Works with Ignition Fortress (ROS 2 Humble)
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"""
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import os
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import shutil
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
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from launch.conditions import IfCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch.actions import DeclareLaunchArgument, ExecuteProcess
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def get_gazebo_command():
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"""Determine whether to use 'gz' or 'ign' command."""
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if shutil.which('gz'):
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return 'gz'
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elif shutil.which('ign'):
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return 'ign'
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else:
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# Default to gz, will fail with helpful error
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return 'gz'
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def generate_launch_description():
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"""Generate the launch description."""
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# Get paths
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script_dir = os.path.dirname(os.path.abspath(__file__))
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gazebo_dir = os.path.dirname(script_dir)
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world_file = os.path.join(gazebo_dir, 'worlds', 'drone_landing.sdf')
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model_path = os.path.join(gazebo_dir, 'models')
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drone_model = os.path.join(model_path, 'drone', 'model.sdf')
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gz_resource_path = os.environ.get('GZ_SIM_RESOURCE_PATH', '')
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ign_resource_path = os.environ.get('IGN_GAZEBO_RESOURCE_PATH', '')
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combined_path = f"{model_path}:{gz_resource_path}:{ign_resource_path}"
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os.environ['GZ_SIM_RESOURCE_PATH'] = combined_path
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os.environ['IGN_GAZEBO_RESOURCE_PATH'] = combined_path
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# Determine which gazebo command is available
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if shutil.which('ign'):
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gz_cmd = ['ign', 'gazebo', '-r', world_file]
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elif shutil.which('gz'):
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gz_cmd = ['gz', 'sim', '-r', world_file]
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else:
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gz_cmd = ['ign', 'gazebo', '-r', world_file]
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use_sim_time = LaunchConfiguration('use_sim_time', default='true')
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headless = LaunchConfiguration('headless', default='false')
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# Detect which Gazebo command is available
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gz_cmd = get_gazebo_command()
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# For ign command, use 'gazebo' subcommand; for gz, use 'sim'
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if gz_cmd == 'ign':
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sim_cmd = [gz_cmd, 'gazebo', '-r', world_file]
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spawn_cmd = [
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gz_cmd, 'service', '-s', '/world/drone_landing_world/create',
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'--reqtype', 'ignition.msgs.EntityFactory',
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'--reptype', 'ignition.msgs.Boolean',
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'--timeout', '5000',
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'--req', f'sdf_filename: "{drone_model}", name: "drone"'
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]
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else:
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sim_cmd = [gz_cmd, 'sim', '-r', world_file]
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spawn_cmd = [
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gz_cmd, 'service', '-s', '/world/drone_landing_world/create',
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'--reqtype', 'gz.msgs.EntityFactory',
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'--reptype', 'gz.msgs.Boolean',
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'--timeout', '5000',
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'--req', f'sdf_filename: "{drone_model}", name: "drone"'
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]
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return LaunchDescription([
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DeclareLaunchArgument(
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'use_sim_time',
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default_value='true',
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description='Use simulation (Gazebo) clock'
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),
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DeclareLaunchArgument(
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'headless',
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default_value='false',
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description='Run Gazebo in headless mode (no GUI)'
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description='Use simulation clock'
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),
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# Start Gazebo
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ExecuteProcess(
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cmd=sim_cmd,
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output='screen',
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additional_env={
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'GZ_SIM_RESOURCE_PATH': combined_path,
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'IGN_GAZEBO_RESOURCE_PATH': combined_path
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}
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),
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ExecuteProcess(
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cmd=spawn_cmd,
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cmd=gz_cmd,
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output='screen'
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),
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# ROS-Gazebo Bridge
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Node(
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package='ros_gz_bridge',
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executable='parameter_bridge',
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name='gz_bridge',
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arguments=[
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'/drone/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist',
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'/model/drone/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry',
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'/drone/imu@sensor_msgs/msg/Imu@gz.msgs.IMU',
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'/clock@rosgraph_msgs/msg/Clock@gz.msgs.Clock',
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# Velocity commands (bidirectional)
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'/drone/cmd_vel@geometry_msgs/msg/Twist]ignition.msgs.Twist',
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# Odometry (from Gazebo to ROS)
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'/model/drone/odometry@nav_msgs/msg/Odometry[ignition.msgs.Odometry',
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# IMU (from Gazebo to ROS)
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'/drone/imu@sensor_msgs/msg/Imu[ignition.msgs.IMU',
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# Clock
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'/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
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],
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parameters=[{'use_sim_time': use_sim_time}],
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output='screen'
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@@ -119,12 +71,9 @@ if __name__ == '__main__':
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print(" ros2 launch gazebo/launch/drone_landing.launch.py")
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print()
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print("Or start Gazebo manually:")
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gz_cmd = get_gazebo_command()
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if gz_cmd == 'ign':
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if shutil.which('ign'):
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print(" ign gazebo gazebo/worlds/drone_landing.sdf")
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else:
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print(" gz sim gazebo/worlds/drone_landing.sdf")
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print()
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print("Then run: python run_gazebo.py")
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161
gazebo/models/drone/model_fortress.sdf
Normal file
161
gazebo/models/drone/model_fortress.sdf
Normal file
@@ -0,0 +1,161 @@
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<?xml version="1.0" ?>
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<!--
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Simple Drone Model for Ignition Fortress
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Uses velocity control for simple simulation
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-->
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<sdf version="1.8">
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<model name="drone">
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<pose>0 0 5 0 0 0</pose>
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<!-- Main body -->
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<link name="base_link">
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<inertial>
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<mass>1.0</mass>
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<inertia>
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<ixx>0.029125</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.029125</iyy>
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<iyz>0</iyz>
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<izz>0.055225</izz>
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</inertia>
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</inertial>
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<collision name="body_collision">
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<geometry>
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<box>
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<size>0.3 0.3 0.1</size>
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</box>
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</geometry>
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</collision>
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<visual name="body_visual">
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<geometry>
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<box>
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<size>0.3 0.3 0.1</size>
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</box>
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</geometry>
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<material>
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<ambient>0.8 0.1 0.1 1</ambient>
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<diffuse>0.9 0.2 0.2 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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</material>
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</visual>
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<!-- Arms -->
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<visual name="arm_fl">
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<pose>0.12 0.12 0 0 0 0.785</pose>
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<geometry>
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<box><size>0.2 0.02 0.02</size></box>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.2 1</ambient>
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<diffuse>0.3 0.3 0.3 1</diffuse>
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</material>
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</visual>
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<visual name="arm_fr">
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<pose>0.12 -0.12 0 0 0 -0.785</pose>
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<geometry>
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<box><size>0.2 0.02 0.02</size></box>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.2 1</ambient>
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<diffuse>0.3 0.3 0.3 1</diffuse>
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</material>
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</visual>
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<visual name="arm_bl">
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<pose>-0.12 0.12 0 0 0 -0.785</pose>
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<geometry>
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<box><size>0.2 0.02 0.02</size></box>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.2 1</ambient>
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<diffuse>0.3 0.3 0.3 1</diffuse>
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</material>
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</visual>
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<visual name="arm_br">
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<pose>-0.12 -0.12 0 0 0 0.785</pose>
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<geometry>
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<box><size>0.2 0.02 0.02</size></box>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.2 1</ambient>
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<diffuse>0.3 0.3 0.3 1</diffuse>
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</material>
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</visual>
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<!-- Rotors (visual only) -->
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<visual name="rotor_fl">
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<pose>0.17 0.17 0.05 0 0 0</pose>
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<geometry>
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<cylinder><radius>0.08</radius><length>0.01</length></cylinder>
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</geometry>
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<material>
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<ambient>0.1 0.1 0.1 1</ambient>
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<diffuse>0.2 0.2 0.2 1</diffuse>
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</material>
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</visual>
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<visual name="rotor_fr">
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<pose>0.17 -0.17 0.05 0 0 0</pose>
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<geometry>
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<cylinder><radius>0.08</radius><length>0.01</length></cylinder>
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</geometry>
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<material>
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<ambient>0.1 0.1 0.1 1</ambient>
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<diffuse>0.2 0.2 0.2 1</diffuse>
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</material>
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</visual>
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<visual name="rotor_bl">
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<pose>-0.17 0.17 0.05 0 0 0</pose>
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<geometry>
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<cylinder><radius>0.08</radius><length>0.01</length></cylinder>
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</geometry>
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<material>
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<ambient>0.1 0.1 0.1 1</ambient>
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<diffuse>0.2 0.2 0.2 1</diffuse>
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</material>
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</visual>
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<visual name="rotor_br">
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<pose>-0.17 -0.17 0.05 0 0 0</pose>
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<geometry>
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<cylinder><radius>0.08</radius><length>0.01</length></cylinder>
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</geometry>
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<material>
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<ambient>0.1 0.1 0.1 1</ambient>
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<diffuse>0.2 0.2 0.2 1</diffuse>
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</material>
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</visual>
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<!-- IMU Sensor -->
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<sensor name="imu_sensor" type="imu">
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<always_on>true</always_on>
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<update_rate>100</update_rate>
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<topic>/drone/imu</topic>
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</sensor>
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</link>
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<!-- Ignition Fortress compatible plugins -->
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<!-- Apply velocity from /drone/cmd_vel topic -->
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<plugin filename="libignition-gazebo-apply-link-wrench-system.so"
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name="ignition::gazebo::systems::ApplyLinkWrench"/>
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<!-- Odometry Publisher -->
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<plugin filename="libignition-gazebo-odometry-publisher-system.so"
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name="ignition::gazebo::systems::OdometryPublisher">
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<odom_frame>odom</odom_frame>
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<robot_base_frame>base_link</robot_base_frame>
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<odom_topic>/model/drone/odometry</odom_topic>
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<odom_publish_frequency>50</odom_publish_frequency>
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</plugin>
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<!-- Pose Publisher -->
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<plugin filename="libignition-gazebo-pose-publisher-system.so"
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name="ignition::gazebo::systems::PosePublisher">
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<publish_model_pose>true</publish_model_pose>
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<publish_link_pose>false</publish_link_pose>
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<update_frequency>50</update_frequency>
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</plugin>
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</model>
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</sdf>
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@@ -1,20 +1,32 @@
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<?xml version="1.0" ?>
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<!--
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Drone Landing Simulation - Gazebo World (Ignition Fortress compatible)
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Drone Landing Simulation - Ignition Fortress World
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Compatible with ROS 2 Humble
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-->
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<sdf version="1.8">
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<world name="drone_landing_world">
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<physics name="1ms" type="ignored">
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<!-- Physics -->
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<physics name="1ms" type="ode">
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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</physics>
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<!-- Ignition Fortress plugins -->
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<plugin filename="libignition-gazebo-physics-system.so" name="ignition::gazebo::systems::Physics"/>
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<plugin filename="libignition-gazebo-user-commands-system.so" name="ignition::gazebo::systems::UserCommands"/>
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<plugin filename="libignition-gazebo-scene-broadcaster-system.so" name="ignition::gazebo::systems::SceneBroadcaster"/>
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<!-- Ignition Fortress Plugins -->
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<plugin filename="libignition-gazebo-physics-system.so"
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name="ignition::gazebo::systems::Physics"/>
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<plugin filename="libignition-gazebo-user-commands-system.so"
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name="ignition::gazebo::systems::UserCommands"/>
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<plugin filename="libignition-gazebo-scene-broadcaster-system.so"
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name="ignition::gazebo::systems::SceneBroadcaster"/>
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<plugin filename="libignition-gazebo-sensors-system.so"
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name="ignition::gazebo::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<plugin filename="libignition-gazebo-imu-system.so"
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name="ignition::gazebo::systems::Imu"/>
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<!-- Lighting -->
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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@@ -23,7 +35,7 @@
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<!-- Ground -->
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<!-- Ground Plane -->
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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@@ -50,16 +62,14 @@
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</link>
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</model>
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<!-- Landing Pad (static for now) -->
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<!-- Landing Pad (Rover) -->
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<model name="landing_pad">
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<static>true</static>
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<pose>0 0 0.15 0 0 0</pose>
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<link name="base_link">
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<visual name="visual">
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<geometry>
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<box>
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<size>1.0 1.0 0.3</size>
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</box>
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<box><size>1.0 1.0 0.3</size></box>
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</geometry>
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<material>
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<ambient>0.1 0.5 0.1 1</ambient>
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@@ -68,13 +78,125 @@
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</visual>
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<collision name="collision">
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<geometry>
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<box>
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<size>1.0 1.0 0.3</size>
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</box>
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<box><size>1.0 1.0 0.3</size></box>
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</geometry>
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</collision>
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<!-- H marker -->
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<visual name="h_center">
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<pose>0 0 0.151 0 0 0</pose>
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<geometry><box><size>0.6 0.1 0.001</size></box></geometry>
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<material>
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<ambient>1 1 1 1</ambient>
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<diffuse>1 1 1 1</diffuse>
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</material>
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</visual>
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<visual name="h_left">
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<pose>-0.25 0 0.151 0 0 0</pose>
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<geometry><box><size>0.1 0.5 0.001</size></box></geometry>
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<material>
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<ambient>1 1 1 1</ambient>
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<diffuse>1 1 1 1</diffuse>
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</material>
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</visual>
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<visual name="h_right">
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<pose>0.25 0 0.151 0 0 0</pose>
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<geometry><box><size>0.1 0.5 0.001</size></box></geometry>
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<material>
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<ambient>1 1 1 1</ambient>
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<diffuse>1 1 1 1</diffuse>
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</material>
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</visual>
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</link>
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</model>
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<!-- Drone -->
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<model name="drone">
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<pose>0 0 5 0 0 0</pose>
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<link name="base_link">
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<inertial>
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<mass>1.0</mass>
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<inertia>
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<ixx>0.029</ixx><ixy>0</ixy><ixz>0</ixz>
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<iyy>0.029</iyy><iyz>0</iyz>
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<izz>0.055</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry><box><size>0.3 0.3 0.1</size></box></geometry>
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</collision>
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<visual name="body">
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<geometry><box><size>0.3 0.3 0.1</size></box></geometry>
|
||||
<material>
|
||||
<ambient>0.8 0.1 0.1 1</ambient>
|
||||
<diffuse>0.9 0.2 0.2 1</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<!-- Arms -->
|
||||
<visual name="arm_fl">
|
||||
<pose>0.12 0.12 0 0 0 0.785</pose>
|
||||
<geometry><box><size>0.2 0.02 0.02</size></box></geometry>
|
||||
<material><diffuse>0.3 0.3 0.3 1</diffuse></material>
|
||||
</visual>
|
||||
<visual name="arm_fr">
|
||||
<pose>0.12 -0.12 0 0 0 -0.785</pose>
|
||||
<geometry><box><size>0.2 0.02 0.02</size></box></geometry>
|
||||
<material><diffuse>0.3 0.3 0.3 1</diffuse></material>
|
||||
</visual>
|
||||
<visual name="arm_bl">
|
||||
<pose>-0.12 0.12 0 0 0 -0.785</pose>
|
||||
<geometry><box><size>0.2 0.02 0.02</size></box></geometry>
|
||||
<material><diffuse>0.3 0.3 0.3 1</diffuse></material>
|
||||
</visual>
|
||||
<visual name="arm_br">
|
||||
<pose>-0.12 -0.12 0 0 0 0.785</pose>
|
||||
<geometry><box><size>0.2 0.02 0.02</size></box></geometry>
|
||||
<material><diffuse>0.3 0.3 0.3 1</diffuse></material>
|
||||
</visual>
|
||||
|
||||
<!-- Rotors -->
|
||||
<visual name="rotor_fl">
|
||||
<pose>0.17 0.17 0.05 0 0 0</pose>
|
||||
<geometry><cylinder><radius>0.08</radius><length>0.01</length></cylinder></geometry>
|
||||
<material><diffuse>0.2 0.2 0.2 1</diffuse></material>
|
||||
</visual>
|
||||
<visual name="rotor_fr">
|
||||
<pose>0.17 -0.17 0.05 0 0 0</pose>
|
||||
<geometry><cylinder><radius>0.08</radius><length>0.01</length></cylinder></geometry>
|
||||
<material><diffuse>0.2 0.2 0.2 1</diffuse></material>
|
||||
</visual>
|
||||
<visual name="rotor_bl">
|
||||
<pose>-0.17 0.17 0.05 0 0 0</pose>
|
||||
<geometry><cylinder><radius>0.08</radius><length>0.01</length></cylinder></geometry>
|
||||
<material><diffuse>0.2 0.2 0.2 1</diffuse></material>
|
||||
</visual>
|
||||
<visual name="rotor_br">
|
||||
<pose>-0.17 -0.17 0.05 0 0 0</pose>
|
||||
<geometry><cylinder><radius>0.08</radius><length>0.01</length></cylinder></geometry>
|
||||
<material><diffuse>0.2 0.2 0.2 1</diffuse></material>
|
||||
</visual>
|
||||
|
||||
<!-- IMU -->
|
||||
<sensor name="imu" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>100</update_rate>
|
||||
<topic>/drone/imu</topic>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<!-- Odometry Publisher -->
|
||||
<plugin filename="libignition-gazebo-odometry-publisher-system.so"
|
||||
name="ignition::gazebo::systems::OdometryPublisher">
|
||||
<odom_frame>odom</odom_frame>
|
||||
<robot_base_frame>base_link</robot_base_frame>
|
||||
<odom_topic>/model/drone/odometry</odom_topic>
|
||||
<odom_publish_frequency>50</odom_publish_frequency>
|
||||
</plugin>
|
||||
|
||||
</model>
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
|
||||
Reference in New Issue
Block a user