feat: create dummy description and launcher pkgs (#110)

* migrate launch Signed-off-by: Autumn60 <[email protected]> * create dummy description and launcher pkgs Signed-off-by: Autumn60 <[email protected]> * update CODEOWNERS for new pkgs Signed-off-by: Autumn60 <[email protected]> --------- Signed-off-by: Autumn60 <[email protected]>
Fool-Stuck · Aug 4, 2024 · cfa85a7 · cfa85a7
1 parent 8541e27
commit cfa85a7
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Showing 28 changed files with 283 additions and 14 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -1,6 +1,9 @@
 src/common/wheel_stuck_common_utils/** @Autumn60 @Bey9434
 src/control/joy2twist/** @Bey9434
+src/description/wheel_stuck_alpha/** @Autumn60
 src/launch/wheel_stuck_launcher/** @Autumn60
+src/launch/wheel_stuck_robot_launcher/** @Autumn60
+src/launch/wheel_stuck_sensing_launcher/** @Autumn60
 src/perception/velodyne_cloud_separator/** @Autumn60
 src/planning/dwa_planner/** @Autumn60
 src/planning/waypoint/wheel_stuck_waypoint_msgs/** @Autumn60

diff --git a/src/description/wheel_stuck_alpha/wheel_stuck_alpha_description/CMakeLists.txt b/src/description/wheel_stuck_alpha/wheel_stuck_alpha_description/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.5)
+project(wheel_stuck_alpha_description)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+ament_auto_package(INSTALL_TO_SHARE
+  config
+  urdf
+)
diff --git a/src/description/wheel_stuck_alpha/wheel_stuck_alpha_description/config/robot_info.param.yaml b/src/description/wheel_stuck_alpha/wheel_stuck_alpha_description/config/robot_info.param.yaml
@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    wheel_radius: 0.0   # [m]
+    wheel_tread: 0.0    # [m]
+    front_overhang: 0.0 # [m]
+    rear_overhang: 0.0  # [m]
+    left_overhang: 0.0  # [m]
+    right_overhang: 0.0 # [m]
+    robot_height: 0.0 # [m]
diff --git a/src/description/wheel_stuck_alpha/wheel_stuck_alpha_description/package.xml b/src/description/wheel_stuck_alpha/wheel_stuck_alpha_description/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>wheel_stuck_alpha_description</name>
+  <version>0.1.0</version>
+  <description>The wheel_stuck_alpha_description package</description>
+  <maintainer email="[email protected]">Akiro Harada</maintainer>
+
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <exec_depend>xacro</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/description/wheel_stuck_alpha/wheel_stuck_alpha_description/urdf/robot.urdf.xacro b/src/description/wheel_stuck_alpha/wheel_stuck_alpha_description/urdf/robot.urdf.xacro
@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:property name="robot_info" value="${xacro.load_yaml('$(find wheel_stuck_alpha_description)/config/robot_info.param.yaml')}"/>
+
+  <link name="base_link"/>
+</robot>
diff --git a/src/description/wheel_stuck_alpha/wheel_stuck_alpha_launcher/CMakeLists.txt b/src/description/wheel_stuck_alpha/wheel_stuck_alpha_launcher/CMakeLists.txt
@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 3.5)
+project(wheel_stuck_alpha_launcher)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+)
diff --git a/src/description/wheel_stuck_alpha/wheel_stuck_alpha_launcher/launch/robot.launch.xml b/src/description/wheel_stuck_alpha/wheel_stuck_alpha_launcher/launch/robot.launch.xml
@@ -0,0 +1 @@
+<launch/>
diff --git a/src/description/wheel_stuck_alpha/wheel_stuck_alpha_launcher/package.xml b/src/description/wheel_stuck_alpha/wheel_stuck_alpha_launcher/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>wheel_stuck_alpha_launcher</name>
+  <version>0.1.0</version>
+  <description>The wheel_stuck_alpha_launcher package</description>
+  <maintainer email="[email protected]">Akiro Harada</maintainer>
+
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/description/wheel_stuck_alpha/wheel_stuck_alpha_sensor_kit_description/CMakeLists.txt b/src/description/wheel_stuck_alpha/wheel_stuck_alpha_sensor_kit_description/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.5)
+project(wheel_stuck_alpha_sensor_kit_description)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+ament_auto_package(INSTALL_TO_SHARE
+  config
+  urdf
+)
diff --git a/...tuck_alpha/wheel_stuck_alpha_sensor_kit_description/config/sensors_calibration.param.yaml b/...tuck_alpha/wheel_stuck_alpha_sensor_kit_description/config/sensors_calibration.param.yaml
@@ -0,0 +1,8 @@
+base_link:
+  velodyne_base_link:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
diff --git a/src/description/wheel_stuck_alpha/wheel_stuck_alpha_sensor_kit_description/package.xml b/src/description/wheel_stuck_alpha/wheel_stuck_alpha_sensor_kit_description/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>wheel_stuck_alpha_sensor_kit_description</name>
+  <version>0.1.0</version>
+  <description>The wheel_stuck_alpha_sensor_kit_description package</description>
+  <maintainer email="[email protected]">Akiro Harada</maintainer>
+
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/...ion/wheel_stuck_alpha/wheel_stuck_alpha_sensor_kit_description/urdf/sensor_kit.urdf.xacro b/...ion/wheel_stuck_alpha/wheel_stuck_alpha_sensor_kit_description/urdf/sensor_kit.urdf.xacro
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:property name="sensors_calibration" value="${xacro.load_yaml('$(find wheel_stuck_alpha_sensor_kit_description)/config/sensors_calibration.param.yaml')}"/>
+
+  <link name="velodyne_base_link"/>
+  <joint name="velodyne_base_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="velodyne_base_link"/>
+    <origin
+      xyz="${sensors_calibration['base_link']['velodyne_base_link']['x']}
+             ${sensors_calibration['base_link']['velodyne_base_link']['y']}
+             ${sensors_calibration['base_link']['velodyne_base_link']['z']}"
+      rpy="${sensors_calibration['base_link']['velodyne_base_link']['roll']}
+             ${sensors_calibration['base_link']['velodyne_base_link']['pitch']}
+            ${sensors_calibration['base_link']['velodyne_base_link']['yaw']}"
+    />
+  </joint>
+</robot>
diff --git a/src/description/wheel_stuck_alpha/wheel_stuck_alpha_sensor_kit_launcher/CMakeLists.txt b/src/description/wheel_stuck_alpha/wheel_stuck_alpha_sensor_kit_launcher/CMakeLists.txt
@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 3.5)
+project(wheel_stuck_alpha_sensor_kit_launcher)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+)
diff --git a/...tion/wheel_stuck_alpha/wheel_stuck_alpha_sensor_kit_launcher/launch/sensor_kit.launch.xml b/...tion/wheel_stuck_alpha/wheel_stuck_alpha_sensor_kit_launcher/launch/sensor_kit.launch.xml
@@ -0,0 +1 @@
+<launch/>
diff --git a/src/description/wheel_stuck_alpha/wheel_stuck_alpha_sensor_kit_launcher/package.xml b/src/description/wheel_stuck_alpha/wheel_stuck_alpha_sensor_kit_launcher/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>wheel_stuck_alpha_sensor_kit_launcher</name>
+  <version>0.1.0</version>
+  <description>The wheel_stuck_alpha_sensor_kit_launcher package</description>
+  <maintainer email="[email protected]">Akiro Harada</maintainer>
+
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/launch/wheel_stuck_launcher/config/.gitkeep b/src/launch/wheel_stuck_launcher/config/.gitkeep
diff --git a/src/launch/wheel_stuck_launcher/launch/components/wheel_stuck_common.launch.xml b/src/launch/wheel_stuck_launcher/launch/components/wheel_stuck_common.launch.xml
diff --git a/src/launch/wheel_stuck_launcher/launch/wheel_stuck.launch.xml b/src/launch/wheel_stuck_launcher/launch/wheel_stuck.launch.xml
@@ -1,14 +1,24 @@
 <launch>
   <!-- Essential parameters -->
-  <arg name="robot_model" default="wheel_stuck"/>
+  <arg name="robot_model" default="wheel_stuck_alpha"/>
+  <arg name="sensor_kit_model" default="wheel_stuck_alpha_sensor_kit"/>
 
   <!-- Optional parameters -->
-  <arg name="launch_common" default="true"/>
+  <arg name="launch_robot" default="true"/>
+  <arg name="launch_sensing" default="true"/>
 
-  <!-- Common -->
-  <group if="$(var launch_common)" scoped="false">
-    <include file="$(find-pkg-share wheel_stuck_launcher)/launch/components/wheel_stuck_common.launch.xml">
+  <!-- Robot -->
+  <group if="$(var launch_robot)" scoped="false">
+    <include file="$(find-pkg-share wheel_stuck_robot_launcher)/launch/robot.launch.xml">
       <arg name="robot_model" value="$(var robot_model)"/>
+      <arg name="sensor_kit_model" value="$(var sensor_kit_model)"/>
+    </include>
+  </group>
+
+  <!-- Sensing -->
+  <group if="$(var launch_sensing)">
+    <include file="$(find-pkg-share wheel_stuck_sensing_launcher)/launch/sensing.launch.xml">
+      <arg name="sensor_kit_model" value="$(var sensor_kit_model)"/>
     </include>
   </group>
 </launch>
diff --git a/src/launch/wheel_stuck_launcher/package.xml b/src/launch/wheel_stuck_launcher/package.xml
@@ -10,7 +10,8 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <exec_depend>wheel_stuck_robot_utils</exec_depend>
+  <exec_depend>wheel_stuck_robot_launcher</exec_depend>
+  <exec_depend>wheel_stuck_sensing_launcher</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
 

diff --git a/src/launch/wheel_stuck_robot_launcher/CMakeLists.txt b/src/launch/wheel_stuck_robot_launcher/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.5)
+project(wheel_stuck_robot_launcher)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+  urdf
+)
diff --git a/src/launch/wheel_stuck_robot_launcher/launch/components/description.launch.xml b/src/launch/wheel_stuck_robot_launcher/launch/components/description.launch.xml
@@ -0,0 +1,10 @@
+<launch>
+  <!-- Essential Parameters -->
+  <arg name="robot_model"/>
+  <arg name="sensor_kit_model"/>
+
+  <arg name="xacro_file" default="$(find-pkg-share wheel_stuck_robot_launcher)/urdf/robot.urdf.xacro"/>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
+    <param name="robot_description" value="$(command 'xacro $(var xacro_file) robot_model:=$(var robot_model) sensor_kit_model:=$(var sensor_kit_model)' 'warn')"/>
+  </node>
+</launch>
diff --git a/...mmon_components/load_robot_info.launch.py → ...unch/components/load_robot_info.launch.py b/...mmon_components/load_robot_info.launch.py → ...unch/components/load_robot_info.launch.py
diff --git a/src/launch/wheel_stuck_robot_launcher/launch/robot.launch.xml b/src/launch/wheel_stuck_robot_launcher/launch/robot.launch.xml
@@ -0,0 +1,19 @@
+<launch>
+  <!-- Essential Parameters -->
+  <arg name="robot_model"/>
+  <arg name="sensor_kit_model"/>
+
+  <include file="$(find-pkg-share wheel_stuck_robot_launcher)/launch/components/load_robot_info.launch.py">
+    <arg name="robot_model" value="$(var robot_model)"/>
+  </include>
+
+  <include file="$(find-pkg-share wheel_stuck_robot_launcher)/launch/components/description.launch.xml">
+    <arg name="robot_model" value="$(var robot_model)"/>
+    <arg name="sensor_kit_model" value="$(var sensor_kit_model)"/>
+  </include>
+
+  <group>
+    <push-ros-namespace namespace="robot"/>
+    <include file="$(find-pkg-share $(var robot_model)_launcher)/launch/robot.launch.xml"/>
+  </group>
+</launch>
diff --git a/src/launch/wheel_stuck_robot_launcher/package.xml b/src/launch/wheel_stuck_robot_launcher/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>wheel_stuck_robot_launcher</name>
+  <version>0.1.0</version>
+  <description>The wheel_stuck_robot_launcher package</description>
+  <maintainer email="[email protected]">Akiro Harada</maintainer>
+
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <exec_depend>wheel_stuck_robot_utils</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/launch/wheel_stuck_robot_launcher/urdf/robot.urdf.xacro b/src/launch/wheel_stuck_robot_launcher/urdf/robot.urdf.xacro
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<robot name="robot" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:arg name="robot_model" default=""/>
+  <xacro:arg name="sensor_kit_model" default=""/>
+
+  <!-- robot -->
+  <xacro:property name="robot_model_property" value="$(arg robot_model)"/>
+  <xacro:include filename="$(find ${robot_model_property}_description)/urdf/robot.urdf.xacro"/>
+
+  <!-- sensor kit -->
+  <xacro:property name="sensor_kit_model_property" value="$(arg sensor_kit_model)"/>
+  <xacro:include filename="$(find ${sensor_kit_model_property}_description)/urdf/sensor_kit.urdf.xacro"/>
+</robot>
diff --git a/src/launch/wheel_stuck_sensing_launcher/CMakeLists.txt b/src/launch/wheel_stuck_sensing_launcher/CMakeLists.txt
@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 3.5)
+project(wheel_stuck_sensing_launcher)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+)
diff --git a/src/launch/wheel_stuck_sensing_launcher/launch/sensing.launch.xml b/src/launch/wheel_stuck_sensing_launcher/launch/sensing.launch.xml
@@ -0,0 +1,9 @@
+<launch>
+  <!-- Essential Parameters -->
+  <arg name="sensor_kit_model"/>
+
+  <group>
+    <push-ros-namespace namespace="sensing"/>
+    <include file="$(find-pkg-share $(var sensor_kit_model)_launcher)/launch/sensor_kit.launch.xml"/>
+  </group>
+</launch>
diff --git a/src/launch/wheel_stuck_sensing_launcher/package.xml b/src/launch/wheel_stuck_sensing_launcher/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>wheel_stuck_sensing_launcher</name>
+  <version>0.1.0</version>
+  <description>The wheel_stuck_sensing_launcher package</description>
+  <maintainer email="[email protected]">Akiro Harada</maintainer>
+
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>