task2 added

README.md

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+# Welcome to eYRC Cosmo Logistic Theme 2023-24
+
+### Packages
+This repository contains three packages (as of now):
+1. *aws-robomaker-small-warehouse-world*: Contains warehouse rack and package models
+
+2. *ebot_description*: Contains mobile robot (ebot) description model
+
+3. *eyantra_warehouse*: Contains warehouse world model
+
+### Task 0
+
+To launch task 0, use this command-
+
+```sh
+ros2 launch ebot_description ebot_gazebo_launch.py
+```
+
+This should open gazebo application having mobile robot (*named as ebot*) spawned inside a warehouse.
+
+

aws-robomaker-small-warehouse-world/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package aws_robomaker_small_warehouse_world
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Forthcoming
+-----------
+* Use floor friction value from Gazebo empty world (`#13 <https://github.com/aws-robotics/aws-robomaker-small-warehouse-world/issues/13>`_)
+* ROS2 branch
+* Adding gazebo model path to stop requiring modification of gazebo model path env var (`#11 <https://github.com/aws-robotics/aws-robomaker-small-warehouse-world/issues/11>`_)
+* Merge pull request `#5 <https://github.com/aws-robotics/aws-robomaker-small-warehouse-world/issues/5>`_ from RoverRobotics-forks/foxy-devel
+  Foxy devel
+* fixing missing gazebo path exports not covered in env_hooks
+* Merge branch 'foxy-devel' of https://github.com/aws-robotics/aws-robomaker-small-warehouse-world into foxy-devel
+* merging with branch PR `#5 <https://github.com/aws-robotics/aws-robomaker-small-warehouse-world/issues/5>`_.  Also updated readme
+* updated for merge request `#2 <https://github.com/aws-robotics/aws-robomaker-small-warehouse-world/issues/2>`_
+* updated cmake according to review
+* Tuning lighting for system(s) with/without GPU (`#2 <https://github.com/aws-robotics/aws-robomaker-small-warehouse-world/issues/2>`_) (`#6 <https://github.com/aws-robotics/aws-robomaker-small-warehouse-world/issues/6>`_)
+  - Adjust ceiling lamp's parameters so that it works system(s) with/without GPU
+* update to ament_cmake and added env-hooks
+* Add support for launching in ROS2 foxy
+* Add support for launch with ROS2
+* Merge pull request `#1 <https://github.com/aws-robotics/aws-robomaker-small-warehouse-world/issues/1>`_ from konduri/no-roof-warehouse
+  warehouse world with no roof
+* no roof world and launch
+* Add initial package contents
+* Initial commit
+* Contributors: Amazon GitHub Automation, Anson Wong, Hai Quang, Kim (kenvink), Joep Tool, Matthew Murphy, Ojas Joshi, Sam Gundry, Steve Macenski, konduri, padiln, root

aws-robomaker-small-warehouse-world/CMakeLists.txt

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+################################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 3.5)
+project(aws_robomaker_small_warehouse_world)
+
+################################################################################
+# Find ament packages and libraries for ament and system dependencies
+################################################################################
+find_package(ament_cmake REQUIRED)
+find_package(gazebo_ros REQUIRED)
+
+################################################################################
+# Install
+################################################################################
+install(
+  DIRECTORY launch models worlds maps rviz
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/aws_robomaker_small_warehouse_world.dsv.in")
+
+ament_export_dependencies(ament_cmake)
+ament_export_dependencies(gazebo_ros)
+
+################################################################################
+# Macro for ament package
+################################################################################
+ament_package()

aws-robomaker-small-warehouse-world/CODE_OF_CONDUCT.md

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+## Code of Conduct
+This project has adopted the [Amazon Open Source Code of Conduct](https://aws.github.io/code-of-conduct).
+For more information see the [Code of Conduct FAQ](https://aws.github.io/code-of-conduct-faq) or contact
+[email protected] with any additional questions or comments.

aws-robomaker-small-warehouse-world/CONTRIBUTING.md

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+# Contributing Guidelines
+
+Thank you for your interest in contributing to our project. Whether it's a bug report, new feature, correction, or additional
+documentation, we greatly value feedback and contributions from our community.
+
+Please read through this document before submitting any issues or pull requests to ensure we have all the necessary
+information to effectively respond to your bug report or contribution.
+
+
+## Reporting Bugs/Feature Requests
+
+We welcome you to use the GitHub issue tracker to report bugs or suggest features.
+
+When filing an issue, please check existing open, or recently closed, issues to make sure somebody else hasn't already
+reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
+
+* A reproducible test case or series of steps
+* The version of our code being used
+* Any modifications you've made relevant to the bug
+* Anything unusual about your environment or deployment
+
+
+## Contributing via Pull Requests
+Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
+
+1. You are working against the latest source on the *master* branch.
+2. You check existing open, and recently merged, pull requests to make sure someone else hasn't addressed the problem already.
+3. You open an issue to discuss any significant work - we would hate for your time to be wasted.
+
+To send us a pull request, please:
+
+1. Fork the repository.
+2. Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
+3. Ensure local tests pass.
+4. Commit to your fork using clear commit messages.
+5. Send us a pull request, answering any default questions in the pull request interface.
+6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
+
+GitHub provides additional document on [forking a repository](https://help.github.com/articles/fork-a-repo/) and
+[creating a pull request](https://help.github.com/articles/creating-a-pull-request/).
+
+
+## Finding contributions to work on
+Looking at the existing issues is a great way to find something to contribute on. As our projects, by default, use the default GitHub issue labels (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any 'help wanted' issues is a great place to start.
+
+
+## Code of Conduct
+This project has adopted the [Amazon Open Source Code of Conduct](https://aws.github.io/code-of-conduct).
+For more information see the [Code of Conduct FAQ](https://aws.github.io/code-of-conduct-faq) or contact
+[email protected] with any additional questions or comments.
+
+
+## Security issue notifications
+If you discover a potential security issue in this project we ask that you notify AWS/Amazon Security via our [vulnerability reporting page](http://aws.amazon.com/security/vulnerability-reporting/). Please do **not** create a public github issue.
+
+
+## Licensing
+
+See the [LICENSE](LICENSE) file for our project's licensing. We will ask you to confirm the licensing of your contribution.
+
+We may ask you to sign a [Contributor License Agreement (CLA)](http://en.wikipedia.org/wiki/Contributor_License_Agreement) for larger changes.

aws-robomaker-small-warehouse-world/LICENSE

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+Copyright Amazon.com, Inc. or its affiliates. All Rights Reserved.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+the Software, and to permit persons to whom the Software is furnished to do so.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+

aws-robomaker-small-warehouse-world/README.md

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+# AWS RoboMaker Small Warehouse World
+
+![Gazebo01](docs/images/small_warehouse_gazebo.png)
+
+
+This Gazebo world is well suited for organizations who are building and testing robot applications for warehouse and logistics use cases. 
+
+## 3D Models included in this Gazebo World
+
+| Model (/models)       | Picture           |
+| :------------- |:-------------:|
+| **aws_robomaker_warehouse_Bucket_01**    | ![Model: Buckets](docs/images/models_buckets.png)
+| **aws_robomaker_warehouse_ClutteringA_01, aws_robomaker_warehouse_ClutteringC_01, aws_robomaker_warehouse_ClutteringD_01**     | ![Model: Box Clusters](docs/images/models_boxes.png) |
+| **aws_robomaker_warehouse_DeskC_01**    | ![Model: Desk](docs/images/models_desk.png)
+| **aws_robomaker_warehouse_GroundB_01**    | ![Model: Ground Paint](docs/images/models_warehouse_ground_paint.png)
+| **aws_robomaker_warehouse_TrashCanC_01**   | ![Model: Humans](docs/images/models_trashcan.png)
+| **aws_robomaker_warehouse_Lamp_01**    | ![Model: Ceiling Lamp](docs/images/models_ceiling_lamp.png)
+| **aws_robomaker_warehouse_PalletJackB_01**    | ![Model: Pallet Jack](docs/images/models_lift.png)
+| **aws_robomaker_warehouse_ShelfD_01, aws_robomaker_warehouse_ShelfE_01, aws_robomaker_warehouse_ShelfF_01**    | ![Model: Pallet Jack](docs/images/models_shelves.png)
+
+## Building and Launching the Gazebo World with your ROS Applications
+
+* Create or update a **.rosinstall** file in the root directory of your ROS workspace. Add the following line to **.rosintall**:
+    ```
+    - git: {local-name: src/aws-robomaker-small-warehouse-world, uri: 'https://github.com/aws-robotics/aws-robomaker-small-warehouse-world.git', version: ros2}
+    ```
+* Change the directory to your ROS workspace and run `rosws update`
+
+* Add the following include to the ROS2 launch file you are using:
+    ```python
+    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
+
+    def generate_launch_description():
+        warehouse_pkg_dir = get_package_share_directory('aws_robomaker_small_warehouse_world')
+        warehouse_launch_path = os.path.join(warehouse_pkg_dir, 'launch')
+
+        warehouse_world_cmd = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([warehouse_launch_path, '/small_warehouse.launch.py'])
+        )
+
+        ld = LaunchDescription()
+
+        ld.add_action(warehouse_world_cmd)
+
+        return ld
+    ```
+
+* Build your application using `colcon`
+    ```bash
+    rosws update
+    rosdep install --from-paths . --ignore-src -r -y
+    colcon build
+    ```
+
+## Example: Running this world directly in Gazebo without a ROS application
+
+To open this world in Gazebo, change the directory to your ROS workspace root folder and run:
+
+```bash
+export GAZEBO_MODEL_PATH=`pwd`/models
+gazebo worlds/small_warehouse/small_warehouse.world
+```
+
+## Example: Running this world directly using ROS without a simulated robot
+
+To launch this base Gazebo world without a robot, clone this repository and run the following commands. **Note: ROS and gazebo must already be installed on the host.** 
+
+```bash
+# build for ROS2
+rosdep install --from-paths . --ignore-src -r -y
+colcon build
+
+# run in ROS2
+source install/setup.sh
+ros2 launch aws_robomaker_small_warehouse_world small_warehouse.launch.py
+```
+
+**Visit the [AWS RoboMaker website](https://aws.amazon.com/robomaker/) to learn more about building intelligent robotic applications with Amazon Web Services.**
+
+## Notes
+- Lighting might vary on different system(s) (e.g brighter on system without CPU and darker on system with GPU)
+- Adjust lighting parameters in .world file as you need

aws-robomaker-small-warehouse-world/env-hooks/aws_robomaker_small_warehouse_world.dsv.in

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+prepend-non-duplicate;GAZEBO_MODEL_PATH;share/aws_robomaker_small_warehouse_world/models
+prepend-non-duplicate;GAZEBO_MODEL_PATH;share/aws_robomaker_small_warehouse_world/worlds

aws-robomaker-small-warehouse-world/launch/no_roof_small_warehouse.launch.py

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+# Copyright (c) 2018 Intel Corporation
+#
+# 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.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+import launch
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def generate_launch_description():
+    ld = launch.LaunchDescription([
+        launch.actions.IncludeLaunchDescription(
+            launch.launch_description_sources.PythonLaunchDescriptionSource(
+                [get_package_share_directory(
+                    'aws_robomaker_small_warehouse_world'), '/launch/small_warehouse.launch.py']
+            ),
+            launch_arguments={
+                'world': os.path.join(get_package_share_directory('aws_robomaker_small_warehouse_world'), 'worlds', 'no_roof_small_warehouse', 'no_roof_small_warehouse.world')
+            }.items()
+        )
+    ])
+    return ld

aws-robomaker-small-warehouse-world/launch/small_warehouse.launch.py

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+# Copyright (c) 2018 Intel Corporation
+#
+# 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.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+import launch
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    # Get the launch directory
+    aws_small_warehouse_dir = get_package_share_directory('aws_robomaker_small_warehouse_world')
+    gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    # Launch configuration variables specific to simulation
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    use_simulator = LaunchConfiguration('use_simulator')
+    headless = LaunchConfiguration('headless')
+    world = LaunchConfiguration('world')
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        'use_sim_time',
+        default_value='True',
+        description='Use simulation (Gazebo) clock if true')
+
+    declare_simulator_cmd = DeclareLaunchArgument(
+        'headless',
+        default_value='False',
+        description='Whether to execute gzclient)')
+
+    declare_world_cmd = DeclareLaunchArgument(
+        'world',
+        default_value=os.path.join(aws_small_warehouse_dir, 'worlds', 'small_warehouse', 'small_warehouse.world'),
+        description='Full path to world model file to load')
+
+    # Specify the actions
+    start_gazebo_server_cmd = launch.actions.IncludeLaunchDescription(
+        launch.launch_description_sources.PythonLaunchDescriptionSource(
+            os.path.join(gazebo_ros, 'launch', 'gzserver.launch.py'))
+    )
+
+    start_gazebo_client_cmd = launch.actions.IncludeLaunchDescription(
+        launch.launch_description_sources.PythonLaunchDescriptionSource(
+            os.path.join(gazebo_ros, 'launch', 'gzclient.launch.py')),
+        condition=IfCondition(PythonExpression(['not ', headless]))
+    )
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_use_sim_time_cmd)
+    ld.add_action(declare_simulator_cmd)
+    ld.add_action(declare_world_cmd)
+
+    # Add any conditioned actions
+    ld.add_action(start_gazebo_server_cmd)
+    ld.add_action(start_gazebo_client_cmd)
+
+    return ld

aws-robomaker-small-warehouse-world/maps/002/map.yaml

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+image: map.pgm
+resolution: 0.020000
+origin: [-10.000000, -20.240000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+

aws-robomaker-small-warehouse-world/maps/005/map.yaml

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+image: map_rotated.png
+resolution: 0.050000
+origin: [-7.000, -10.500000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+
+# -3.071 3.583