added new files

ebot_description/launch/start_world_launch_3.py

@@ -0,0 +1,70 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+''' 
+*****************************************************************************************
+*
+*        =============================================
+*                  TBD Theme (eYRC 2023-24)
+*        =============================================
+*
+*
+*  Filename:			start_world_launch.py
+*  Description:         Use this file to launch e-yantra warehouse world in gazebo simulator 
+*  Created:				12/07/2023
+*  Last Modified:	    12/07/2023
+*  Modified by:         Amit
+*  Author:				e-Yantra Team
+*  
+*****************************************************************************************
+'''
+
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess
+from ament_index_python.packages import get_package_prefix
+
+pkg_name='eyantra_warehouse'
+
+def generate_launch_description():
+
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+    pkg_models_dir = get_package_share_directory(pkg_name)
+
+    install_dir = get_package_prefix(pkg_name)
+
+    if 'GAZEBO_MODEL_PATH' in os.environ:
+        gazebo_models_path = os.path.join(pkg_models_dir, 'models')
+        os.environ['GAZEBO_MODEL_PATH'] = gazebo_models_path
+    else:
+        os.environ['GAZEBO_MODEL_PATH'] =  install_dir + "/share"
+
+    if 'GAZEBO_PLUGIN_PATH' in os.environ:
+        os.environ['GAZEBO_PLUGIN_PATH'] = os.environ['GAZEBO_PLUGIN_PATH'] + ':' + install_dir + '/lib'
+    else:
+        os.environ['GAZEBO_PLUGIN_PATH'] = install_dir + '/lib'
+
+    # Gazebo launch
+    gazebo = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py'),
+        )
+    )    
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+          'world',
+          default_value=[os.path.join(pkg_models_dir, 'worlds', 'eyantra_warehouse_task3.world'), ''], # Change name of world file if required.
+          description='SDF world file'),
+        gazebo
+        # ExecuteProcess(cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'], output='screen'),
+    ])

eyantra_warehouse/launch/task3a.launch.py

@@ -0,0 +1,94 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+''' 
+*****************************************************************************************
+*
+*        =============================================
+*                  TBD Theme (eYRC 2023-24)
+*        =============================================
+*
+*
+*  Filename:			ebot_display_launch.py
+*  Description:         Use this file to spawn ebot inside e-yantra warehouse world in the gazebo simulator and publish robot states.
+*  Created:				16/07/2023
+*  Last Modified:	    16/07/2023
+*  Modified by:         Archit, Jaison
+*  Author:				e-Yantra Team
+*  
+*****************************************************************************************
+'''
+
+import launch
+import launch_ros
+import os
+import xacro
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def get_package_file(package, file_path):
+    """Get the location of a file installed in an ament package"""
+    package_path = get_package_share_directory(package)
+    absolute_file_path = os.path.join(package_path, file_path)
+    return absolute_file_path
+
+def generate_launch_description():
+    pkg_share = launch_ros.substitutions.FindPackageShare(package='ebot_description').find('ebot_description')
+
+    xacro_file_ebot = os.path.join(pkg_share, 'models/','ebot/', 'ebot_description.xacro')
+    assert os.path.exists(xacro_file_ebot), "The box_bot.xacro doesnt exist in "+str(xacro_file_ebot)
+    robot_description_config_ebot = xacro.process_file(xacro_file_ebot)
+    robot_description_ebot = robot_description_config_ebot.toxml()
+
+
+    start_world = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('ebot_description'), 'launch', 'start_world_launch_3.py'),
+        )
+    )
+
+    robot_state_publisher_node_ebot = launch_ros.actions.Node(
+        package='robot_state_publisher',
+        name='ebot_RD',
+        executable='robot_state_publisher',
+        parameters=[{"robot_description": robot_description_ebot}],
+        remappings=[('robot_description', 'robot_description_ebot')]
+
+    )
+
+    static_transform = launch_ros.actions.Node(
+        package='tf2_ros',
+        executable='static_transform_publisher',
+        name='static_transform_publisher',
+        arguments = ["1.6", "-2.4", "-0.8", "3.14", "0", "0", "world", "odom"],
+        output='screen')
+
+    spawn_ebot = launch_ros.actions.Node(
+    	package='gazebo_ros', 
+        name='ebot_spawner',
+    	executable='spawn_entity.py',
+        # arguments=['-entity', 'ebot', '-topic', 'robot_description_ebot', '-x', '1.1', '-y', '4.35', '-z', '0.1', '-Y', '3.14'],
+        arguments=['-entity', 'ebot', '-topic', 'robot_description_ebot', '-x', '0.0', '-y', '0.0', '-z', '0.1', '-Y', '0.0'],
+        output='screen'
+    )
+
+    spawn_arm = launch_ros.actions.Node(
+    	package='gazebo_ros', 
+        name='ur5_spawner',
+    	executable='spawn_entity.py',
+        arguments=['-entity', 'ur5', '-topic', 'robot_description_ur5', '-x', '1.6', '-y', '-2.4', '-z', '0.58', '-Y', '3.14'],
+        output='screen')
+
+
+    return launch.LaunchDescription([
+        launch.actions.DeclareLaunchArgument(name='gui', default_value='True',
+                                            description='Flag to enable joint_state_publisher_gui'),
+        launch.actions.DeclareLaunchArgument(name='use_sim_time', default_value='True',
+                                            description='Flag to enable use_sim_time'),
+        start_world,
+        robot_state_publisher_node_ebot,
+        spawn_ebot,
+        static_transform,
+        spawn_arm
+    ])

eyantra_warehouse/models/table/model.config → eyantra_warehouse/models/drop_table/model.config

@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 <model>
-    <name>table</name>
+    <name>drop_table</name>
     <version>1.0</version>
     <sdf version="1.7">model.sdf</sdf>
     <author>

eyantra_warehouse/models/table/model.sdf → eyantra_warehouse/models/drop_table/model.sdf

@@ -1,6 +1,6 @@
 <?xml version='1.0'?>
 <sdf version='1.7'>
-  <model name='table'>
+  <model name='drop_table'>
     <link name='link'>
       <inertial>
         <mass>1</mass>
@@ -23,7 +23,7 @@
         <cast_shadows>0</cast_shadows>
         <geometry>
           <mesh>
-            <uri>model://table/meshes/table.dae</uri>
+            <uri>model://drop_table/meshes/table.dae</uri>
           </mesh>
         </geometry>
         <material>

eyantra_warehouse/worlds/eyantra_warehouse_task2a.world

@@ -225,8 +225,8 @@
 	</include>
 
   <include>
-      <uri>model://table</uri>
-      <name>table</name>
+      <uri>model://drop_table</uri>
+      <name>drop_table</name>
       <pose>2.4 -2.45 0 0 -0 0.0</pose>
 	</include>
 

eyantra_warehouse/worlds/eyantra_warehouse_task2b.world

@@ -221,8 +221,8 @@
 	</include>
 
   <include>
-      <uri>model://table</uri>
-      <name>table</name>
+      <uri>model://drop_table</uri>
+      <name>drop_table</name>
       <pose>2.4 -2.45 0 0 -0 0.0</pose>
 	</include>