Spa database inclusion

CustomRobots/f1/models/spa/model.config

@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<model>
+  <name>spa_circuit</name>
+  <version>1.0</version>
+  <sdf version="1.7">model.sdf</sdf>
+  <author>
+    <name>Fernando Exposito Arribas</name>
+  </author>
+  <description>
+    Modelo del circuito de Spa para Gazebo Sim.
+  </description>
+</model>

CustomRobots/f1/models/spa/model.sdf

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<sdf version="1.7">
+
+    <model name="spa_circuit">
+      <static>true</static>
+      <link name="link">
+        <visual name="visual">
+          <geometry>
+            <mesh>
+              <uri>model://spa/meshes/spa.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name="collision">
+          <geometry>
+            <mesh>
+              <uri>model://spa/meshes/spa.dae</uri>
+            </mesh>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+</sdf>

CustomRobots/f1/worlds/spa_circuit.world

@@ -0,0 +1,52 @@
+<sdf version='1.10'>
+  <world name='spa'>
+    <physics name='1ms' type='ignored'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
+    <plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
+    <plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
+    <plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
+    <gravity>0 0 -9.8</gravity>
+    <atmosphere type='adiabatic'/>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+      <grid>false</grid>
+      <sky>
+        <clouds>
+          <speed>12</speed>
+        </clouds>
+      </sky>
+    </scene>
+
+    <include>
+      <uri>model://spa</uri>
+      <name>spa</name>
+      <pose>0 0 -1000 0 0 0</pose>
+    </include>
+
+    <light name='my_sun' type='directional'>
+      <pose>0 0 10 0 0 0</pose>
+      <cast_shadows>true</cast_shadows>
+      <intensity>1</intensity>
+      <direction>-0.5 0.1 -0.9</direction>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <linear>0.01</linear>
+        <constant>0.9</constant>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+  </world>
+</sdf>

Launchers/monaco_circuit.launch .py

@@ -0,0 +1,71 @@
+import os
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.substitutions import FindPackageShare
+
+def generate_launch_description():
+
+    # Aquí el paquete correcto para gazebo_ros
+    pkg_gazebo_ros = FindPackageShare(package='gazebo_launch').find('gazebo_launch')
+
+    # Ruta a tu carpeta de modelos en tu workspace (ajusta si es necesario)
+    # Si tus modelos están en ~/gzROS/src/gazebo_launch/worlds/models o similar, pon esa ruta:
+    pkg_share = os.path.expanduser('~/gzROS/src/gazebo_launch/models')
+
+    # Nombre del archivo del mundo
+    world_file_name = 'monaco_circuit.world'
+    world_path = os.path.join(pkg_share, world_file_name)
+
+    # Añadir el path de modelos a la variable de entorno GAZEBO_MODEL_PATH
+    os.environ["GAZEBO_MODEL_PATH"] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{pkg_share}"
+
+    # Configuraciones de lanzamiento
+    headless = LaunchConfiguration('headless')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    use_simulator = LaunchConfiguration('use_simulator')
+    world = LaunchConfiguration('world')
+
+    declare_simulator_cmd = DeclareLaunchArgument(
+        name='headless',
+        default_value='False',
+        description='Whether to execute gzclient'
+    )
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        name='use_sim_time',
+        default_value='true',
+        description='Use simulation (Gazebo) clock if true'
+    )
+
+    declare_use_simulator_cmd = DeclareLaunchArgument(
+        name='use_simulator',
+        default_value='True',
+        description='Whether to start the simulator'
+    )
+
+    declare_world_cmd = DeclareLaunchArgument(
+        name='world',
+        default_value=world_path,
+        description='Full path to the world model file to load'
+    )
+
+    # Lanzar el servidor de Gazebo
+    start_gazebo_server_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py')),
+        condition=IfCondition(use_simulator),
+        launch_arguments={'world': world}.items()
+    )
+
+    ld = LaunchDescription()
+
+    ld.add_action(declare_simulator_cmd)
+    ld.add_action(declare_use_sim_time_cmd)
+    ld.add_action(declare_use_simulator_cmd)
+    ld.add_action(declare_world_cmd)
+
+    ld.add_action(start_gazebo_server_cmd)
+
+    return ld

Launchers/spa_circuit.launch.py

@@ -0,0 +1,71 @@
+import os
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.substitutions import FindPackageShare
+
+def generate_launch_description():
+
+    # Aquí el paquete correcto para gazebo_ros
+    pkg_gazebo_ros = FindPackageShare(package='gazebo_launch').find('gazebo_launch')
+
+    # Ruta a tu carpeta de modelos en tu workspace (ajusta si es necesario)
+    # Si tus modelos están en ~/gzROS/src/gazebo_launch/worlds/models o similar, pon esa ruta:
+    pkg_share = os.path.expanduser('~/gzROS/src/gazebo_launch/models')
+
+    # Nombre del archivo del mundo
+    world_file_name = 'spa_circuit.world'
+    world_path = os.path.join(pkg_share, world_file_name)
+
+    # Añadir el path de modelos a la variable de entorno GAZEBO_MODEL_PATH
+    os.environ["GAZEBO_MODEL_PATH"] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{pkg_share}"
+
+    # Configuraciones de lanzamiento
+    headless = LaunchConfiguration('headless')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    use_simulator = LaunchConfiguration('use_simulator')
+    world = LaunchConfiguration('world')
+
+    declare_simulator_cmd = DeclareLaunchArgument(
+        name='headless',
+        default_value='False',
+        description='Whether to execute gzclient'
+    )
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        name='use_sim_time',
+        default_value='true',
+        description='Use simulation (Gazebo) clock if true'
+    )
+
+    declare_use_simulator_cmd = DeclareLaunchArgument(
+        name='use_simulator',
+        default_value='True',
+        description='Whether to start the simulator'
+    )
+
+    declare_world_cmd = DeclareLaunchArgument(
+        name='world',
+        default_value=world_path,
+        description='Full path to the world model file to load'
+    )
+
+    # Lanzar el servidor de Gazebo
+    start_gazebo_server_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py')),
+        condition=IfCondition(use_simulator),
+        launch_arguments={'world': world}.items()
+    )
+
+    ld = LaunchDescription()
+
+    ld.add_action(declare_simulator_cmd)
+    ld.add_action(declare_use_sim_time_cmd)
+    ld.add_action(declare_use_simulator_cmd)
+    ld.add_action(declare_world_cmd)
+
+    ld.add_action(start_gazebo_server_cmd)
+
+    return ld

Worlds/spa_circuit.world

@@ -0,0 +1,50 @@
+<sdf version='1.10'>
+  <world name='spa'>
+    <physics name='1ms' type='ignored'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
+    <plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
+    <plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
+    <plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
+    <gravity>0 0 -9.8</gravity>
+    <atmosphere type='adiabatic'/>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+      <grid>false</grid>
+      <sky>
+        <clouds>
+          <speed>12</speed>
+        </clouds>
+      </sky>
+    </scene>
+    <include>
+      <uri>model://spa</uri>
+      <name>spa</name>
+      <pose>0 0 -1000 0 0 0</pose>
+    </include>
+    <light name='my_sun' type='directional'>
+      <pose>0 0 10 0 0 0</pose>
+      <cast_shadows>true</cast_shadows>
+      <intensity>1</intensity>
+      <direction>-0.5 0.1 -0.9</direction>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <linear>0.01</linear>
+        <constant>0.9</constant>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+  </world>
+</sdf>

database/universes.sql

@@ -148,6 +148,8 @@ COPY public.universes (id, name, world_id, robot_id) FROM stdin;
 32	Follow Road Harmonic	32	0
 33	Laser Mapping Warehouse	12	0
 34	Pick And Place World	34	0
+35	Spa Circuit	33	0
+36	Monaco Circuit 34 0
 \.
 
 
@@ -192,6 +194,8 @@ COPY public.worlds (id, name, launch_file_path, visualization_config_path, ros_v
 32	Follow Road Harmonic	/opt/jderobot/Launchers/follow_road.launch.py	/opt/jderobot/Launchers/visualization/follow_road.config	ROS2	gzsim_rae	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
 33	Small Laser Mapping Warehouse	/opt/jderobot/Launchers/small_laser_mapping.launch.py	/opt/jderobot/Launchers/visualization/small_laser_mapping.config	ROS2	gzsim_rae	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
 34	Pick And Place Arm	/home/dev_ws/src/IndustrialRobots/ros2_SimRealRobotControl/ros2srrc_launch/moveit2/moveit2.launch.py	None	ROS2	gazebo_rae	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
+35	Spa Circuit	/opt/jderobot/Launchers/spa_circuit.launch.py	None	ROS2	gazebo_rae	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
+36	Monaco Circuit	/opt/jderobot/Launchers/monaco_circuit.launch.py	None	ROS2	gazebo_rae	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
 \.
 -- 34	Pick And Place Arm	/opt/jderobot/Launchers/pick_place.launch.py	None	ROS2	gazebo_rae	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}