TEST_

turtlebot3_gazebo/CMakeLists.txt

@@ -20,7 +20,8 @@ endif()
 # Find ament packages and libraries for ament and system dependencies
 ################################################################################
 find_package(ament_cmake REQUIRED)
-find_package(ros_gz_sim REQUIRED)
+find_package(gz-sim8 REQUIRED)
+find_package(gz-plugin2 REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -40,37 +41,33 @@ include_directories(
 )
 
 set(dependencies
-  "geometry_msgs"
-  "nav_msgs"
-  "rclcpp"
-  "sensor_msgs"
-  "tf2"
+  geometry_msgs
+  nav_msgs
+  rclcpp
+  sensor_msgs
+  tf2
 )
 
-set(EXEC_NAME "turtlebot3_drive")
+add_executable(turtlebot3_drive src/turtlebot3_drive.cpp)
+ament_target_dependencies(turtlebot3_drive ${dependencies})
 
-add_executable(${EXEC_NAME} src/turtlebot3_drive.cpp)
-ament_target_dependencies(${EXEC_NAME} ${dependencies})
+add_library(obstacles SHARED src/obstacles.cpp)
+ament_target_dependencies(obstacles gz-sim8 gz-plugin2)
 
-# add_library(traffic_light_plugin SHARED src/traffic_light_plugin.cpp)
-# target_link_libraries(traffic_light_plugin ${GAZEBO_LIBRARIES})
+add_library(obstacle1 SHARED src/obstacle1.cpp)
+ament_target_dependencies(obstacle1 gz-sim8 gz-plugin2)
 
-# add_library(traffic_bar_plugin SHARED src/traffic_bar_plugin.cpp)
-# target_link_libraries(traffic_bar_plugin ${GAZEBO_LIBRARIES})
-
-# add_library(obstacle1 SHARED src/obstacle1.cpp)
-# target_link_libraries(obstacle1 ${GAZEBO_LIBRARIES})
-
-# add_library(obstacle2 SHARED src/obstacle2.cpp)
-# target_link_libraries(obstacle2 ${GAZEBO_LIBRARIES})
-
-# add_library(obstacles SHARED src/obstacles.cpp)
-# target_link_libraries(obstacles ${GAZEBO_LIBRARIES})
+add_library(obstacle2 SHARED src/obstacle2.cpp)
+ament_target_dependencies(obstacle2 gz-sim8 gz-plugin2)
 
 ################################################################################
 # Install
 ################################################################################
-install(TARGETS ${EXEC_NAME}
+install(TARGETS
+turtlebot3_drive
+  obstacles
+  obstacle1
+  obstacle2
   DESTINATION lib/${PROJECT_NAME}
 )
 
@@ -86,7 +83,7 @@ install(DIRECTORY include/
 # Macro for ament package
 ################################################################################
 ament_export_include_directories(include)
-ament_export_dependencies(gazebo_ros_pkgs)
+ament_export_dependencies(gz-sim8)
 ament_export_dependencies(geometry_msgs)
 ament_export_dependencies(nav_msgs)
 ament_export_dependencies(rclcpp)

turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp

@@ -1,38 +1,41 @@
-// Copyright 2012 Open Source Robotics Foundation
-//
-// 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.
-//
-// Author: Ryan Shim
-
-#ifndef TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
-#define TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
-
-#include <ignition/math.hh>
-#include <gazebo/common/common.hh>
-#include <gazebo/gazebo.hh>
-#include <gazebo/physics/physics.hh>
-
-namespace gazebo
+#ifndef TURTLEBOT3_GAZEBO_OBSTACLE1_PLUGIN_HPP
+#define TURTLEBOT3_GAZEBO_OBSTACLE1_PLUGIN_HPP
+
+#include <gz/sim/System.hh>
+#include <gz/sim/Model.hh>
+#include <gz/sim/EntityComponentManager.hh>
+#include <gz/sim/components/Pose.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/math/Quaternion.hh>
+#include <chrono>
+
+namespace turtlebot3_gazebo
 {
-class Obstacle1 : public ModelPlugin
+
+class Obstacle1Plugin
+  : public gz::sim::System,
+    public gz::sim::ISystemConfigure,
+    public gz::sim::ISystemPreUpdate
 {
 public:
-  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+  Obstacle1Plugin() = default;
+  ~Obstacle1Plugin() override = default;
+
+  void Configure(
+    const gz::sim::Entity &entity,
+    const std::shared_ptr<const sdf::Element> &sdf,
+    gz::sim::EntityComponentManager &ecm,
+    gz::sim::EventManager &eventMgr) override;
+
+  void PreUpdate(
+    const gz::sim::UpdateInfo &info,
+    gz::sim::EntityComponentManager &ecm) override;
 
 private:
-  physics::ModelPtr model;
-  event::ConnectionPtr updateConnection;
+  gz::sim::Model model{gz::sim::kNullEntity};
+  std::chrono::steady_clock::time_point startTime;
 };
-GZ_REGISTER_MODEL_PLUGIN(Obstacle1);
-}  // namespace gazebo
-#endif  // TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
+
+}  // namespace turtlebot3_gazebo
+
+#endif  // TURTLEBOT3_GAZEBO_OBSTACLE1_PLUGIN_HPP

turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp

@@ -1,39 +1,41 @@
-// Copyright 2012 Open Source Robotics Foundation
-//
-// 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.
-//
-// Author: Ryan Shim
-
-#ifndef TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
-#define TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
-
-#include <ignition/math.hh>
-#include <gazebo/common/common.hh>
-#include <gazebo/gazebo.hh>
-#include <gazebo/physics/physics.hh>
-
-namespace gazebo
+#ifndef TURTLEBOT3_GAZEBO_OBSTACLE2_PLUGIN_HPP
+#define TURTLEBOT3_GAZEBO_OBSTACLE2_PLUGIN_HPP
+
+#include <gz/sim/System.hh>
+#include <gz/sim/Model.hh>
+#include <gz/sim/EntityComponentManager.hh>
+#include <gz/sim/components/Pose.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/math/Quaternion.hh>
+#include <chrono>
+
+namespace turtlebot3_gazebo
 {
-class Obstacle2 : public ModelPlugin
+
+class Obstacle2Plugin
+  : public gz::sim::System,
+    public gz::sim::ISystemConfigure,
+    public gz::sim::ISystemPreUpdate
 {
 public:
-  Obstacle2() = default;
-  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+  Obstacle1Plugin() = default;
+  ~Obstacle1Plugin() override = default;
+
+  void Configure(
+    const gz::sim::Entity &entity,
+    const std::shared_ptr<const sdf::Element> &sdf,
+    gz::sim::EntityComponentManager &ecm,
+    gz::sim::EventManager &eventMgr) override;
+
+  void PreUpdate(
+    const gz::sim::UpdateInfo &info,
+    gz::sim::EntityComponentManager &ecm) override;
 
 private:
-  physics::ModelPtr model;
-  event::ConnectionPtr updateConnection;
+  gz::sim::Model model{gz::sim::kNullEntity};
+  std::chrono::steady_clock::time_point startTime;
 };
-GZ_REGISTER_MODEL_PLUGIN(Obstacle2);
-}  // namespace gazebo
-#endif  // TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
+
+}  // namespace turtlebot3_gazebo
+
+#endif  // TURTLEBOT3_GAZEBO_OBSTACLE2_PLUGIN_HPP

turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp

@@ -17,25 +17,40 @@
 #ifndef TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
 #define TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
 
-#include <ignition/math.hh>
-#include <gazebo/common/common.hh>
-#include <gazebo/gazebo.hh>
-#include <gazebo/physics/physics.hh>
+#include <gz/sim/System.hh>
+#include <gz/sim/Model.hh>
+#include <gz/sim/EntityComponentManager.hh>
+#include <gz/sim/components/WorldPose.hh>
+#include <gz/plugin/Register.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/math/Quaternion.hh>
+#include <chrono>
 
-#define PI 3.141592
-
-namespace gazebo
+namespace turtlebot3_gazebo
 {
-class Obstacles : public ModelPlugin
+
+class ObstaclesPlugin
+  : public gz::sim::System,
+    public gz::sim::ISystemConfigure,
+    public gz::sim::ISystemPreUpdate
 {
 public:
-  Obstacles() = default;
-  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+  void Configure(
+    const gz::sim::Entity &entity,
+    const std::shared_ptr<const sdf::Element> &sdf,
+    gz::sim::EntityComponentManager &ecm,
+    gz::sim::EventManager &eventMgr) override;
+
+  void PreUpdate(
+    const gz::sim::UpdateInfo &info,
+    gz::sim::EntityComponentManager &ecm) override;
 
 private:
-  physics::ModelPtr model;
-  event::ConnectionPtr updateConnection;
+  gz::sim::Model model{gz::sim::kNullEntity};
+  std::chrono::steady_clock::time_point startTime;
 };
-GZ_REGISTER_MODEL_PLUGIN(Obstacles);
-}  // namespace gazebo
+
+}  // namespace turtlebot3_gazebo
+
 #endif  // TURTLEBOT3_GAZEBO__OBSTACLES_HPP_

turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py

@@ -0,0 +1,101 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# 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.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import AppendEnvironmentVariable
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    ros_gz_sim = get_package_share_directory('ros_gz_sim')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_dqn_stage1.world'
+    )
+    set_env_vars_resources = AppendEnvironmentVariable(
+        'GZ_SIM_RESOURCE_PATH',
+        os.path.join(
+            get_package_share_directory('turtlebot3_gazebo'),
+            'models'
+        )
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py')
+        ),
+        launch_arguments={'gz_args': ['-r -s -v4 ', world]}.items()
+    )
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py')
+        ),
+        launch_arguments={'gz_args': '-g -v4 '}.items()
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    bridge_node = Node(
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
+        name='parameter_bridge_services',
+        arguments=[
+            '/delete_entity@ros_gz_interfaces/srv/DeleteEntity',
+            '/spawn_entity@ros_gz_interfaces/srv/SpawnEntity',
+            '/reset_simulation@std_srvs/srv/Empty'
+        ],
+        output='screen'
+    )
+
+    ld = LaunchDescription()
+
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+    ld.add_action(bridge_node)
+
+    return ld