Merge pull request #4 from IOES-Lab/worlds

[GSOC-51] DAVE worlds and respective launch files

.gitignore

@@ -38,3 +38,6 @@
 
 # vs code
 .vscode
+
+# Mac
+.DS_Store

examples/dave_demos/README.md

@@ -51,3 +51,25 @@ If you prefer to use model files downloaded from Fuel, proceed as follows:
    ```
 
 This approach gives you more control over the models you use, allowing for offline use and customization. It's especially useful when working in environments with limited internet connectivity or when specific model versions are required.
+
+### 3. Launching a World File
+
+To launch a specific world file, you can specify the world name without the `.world` extension. Follow these steps:
+
+1. Build and source the workspace:
+
+```bash
+colcon build && source install/setup.bash
+```
+
+1. Launch the world using the specified launch file
+
+```bash
+ros2 launch dave_demos dave_world.launch.py world_name:='dave_ocean_waves'
+```
+
+To check which worlds are available to launch, refer to `models/dave_worlds/worlds` directory.
+
+The worlds files are linked to use models at https://app.gazebosim.org/ which means you need an internet connection to download the models and it takes some time to download at first launch. The files are saved in temporary directories and are reused in subsequent launches.
+
+In this setup, you can dynamically specify different world files by changing the `world_name` argument in the launch command.

examples/dave_demos/launch/dave_world.launch.py

@@ -0,0 +1,42 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def launch_setup(context, *args, **kwargs):
+
+    pkg_dave_worlds = get_package_share_directory("dave_worlds")
+    pkg_ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    world_name = LaunchConfiguration("world_name").perform(context)
+    world_file_name = f"{world_name}.world"
+
+    world_path = os.path.join(pkg_dave_worlds, "worlds", world_file_name)
+
+    # Gazebo simulation launch
+    gz_sim = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(pkg_ros_gz_sim, "launch", "gz_sim.launch.py")),
+        launch_arguments={"gz_args": f"-r {world_path}"}.items(),
+    )
+
+    return [gz_sim]
+
+
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument(
+                "world_name",
+                default_value="dave_bimanual_example",  # Default world file name without extension
+                description="Name of the world file",
+            ),
+            OpaqueFunction(function=launch_setup),
+        ]
+    )
+
+
+if __name__ == "__main__":
+    generate_launch_description()

models/dave_worlds/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.5)
+project(dave_worlds)
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY worlds media
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_environment_hooks(
+  "${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
+
+ament_package()

models/dave_worlds/hooks/dave_worlds.dsv.in

@@ -0,0 +1 @@
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@

models/dave_worlds/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>dave_worlds</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">lena</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>