Add a tray to the turtlebot4 (#6)

* Use composition for ros_gz and Gazebo in Nav2 launch files * Reimplements the turtlebot4 launch file from nav2_bringup in order to use composition for ros_gz and Gazebo. Hopefully, some of this will be upstreamed to Nav2. * This also updates the step size to 0.004 to speed up simulation Signed-off-by: Addisu Z. Taddese <[email protected]> * Add a tray to the turtlebot4 Signed-off-by: Addisu Z. Taddese <[email protected]> --------- Signed-off-by: Addisu Z. Taddese <[email protected]>
gazebosim · Sep 21, 2024 · cdc7932 · cdc7932
1 parent 0aa7607
commit cdc7932
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diff --git a/ionic_demo/CMakeLists.txt b/ionic_demo/CMakeLists.txt
@@ -15,6 +15,7 @@ install(DIRECTORY configs DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY maps DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY worlds DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY models DESTINATION share/${PROJECT_NAME})
 
 ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
 

diff --git a/ionic_demo/hooks/ionic_demo.dsv.in b/ionic_demo/hooks/ionic_demo.dsv.in
@@ -1 +1,2 @@
 prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/@PROJECT_NAME@/worlds/
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/@PROJECT_NAME@/models/
diff --git a/ionic_demo/launch/tb4_spawn_launch.py b/ionic_demo/launch/tb4_spawn_launch.py
@@ -49,7 +49,7 @@ def generate_launch_description():
 
     # Launch configuration variables specific to simulation
     robot_name = 'ionic_tb4'
-    robot_sdf = xacro.process(desc_dir / 'urdf' / 'standard' / 'turtlebot4.urdf.xacro')
+    robot_sdf = xacro.process(ionic_demo_dir / 'models' / 'ionic_tb4.urdf.xacro')
 
     remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]
 

diff --git a/ionic_demo/models/ionic_tb4.urdf.xacro b/ionic_demo/models/ionic_tb4.urdf.xacro
@@ -0,0 +1,37 @@
+<?xml version="1.0" ?>
+<robot name="ionic_tb4" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find nav2_minimal_tb4_description)/urdf/standard/turtlebot4.urdf.xacro" />
+  <joint name="extend_tower" type="fixed">
+    <parent link="tower_sensor_plate"/>
+    <child link="tray"/>
+    <origin xyz="0 0 0.5"/>
+  </joint>
+  <link name="tray">
+    <visual>
+      <geometry>
+        <cylinder length="0.01" radius="0.137"/>
+      </geometry>
+      <material name="wood">
+        <color rgba="0.631373 0.4 0.184314 1.0"/>
+      </material>
+    </visual>
+    <visual>
+      <origin xyz="0 0 -0.25"/>
+      <geometry>
+        <cylinder length="0.5" radius="0.02"/>
+      </geometry>
+      <material name="dark_grey">
+        <color rgba="0.1 0.1 0.1 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.01" radius="0.137"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.332"/>
+      <inertia ixx="0.00092982299" ixy="0.0" ixz="0.0" iyy="0.00083033498" iyz="0.0" izz="0.00175985947"/>
+    </inertial>
+  </link>
+</robot>