diff --git a/src/navigator/gnc/README.md b/src/navigator/gnc/README.md new file mode 100644 index 00000000..b7ffe423 --- /dev/null +++ b/src/navigator/gnc/README.md @@ -0,0 +1 @@ +I am only here so you can see the directory that I am apart of in GitHub. Once a real file has been placed in this directory, delete me :) diff --git a/src/navigator/navigator_bringup/CMakeLists.txt b/src/navigator/navigator_bringup/CMakeLists.txt new file mode 100644 index 00000000..ba056dce --- /dev/null +++ b/src/navigator/navigator_bringup/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 3.5) + +project(navigator_bringup) + +# find dependencies +find_package(ament_cmake REQUIRED) +# find_package(ament_index_python REQUIRED) find_package(launch REQUIRED) +# find_package(launch_ros REQUIRED) +find_package(navigator_description REQUIRED) +find_package(navigator_gazebo REQUIRED) + +# Install project launch files +install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch) + +# Install URDF files install(DIRECTORY urdf DESTINATION +# share/${PROJECT_NAME}/urdf) + +# Install project configuration files install(DIRECTORY config/ DESTINATION +# share/${PROJECT_NAME}/config) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/navigator/navigator_bringup/README.md b/src/navigator/navigator_bringup/README.md new file mode 100644 index 00000000..e69de29b diff --git a/src/navigator/navigator_bringup/launch/gazebo.launch.py b/src/navigator/navigator_bringup/launch/gazebo.launch.py new file mode 100644 index 00000000..b640ac01 --- /dev/null +++ b/src/navigator/navigator_bringup/launch/gazebo.launch.py @@ -0,0 +1,93 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + IncludeLaunchDescription, +) +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node + + +def generate_launch_description(): + # Configure ROS nodes for launch + + # Setup project paths + pkg_project_bringup = get_package_share_directory("navigator_bringup") + pkg_project_gazebo = get_package_share_directory("navigator_gazebo") + pkg_project_description = get_package_share_directory("navigator_description") + # pkg_project_sim_description = get_package_share_directory( + # "navigator_sim_description", + # ) + pkg_ros_gz_sim = get_package_share_directory("ros_gz_sim") + + # !!! Uncomment once navigator_controller is created !!! + # pkg_controller = get_package_share_directory("navigator_controller") + + # Setup to launch the simulator and Gazebo world + gz_sim_world = DeclareLaunchArgument("world", default_value="robotx2024_1.world") + gz_sim = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_ros_gz_sim, "launch", "gz_sim.launch.py"), + ), + launch_arguments={ + "gz_args": [ + PathJoinSubstitution( + [pkg_project_gazebo, "worlds", LaunchConfiguration("world")], + ), + " --render-engine", + " ogre", + ], + }.items(), + ) + + # !!! Uncomment once navigator_controller is created !!! + # Get controller to use sim values + # sim_pid_yaml = os.path.join(pkg_controller, "config", "sim_pid_controller.yaml") + # set_sim_params = SetLaunchConfiguration("param_file", sim_pid_yaml) + + # Include the Subjugator_Setup Launch file + navigator_setup = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_project_bringup, "launch", "navigator_setup.launch.py"), + ), + launch_arguments={ + "use_sim_time": "true", + "xacro_file": os.path.join( + pkg_project_description, + "urdf", + "navigator.urdf.xacro", + ), + "gui": "true", + }.items(), + ) + + # Bridge ROS topics and Gazebo messages for establishing communication + bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + parameters=[ + { + "config_file": os.path.join( + pkg_project_bringup, + "config", + "navigator_bridge.yaml", + ), + "qos_overrides./tf_static.publisher.durability": "transient_local", + }, + ], + output="screen", + ) + + return LaunchDescription( + [ + gz_sim_world, + gz_sim, + # !!! Uncomment once navigator_controller is created !!! + # set_sim_params, + navigator_setup, + bridge, + ], + ) diff --git a/src/navigator/navigator_bringup/launch/navigator_setup.launch.py b/src/navigator/navigator_bringup/launch/navigator_setup.launch.py new file mode 100644 index 00000000..daf252ad --- /dev/null +++ b/src/navigator/navigator_bringup/launch/navigator_setup.launch.py @@ -0,0 +1,173 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + ExecuteProcess, +) +from launch.conditions import IfCondition +from launch.substitutions import ( + Command, + FindExecutable, + LaunchConfiguration, + PathJoinSubstitution, +) +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue + + +def generate_launch_description(): + + # Setup project paths + pkg_project_bringup = get_package_share_directory("navigator_bringup") + pkg_project_description = get_package_share_directory("navigator_description") + + # !!! Uncomment once navigator_controller is created !!! + # pkg_thruster_manager = get_package_share_directory("navigator_thruster_manager") + # pkg_localization = get_package_share_directory("navigator_localization") + # pkg_controller = get_package_share_directory("navigator_controller") + + # Args + gui_cmd = DeclareLaunchArgument( + "gui", + default_value="true", + description="whether to launch the gui", + ) + + xacro_file_arg = DeclareLaunchArgument( + "xacro_file", + default_value=PathJoinSubstitution( + [pkg_project_description, "urdf", "navigator.urdf.xacro"], + ), + description="Path to the robot xacro file", + ) + + use_sim_time_arg = DeclareLaunchArgument( + "use_sim_time", + default_value="false", + description="Use sim clock (true for sim, false for real)", + ) + + # Expand xacro at runtime + robot_desc = ParameterValue( + Command([FindExecutable(name="xacro"), " ", LaunchConfiguration("xacro_file")]), + value_type=str, + ) + + # Write an on-disk URDF + urdf_out = os.path.join(pkg_project_description, "urdf", "navigator.urdf") + generate_urdf = ExecuteProcess( + cmd=["xacro", LaunchConfiguration("xacro_file"), "-o", urdf_out], + output="screen", + ) + + # # Convert URDF to SDF using Gazebo's gz tool + # sdf_file = os.path.join(pkg_project_description, 'urdf', 'navigator.sdf') + # try: + # subprocess.run(['gz', 'sdf', '-p', urdf_file], check=True, stdout=open(sdf_file, 'w')) + # print(f"Successfully converted {urdf_file} to {sdf_file}") + # except subprocess.CalledProcessError as e: + # print(f"Error converting URDF to SDF: {e}") + + # Takes the description and joint angles as inputs and publishes the 3D poses of the robot links + robot_state_publisher_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + output="both", + parameters=[ + {"use_sim_time": LaunchConfiguration("use_sim_time")}, + {"robot_description": robot_desc}, + ], + ) + + # Visualize in RViz + rviz = Node( + package="rviz2", + executable="rviz2", + arguments=[ + "-d", + os.path.join(pkg_project_bringup, "config", "navigator.rviz"), + ], + condition=IfCondition(LaunchConfiguration("gui")), + ) + + # !!! Uncomment once navigator_controller is created !!! + # thruster_manager = IncludeLaunchDescription( + # PythonLaunchDescriptionSource( + # os.path.join(pkg_thruster_manager, "launch", "thruster_manager.launch.py"), + # ), + # ) + # !!! Uncomment once navigator_localization is created !!! + # localization = IncludeLaunchDescription( + # PythonLaunchDescriptionSource( + # os.path.join( + # pkg_localization, + # "launch", + # "navigator_localization.launch.py", + # ), + # ), + # launch_arguments={ + # "params_file": os.path.join( + # pkg_localization, + # "config", + # "localization_parameters.yaml", + # ), + # }.items(), + # ) + + # depth_to_pose = Node( + # package="navigator_localization", + # executable="depth_to_pose_node.py", + # name="depth_to_pose", + # output="screen", + # ) + + # !!! Uncomment once navigator_localization is created !!! + # controller = IncludeLaunchDescription( + # PythonLaunchDescriptionSource( + # os.path.join(pkg_controller, "launch", "pid_controller.launch.py"), + # ), + # ) + + path_planner = Node( + package="navigator_path_planner", + executable="navigator_path_planner", + name="navigator_path_planner", + output="both", + ) + + trajectory_planner = Node( + package="navigator_trajectory_planner", + executable="trajectory_planner", + name="navigator_trajectory_planner", + output="both", + ) + + # wrench_tuner = IncludeLaunchDescription( + # PythonLaunchDescriptionSource( + # os.path.join( + # get_package_share_directory("navigator_wrench_tuner"), + # "launch", + # "wrench_tuner_launch.py", + # ), + # ), + # ) + return LaunchDescription( + [ + gui_cmd, + xacro_file_arg, + use_sim_time_arg, + generate_urdf, + robot_state_publisher_node, + # joint_state_publisher_node, + rviz, + # !!! Uncomment once navigator_localization is created !!! + # thruster_manager, + # localization, + # controller, + path_planner, + trajectory_planner, + ], + ) diff --git a/src/navigator/navigator_bringup/package.xml b/src/navigator/navigator_bringup/package.xml new file mode 100644 index 00000000..19a3499f --- /dev/null +++ b/src/navigator/navigator_bringup/package.xml @@ -0,0 +1,38 @@ + + + + navigator_bringup + 0.0.0 + TODO: Package description + Carter Kreis + TODO: License declaration + Carter Kreis + + joint_state_publisher_gui + navigator_description + navigator_gazebo + ros_gz + sdformat_urdf + + + ament_index_python + launch + launch_ros + robot_state_publisher + ros_gz_bridge + ros_gz_sim + rviz2 + xacro + + + + + + ament_cmake + + ament_lint_auto + + + ament_cmake + + diff --git a/src/navigator/scripts/README.md b/src/navigator/scripts/README.md new file mode 100644 index 00000000..b7ffe423 --- /dev/null +++ b/src/navigator/scripts/README.md @@ -0,0 +1 @@ +I am only here so you can see the directory that I am apart of in GitHub. Once a real file has been placed in this directory, delete me :) diff --git a/src/navigator/simulation/navigator_description/CMakeLists.txt b/src/navigator/simulation/navigator_description/CMakeLists.txt new file mode 100644 index 00000000..416e820f --- /dev/null +++ b/src/navigator/simulation/navigator_description/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.5) + +project(navigator_description) + +# find dependencies +find_package(ament_cmake REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +install(DIRECTORY models urdf DESTINATION share/${PROJECT_NAME}) + +ament_package() diff --git a/src/navigator/simulation/navigator_description/README.md b/src/navigator/simulation/navigator_description/README.md new file mode 100644 index 00000000..e69de29b diff --git a/src/navigator/simulation/navigator_description/package.xml b/src/navigator/simulation/navigator_description/package.xml new file mode 100644 index 00000000..22ecf72b --- /dev/null +++ b/src/navigator/simulation/navigator_description/package.xml @@ -0,0 +1,17 @@ + + + + navigator_description + 0.0.0 + TODO: Package description + ckreis + TODO: License declaration + + ament_cmake + + ament_lint_auto + + + ament_cmake + + diff --git a/src/navigator/simulation/navigator_description/urdf/navigator.urdf.xacro b/src/navigator/simulation/navigator_description/urdf/navigator.urdf.xacro new file mode 100644 index 00000000..df1473c2 --- /dev/null +++ b/src/navigator/simulation/navigator_description/urdf/navigator.urdf.xacro @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + ${namespace} + + + + + + + + + + + + + + + diff --git a/src/navigator/simulation/navigator_gazebo/CMakeLists.txt b/src/navigator/simulation/navigator_gazebo/CMakeLists.txt new file mode 100644 index 00000000..8dda50cc --- /dev/null +++ b/src/navigator/simulation/navigator_gazebo/CMakeLists.txt @@ -0,0 +1,25 @@ +cmake_minimum_required(VERSION 3.8) +project(navigator_gazebo) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in further dependencies +# manually. find_package( REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights comment the + # line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) comment the line + # when this package is in a git repo and when a copyright and license is added + # to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/navigator/simulation/navigator_gazebo/README.md b/src/navigator/simulation/navigator_gazebo/README.md new file mode 100644 index 00000000..e69de29b diff --git a/src/navigator/simulation/navigator_gazebo/package.xml b/src/navigator/simulation/navigator_gazebo/package.xml new file mode 100644 index 00000000..b354d94c --- /dev/null +++ b/src/navigator/simulation/navigator_gazebo/package.xml @@ -0,0 +1,27 @@ + + + + navigator_gazebo + 0.0.0 + TODO: Package description + ckreis + TODO: License declaration + + geometry_msgs + mil_msgs + nav_msgs + navigator_description + navigator_msgs + navigator_sim_description + rclcpp + sensor_msgs + std_msgs + + ament_cmake + + ament_lint_auto + + + ament_cmake + + diff --git a/src/navigator/simulation/navigator_gazebo/worlds/robotx2024_1.world b/src/navigator/simulation/navigator_gazebo/worlds/robotx2024_1.world new file mode 100644 index 00000000..9a103c65 --- /dev/null +++ b/src/navigator/simulation/navigator_gazebo/worlds/robotx2024_1.world @@ -0,0 +1,6934 @@ + + + + + + 12 + + + 0 + 0 + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + 1 + + + EARTH_WGS84 + ENU + -33.7242 + 150.68 + 0 + 0 + + + 1 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + 0 + 0 + 0 + + + + + -506.934 129.78 113.428 -0 1.04434 1.87286 + orbit + perspective + + + + 0 0 0.2 0 -0 0 + 1 + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Terrain + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + ConcreteDark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + DockDark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + MetalGalvanized + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Dock + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Windows_Dark + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + RoofCorrugated + + + + + + + + file://sydney_regatta/meshes/sydney_regatta.dae + + Wall + + + + + + + + model://sydney_regatta/meshes/sydney_regatta.dae + + TreeDiffuse 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+ link + 0 0 0.02 0 0 0 + + + 0.235 + + + + + -502.075 232.749 0 0 -0 0 + + + diff --git a/src/navigator/simulation/navigator_sim_description/CMakeLists.txt b/src/navigator/simulation/navigator_sim_description/CMakeLists.txt new file mode 100644 index 00000000..95368934 --- /dev/null +++ b/src/navigator/simulation/navigator_sim_description/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.5) + +project(navigator_sim_description) + +# find dependencies +find_package(ament_cmake REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +install(DIRECTORY models urdf DESTINATION share/${PROJECT_NAME}) + +ament_package() diff --git a/src/navigator/simulation/navigator_sim_description/README.md b/src/navigator/simulation/navigator_sim_description/README.md new file mode 100644 index 00000000..e69de29b diff --git a/src/navigator/simulation/navigator_sim_description/package.xml b/src/navigator/simulation/navigator_sim_description/package.xml new file mode 100644 index 00000000..67c73cd7 --- /dev/null +++ b/src/navigator/simulation/navigator_sim_description/package.xml @@ -0,0 +1,17 @@ + + + + navigator_sim_description + 0.0.0 + TODO: Package description + ckreis + TODO: License declaration + + ament_cmake + + ament_lint_auto + + + ament_cmake + + diff --git a/src/navigator/simulation/navigator_sim_description/urdf/navigator.urdf.xacro b/src/navigator/simulation/navigator_sim_description/urdf/navigator.urdf.xacro new file mode 100644 index 00000000..df1473c2 --- /dev/null +++ b/src/navigator/simulation/navigator_sim_description/urdf/navigator.urdf.xacro @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + ${namespace} + + + + + + + + + + + + + + + diff --git a/src/navigator/simulation/navigator_vision/CMakeLists.txt b/src/navigator/simulation/navigator_vision/CMakeLists.txt new file mode 100644 index 00000000..09646c80 --- /dev/null +++ b/src/navigator/simulation/navigator_vision/CMakeLists.txt @@ -0,0 +1,25 @@ +cmake_minimum_required(VERSION 3.8) +project(navigator_vision) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in further dependencies +# manually. find_package( REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights comment the + # line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) comment the line + # when this package is in a git repo and when a copyright and license is added + # to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/navigator/simulation/navigator_vision/package.xml b/src/navigator/simulation/navigator_vision/package.xml new file mode 100644 index 00000000..7c3669c5 --- /dev/null +++ b/src/navigator/simulation/navigator_vision/package.xml @@ -0,0 +1,18 @@ + + + + navigator_vision + 0.0.0 + TODO: Package description + ckreis + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/navigator/testing/README.md b/src/navigator/testing/README.md new file mode 100644 index 00000000..b7ffe423 --- /dev/null +++ b/src/navigator/testing/README.md @@ -0,0 +1 @@ +I am only here so you can see the directory that I am apart of in GitHub. Once a real file has been placed in this directory, delete me :)