Separate spawn.launch.py

.pre-commit-config.yaml

@@ -1,6 +1,6 @@
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v4.6.0
     hooks:
       - id: check-added-large-files
         # mesh files has to be taken into account
@@ -23,7 +23,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/PyCQA/isort
-    rev: 5.12.0
+    rev: 5.13.2
     hooks:
       - id: isort
         args: ["--profile", "black"]
@@ -56,19 +56,19 @@ repos:
         types: [text]
 
   - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
-    rev: 0.2.1
+    rev: 0.2.3
     hooks:
       - id: yamlfmt
         files: ^.github|./\.yaml
 
   - repo: https://github.com/psf/black
-    rev: 23.10.1
+    rev: 24.4.0
     hooks:
       - id: black
-        args: ["--line-length=99", "--experimental-string-processing"]
+        args: ["--line-length=99"]
 
   - repo: https://github.com/PyCQA/flake8
-    rev: 6.1.0
+    rev: 7.0.0
     hooks:
       - id: flake8
         args:

README.md

@@ -33,7 +33,10 @@ export HUSARION_ROS_BUILD_TYPE=simulation
 ### Build
 
 ``` bash
-vcs import src < src/panther_ros/panther/panther_$HUSARION_ROS_BUILD_TYPE.repos
+vcs import src < src/panther_ros/panther/panther_hardware.repos
+if [ "$HUSARION_ROS_BUILD_TYPE" == "simulation" ]; then
+  vcs import src < src/panther_ros/panther/panther_simulation.repos
+fi
 
 cp -r src/ros2_controllers/imu_sensor_broadcaster src && rm -rf src/ros2_controllers
 

panther/panther_hardware.repos

@@ -19,7 +19,7 @@ repositories:
     type: git
     url: https://github.com/husarion/ros_components_description.git
     version: ros2
-  ros2_controllers:
+  ros2_controllers: # Caused by two error: 1. https://github.com/ros-controls/ros2_controllers/pull/1104 2. There is no nice way to change `sensor_name` imu_bradcaster param when spawning multiple robots -> ros2_control refer only to single imu entity
     type: git
-    url: https://github.com/delihus/ros2_controllers
-    version: 60919d60fb02eb920b0bf42e4d86853db23233cc
+    url: https://github.com/rafal-gorecki/ros2_controllers.git
+    version: humble

panther/panther_simulation.repos

@@ -1,25 +1,5 @@
 repositories:
-  husarion_controllers:
-    type: git
-    url: https://github.com/husarion/husarion_controllers
-    version: main
   husarion_office_gz:
     type: git
     url: https://github.com/husarion/husarion_office_gz.git
     version: main
-  panther_msgs:
-    type: git
-    url: https://github.com/husarion/panther_msgs.git
-    version: ros2
-  robot_localization: # Caused by this error https://github.com/cra-ros-pkg/robot_localization/pull/876, it can be removed after the next synchronization of apt packages.
-    type: git
-    url: https://github.com/cra-ros-pkg/robot_localization.git
-    version: humble-devel
-  ros_components_description:
-    type: git
-    url: https://github.com/husarion/ros_components_description.git
-    version: ros2
-  ros2_controllers:
-    type: git
-    url: https://github.com/delihus/ros2_controllers
-    version: 60919d60fb02eb920b0bf42e4d86853db23233cc

panther_controller/config/WH01_controller.yaml

@@ -14,7 +14,6 @@
   imu_broadcaster:
     ros__parameters:
       use_namespace_as_sensor_name_prefix: true
-      tf_frame_prefix_enable: false
 
       sensor_name: imu
       frame_id: imu_link
@@ -29,7 +28,6 @@
     ros__parameters:
       left_wheel_names: ["fl_wheel_joint", "rl_wheel_joint"]
       right_wheel_names: ["fr_wheel_joint", "rr_wheel_joint"]
-      tf_frame_prefix_enable: false
 
       wheel_separation: 0.697
       wheel_radius: 0.1825

panther_controller/config/WH02_controller.yaml

@@ -14,7 +14,6 @@
   imu_broadcaster:
     ros__parameters:
       use_namespace_as_sensor_name_prefix: true
-      tf_frame_prefix_enable: false
 
       sensor_name: imu
       frame_id: imu_link
@@ -31,7 +30,6 @@
       front_right_wheel_name: fr_wheel_joint
       rear_left_wheel_name: rl_wheel_joint
       rear_right_wheel_name: rr_wheel_joint
-      tf_frame_prefix_enable: false
 
       wheel_separation_x: 0.44
       wheel_separation_y: 0.6785

panther_controller/config/WH04_controller.yaml

@@ -14,7 +14,6 @@
   imu_broadcaster:
     ros__parameters:
       use_namespace_as_sensor_name_prefix: true
-      tf_frame_prefix_enable: false
 
       sensor_name: imu
       frame_id: imu_link
@@ -29,7 +28,6 @@
     ros__parameters:
       left_wheel_names: ["fl_wheel_joint", "rl_wheel_joint"]
       right_wheel_names: ["fr_wheel_joint", "rr_wheel_joint"]
-      tf_frame_prefix_enable: false
 
       wheel_separation: 0.616
       wheel_radius: 0.1016

panther_controller/launch/controller.launch.py

@@ -27,7 +27,6 @@
     FindExecutable,
     LaunchConfiguration,
     PathJoinSubstitution,
-    PythonExpression,
 )
 from launch_ros.actions import Node, SetParameter
 from launch_ros.substitutions import FindPackageShare
@@ -157,13 +156,11 @@ def generate_launch_description():
         ],
         condition=UnlessCondition(use_sim),
     )
-    namespace_ext = PythonExpression(['"', namespace, '"+ "/" if "', namespace, '" else ""'])
-
     robot_state_pub_node = Node(
         package="robot_state_publisher",
         executable="robot_state_publisher",
         output="both",
-        parameters=[robot_description, {"frame_prefix": namespace_ext}],
+        parameters=[robot_description],
         namespace=namespace,
         condition=IfCondition(publish_robot_state),
     )
@@ -228,7 +225,6 @@ def generate_launch_description():
             target_action=robot_controller_spawner,
             on_exit=[imu_broadcaster_spawner],
         ),
-        condition=IfCondition(use_sim),
     )
 
     actions = [

panther_description/urdf/body.urdf.xacro

@@ -4,19 +4,26 @@
   <!-- body defining macro -->
   <xacro:macro
     name="body"
-    params="wheel_radius
+    params="namespace wheel_radius
             imu_pos_x imu_pos_y imu_pos_z
             imu_rot_r imu_rot_p imu_rot_y">
 
-    <link name="base_link" />
+    <xacro:if value="${namespace == ''}">
+      <xacro:property name="ns" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == ''}">
+        <xacro:property name="ns" value="${namespace}/" />
+    </xacro:unless>
+
+    <link name="${ns}base_link" />
 
     <joint name="base_to_body_joint" type="fixed">
       <origin xyz="0.0 0.0 ${wheel_radius}" rpy="0.0 0.0 0.0" />
-      <parent link="base_link" />
-      <child link="body_link" />
+      <parent link="${ns}base_link" />
+      <child link="${ns}body_link" />
     </joint>
 
-    <link name="body_link">
+    <link name="${ns}body_link">
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
@@ -43,51 +50,51 @@
     <joint name="body_to_imu_joint" type="fixed">
       <origin xyz="${imu_pos_x} ${imu_pos_y} ${imu_pos_z}"
         rpy="${imu_rot_r} ${imu_rot_p} ${imu_rot_y}" />
-      <parent link="body_link" />
-      <child link="imu_link" />
+      <parent link="${ns}body_link" />
+      <child link="${ns}imu_link" />
     </joint>
 
-    <link name="imu_link" />
+    <link name="${ns}imu_link" />
 
     <joint name="body_to_front_bumper_joint" type="fixed">
       <origin xyz="0.362 0.0 0.0" rpy="0.0 0.0 0.0" />
-      <parent link="body_link" />
-      <child link="front_bumper_link" />
+      <parent link="${ns}body_link" />
+      <child link="${ns}front_bumper_link" />
     </joint>
 
-    <link name="front_bumper_link" />
+    <link name="${ns}front_bumper_link" />
 
     <joint name="front_bumper_to_front_light_joint" type="fixed">
       <origin xyz="0.0 0.0 0.0185" rpy="${pi/2} 0.0 ${pi/2}" />
-      <parent link="front_bumper_link" />
-      <child link="front_light_link" />
+      <parent link="${ns}front_bumper_link" />
+      <child link="${ns}front_light_link" />
     </joint>
 
-    <link name="front_light_link" />
+    <link name="${ns}front_light_link" />
 
     <joint name="body_to_rear_bumper_joint" type="fixed">
       <origin xyz="-0.362 0.0 0.0" rpy="0.0 0.0 ${pi}" />
-      <parent link="body_link" />
-      <child link="rear_bumper_link" />
+      <parent link="${ns}body_link" />
+      <child link="${ns}rear_bumper_link" />
     </joint>
 
-    <link name="rear_bumper_link" />
+    <link name="${ns}rear_bumper_link" />
 
     <joint name="rear_bumper_to_rear_light_joint" type="fixed">
       <origin xyz="0.0 0.0 0.0185" rpy="${pi/2} 0.0 ${pi/2}" />
-      <parent link="rear_bumper_link" />
-      <child link="rear_light_link" />
+      <parent link="${ns}rear_bumper_link" />
+      <child link="${ns}rear_light_link" />
     </joint>
 
-    <link name="rear_light_link" />
+    <link name="${ns}rear_light_link" />
 
     <joint name="body_to_cover_joint" type="fixed">
       <origin xyz="0.0 0.0 0.1715" rpy="0.0 0.0 0.0" />
-      <parent link="body_link" />
-      <child link="cover_link" />
+      <parent link="${ns}body_link" />
+      <child link="${ns}cover_link" />
     </joint>
 
-    <link name="cover_link" />
+    <link name="${ns}cover_link" />
 
   </xacro:macro>
 </robot>

panther_description/urdf/panther_macro.urdf.xacro

@@ -34,6 +34,7 @@
 
     <!-- BODY DECLARATION -->
     <xacro:body.body
+      namespace="${namespace}"
       wheel_radius="${wheel_config['wheel_radius']}"
       imu_pos_x="${imu_pos_x}"
       imu_pos_y="${imu_pos_y}"
@@ -44,21 +45,25 @@
 
     <!-- WHEEL DECLARATION -->
     <xacro:wheel.wheel
+      namespace="${namespace}"
       wheel_config="${wheel_config}"
       wheel_separation_x="${wheel_separation_x}"
       prefix="fl" />
 
     <xacro:wheel.wheel
+      namespace="${namespace}"
       wheel_config="${wheel_config}"
       wheel_separation_x="${wheel_separation_x}"
       prefix="fr" />
 
     <xacro:wheel.wheel
+      namespace="${namespace}"
       wheel_config="${wheel_config}"
       wheel_separation_x="${wheel_separation_x}"
       prefix="rl" />
 
     <xacro:wheel.wheel
+      namespace="${namespace}"
       wheel_config="${wheel_config}"
       wheel_separation_x="${wheel_separation_x}"
       prefix="rr" />
@@ -192,7 +197,7 @@
     <xacro:if value="${use_sim}">
       <xacro:gazebo.battery config_file="${battery_config_file}" namespace="${namespace}" />
       <xacro:gazebo.controller config_file="${controller_config_file}" namespace="${namespace}" />
-      <xacro:gazebo.imu reference_frame="imu_link" namespace="${namespace}" />
+      <xacro:gazebo.imu reference_frame="${ns}imu_link" namespace="${namespace}" />
     </xacro:if>
   </xacro:macro>
 

panther_description/urdf/wheel.urdf.xacro

@@ -2,7 +2,14 @@
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
 
   <!-- wheel defining macro -->
-  <xacro:macro name="wheel" params="wheel_config wheel_separation_x prefix">
+  <xacro:macro name="wheel" params="namespace wheel_config wheel_separation_x prefix">
+
+  <xacro:if value="${namespace == ''}">
+    <xacro:property name="ns" value="" />
+  </xacro:if>
+  <xacro:unless value="${namespace == ''}">
+      <xacro:property name="ns" value="${namespace}/" />
+  </xacro:unless>
 
     <xacro:if value="${prefix == 'fl'}">
       <xacro:property name="x" value="${wheel_separation_x/2.0}" />
@@ -31,15 +38,15 @@
 
     <joint name="${prefix}_wheel_joint" type="continuous">
       <origin xyz="${x} ${y} 0.0" rpy="0.0 0.0 0.0" />
-      <parent link="body_link" />
-      <child link="${prefix}_wheel_link" />
+      <parent link="${ns}body_link" />
+      <child link="${ns}${prefix}_wheel_link" />
       <axis xyz="0.0 1.0 0.0" />
 
       <limit effort="64.5" velocity="10.958" />
       <dynamics damping="0.01" friction="0.1" />
     </joint>
 
-    <link name="${prefix}_wheel_link">
+    <link name="${ns}${prefix}_wheel_link">
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
@@ -69,14 +76,14 @@
     </link>
 
     <xacro:if value="${use_sim}">
-      <gazebo reference="${prefix}_wheel_link" xmlns:ignition="http://ignitionrobotics.org/schema">
+      <gazebo reference="${ns}${prefix}_wheel_link" xmlns:ignition="http://ignitionrobotics.org/schema">
         <collision>
           <surface>
             <friction>
               <ode>
                 <mu>1.0</mu>
                 <mu2>0.0</mu2>
-                <fdir1 ignition:expressed_in="base_link">${fdir}</fdir1>
+                <fdir1 ignition:expressed_in="${ns}base_link">${fdir}</fdir1>
               </ode>
             </friction>
           </surface>

panther_gazebo/README.md

@@ -4,18 +4,23 @@ A package containing the launch files and dependencies needed to run the simulat
 
 ## Usage
 
-The recommended method for launching the simulation is by utilizing the [simulation.launch.py](https://github.com/husarion/panther_ros/panther_gazebo/launch/simulation.launch.py) file. Below, you will find launch arguments that enable simulation configuration.
+The recommended method for launching the simulation is by utilizing the [simulation.launch.py](https://github.com/husarion/panther_ros/panther_gazebo/launch/simulation.launch.py) file. Below, you will find launch arguments that enable simulation configuration. You can also launch more robots using `spawn.launch.py` ​​after the system has been started.
 
 ### Launch Arguments
 
+- `add_map_transform` [*bool*, default: **False**]: Adds a frame map that connects the tf trees of individual robots (useful when running multiple robots
+).
 - `battery_config_path` [*string*, default: **panther_gazebo/config/battery_plugin_config.yaml**]: Path to the Ignition `LinearBatteryPlugin` configuration file. This configuration is intended for use in simulations only. For more information on how to configure this plugin, please refer to the [Linear Battery Plugin](#linear-battery-plugin) section.
 - `controller_config_path` [*string*, default: **panther_controller/config/<wheel_type arg>_controller.yaml**]: Path to the controller configuration file. If you want to use a custom configuration, you can specify the path to your custom controller configuration file here.
 - `gz_bridge_config_path` [*string*, default: **panther_gazebo/config/gz_bridge.yaml**]: Path to the `parameter_bridge` configuration file. For detailed information on configuring the `parameter_bridge`, please refer to this [example](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_bridge#example-5-configuring-the-bridge-via-yaml).
-- `pos_x` [*float*, default: **5.0**]: spawn position **[m]** of the robot in the world in **X** direction.
-- `pos_y` [*float*, default: **-5.0**]: spawn position **[m]** of the robot in the world in **Y** direction.
-- `pos_z` [*float*, default: **0.2**]: spawn position **[m]** of the robot in the world in **Z** direction.
-- `rot_yaw` [*float*, default: **0.0**]: spawn yaw angle **[rad]** of the robot in the world.
+- `x` [*float*, default: **5.0**]: spawn position **[m]** of the robot in the world in **X** direction.
+- `y` [*float*, default: **-5.0**]: spawn position **[m]** of the robot in the world in **Y** direction.
+- `z` [*float*, default: **0.2**]: spawn position **[m]** of the robot in the world in **Z** direction.
+- `roll` [*float*, default: **0.0**]: spawn roll angle **[rad]** of the robot in the world.
+- `pitch` [*float*, default: **0.0**]: spawn pitch angle **[rad]** of the robot in the world.
+- `yaw` [*float*, default: **0.0**]: spawn yaw angle **[rad]** of the robot in the world.
 - `publish_robot_state` [*bool*, default: **true**]: Whether to launch the robot_state_publisher node. When set to `false`, users should publish their own robot description.
+- `robots` [*custom*, default: **""**]: The list of the robots spawned in the simulation e.g. robots:='robot1={x: 0.0, y: -1.0}; robot2={x: 1.0, y: -1.0}'"
 - `wheel_config_path` [*string*, default: **panther_description/config/<wheel_type arg>.yaml**]: Path to the wheel configuration file. If you want to use a custom configuration, you can specify the path to your custom wheel configuration file here. Please refer to the `wheel_type` parameter description for more information.
 - `wheel_type` [*string*, default: **WH01**]: Specify the type of wheel. If you select a value from the provided options (`WH01`, `WH02`, `WH04`), you can disregard the `wheel_config_path` and `controller_config_path` parameters. If you have custom wheels, set this parameter to `CUSTOM` and provide the necessary configurations.
 - `world` [*string*, default: **-r <husarion_office_gz share directory>/worlds/husarion_world.sdf**]: path to Gazebo world file used for simulation.