renamed files

Signed-off-by: Jakub Delicat <[email protected]>
husarion · Apr 24, 2024 · 40a99e6 · 40a99e6
1 parent 557b865
commit 40a99e6
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Showing 10 changed files with 174 additions and 27 deletions.
diff --git a/config/gz_ouster_os_remappings.yaml b/config/gz_ouster_os_remappings.yaml
@@ -0,0 +1,6 @@
+---
+# https://github.com/ouster-lidar/ouster-ros/blob/ros2/README.md#overview
+  - ros_topic_name: <robot_namespace><device_namespace>/ouster/points
+    gz_topic_name: <robot_namespace><device_namespace>/ouster/points/points
+    ros_type_name: sensor_msgs/msg/PointCloud2
+    gz_type_name: ignition.msgs.PointCloudPacked
diff --git a/config/gz_velodyne_remappings.yaml b/config/gz_velodyne_remappings.yaml
@@ -0,0 +1,6 @@
+---
+# https://github.com/ros-drivers/velodyne/tree/humble-devel/velodyne_pointcloud#published-topics
+  - ros_topic_name: <robot_namespace><device_namespace>/velodyne_points
+    gz_topic_name: <robot_namespace><device_namespace>/velodyne_points/points
+    ros_type_name: sensor_msgs/msg/PointCloud2
+    gz_type_name: ignition.msgs.PointCloudPacked
diff --git a/launch/gz_components.launch.py b/launch/gz_components.launch.py
@@ -37,25 +37,36 @@ def get_value(node: yaml.Node, key: str):
         return ""
 
 
+def get_launch_description(name: str, package: str, namespace: str, component: yaml.Node):
+    return IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([package, "/launch/gz_", name, ".launch.py"]),
+        launch_arguments={
+            "robot_namespace": namespace,
+            "device_namespace": get_value(component, "namespace"),
+            "tf_prefix": get_value(component, "tf_prefix"),
+            "gz_bridge_name": component["namespace"][1:] + "_gz_bridge",
+            "camera_name": get_value(component, "name"),
+        }.items(),
+    )
+
+
 def get_launch_descriptions_from_yaml_node(
     node: yaml.Node, package: os.PathLike, namespace: str
 ) -> IncludeLaunchDescription:
     actions = []
     for component in node["components"]:
-        actions.append(
-            IncludeLaunchDescription(
-                PythonLaunchDescriptionSource(
-                    [package, "/launch/", component["type"], ".launch.py"]
-                ),
-                launch_arguments={
-                    "robot_namespace": namespace,
-                    "device_namespace": get_value(component, "namespace"),
-                    "tf_prefix": get_value(component, "tf_prefix"),
-                    "gz_bridge_name": component["namespace"][1:] + "_gz_bridge",
-                    "camera_name": get_value(component, "name"),
-                }.items(),
-            )
-        )
+        if component["type"] == "LDR01" or component["type"] == "LDR06":
+            actions.append(get_launch_description("slamtec_rplidar", package, namespace, component))
+
+        if component["type"] == "LDR13":
+            actions.append(get_launch_description("ouster_os", package, namespace, component))
+
+        if component["type"] == "LDR20":
+            actions.append(get_launch_description("velodyne", package, namespace, component))
+
+        if component["type"] == "CAM01":
+            actions.append(get_launch_description("orbbec_astra", package, namespace, component))
+
 
     return actions
 

diff --git a/launch/CAM01.launch.py → launch/gz_orbbec_astra.launch.py b/launch/CAM01.launch.py → launch/gz_orbbec_astra.launch.py
diff --git a/launch/LDR06.launch.py → launch/gz_ouster_os.launch.py b/launch/LDR06.launch.py → launch/gz_ouster_os.launch.py
@@ -24,7 +24,7 @@
 def generate_launch_description():
     ros_components_description = get_package_share_directory("ros_components_description")
     gz_bridge_config_path = os.path.join(
-        ros_components_description, "config", "gz_slamtec_rplidar_remappings.yaml"
+        ros_components_description, "config", "gz_ouster_os_remappings.yaml"
     )
 
     robot_namespace = LaunchConfiguration("robot_namespace")

diff --git a/launch/LDR01.launch.py → launch/gz_slamtec_rplidar.launch.py b/launch/LDR01.launch.py → launch/gz_slamtec_rplidar.launch.py
diff --git a/launch/gz_velodyne.launch.py b/launch/gz_velodyne.launch.py
@@ -0,0 +1,73 @@
+# Copyright 2024 Husarion sp. z o.o.
+#
+# 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.
+
+import os
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch_ros.actions import Node
+from launch.substitutions import EnvironmentVariable, LaunchConfiguration
+from nav2_common.launch import ReplaceString
+from ament_index_python import get_package_share_directory
+
+
+def generate_launch_description():
+    ros_components_description = get_package_share_directory("ros_components_description")
+    gz_bridge_config_path = os.path.join(
+        ros_components_description, "config", "gz_velodyne_remappings.yaml"
+    )
+
+    robot_namespace = LaunchConfiguration("robot_namespace")
+    device_namespace = LaunchConfiguration("device_namespace")
+    gz_bridge_name = LaunchConfiguration("gz_bridge_name")
+
+    namespaced_gz_bridge_config_path = ReplaceString(
+        source_file=gz_bridge_config_path,
+        replacements={"<robot_namespace>": robot_namespace, "<device_namespace>": device_namespace},
+    )
+
+    declare_device_namespace = DeclareLaunchArgument(
+        "device_namespace",
+        default_value="",
+        description="Sensor namespace that will appear before all non absolute topics and TF frames, used for distinguishing multiple cameras on the same robot.",
+    )
+
+    declare_robot_namespace = DeclareLaunchArgument(
+        "robot_namespace",
+        default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""),
+        description="Namespace which will appear in front of all topics (including /tf and /tf_static).",
+    )
+
+    declare_gz_bridge_name = DeclareLaunchArgument(
+        "gz_bridge_name",
+        default_value="gz_bridge",
+        description="Name of gz bridge node.",
+    )
+
+    gz_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        name=gz_bridge_name,
+        parameters=[{"config_file": namespaced_gz_bridge_config_path}],
+        namespace=robot_namespace,
+        output="screen",
+    )
+
+    return LaunchDescription(
+        [
+            declare_device_namespace,
+            declare_robot_namespace,
+            declare_gz_bridge_name,
+            gz_bridge,
+        ]
+    )
diff --git a/urdf/components.urdf.xacro b/urdf/components.urdf.xacro
@@ -96,6 +96,40 @@
         />
       </xacro:if>
 
+      <xacro:if value="${type == 'LDR13'}">
+        <xacro:include
+          filename="$(find ros_components_description)/urdf/ouster_os1_32.urdf.xacro"
+          ns="lidar"
+        />
+
+        <xacro:lidar.ouster_os1_32
+          parent_link="${parent_link}"
+          xyz="${xyz}"
+          rpy="${rpy}"
+          tf_prefix="${tf_prefix}"
+          use_gpu="${use_gpu}"
+          simulation_engine="${simulation_engine}"
+          namespace="${fixed_namespace}"
+        />
+      </xacro:if>
+
+      <xacro:if value="${type == 'LDR20'}">
+        <xacro:include
+          filename="$(find ros_components_description)/urdf/velodyne_puck.urdf.xacro"
+          ns="lidar"
+        />
+
+        <xacro:lidar.velodyne_puck
+          parent_link="${parent_link}"
+          xyz="${xyz}"
+          rpy="${rpy}"
+          tf_prefix="${tf_prefix}"
+          use_gpu="${use_gpu}"
+          simulation_engine="${simulation_engine}"
+          namespace="${fixed_namespace}"
+        />
+      </xacro:if>
+
       <xacro:if value="${index}">
         <xacro:load_componenet
           counter="${index}"

diff --git a/urdf/ouster_os1_32.urdf.xacro b/urdf/ouster_os1_32.urdf.xacro
@@ -4,10 +4,18 @@
                params="parent_link xyz rpy
                        use_gpu:=false
                        tf_prefix:=None
-                       topic:=os_lidar
+                       namespace:=None
+                       topic:=ouster/points
                        frame_id:=os_lidar
                        simulation_engine:=gazebo-classic">
 
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="ns" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+      <xacro:property name="ns" value="${namespace}/" />
+    </xacro:unless>
+
     <xacro:if value="${use_gpu}">
       <xacro:property name="ray_type" value="gpu_ray" />
       <xacro:property name="plugin_file_name" value="libgazebo_ros_velodyne_gpu_laser.so" />
@@ -63,7 +71,7 @@
     <link name="${prefix}${frame_id}" />
 
     <gazebo reference="${prefix}${frame_id}">
-      <sensor type="${ray_type}" name="${prefix}ouster_os1_32_sensor">
+      <sensor type="${ray_type}" name="${ns}${prefix}ouster_os1_32_sensor">
         <visualize>false</visualize>
         <ray>
           <scan>
@@ -95,14 +103,23 @@
 
         <update_rate>20.0</update_rate>
 
-        <plugin name="${prefix}ouster_os1_32_${ray_type}" filename="libgazebo_ros_ray_sensor.so">
-          <ros>
-            <namespace></namespace>
-            <remapping>~/out:=${topic}</remapping>
-          </ros>
-          <output_type>sensor_msgs/PointCloud2</output_type>
-          <frame_name>${prefix}${frame_id}</frame_name>
-        </plugin>
+        <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
+          <topic>${ns}${topic}</topic>
+          <frame_id>${prefix}${frame_id}</frame_id>
+          <ignition_frame_id>${prefix}${frame_id}</ignition_frame_id>
+          <always_on>true</always_on>
+        </xacro:if>
+
+        <xacro:if value="${simulation_engine == 'gazebo-classic'}">
+          <plugin name="${prefix}ouster_os1_32_${ray_type}" filename="libgazebo_ros_ray_sensor.so">
+            <ros>
+              <namespace>${ns}</namespace>
+              <remapping>~/out:=${topic}</remapping>
+            </ros>
+            <output_type>sensor_msgs/PointCloud2</output_type>
+            <frame_name>${prefix}${frame_id}</frame_name>
+          </plugin>
+        </xacro:if>
       </sensor>
     </gazebo>
   </xacro:macro>

diff --git a/urdf/velodyne_puck.urdf.xacro b/urdf/velodyne_puck.urdf.xacro
@@ -4,9 +4,9 @@
                params="parent_link xyz rpy
                        use_gpu:=false
                        tf_prefix:=None
-                       topic:=scan
-                       frame_id:=velodyne
                        namespace:=None
+                       topic:=velodyne_points
+                       frame_id:=velodyne
                        simulation_engine:=gazebo-classic">
 
     <xacro:if value="${namespace == 'None'}">