Create unique gripper model per parent vehicle model #143
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Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
#145) Signed-off-by: Aaron Chong <[email protected]>
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…lock (#108) * Adds a simple demo with multiple robots lifting the same overweight block. > Note: Not sure if we really should be keeping this stuff in `mbzir_ign` or we should have a `mbzirc_demos` package. This demo demonstrates using multiple robots to lift the same overweight block. Requires gazebosim/gz-physics#345 ## To Test Make sure you have the right branch of gz-physics set up. Launch the test world file: ```bash ign gazebo /your/path/to/mbzirc_ws/src/mbzirc/mbzirc_ign/worlds/test/multi_drone_lift.sdf ``` In another terminal run: ```bash ros2 launch mbzirc_ign multi_uav_lift_demo.launch.py ``` You should see the drones spawn. After that run the simulators and let the robots fall onto the block. When the robots are resting on the block run: ```bash ros2 run mbzirc_ign multi_uav_demo.py ``` Signed-off-by: Arjo Chakravarty <[email protected]> * Address PR Feedback Signed-off-by: Arjo Chakravarty <[email protected]> * fix spawn multi uav Signed-off-by: Ian Chen <[email protected]> * fix params Signed-off-by: Arjo Chakravarty <[email protected]> * Add the test worlds Signed-off-by: Arjo Chakravarty <[email protected]> * more test stuff Signed-off-by: Arjo Chakravarty <[email protected]> * Added new large models for dragging into testing world, launch scripts for dragging Signed-off-by: Aaron Chong <[email protected]> * Cleaning up additional flat scenario on the roof Signed-off-by: Aaron Chong <[email protected]> * fix style (#141) Signed-off-by: Ian Chen <[email protected]> * Create unique gripper model per parent vehicle model (#143) * create unique gripper model files per uav Signed-off-by: Ian Chen <[email protected]> * style Signed-off-by: Ian Chen <[email protected]> * Checking if gipper model name is a substring instead of direct compare (#145) Signed-off-by: Aaron Chong <[email protected]> Co-authored-by: Aaron Chong <[email protected]> * fix style Signed-off-by: Ian Chen <[email protected]> * fix spawning uav without gripper Signed-off-by: Ian Chen <[email protected]> * fixing tests Signed-off-by: Ian Chen <[email protected]> * Updating doc in example lift and drag demos, adding detach flag in demo script Signed-off-by: Aaron Chong <[email protected]> * Clean up ununsed demo launch file Signed-off-by: Aaron Chong <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Aaron Chong <[email protected]>
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Signed-off-by: Ian Chen [email protected]
When spawning a UAV (or am on USV) with gripper, we run ERB to generate a new
model.sdffile with a unique topic prefix name. The problem is that this file gets overwritten when there are multiple vehicles with grippers. The workaround here is to generate a whole new gripper model with themodel.dfin the mbzirc resource path. These generated gripper models will live in<colcon_ws>/install/share/mbzirc_ign/models/tmpdirectory. You'll need to source your setup file again to get this resource path.