ros_ign_gazebo package, with launch and spawn

ros_ign_gazebo/CMakeLists.txt

@@ -0,0 +1,76 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(ros_ign_gazebo)
+
+find_package(catkin
+  REQUIRED
+  COMPONENTS
+    roscpp
+)
+
+# Citadel
+find_package(ignition-gazebo3 QUIET)
+if (ignition-gazebo3_FOUND)
+  set(IGN_GAZEBO_VER ${ignition-gazebo3_VERSION_MAJOR})
+
+  find_package(ignition-transport8 REQUIRED)
+  set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR})
+
+  find_package(ignition-msgs5 REQUIRED)
+  set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Ignition Citadel")
+
+# Blueprint
+else()
+  find_package(ignition-gazebo2 REQUIRED)
+  set(IGN_GAZEBO_VER ${ignition-gazebo2_VERSION_MAJOR})
+
+  find_package(ignition-transport7 REQUIRED)
+  set(IGN_TRANSPORT_VER ${ignition-transport7_VERSION_MAJOR})
+
+  find_package(ignition-msgs4 REQUIRED)
+  set(IGN_MSGS_VER ${ignition-msgs4_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Ignition Blueprint")
+endif()
+
+ign_find_package(gflags
+    REQUIRED
+    PKGCONFIG gflags)
+
+catkin_package()
+
+
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+set(cpp_execs
+  create
+)
+
+foreach(exec ${cpp_execs})
+  add_executable(${exec} src/${exec}.cpp)
+  target_link_libraries(${exec}
+    ${catkin_LIBRARIES}
+    gflags
+    ignition-msgs${IGN_MSGS_VER}::core
+    ignition-transport${IGN_TRANSPORT_VER}::core
+  )
+  install(TARGETS ${exec}
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+endforeach()
+
+install(
+  PROGRAMS
+    scripts/ign_gazebo
+  DESTINATION
+    ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(
+  DIRECTORY
+    launch/
+  DESTINATION
+    ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
+

ros_ign_gazebo/README.md

@@ -0,0 +1,44 @@
+# ROS + Ignition Gazebo
+
+This package contains things that make it convenient to integrate ROS with
+Ignition, such as:
+
+* Launch files
+* ROS-enabled executables
+
+# Usage
+
+> More usage examples can be seen on the
+[ros_ign_gazebo_demos](https://github.com/osrf/ros_ign/tree/melodic/ros_ign_gazebo_demos)
+package.
+
+## Run Ignition Gazebo
+
+There's a convenient launch file, try for example:
+
+    roslaunch ros_ign_gazebo ign_gazebo.launch ign_args:="shapes.sdf"
+
+And you can directly call the executable, for example:
+
+    rosrun ros_ign_gazebo ign_gazebo shapes.sdf
+
+![](images/shapes_demo.png)
+
+## Spawn entities
+
+The `create` executable can be used to spawn SDF or URDF entities from:
+
+* A file on disk or from Ignition Fuel
+* A ROS parameter
+
+For example, start Ignition Gazebo:
+
+`ign gazebo`
+
+Then spawn a model:
+
+`rosrun ros_ign_gazebo create -world default -file 'https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Gazebo'`
+
+See more options with:
+
+`rosrun ros_ign_gazebo create --helpshort`

ros_ign_gazebo_demos/launch/ign_gazebo.launch → ros_ign_gazebo/launch/ign_gazebo.launch

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="args" default=""/>
+  <arg name="ign_args" default=""/>
 
   <env name="IGN_GAZEBO_SYSTEM_PLUGIN_PATH" value="$(optenv LD_LIBRARY_PATH)" />
 
@@ -10,6 +10,6 @@
     name="ign_gazebo"
     output="screen"
     required="true"
-    args="$(arg args)">
+    args="$(arg ign_args)">
   </node>
 </launch>

ros_ign_gazebo/package.xml

@@ -0,0 +1,13 @@
+<package format="2">
+  <name>ros_ign_gazebo</name>
+  <version>0.1.0</version>
+  <description>Tools for using Ignition Gazebo simulation with ROS.</description>
+  <license>Apache 2.0</license>
+  <maintainer email="[email protected]">Louise Poubel</maintainer>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>libgflags-dev</depend>
+  <exec_depend>ignition-gazebo3</exec_depend>
+  <depend>roscpp</depend>
+</package>

ros_ign_gazebo/scripts/ign_gazebo

@@ -0,0 +1,16 @@
+#!/bin/bash
+# TODO This approach has way too many intermediate steps:
+# * roslaunch runs this bash script
+# * this script calls the ign tool (ruby)
+# * the ruby tool finally calls the C interface
+# This will make things harder to debug. A better approach could
+# call directly into the C interface, but we need to avoid duplication.
+new=""
+for arg in "$@"
+do
+  # Ignore roslaunch's args
+  if [[ $arg != __* ]]; then
+    new="$new $arg"
+  fi
+done
+ign gazebo $new

ros_ign_gazebo/src/create.cpp

@@ -0,0 +1,139 @@
+/*
+ * Copyright (C) 2019 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+*/
+#include <gflags/gflags.h>
+#include <ignition/math/Pose3.hh>
+#include <ignition/msgs/entity_factory.pb.h>
+#include <ignition/msgs/Utility.hh>
+#include <ignition/transport/Node.hh>
+#include <ros/ros.h>
+
+#include <sstream>
+
+DEFINE_string(world, "", "World name.");
+DEFINE_string(file, "", "Load XML from a file.");
+DEFINE_string(param, "", "Load XML from a ROS param.");
+DEFINE_string(string, "", "Load XML from a string.");
+DEFINE_string(name, "", "Name for spawned entity.");
+DEFINE_bool(allow_renaming, false, "Rename entity if name already used.");
+DEFINE_double(x, 0, "X component of initial position, in meters.");
+DEFINE_double(y, 0, "Y component of initial position, in meters.");
+DEFINE_double(z, 0, "Z component of initial position, in meters.");
+DEFINE_double(R, 0, "Roll component of initial orientation, in radians.");
+DEFINE_double(P, 0, "Pitch component of initial orientation, in radians.");
+DEFINE_double(Y, 0, "Yaw component of initial orientation, in radians.");
+
+// ROS interface for spawning entities into Ignition.
+// Suggested for use with roslaunch and loading entities from ROS param.
+// If these are not needed, just use the `ign service` command line instead.
+int main(int _argc, char **_argv)
+{
+  gflags::AllowCommandLineReparsing();
+  gflags::SetUsageMessage(
+      R"(Usage: create -world [arg] [-file FILE] [-param PARAM] [-string STRING]
+                       [-name NAME] [-X X] [-Y Y] [-Z Z] [-Roll ROLL]
+                       [-Pitch PITCH] [-Yaw YAW])");
+  gflags::ParseCommandLineFlags(&_argc, &_argv, true);
+
+  ros::init(_argc, _argv, "ign_create");
+  ros::NodeHandle nh;
+
+  // World
+  if (FLAGS_world.empty())
+  {
+    ROS_ERROR("World not set.");
+    return -1;
+  }
+  std::string service{"/world/" + FLAGS_world + "/create"};
+
+  // Request message
+  ignition::msgs::EntityFactory req;
+
+  // File
+  if (!FLAGS_file.empty())
+  {
+    req.set_sdf_filename(FLAGS_file);
+  }
+  // Param
+  else if (!FLAGS_param.empty())
+  {
+    std::string xmlStr;
+    if (nh.getParam(FLAGS_param, xmlStr))
+    {
+      req.set_sdf(xmlStr);
+    }
+    else
+    {
+      ROS_ERROR("Failed to get XML from param [%s].", FLAGS_param.c_str());
+      return -1;
+    }
+  }
+  // string
+  else if (!FLAGS_string.empty())
+  {
+    req.set_sdf(FLAGS_string);
+  }
+  else
+  {
+    ROS_ERROR("Must specify either -file, -param or -stdin");
+    return -1;
+  }
+
+  // Pose
+  ignition::math::Pose3d pose
+  {
+    FLAGS_x,
+    FLAGS_y,
+    FLAGS_z,
+    FLAGS_R,
+    FLAGS_P,
+    FLAGS_Y
+  };
+  ignition::msgs::Set(req.mutable_pose(), pose);
+
+  // Name
+  if (!FLAGS_name.empty())
+  {
+    req.set_name(FLAGS_name);
+  }
+
+  if (FLAGS_allow_renaming)
+  {
+    req.set_allow_renaming(FLAGS_allow_renaming);
+  }
+
+  // Request
+  ignition::transport::Node node;
+  ignition::msgs::Boolean rep;
+  bool result;
+  unsigned int timeout = 5000;
+  bool executed = node.Request(service, req, timeout, rep, result);
+
+  if (executed)
+  {
+    if (result && rep.data())
+      ROS_INFO("Requested creation of entity.");
+    else
+      ROS_ERROR("Failed request to create entity.\n %s", req.DebugString().c_str());
+  }
+  else
+  {
+    ROS_ERROR("Request to create entity from service [%s] timed out..\n %s",
+        service.c_str(), req.DebugString().c_str());
+  }
+
+  return 0;
+}

ros_ign_gazebo_demos/CMakeLists.txt

@@ -4,24 +4,8 @@ project(ros_ign_gazebo_demos)
 
 find_package(catkin REQUIRED)
 
-# Citadel
-find_package(ignition-gazebo3 QUIET)
-if (NOT ignition-gazebo3_FOUND)
-  # Blueprint
-  find_package(ignition-gazebo2 QUIET)
-  if (NOT ignition-gazebo2_FOUND)
-    BUILD_ERROR ("Missing: Ignition Gazebo version 2 or 3")
-  endif()
-endif()
-
 catkin_package()
 
-install(
-  PROGRAMS
-    scripts/ign_gazebo
-  DESTINATION
-    ${CATKIN_PACKAGE_BIN_DESTINATION})
-
 install(
   DIRECTORY
     launch/
@@ -36,3 +20,9 @@ install(
     ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz
 )
 
+install(
+  DIRECTORY
+    models/
+  DESTINATION
+    ${CATKIN_PACKAGE_SHARE_DESTINATION}/models
+)

ros_ign_gazebo_demos/README.md

@@ -2,18 +2,6 @@
 
 This package contains demos showing how to use Ignition Gazebo with ROS.
 
-## Run Ignition Gazebo
-
-There's a convenient launch file, try for example:
-
-    roslaunch ros_ign_gazebo_demos ign_gazebo.launch args:="shapes.sdf"
-
-And you can directly call the executable, for example:
-
-    rosrun ros_ign_gazebo_demos ign_gazebo shapes.sdf
-
-![](images/shapes_demo.png)
-
 ## Air pressure
 
 Publishes fluid pressure readings.
@@ -132,3 +120,15 @@ Then send a command so the vehicle moves and drains the battery
     rostopic pub /model/vehicle_blue/cmd_vel geometry_msgs/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"
 
 ![](images/battery_demo.png)
+
+## Create entity
+
+Launch simulation and spawn entities:
+
+* Sphere from URDF loaded into ROS param
+* Box from SDF file on Ignition Fuel
+* Cylinder from SDF file
+
+`roslaunch ros_ign_gazebo_demos create.launch`
+
+![](images/create.png)

ros_ign_gazebo_demos/launch/air_pressure.launch

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <launch>
 
-  <include file="$(find ros_ign_gazebo_demos)/launch/ign_gazebo.launch">
-    <arg name="args" value="-r -v 3 sensors.sdf"/>
+  <include file="$(find ros_ign_gazebo)/launch/ign_gazebo.launch">
+    <arg name="ign_args" value="-r -v 3 sensors.sdf"/>
   </include>
 
   <node