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Update to Gazebo Harmonic / Jazzy #37

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10e4fba
Upgraded to gazebo harmonic
ana-GT Mar 17, 2025
08105eb
Separated the transmission data which is not currently used by ros2 c…
ana-GT Mar 18, 2025
de2afbf
Commented out image topic for bridge
ana-GT Mar 20, 2025
9752e6d
Fix a spacing issue
ana-GT Mar 26, 2025
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5 changes: 1 addition & 4 deletions CMakeLists.txt
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Expand Up @@ -2,12 +2,9 @@ cmake_minimum_required(VERSION 3.8)
project(simulation)
find_package(ament_cmake REQUIRED)

file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/models/curiosity_path)

install(DIRECTORY
models
${CMAKE_CURRENT_BINARY_DIR}/models
DESTINATION share/${PROJECT_NAME}/
DESTINATION share/${PROJECT_NAME}
)

ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
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3 changes: 1 addition & 2 deletions hooks/simulation.dsv.in
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@@ -1,2 +1 @@
prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share
prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share/simulation/models
prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share
10 changes: 4 additions & 6 deletions models/canadarm/urdf/SSRMS_Canadarm2.gazebo.xacro
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Expand Up @@ -4,9 +4,9 @@
<xacro:macro name="ssrms_canadarm2_gazebo" params="command_interface:=effort">


<ros2_control name="IgnitionSystem" type="system">
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware>
<joint name="Base_Joint">
<command_interface name="${command_interface}"/>
Expand Down Expand Up @@ -53,10 +53,8 @@
</ros2_control>

<gazebo>
<plugin filename="libign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
<robot_param>robot_description</robot_param>
<robot_param_node>robot_state_publisher</robot_param_node>
<parameters>$(find canadarm)/config/canadarm_control.yaml</parameters>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find canadarm)/config/canadarm_control.yaml</parameters>
</plugin>
</gazebo>

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168 changes: 81 additions & 87 deletions models/curiosity_path/urdf/arm.xacro
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Expand Up @@ -32,11 +32,10 @@

<link name='arm_01'>
<collision>
<origin xyz="0 0 0"
rpy="0 0 0"/>
<geometry>
<mesh filename="package://simulation/models/curiosity_path/meshes/arm_01_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://simulation/models/curiosity_path/meshes/arm_01_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
</geometry>
</collision>

<visual>
Expand Down Expand Up @@ -69,17 +68,6 @@
<dynamics damping="0.0" friction="0.0"/>
</joint>

<transmission name="arm_01_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="arm_01_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="arm_01Motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>


<link name='arm_01_to_arm_02'>
<inertial>
Expand Down Expand Up @@ -137,7 +125,6 @@
</inertial>
</link>


<joint name="arm_02_joint" type="revolute">
<parent link="arm_01_to_arm_02"/>
<child link="arm_02"/>
Expand All @@ -147,18 +134,6 @@
<dynamics damping="0.0" friction="0.0"/>
</joint>

<transmission name="arm_02_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="arm_02_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="arm_02Motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>


<link name='arm_02_to_arm_03'>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
Expand Down Expand Up @@ -225,19 +200,6 @@
<dynamics damping="0.0" friction="0.0"/>
</joint>

<transmission name="arm_03_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="arm_03_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="arm_03Motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>



<link name='arm_03_to_arm_04'>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
Expand Down Expand Up @@ -267,24 +229,21 @@

<link name='arm_04'>
<collision>
<origin xyz="0 0 0"
rpy="0 0 0"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://simulation/models/curiosity_path/meshes/arm_04_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
</geometry>
</collision>

<visual>
<origin xyz="0 0 0"
rpy="0 0 0"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://simulation/models/curiosity_path/meshes/arm_04_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
</geometry>
</visual>

<inertial>
<origin xyz="0 0 0"
rpy="0 0 0"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="${arm_04_Mass}"/>
<xacro:box_inertia
m="${arm_04_Mass}"
Expand All @@ -304,36 +263,24 @@
<dynamics damping="0.0" friction="0.0"/>
</joint>

<transmission name="arm_04_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="arm_04_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="arm_04Motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>


<link name='arm_04_to_arm_tools'>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.02" />
<inertia ixx="2.61666666667e-05" ixy="0.0" ixz="0.0" iyy="2.61666666667e-05" iyz="0.0" izz="3.6e-05"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.02" length="0.02"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.02" length="0.02"/>
</geometry>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.02" />
<inertia ixx="2.61666666667e-05" ixy="0.0" ixz="0.0" iyy="2.61666666667e-05" iyz="0.0" izz="3.6e-05"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.02" length="0.02"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.02" length="0.02"/>
</geometry>
</visual>
</link>


Expand All @@ -346,24 +293,21 @@

<link name='arm_tools'>
<collision>
<origin xyz="0 0 0"
rpy="0 0 0"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://simulation/models/curiosity_path/meshes/arm_tools_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
</geometry>
</collision>

<visual>
<origin xyz="0 0 0"
rpy="0 0 0"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://simulation/models/curiosity_path/meshes/arm_tools_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
</geometry>
</visual>

<inertial>
<origin xyz="0 0 0"
rpy="0 0 0"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="${arm_tools_Mass}"/>
<xacro:box_inertia
m="${arm_tools_Mass}"
Expand All @@ -373,7 +317,6 @@
</inertial>
</link>


<joint name="arm_tools_joint" type="continuous">
<parent link="arm_04_to_arm_tools"/>
<child link="arm_tools"/>
Expand All @@ -383,17 +326,68 @@
<dynamics damping="0.0" friction="0.0"/>
</joint>

</xacro:macro>

<!-- ros2_control transmission does NOT use this currently. This macro is not actively used -->
<xacro:macro name="arm_transmission" params="hw_interface:=hardware_interface/EffortJointInterface">

<transmission name="arm_01_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="arm_01_joint">
<hardwareInterface>${hw_interface}</hardwareInterface>
</joint>
<actuator name="arm_01Motor">
<hardwareInterface>${hw_interface}</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<transmission name="arm_02_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="arm_02_joint">
<hardwareInterface>${hw_interface}</hardwareInterface>
</joint>
<actuator name="arm_02Motor">
<hardwareInterface>${hw_interface}</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>


<transmission name="arm_03_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="arm_03_joint">
<hardwareInterface>${hw_interface}</hardwareInterface>
</joint>
<actuator name="arm_03Motor">
<hardwareInterface>${hw_interface}</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>


<transmission name="arm_04_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="arm_04_joint">
<hardwareInterface>${hw_interface}</hardwareInterface>
</joint>
<actuator name="arm_04Motor">
<hardwareInterface>${hw_interface}</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>


<transmission name="arm_tools_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="arm_tools_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>${hw_interface}</hardwareInterface>
</joint>
<actuator name="arm_toolsMotor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>${hw_interface}</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

</xacro:macro>

</robot>
12 changes: 6 additions & 6 deletions models/curiosity_path/urdf/curiosity_mars_rover.gazebo
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@@ -1,9 +1,9 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">

<ros2_control name="IgnitionSystem" type="system">
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware>
<!-- Arm Joints Interfaces-->
<joint name="arm_01_joint">
Expand Down Expand Up @@ -132,27 +132,27 @@
</ros2_control>

<gazebo>
<plugin filename="libign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<robot_param>robot_description</robot_param>
<robot_param_node>robot_state_publisher</robot_param_node>
<parameters>$(find mars_rover)/config/mars_rover_control.yaml</parameters>
</plugin>

<plugin filename="ignition-gazebo-odometry-publisher-system" name="ignition::gazebo::systems::OdometryPublisher">
<plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
<odom_frame>/odom</odom_frame>
<robot_base_frame>/base_footprint</robot_base_frame>
<odom_publish_frequency>10</odom_publish_frequency>
</plugin>

<plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
<plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
<background_color>0.9 0.753 0.66 1</background_color>
</plugin>
</gazebo>

<gazebo reference="lidar_link">
<sensor name='lidar' type='gpu_lidar'>"
<ignition_frame_id>lidar_link</ignition_frame_id>
<gz_frame_id>lidar_link</gz_frame_id>
<pose relative_to='lidar_link'>0 0 0 0 0 0</pose>
<topic>scan</topic>
<update_rate>10</update_rate>
Expand Down
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