Update ign branch (FieldRobotEvent#61)

.github/workflows/ros-noetic-test.yaml

@@ -3,8 +3,6 @@ name: ros-noetic
 
 on:
   workflow_dispatch:
-    branches:
-      - main
   pull_request:
     branches:
       - main
@@ -16,7 +14,7 @@ jobs:
   build:
     runs-on: ubuntu-20.04
     steps:
-      - uses: ros-tooling/setup-ros@v0.6
+      - uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: noetic
       - uses: ros-tooling/action-ros-ci@v0.3

.gitignore

@@ -25,19 +25,5 @@ CATKIN_IGNORE
 *.ipynb 
 .vscode
 
-# Ignore generated files
-worlds/generated.world
-Media/models/virtual_maize_field_heightmap.png
-map/*
-gt/*
-launch/robot_spawner.launch.py
-
-# Ignore generated models
-models/*_day_*
-
 # Ignore models that may not be published on Github
 models/dandelion_* 
-
-# Keep specific files
-!map/.gitkeep
-!gt/.gitkeep

CHANGELOG.md

@@ -0,0 +1,49 @@
+## Virtual Maize Field (ROS 2)
+
+### Version 5.0.0 (2024-01-20)
+* Change location of generated files ([#56](https://github.com/FieldRobotEvent/virtual_maize_field/pull/56))
+* Remove outdated script that checks for updates ([#56](https://github.com/FieldRobotEvent/virtual_maize_field/pull/56))
+
+> [!IMPORTANT]  
+> Since the location of the robot spawner launch file is also changed, update your launch file. See the [readme](README.md) for an example.
+
+### Version 4.7.3 (2023-05-10)
+* Add warning for non-public models ([#54](https://github.com/FieldRobotEvent/virtual_maize_field/pull/54))
+* Fix GitHub actions for ROS 2 ([#51](https://github.com/FieldRobotEvent/virtual_maize_field/pull/51))
+* Fix world generation in ROS 2 ([#46](https://github.com/FieldRobotEvent/virtual_maize_field/pull/46))
+* Fix `TypeError` when creating worlds ([#44](https://github.com/FieldRobotEvent/virtual_maize_field/pull/44))
+* Fix setuptools warning ([#36](https://github.com/FieldRobotEvent/virtual_maize_field/pull/36))
+* Fix GitHub actions ([#35](https://github.com/FieldRobotEvent/virtual_maize_field/pull/35))
+
+### Version 4.7.2 (2022-06-10)
+* Fix row width to be consistent ([#32](https://github.com/FieldRobotEvent/virtual_maize_field/pull/32))
+
+### Version 4.7.1 (2022-06-10)
+* Change sigmoid function to sinus ([#31](https://github.com/FieldRobotEvent/virtual_maize_field/pull/31))
+
+### Version 4.7.0 (2022-06-09)
+* Add litter to the mapping task ([#28](https://github.com/FieldRobotEvent/virtual_maize_field/pull/28))
+
+### Version 4.6.1 (2022-06-08)
+* Fix `TypeError` when generating world ([#27](https://github.com/FieldRobotEvent/virtual_maize_field/pull/27))
+
+### Version 4.6.0 (2022-06-03)
+* Fix length of the field to match the competition description ([#25](https://github.com/FieldRobotEvent/virtual_maize_field/pull/25))
+
+### Version 4.5.0 (2022-06-02)
+* Add sigmoid function to create fields ([#24](https://github.com/FieldRobotEvent/virtual_maize_field/pull/24))
+
+### Version 4.4.1 (2022-05-30)
+* Lower the spawn height of the robot ([#23](https://github.com/FieldRobotEvent/virtual_maize_field/pull/23))
+
+### Version 4.4.0 (2022-05-25)
+* Move `map.csv` and `map.png` to a seperate folder to disable access during competition ([#21](https://github.com/FieldRobotEvent/virtual_maize_field/pull/21))
+* Remove the `bin` folder ([#22](https://github.com/FieldRobotEvent/virtual_maize_field/pull/22))
+
+### Version 4.3.1 (2022-05-04)
+* Fix import ([#17](https://github.com/FieldRobotEvent/virtual_maize_field/pull/17))
+* Add initial joint pose argument ([#20](https://github.com/FieldRobotEvent/virtual_maize_field/pull/20))
+
+### Version 4.3.0 (2022-05-3)
+* Add dandelion models ([#14](https://github.com/FieldRobotEvent/virtual_maize_field/pull/14))
+

README.md

@@ -18,14 +18,17 @@
   This is a package to procedurally generate randomized fields with rows of plants for Gazebo.
 </p>
 
-![Screenshot of a generated map with maize plants](./misc/screenshot_v4.7.jpg)
+![Screenshot of a generated map with maize plants](./misc/screenshot_v5.0_classic.png)
 
-ROS Distro | Branch | Build status
-:---------: | :----: | :----------: 
-**Rolling** | [`ros2`](https://github.com/FieldRobotEvent/virtual_maize_field/tree/ros2) | [![ros-rolling](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-rolling-test.yaml/badge.svg?branch=ros2)](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-rolling-test.yaml)
-**Iron** | [`ros2`](https://github.com/FieldRobotEvent/virtual_maize_field/tree/ros2) | [![ros-iron](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-iron-test.yaml/badge.svg?branch=ros2)](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-iron-test.yaml)
-**Humble** | [`ros2`](https://github.com/FieldRobotEvent/virtual_maize_field/tree/ros2) | [![ros-humble](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-humble-test.yaml/badge.svg?branch=ros2)](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-humble-test.yaml)
-**Noetic** | [`main`](https://github.com/FieldRobotEvent/virtual_maize_field/tree/main) | [![ros-noetic](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-noetic-test.yaml/badge.svg?branch=main)](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-noetic-test.yaml?branch=main)
+ROS Distro | Gazebo version | Branch | Build status
+:---------: | :----: | :----: | :----------: 
+**Rolling** | **Gazebo** | [`ros2-gz`](https://github.com/FieldRobotEvent/virtual_maize_field/tree/ros2-gz) | [![ros-rolling-gz](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-rolling-gz-test.yaml/badge.svg?branch=ros2-gz)](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-rolling-gz-test.yaml)
+**Rolling** | **Gazebo Classic** | [`ros2`](https://github.com/FieldRobotEvent/virtual_maize_field/tree/ros2) | [![ros-rolling](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-rolling-test.yaml/badge.svg?branch=ros2)](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-rolling-test.yaml)
+**Iron** | **Gazebo** | [`ros2-gz`](https://github.com/FieldRobotEvent/virtual_maize_field/tree/ros2-gz) | [![ros-iron-gz](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-iron-gz-test.yaml/badge.svg?branch=ros2-gz)](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-iron-gz-test.yaml)
+**Iron** | **Gazebo Classic** | [`ros2`](https://github.com/FieldRobotEvent/virtual_maize_field/tree/ros2) | [![ros-iron](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-iron-test.yaml/badge.svg?branch=ros2)](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-iron-test.yaml)
+**Humble** | **Ignition Gazebo** | [`ros2-ign`](https://github.com/FieldRobotEvent/virtual_maize_field/tree/ros2-ign) | [![ros-humble-ign](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-humble-ign-test.yaml/badge.svg?branch=ros2-ign)](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-humble-ign-test.yaml)
+**Humble** | **Gazebo Classic** | [`ros2`](https://github.com/FieldRobotEvent/virtual_maize_field/tree/ros2) | [![ros-humble](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-humble-test.yaml/badge.svg?branch=ros2)](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-humble-test.yaml)
+**Noetic** | **Gazebo Classic** | [`main`](https://github.com/FieldRobotEvent/virtual_maize_field/tree/main) | [![ros-noetic](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-noetic-test.yaml/badge.svg?branch=main)](https://github.com/FieldRobotEvent/virtual_maize_field/actions/workflows/ros-noetic-test.yaml?branch=main)
 
 
 ## Installation
@@ -35,7 +38,7 @@ Clone this repository and build the workspace. Additional you'll need the follow
 rosdep install virtual_maize_field
 ```
 
-This package has been tested on ROS 2 Foxy, Humble and Rolling.
+This package has been tested on ROS 2 Humble, Iron and Rolling.
 
 ## Generating new maize field worlds
 This package includes a script (`virtual_maize_field/generate_world.py`) that can generate randomized agricultural worlds. All parameters are optional and have default values. All comma separated arguments can be scaler as well. 
@@ -44,7 +47,9 @@ You can call the script using
 ```bash
 ros2 run virtual_maize_field generate_world
 ```
-The resulting file will be placed in `<workspace folder>/install/virtual_maize_field/share/virtual_maize_field/worlds/generated.world`. You can use this script by one of the defined config files or specifying the parameters below:
+The resulting file will be placed in `$ROS_HOME/virtual_maize_field/generated.world`. 
+
+You can use this script by one of the defined config files or specifying the parameters below:
 <details>
   <summary>Click to show all possible arguments</summary>
 
@@ -189,7 +194,7 @@ Worlds for the Field Robot Event 2022:
 | *fre22_task_navigation* | Task navigation, curved rows that get more difficult (eg. have more and larger holes) to the left |
 | *fre22_task_mapping* | Task mapping, field with random holes, bottles and weeds spread throughout the field. The cans, bottles and weeds have no collision box and are static. <br /><sub>This world needs dandelion models which were only distributed among competitors of the Field Robot Event 2022. They are not uploaded to Github because they cannot be open-sourced. If you don't have access to these models, check out the `fre21_task_3` worlds.</sub>|
 
-Other sample Worlds:
+Worlds for the Field Robot Event 2021:
 | Name | Description |
 |:---- |:----------- |
 | *fre21_task_1* | Task 1, curved rows without holes |
@@ -202,8 +207,54 @@ You can use these config files when generating worlds, e.g.:
 ros2 run virtual_maize_field generate_world fre22_task_navigation_mini
 ```
 
-## Launching worlds
-The launch file to launch the worlds is called `simulation.launch`. You can launch the launch file by running `ros2 launch virtual_maize_field simulation.launch.py`. By default the launch file will launch `generated_world.world`. You can launch any world by using the `world_name` arg. e.g. `ros2 launch virtual_maize_field simulation.launch.py world_name:=simple_row_level_1.world`.
+## Launching and using generated worlds
+The launch file to launch the worlds is called `simulation.launch`. You can launch the launch file by running `ros2 launch virtual_maize_field simulation.launch.py`. By default the launch file will launch `generated_world.world`. You can launch any world by using the `world_name` arg. e.g. `ros2 launch virtual_maize_field simulation.launch.py world_name:=simple_row_level_1.world`. The generated world will be saved in `$ROS_HOME/virtual_maize_field` (usually, this will be `~/.ros/virtual_maize_field`).
+
+To add your own robot in the world, use the generated `robot_spawner.launch.py`. This launches your robot at the correct position in the generated world. Your launch file to launch your robot should look like (replace `<<robot_name>>` with your robot name):
+
+```python
+from __future__ import annotations
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+from virtual_maize_field import get_spawner_launch_file
+
+
+def generate_launch_description() -> LaunchDescription:
+    robot_spawner_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([get_spawner_launch_file()]),
+        launch_arguments={"robot_name": "<<robot_name>>"}.items(),
+    )
+
+    return LaunchDescription([robot_spawner_launch])
+```
+
+Use the function `get_driving_pattern_file()` to get the path of the generated driving pattern and `get_markers_file` to get the path of the generated markers:
+
+```python
+from __future__ import annotations
+
+from csv import reader
+from pathlib import Path
+
+from virtual_maize_field import get_driving_pattern_file, get_markers_file
+
+def read_driving_pattern() -> None:
+    driving_pattern = Path(get_driving_pattern_file()).read_text("utf-8")
+    print(f"The driving pattern is {driving_pattern}")
+
+def read_markers_file() -> None:
+    with open(get_markers_file(), "r") as f:
+        reader = csv.reader(f)
+
+        # Skip header
+        next(reader)
+
+        for row in reader:
+            print(f"Position {row[2]}: x={float(row[0]):.3f} y={float(row[1]):.3f}")
+```
 
 ## License
 Virtual Maize Field is copyright (C) 2021 *Farm Technology Group of Wageningen University & Research* and *Kamaro Engineering e.V.* and licensed under [![License: GPL v3](https://img.shields.io/badge/License-GPLv3-blue.svg)](https://www.gnu.org/licenses/gpl-3.0).

launch/simulation.launch.py

@@ -1,46 +1,36 @@
 from __future__ import annotations
 
+from os import environ, path
+
 from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import Node
 
 
 def generate_launch_description() -> LaunchDescription:
-    use_sim_time = LaunchConfiguration("use_sim_time")
-    gui = LaunchConfiguration("gui")
-    paused = LaunchConfiguration("paused")
-    headless = LaunchConfiguration("headless")
-    world_path = LaunchConfiguration("world_path")
-    world_name = LaunchConfiguration("world_name")
-    check_for_updates = LaunchConfiguration("check_for_updates")
-
-    # Create launch arguments
-    declare_use_sim_time_cmd = DeclareLaunchArgument(
-        name="use_sim_time", default_value="True"
-    )
-    declare_gui_cmd = DeclareLaunchArgument(name="gui", default_value="True")
-    declare_paused_cmd = DeclareLaunchArgument(name="paused", default_value="False")
-    declare_headless_cmd = DeclareLaunchArgument(name="headless", default_value="False")
-    declare_world_path_cmd = DeclareLaunchArgument(
-        name="world_path",
-        default_value=get_package_share_directory("virtual_maize_field") + "/worlds/",
-    )
-    declare_world_name_cmd = DeclareLaunchArgument(
-        name="world_name", default_value="generated.world"
+    _ros_home_path = environ.get("ROS_HOME", path.join(path.expanduser("~"), ".ros"))
+    cache_dir = path.join(_ros_home_path, "virtual_maize_field/")
+
+    use_sim_time = LaunchConfiguration("use_sim_time", default=True)
+    gui = LaunchConfiguration("gui", default=True)
+    paused = LaunchConfiguration("paused", default=False)
+    headless = LaunchConfiguration("headless", default=False)
+    world_path = LaunchConfiguration("world_path", default=cache_dir)
+    world_name = LaunchConfiguration("world_name", default="generated.world")
+
+    gz_server_launch_file = path.join(
+        get_package_share_directory("gazebo_ros"), "launch", "gzserver.launch.py"
     )
-    declare_check_for_updates_cmd = DeclareLaunchArgument(
-        name="check_for_updates", default_value="True"
+    gz_client_launch_file = path.join(
+        get_package_share_directory("gazebo_ros"), "launch", "gzclient.launch.py"
     )
 
-    # Create nodes
-    start_gazebo_server_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            get_package_share_directory("gazebo_ros") + "/launch/gzserver.launch.py"
-        ),
+    gz_server_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([gz_server_launch_file]),
         launch_arguments={
             "world": [world_path, world_name],
             "pause": paused,
@@ -49,36 +39,21 @@ def generate_launch_description() -> LaunchDescription:
         }.items(),
     )
 
-    start_gazebo_client_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            get_package_share_directory("gazebo_ros") + "/launch/gzclient.launch.py"
-        ),
+    gz_client_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([gz_client_launch_file]),
         condition=IfCondition(PythonExpression([gui, " and not ", headless])),
         launch_arguments={"use_sim_time": use_sim_time}.items(),
     )
 
-    start_check_updates_node_cmd = Node(
-        package="virtual_maize_field",
-        executable="check_for_updates",
-        name="check_virtual_maize_field_updates",
-        condition=IfCondition(check_for_updates),
-        arguments={"use_sim_time": use_sim_time}.items(),
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument(name="use_sim_time", default_value=use_sim_time),
+            DeclareLaunchArgument(name="gui", default_value=gui),
+            DeclareLaunchArgument(name="paused", default_value=paused),
+            DeclareLaunchArgument(name="headless", default_value=headless),
+            DeclareLaunchArgument(name="world_path", default_value=world_path),
+            DeclareLaunchArgument(name="world_name", default_value=world_name),
+            gz_server_launch,
+            gz_client_launch,
+        ]
     )
-
-    ld = LaunchDescription()
-
-    # Declare the launch options
-    ld.add_action(declare_use_sim_time_cmd)
-    ld.add_action(declare_gui_cmd)
-    ld.add_action(declare_paused_cmd)
-    ld.add_action(declare_headless_cmd)
-    ld.add_action(declare_world_path_cmd)
-    ld.add_action(declare_world_name_cmd)
-    ld.add_action(declare_check_for_updates_cmd)
-
-    # Add nodes
-    ld.add_action(start_gazebo_server_cmd)
-    ld.add_action(start_gazebo_client_cmd)
-    ld.add_action(start_check_updates_node_cmd)
-
-    return ld

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>virtual_maize_field</name>
-  <version>4.7.4</version>
+  <version>5.0.0</version>
   <description>A virtual maize field for agricultural robot simulation in Gazebo.</description>
 
   <maintainer email="info@fieldrobot.com">Field Robot Event Organization</maintainer>