Refactor to Ignition Gazebo

CHANGELOG.md

@@ -1,6 +1,7 @@
-## Virtual Maize Field (ROS 2)
+## Virtual Maize Field (ROS 2 Ignition Gazebo)
 
 ### Version 5.0.0 (2024-01-20)
+* Refactor to Ignition Gazebo ([#57](https://github.com/FieldRobotEvent/virtual_maize_field/pull/57))
 * 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 * Remove outdated script that checks for updates ([#56](https://github.com/FieldRobotEvent/virtual_maize_field/pull/56))
 

CMakeLists.txt

@@ -0,0 +1,42 @@
+cmake_minimum_required(VERSION 3.5)
+project(virtual_maize_field)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/resource_paths.dsv.in")
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/resource_paths.sh")
+
+ament_python_install_package(${PROJECT_NAME})
+
+#============================================================================
+# Nodes
+
+install(
+  PROGRAMS virtual_maize_field/generate_world.py 
+  DESTINATION lib/${PROJECT_NAME}
+  RENAME generate_world
+)
+
+#============================================================================
+# Resources
+install(
+  DIRECTORY
+    config 
+    map 
+    models 
+    worlds
+    gt
+    launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

README.md

@@ -18,7 +18,7 @@
   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_v5.0_classic.png)
+![Screenshot of a generated map with maize plants](./misc/screenshot_v5.0_ign.png)
 
 ROS Distro | Gazebo version | Branch | Build status
 :---------: | :----: | :----: | :----------: 

hooks/resource_paths.dsv.in

@@ -0,0 +1,4 @@
+prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/models
+prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/
+
+prepend-non-duplicate;LD_LIBRARY_PATH;@CMAKE_INSTALL_PREFIX@/lib

hooks/resource_paths.sh

@@ -0,0 +1,4 @@
+ament_prepend_unique_value IGN_GAZEBO_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/virtual_maize_field/models"
+ament_prepend_unique_value IGN_GAZEBO_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/virtual_maize_field"
+
+ament_prepend_unique_value LD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"

launch/simulation.launch.py

@@ -3,57 +3,94 @@
 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 import LaunchDescription, SomeSubstitutionsType
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, LogInfo
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch.substitutions import (
+    LaunchConfiguration,
+    PathJoinSubstitution,
+    PythonExpression,
+)
+
+
+def construct_gz_args(
+    world_file: SomeSubstitutionsType,
+    paused: SomeSubstitutionsType,
+    headless: SomeSubstitutionsType,
+) -> SomeSubstitutionsType:
+    paused_arg = PythonExpression(['"" if "', paused, '".lower() == "true" else "-r "'])
+    headless_arg = PythonExpression(
+        ['"-s " if "', headless, '".lower() == "true" else ""']
+    )
+
+    return PythonExpression(["'", headless_arg, paused_arg, world_file, "'"])
 
 
 def generate_launch_description() -> LaunchDescription:
     _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")
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    paused = LaunchConfiguration("paused")
+    headless = LaunchConfiguration("headless")
+    world_path = LaunchConfiguration("world_path")
+    world_name = LaunchConfiguration("world_name")
 
-    gz_server_launch_file = path.join(
-        get_package_share_directory("gazebo_ros"), "launch", "gzserver.launch.py"
+    # Create launch arguments
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        name="use_sim_time", default_value="True"
+    )
+    declare_paused_cmd = DeclareLaunchArgument(
+        name="paused", default_value="False", description="Start simulation paused."
+    )
+    declare_headless_cmd = DeclareLaunchArgument(
+        name="headless",
+        default_value="False",
+        description="Start headless simulation (without rendering).",
+    )
+    declare_world_path_cmd = DeclareLaunchArgument(
+        name="world_path",
+        default_value=cache_dir,
+        description="Path to the directory containing the world SDF files.",
     )
-    gz_client_launch_file = path.join(
-        get_package_share_directory("gazebo_ros"), "launch", "gzclient.launch.py"
+    declare_world_name_cmd = DeclareLaunchArgument(
+        name="world_name",
+        default_value="generated_field.sdf",
+        description="Name of the world file.",
     )
 
-    gz_server_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([gz_server_launch_file]),
+    gz_args = construct_gz_args(
+        PathJoinSubstitution([world_path, world_name]),
+        paused,
+        headless,
+    )
+
+    log_gz_args = LogInfo(msg=["Start Ignition Gazebo with gz_args: '", gz_args, "'"])
+
+    # Create nodes
+    gz = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            path.join(
+                get_package_share_directory("ros_gz_sim"), "launch", "gz_sim.launch.py"
+            ),
+        ),
         launch_arguments={
-            "world": [world_path, world_name],
-            "pause": paused,
-            "verbose": "true",
+            "gz_args": gz_args,
             "use_sim_time": use_sim_time,
         }.items(),
     )
 
-    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(),
-    )
+    ld = LaunchDescription()
 
-    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,
-        ]
-    )
+    # Declare the launch options
+    ld.add_action(declare_use_sim_time_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)
+
+    # Add nodes
+    ld.add_action(log_gz_args)
+    ld.add_action(gz)
+
+    return ld

models/beer/model.sdf

@@ -34,6 +34,11 @@
             <uri>model://beer/materials/textures</uri>
             <name>Beer/Diffuse</name>
           </script>
+          <pbr>
+            <metal>
+              <albedo_map>model://beer/materials/textures/beer.png</albedo_map>
+            </metal>
+          </pbr>
         </material>
       </visual>
     </link>

models/location_marker_a/model.sdf

@@ -32,6 +32,11 @@
             <uri>model://location_marker_a/materials/textures</uri>
             <name>location_marker_a/logo</name>
           </script>
+          <pbr>
+            <metal>
+              <albedo_map>model://location_marker_a/materials/textures/fre_logo.png</albedo_map>
+            </metal>
+          </pbr>
         </material>
       </visual>
       <visual name="visual_top">
@@ -47,6 +52,11 @@
             <uri>model://location_marker_a/materials/textures</uri>
             <name>location_marker_a/logo</name>
           </script>
+          <pbr>
+            <metal>
+              <albedo_map>model://location_marker_a/materials/textures/fre_logo.png</albedo_map>
+            </metal>
+          </pbr>
         </material>
       </visual>
       <visual name="visual_code">
@@ -62,6 +72,11 @@
             <uri>model://location_marker_a/materials/textures</uri>
             <name>location_marker_a/qr_code</name>
           </script>
+          <pbr>
+            <metal>
+              <albedo_map>model://location_marker_a/materials/textures/location_marker_a.png</albedo_map>
+            </metal>
+          </pbr>
         </material>
       </visual>
     </link>

models/location_marker_b/model.sdf

@@ -32,6 +32,11 @@
             <uri>model://location_marker_b/materials/textures</uri>
             <name>location_marker_b/logo</name>
           </script>
+          <pbr>
+            <metal>
+              <albedo_map>model://location_marker_b/materials/textures/fre_logo.png</albedo_map>
+            </metal>
+          </pbr>
         </material>
       </visual>
       <visual name="visual_top">
@@ -47,6 +52,11 @@
             <uri>model://location_marker_b/materials/textures</uri>
             <name>location_marker_b/logo</name>
           </script>
+          <pbr>
+            <metal>
+              <albedo_map>model://location_marker_b/materials/textures/fre_logo.png</albedo_map>
+            </metal>
+          </pbr>
         </material>
       </visual>
       <visual name="visual_code">
@@ -62,6 +72,11 @@
             <uri>model://location_marker_b/materials/textures</uri>
             <name>location_marker_b/qr_code</name>
           </script>
+          <pbr>
+            <metal>
+              <albedo_map>model://location_marker_b/materials/textures/location_marker_b.png</albedo_map>
+            </metal>
+          </pbr>
         </material>
       </visual>
     </link>

models/nettle/model.sdf

@@ -71,6 +71,11 @@
             <uri>model://nettle/materials/textures/</uri>
             <name>nettle_leaf</name>
           </script>
+          <pbr>
+            <metal>
+              <albedo_map>model://nettle/materials/textures/nettle.png</albedo_map>
+            </metal>
+          </pbr>
         </material>
       </visual>
     </link>

models/start/model.sdf

@@ -18,6 +18,11 @@
             <uri>model://start/materials/textures</uri>
             <name>start/texture</name>
           </script>
+          <pbr>
+            <metal>
+              <albedo_map>model://start/materials/textures/arrow.png</albedo_map>
+            </metal>
+          </pbr>
         </material>
       </visual>
 

models/unknown_weed/model.sdf

@@ -69,6 +69,11 @@
             <uri>model://unknown_weed/materials/textures/</uri>
             <name>unknown_weed_leaf</name>
           </script>
+          <pbr>
+            <metal>
+              <albedo_map>model://unknown_weed/materials/textures/unknown_weed.png</albedo_map>
+            </metal>
+          </pbr>
         </material>
       </visual>
     </link>

package.xml

@@ -2,14 +2,17 @@
 <?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>5.0.0</version>
+  <version>4.7.4</version>
   <description>A virtual maize field for agricultural robot simulation in Gazebo.</description>
 
   <maintainer email="info@fieldrobot.com">Field Robot Event Organization</maintainer>
 
   <license file="LICENSE">GPLv3</license>
   <url type="website">https://www.fieldrobot.com/event/</url>
 
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+
   <depend>python3-rospkg</depend>
   <depend>python3-jinja2</depend>
   <depend>python3-opencv</depend>
@@ -19,12 +22,10 @@
   <depend>python3-yaml</depend>
 
   <depend>ros2launch</depend>
-  <depend>gazebo_ros</depend>
-  <depend>gazebo_ros_pkgs</depend>
+  <depend>ros-gz</depend>
+  <depend>ros-gz-sim</depend>
 
   <export>
-    <build_type>ament_python</build_type>
-    <gazebo_ros gazebo_model_path="${prefix}/models"/>
-    <gazebo_ros gazebo_media_path="${prefix}"/>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>