Gazebo interface

src/scenic/simulators/gazebo/README.md

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+# Scenic-Gazebo Interface
+This is the code for the Scenic-Gazebo interface.
+
+## Requirements and Installation
+- Gazebo Harmonic
+- ROS 2 Jazzy
+### ROS Packages
+- ros-gz
+- simulation-interfaces
+- ros2launch
+- libsdformat14
+- python3-sdformat14
+
+## Instructions
+This interface requires a running Gazebo simulation with the /gzserver endpoint up, which is launched with a ROS launch file. combined_launch.py is provided as a simple example of one. To use the interface, run:
+- ros2 launch combined_launch.py
+- scenic *some_scenario.scenic* -S
+
+The interface can spawn, delete, get object states, and pause, unpause, and reset the simulation. Any robot-specific code isn't included.
+
+## Notes
+- python3-sdformat14 is a system package, to use it in a venv add include-system-site-packages = true to your venv config file

src/scenic/simulators/gazebo/combined_launch.py

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+# mostly copied from gz_server.launch.py in ros_gz_sim
+"""Launch gz_server in a component container, and also launch the Gazebo GUI client."""
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess
+from launch.substitutions import LaunchConfiguration, TextSubstitution
+from ros_gz_sim.actions import GzServer
+
+
+def generate_launch_description():
+
+    declare_world_sdf_file_cmd = DeclareLaunchArgument(
+        'world_sdf_file', default_value=TextSubstitution(text='empty.sdf'),
+        description='Path to the SDF world file')
+
+    #starts server
+    gz_server_action = GzServer(
+        world_sdf_file=LaunchConfiguration('world_sdf_file'),
+    )
+
+    #starts gui
+    gz_sim_action = ExecuteProcess(
+        cmd=['gz', 'sim', '-r', LaunchConfiguration('world_sdf_file')],
+        output='screen'
+    )
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_world_sdf_file_cmd)
+    # Add the gz_server action
+    ld.add_action(gz_server_action)
+    ld.add_action(gz_sim_action)
+
+    return ld

src/scenic/simulators/gazebo/model.scenic

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+import math
+from scenic.simulators.gazebo.simulator import GazeboSimulator, GazeboSimulation
+import os
+
+simulator GazeboSimulator()
+object_prefix = '/mnt/l/scenic/src/scenic/simulators/gazebo/'# placeholder, put the path to the folder storing the Gazebo models you want to spawn
+default_file_name = "model.sdf"
+get_sdf_dir = lambda s: object_prefix + s + "/" + default_file_name
+
+class Robot:
+    name: 'robot'
+    object_type: 'robot'
+
+class GazeboObject:
+    """
+    Superclass for non-agent objects
+    """
+    name: 'gazebo_object'
+    object_type: 'gazebo_object'
+    description_file: ''
+    description_file_type: 'sdf'
+    width: 1
+    length: 1
+    height: 1
+    positionOffset:(0, 0, 0)
+
+class SDFObject:
+    """
+    Used for SDF parsing to make Scenic aware of predefined objects in the world
+    """
+    name: 'sdf_object'
+    object_type: 'sdf_object'
+    description_file: ''
+    description_file_type: 'sdf'