Merge branch 'humble-devel' into test-fix-rtf-circuits

Author: javizqh

CustomRobots/CMakeLists.txt

@@ -113,7 +113,6 @@ install(
     autopark_harmonic/params
     # DRONE_ASSETS
     drone_assets/models
-    drone_assets/worlds
     drone_assets/bridges
     # GLOBAL_NAVIGATION
     taxi_navigator/models

CustomRobots/drone_assets/bridges/rescue_people.yaml

@@ -7,7 +7,7 @@
 
 # gz topic published by IMU plugin
 - ros_topic_name: "sensor_measurements/imu"
-  gz_topic_name: "/world/empty/model/drone0/model/imu/link/internal/sensor/imu/imu"
+  gz_topic_name: "/world/default/model/drone0/model/imu/link/internal/sensor/imu/imu"
   ros_type_name: "sensor_msgs/msg/Imu"
   gz_type_name: "gz.msgs.IMU"
   direction: GZ_TO_ROS
@@ -20,7 +20,7 @@
   direction: GZ_TO_ROS
 
 - ros_topic_name: "/tf"
-  gz_topic_name: "/world/empty/model/drone0/pose"
+  gz_topic_name: "/world/default/model/drone0/pose"
   ros_type_name: "tf2_msgs/msg/TFMessage"
   gz_type_name: "gz.msgs.Pose_V"
   direction: GZ_TO_ROS
@@ -32,7 +32,7 @@
   direction: GZ_TO_ROS
 
 - ros_topic_name: "/tf"
-  gz_topic_name: "/world/empty/model/drone0/pose_static"
+  gz_topic_name: "/world/default/model/drone0/pose_static"
   ros_type_name: "tf2_msgs/msg/TFMessage"
   gz_type_name: "gz.msgs.Pose_V"
   direction: GZ_TO_ROS
@@ -59,25 +59,25 @@
 
 # Payload plugin
 - ros_topic_name: "sensor_measurements/frontal_camera/image_raw"
-  gz_topic_name: "/world/empty/model/drone0/model/frontal_cam/link/hd_camera/sensor/camera/image"
+  gz_topic_name: "/world/default/model/drone0/model/frontal_cam/link/hd_camera/sensor/camera/image"
   ros_type_name: "sensor_msgs/msg/Image"
   gz_type_name: "gz.msgs.Image"
   direction: GZ_TO_ROS
 
 - ros_topic_name: "sensor_measurements/frontal_camera/camera_info"
-  gz_topic_name: "/world/empty/model/drone0/model/frontal_cam/link/hd_camera/sensor/camera/camera_info"
+  gz_topic_name: "/world/default/model/drone0/model/frontal_cam/link/hd_camera/sensor/camera/camera_info"
   ros_type_name: "sensor_msgs/msg/CameraInfo"
   gz_type_name: "gz.msgs.CameraInfo"
   direction: GZ_TO_ROS
 
 - ros_topic_name: "sensor_measurements/ventral_camera/image_raw"
-  gz_topic_name: "/world/empty/model/drone0/model/ventral_cam/link/hd_camera/sensor/camera/image"
+  gz_topic_name: "/world/default/model/drone0/model/ventral_cam/link/hd_camera/sensor/camera/image"
   ros_type_name: "sensor_msgs/msg/Image"
   gz_type_name: "gz.msgs.Image"
   direction: GZ_TO_ROS
 
 - ros_topic_name: "sensor_measurements/ventral_camera/camera_info"
-  gz_topic_name: "/world/empty/model/drone0/model/ventral_cam/link/hd_camera/sensor/camera/camera_info"
+  gz_topic_name: "/world/default/model/drone0/model/ventral_cam/link/hd_camera/sensor/camera/camera_info"
   ros_type_name: "sensor_msgs/msg/CameraInfo"
   gz_type_name: "gz.msgs.CameraInfo"
-  direction: GZ_TO_ROS
+  direction: GZ_TO_ROS

CustomRobots/drone_assets/worlds/rescue_people_harmonic.world

@@ -0,0 +1,71 @@
+cmake_minimum_required(VERSION 3.8)
+project(gz_link_attacher)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+############################
+# Dependencies
+############################
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+
+find_package(gz-sim8 REQUIRED)
+find_package(gz-plugin2 REQUIRED)
+
+find_package(linkattacher_msgs REQUIRED)
+
+############################
+# Plugin library
+############################
+
+add_library(gz_link_attacher SHARED
+  src/gz_link_attacher.cpp
+)
+
+target_link_libraries(gz_link_attacher
+  gz-sim8::gz-sim8
+  gz-plugin2::gz-plugin2
+)
+
+ament_target_dependencies(gz_link_attacher
+  rclcpp
+  linkattacher_msgs
+)
+
+############################
+# Install plugin
+############################
+
+install(
+  TARGETS gz_link_attacher
+  LIBRARY DESTINATION lib
+)
+
+############################
+# Environment hook (.dsv)
+############################
+
+install(
+  FILES env-hooks/gz_link_attacher.dsv
+  DESTINATION share/${PROJECT_NAME}/environment
+)
+
+############################
+# Export
+############################
+
+ament_export_libraries(gz_link_attacher)
+
+ament_export_dependencies(
+  gz-sim8
+  gz-plugin2
+)
+
+ament_package()

Industrial/gz_link_attacher/CMakeLists.txt

@@ -0,0 +1 @@
+prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;lib

Industrial/gz_link_attacher/env-hooks/gz_link_attacher.dsv

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="3">
+
+  <name>gz_link_attacher</name>
+  <version>0.0.1</version>
+
+  <description>Gazebo Harmonic Link Attacher</description>
+
+  <maintainer email="dev@todo.com">dev</maintainer>
+
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+
+  <depend>gz-sim</depend>
+
+  <depend>linkattacher_msgs</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>