commit a500db5b14b708a1e8df3abe2c95aef289aaf6e3 Author: bjoernellens1 <64093272+bjoernellens1@users.noreply.github.com> Date: Wed Apr 12 09:04:55 2023 +0200 Initial commit diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..dfa34c8 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,40 @@ +cmake_minimum_required(VERSION 3.5) +project(my_bot) + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# 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 dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # uncomment the line when a copyright and license is not present in all source files + #set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # uncomment the line when this package is not in a git repo + #set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +install( + DIRECTORY config description launch worlds + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/LICENSE.md b/LICENSE.md new file mode 100644 index 0000000..261eeb9 --- /dev/null +++ b/LICENSE.md @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/README.md b/README.md new file mode 100644 index 0000000..d2f2f88 --- /dev/null +++ b/README.md @@ -0,0 +1,7 @@ +## Robot Package Template + +This is a GitHub template. You can make your own copy by clicking the green "Use this template" button. + +It is recommended that you keep the repo/package name the same, but if you do change it, ensure you do a "Find all" using your IDE (or the built-in GitHub IDE by hitting the `.` key) and rename all instances of `my_bot` to whatever your project's name is. + +Note that each directory currently has at least one file in it to ensure that git tracks the files (and, consequently, that a fresh clone has direcctories present for CMake to find). These example files can be removed if required (and the directories can be removed if `CMakeLists.txt` is adjusted accordingly). \ No newline at end of file diff --git a/config/empty.yaml b/config/empty.yaml new file mode 100644 index 0000000..04700ba --- /dev/null +++ b/config/empty.yaml @@ -0,0 +1 @@ +# This is an empty file, so that git commits the folder correctly \ No newline at end of file diff --git a/description/robot.urdf.xacro b/description/robot.urdf.xacro new file mode 100644 index 0000000..3136feb --- /dev/null +++ b/description/robot.urdf.xacro @@ -0,0 +1,7 @@ + + + + + + + \ No newline at end of file diff --git a/launch/rsp.launch.py b/launch/rsp.launch.py new file mode 100644 index 0000000..9744884 --- /dev/null +++ b/launch/rsp.launch.py @@ -0,0 +1,41 @@ +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node + +import xacro + + +def generate_launch_description(): + + # Check if we're told to use sim time + use_sim_time = LaunchConfiguration('use_sim_time') + + # Process the URDF file + pkg_path = os.path.join(get_package_share_directory('my_bot')) + xacro_file = os.path.join(pkg_path,'description','robot.urdf.xacro') + robot_description_config = xacro.process_file(xacro_file) + + # Create a robot_state_publisher node + params = {'robot_description': robot_description_config.toxml(), 'use_sim_time': use_sim_time} + node_robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + output='screen', + parameters=[params] + ) + + + # Launch! + return LaunchDescription([ + DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use sim time if true'), + + node_robot_state_publisher + ]) diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..355c55b --- /dev/null +++ b/package.xml @@ -0,0 +1,18 @@ + + + + my_bot + 0.0.0 + TODO: Package description + MY NAME + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/worlds/empty.world b/worlds/empty.world new file mode 100644 index 0000000..5321672 --- /dev/null +++ b/worlds/empty.world @@ -0,0 +1,13 @@ + + + + + + model://sun + + + + model://ground_plane + + +