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CMakeLists.txt Normal file
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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(<dependency> 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()

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LICENSE.md Normal file
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README.md Normal file
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## 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).

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# This is an empty file, so that git commits the folder correctly

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="robot">
<!-- Example link -->
<link name="base_link"></link>
</robot>

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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
])

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>my_bot</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="my_email@email.com">MY NAME</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
</world>
</sdf>