more worlds in gazebo #595
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""" WalkthroughThe updates include a new section in the README explaining how to select simulation worlds, an updated commit hash for the Changes
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husarion_ugv_gazebo/launch/simulation.launch.py (1)
51-55: Clarify the missingycoordinate for the outdoor scene.The
outdoorscene configuration doesn't specify aycoordinate, while other scenes with custom positions include all three coordinates. This inconsistency might lead to confusion.If the intention is to use the default
yvalue (likely 0), consider explicitly setting it for clarity:"outdoor": { "gz_world": '"https://fuel.gazebosim.org/1.0/Cole/worlds/Rubicon World"', "x": "3", + "y": "0", "z": "2", },husarion_ugv_gazebo/README.md (1)
12-25: Minor documentation improvements.The documentation is clear and helpful. Consider these small refinements:
### Worlds -In order to run the simulation with a different world, use: +To run the simulation with a different world, use: -``` +```bash ros2 launch husarion_ugv_gazebo simulation.launch.py scene:=outdoor</blockquote></details> </blockquote></details> <details> <summary>📜 Review details</summary> **Configuration used: .coderabbit.yaml** **Review profile: CHILL** **Plan: Pro** <details> <summary>📥 Commits</summary> Reviewing files that changed from the base of the PR and between 702a1bd20f6c13ecff038e9df55e92a0c13b45f9 and 4b0d4891ce6d6a38caed7fa2636033794c918a0f. </details> <details> <summary>📒 Files selected for processing (2)</summary> * `husarion_ugv_gazebo/README.md` (1 hunks) * `husarion_ugv_gazebo/launch/simulation.launch.py` (5 hunks) </details> <details> <summary>🧰 Additional context used</summary> <details> <summary>🪛 LanguageTool</summary> <details> <summary>husarion_ugv_gazebo/README.md</summary> [style] ~13-~13: Consider a more concise word here. Context: ... with the given arguments. ### Worlds In order to run the simulation with a different wor... (IN_ORDER_TO_PREMIUM) </details> </details> <details> <summary>🪛 markdownlint-cli2 (0.17.2)</summary> <details> <summary>husarion_ugv_gazebo/README.md</summary> 16-16: Fenced code blocks should have a language specified (MD040, fenced-code-language) </details> </details> </details> <details> <summary>⏰ Context from checks skipped due to timeout of 90000ms. You can increase the timeout in your CodeRabbit configuration to a maximum of 15 minutes (900000ms). (2)</summary> * GitHub Check: Run unit tests hardware build type * GitHub Check: Run unit tests simulation build type </details> <details> <summary>🔇 Additional comments (1)</summary><blockquote> <details> <summary>husarion_ugv_gazebo/launch/simulation.launch.py (1)</summary> `65-91`: **Well-structured implementation of scene configuration.** The dynamic parameter passing using dictionary unpacking is clean and maintainable. The approach allows easy extension with new scenes in the future. </details> </blockquote></details> </details> <!-- This is an auto-generated comment by CodeRabbit for review status -->
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Sorry, I forget about this review (ping me in the future ;) ).
Looking on this PR IMO, we duplicate the logic of gz_world arg. What about adding additional world like this: https://github.com/husarion/husarion_gz_worlds/blob/main/worlds/sonoma_raceway.sdf
where we can specify x, y, z offset.
At best, could we simplify the execution of this argument so that we don't have to enter the entire path, but instead have aliases to the ones we already have?
So both
gz_world:=/path/to/racaway.sdf
and
gz_world:=raceway
could work.
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Hi @rafal-gorecki, The reason why it is a new argument in I attempted moving the entire world in reverse by creating a new SDF in the So that leads me to a conclusion that we shouldn't be trying to modify the worlds themselves, but only move the robot within them. If we really do not wish to add new arguments, I could modify |
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Okay, I have refactored everything, implementing new worlds as .sdf files in Most changes were introduced in Test each new world using: ros2 launch husarion_ugv_gazebo simulation.launch.py gz_world:=rubiconWorlds to test:
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Description
I have added a new
scenelaunch argument inhusarion_ugv_gazebo, insimulation.launch.py, which can be set to predefined strings likeoutdoor,ioffice, etc. This allows to easily switch between worlds.Specifying the argument effectively updates the launch arguments passed to descendant launch files,
husarion_gz_worlds/gz_sim.launch.py, andhusarion_ugv_gazebo/simulate_robot.launch.py. This is done in order to load a different world and to set a more suitable initial position of the robot.Try it out like this:
Scenes to review:
husarion_gz_worldsoffice- Husarion office fromhusarion_gz_worldsraceway- modified Sonoma Raceway fromhusarion_gz_worldsoutdoor- Rubicon World from Gazebo Fuel @ Colecave- Cave World from Gazebo Fuel @ OpenRoboticsRequirements
Tests 🧪
Summary by CodeRabbit
Documentation
Chores
Refactor