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Refactor Ignition launch files and spawners to share code #786

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1527a8c
Publish ground truth robot position as dynamic TF.
peci1 Jan 19, 2021
252d6dc
Merge branch 'master' into dynamic_ground_truth_tf
peci1 Feb 8, 2021
ef61729
Fix a few more places with ground truth publishers.
peci1 Feb 9, 2021
e585b56
Initial batch of launch file and spawner refactoring.
peci1 Feb 10, 2021
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24 changes: 22 additions & 2 deletions ign_migration_scripts/launch/preview.ign
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Original file line number Diff line number Diff line change
Expand Up @@ -209,11 +209,21 @@
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<!-- Battery plugin -->
</include>
</sdf>
Expand Down Expand Up @@ -258,11 +268,21 @@
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/#{_name}</robotNamespace>
Expand Down
14 changes: 13 additions & 1 deletion ign_migration_scripts/scripts/spawn_preview_model.py
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Original file line number Diff line number Diff line change
Expand Up @@ -73,11 +73,23 @@ def spawn_preview_model(args):
etree.SubElement(plugin, 'publish_sensor_pose').text = 'true'
etree.SubElement(plugin, 'publish_collision_pose').text = 'false'
etree.SubElement(plugin, 'publish_visual_pose').text = 'false'
etree.SubElement(plugin, 'publish_nested_model_pose').text = 'true'
etree.SubElement(plugin, 'publish_nested_model_pose').text = 'false'
etree.SubElement(plugin, 'use_pose_vector_msg').text = 'true'
etree.SubElement(plugin, 'static_publisher').text = 'true'
etree.SubElement(plugin, 'static_update_frequency').text = '1'

plugin = etree.SubElement(model, 'plugin',
filename='libignition-gazebo-pose-publisher-system.so',
name='ignition::gazebo::systems::PosePublisher')

etree.SubElement(plugin, 'publish_link_pose').text = 'false'
etree.SubElement(plugin, 'publish_sensor_pose').text = 'false'
etree.SubElement(plugin, 'publish_collision_pose').text = 'false'
etree.SubElement(plugin, 'publish_visual_pose').text = 'false'
etree.SubElement(plugin, 'publish_nested_model_pose').text = 'true'
etree.SubElement(plugin, 'use_pose_vector_msg').text = 'true'
etree.SubElement(plugin, 'static_publisher').text = 'false'

sdf_esc = etree.tostring(sdf, encoding="unicode",
with_tail=False).replace('"', r'\"').replace('\n', '')

Expand Down
12 changes: 11 additions & 1 deletion submitted_models/cerberus_anymal_b_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -45,11 +45,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<plugin filename="libignition-gazebo-joint-state-publisher-system.so"
name="ignition::gazebo::systems::JointStatePublisher">
</plugin>
Expand Down
12 changes: 11 additions & 1 deletion submitted_models/cerberus_anymal_b_sensor_config_2/launch/spawner.rb
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -45,11 +45,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<plugin filename="libignition-gazebo-joint-state-publisher-system.so"
name="ignition::gazebo::systems::JointStatePublisher">
</plugin>
Expand Down
12 changes: 11 additions & 1 deletion submitted_models/cerberus_anymal_c_sensor_config_1/launch/spawner.rb
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -45,11 +45,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<plugin filename="libignition-gazebo-joint-state-publisher-system.so"
name="ignition::gazebo::systems::JointStatePublisher">
</plugin>
Expand Down
12 changes: 11 additions & 1 deletion submitted_models/cerberus_anymal_c_sensor_config_2/launch/spawner.rb
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -45,11 +45,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<plugin filename="libignition-gazebo-joint-state-publisher-system.so"
name="ignition::gazebo::systems::JointStatePublisher">
</plugin>
Expand Down
12 changes: 11 additions & 1 deletion submitted_models/cerberus_gagarin_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/#{_name}</robotNamespace>
Expand Down
12 changes: 11 additions & 1 deletion submitted_models/cerberus_m100_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -42,11 +42,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/#{_name}</robotNamespace>
Expand Down
12 changes: 11 additions & 1 deletion submitted_models/cerberus_rmf_sensor_config_1/launch/spawner.rb
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/#{_name}</robotNamespace>
Expand Down
12 changes: 11 additions & 1 deletion submitted_models/costar_husky_sensor_config_1/launch/spawner.rb
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
name="ignition::gazebo::systems::LinearBatteryPlugin">
Expand Down
12 changes: 11 additions & 1 deletion submitted_models/costar_husky_sensor_config_2/launch/spawner.rb
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
name="ignition::gazebo::systems::LinearBatteryPlugin">
Expand Down
12 changes: 11 additions & 1 deletion submitted_models/costar_shafter_sensor_config_1/launch/spawner.rb
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/#{_name}</robotNamespace>
Expand Down
12 changes: 11 additions & 1 deletion submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -64,11 +64,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_pose_publisher>true</static_pose_publisher>
<static_pose_update_frequency>1</static_pose_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>

<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
Expand Down
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