Package rename

panther/panther_simulation.repos

@@ -1,5 +1,5 @@
 repositories:
-  husarion_office_gz:
+  husarion_gz_worlds:
     type: git
-    url: https://github.com/husarion/husarion_office_gz.git
+    url: https://github.com/husarion/husarion_gz_worlds.git
     version: main

panther_description/urdf/gazebo.urdf.xacro

@@ -28,7 +28,7 @@
         <enable_recharge>true</enable_recharge>
         <charging_time>${battery_config['charging_time']}</charging_time>
         <soc_threshold>2.0</soc_threshold>
-        <!-- TODO: Because of https://github.com/gazebosim/gz-sim/issues/225 division by 100-->
+        <!-- TODO Because of https://github.com/gazebosim/gz-sim/issues/225 division by 100 -->
         <power_load>${battery_config['power_load']/100.0}</power_load>
         <start_draining>${battery_config['simulate_discharging']}</start_draining>
         <ros>

panther_gazebo/README.md

@@ -11,14 +11,16 @@ The recommended method for launching the simulation is by utilizing the [simulat
 - `battery_config_path` [*string*, default: **panther_gazebo/config/battery_plugin_config.yaml**]: Path to the Ignition `LinearBatteryPlugin` configuration file. This configuration is intended for use in simulations only. For more information on how to configure this plugin, please refer to the [Linear Battery Plugin](#linear-battery-plugin) section.
 - `controller_config_path` [*string*, default: **panther_controller/config/<wheel_type arg>_controller.yaml**]: Path to the controller configuration file. If you want to use a custom configuration, you can specify the path to your custom controller configuration file here.
 - `gz_bridge_config_path` [*string*, default: **panther_gazebo/config/gz_bridge.yaml**]: Path to the `parameter_bridge` configuration file. For detailed information on configuring the `parameter_bridge`, please refer to this [example](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_bridge#example-5-configuring-the-bridge-via-yaml).
+- `gz_log_level` [*[0-4]*, default: **1**]: Adjust the level of console output.
+- `headless_mode` [*bool*, default: **False**]: Run the simulation in headless mode. Useful when a GUI is not needed or to reduce the amount of calculations.
 - `pos_x` [*float*, default: **5.0**]: spawn position **[m]** of the robot in the world in **X** direction.
 - `pos_y` [*float*, default: **-5.0**]: spawn position **[m]** of the robot in the world in **Y** direction.
 - `pos_z` [*float*, default: **0.2**]: spawn position **[m]** of the robot in the world in **Z** direction.
 - `rot_yaw` [*float*, default: **0.0**]: spawn yaw angle **[rad]** of the robot in the world.
 - `publish_robot_state` [*bool*, default: **true**]: Whether to launch the robot_state_publisher node. When set to `false`, users should publish their own robot description.
 - `wheel_config_path` [*string*, default: **panther_description/config/<wheel_type arg>.yaml**]: Path to the wheel configuration file. If you want to use a custom configuration, you can specify the path to your custom wheel configuration file here. Please refer to the `wheel_type` parameter description for more information.
 - `wheel_type` [*string*, default: **WH01**]: Specify the type of wheel. If you select a value from the provided options (`WH01`, `WH02`, `WH04`), you can disregard the `wheel_config_path` and `controller_config_path` parameters. If you have custom wheels, set this parameter to `CUSTOM` and provide the necessary configurations.
-- `world` [*string*, default: **-r <husarion_office_gz share directory>/worlds/husarion_world.sdf**]: path to Gazebo world file used for simulation.
+- `world` [*string*, default: **-r <husarion_gz_worlds share directory>/worlds/husarion_world.sdf**]: path to Gazebo world file used for simulation.
 
 ### Changing Wheel Type
 

panther_gazebo/launch/simulation.launch.py

@@ -104,22 +104,6 @@ def generate_launch_description():
         description="Path to the parameter_bridge configuration file",
     )
 
-    world_cfg = LaunchConfiguration("world")
-    declare_world_arg = DeclareLaunchArgument(
-        "world",
-        default_value=[
-            "-r ",
-            PathJoinSubstitution(
-                [
-                    FindPackageShare("husarion_office_gz"),
-                    "worlds",
-                    "husarion_world.sdf",
-                ],
-            ),
-        ],
-        description="SDF world file",
-    )
-
     pose_x = LaunchConfiguration("pose_x")
     declare_pose_x_arg = DeclareLaunchArgument(
         "pose_x",
@@ -167,13 +151,12 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
                 [
-                    FindPackageShare("ros_gz_sim"),
+                    FindPackageShare("husarion_gz_worlds"),
                     "launch",
                     "gz_sim.launch.py",
                 ]
             )
         ),
-        launch_arguments={"gz_args": world_cfg}.items(),
     )
 
     gz_spawn_entity = Node(
@@ -232,7 +215,6 @@ def generate_launch_description():
 
     return LaunchDescription(
         [
-            declare_world_arg,
             declare_pose_x_arg,
             declare_pose_y_arg,
             declare_pose_z_arg,

panther_gazebo/package.xml

@@ -17,7 +17,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">controller_manager</exec_depend>
-  <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">husarion_office_gz</exec_depend>
+  <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">husarion_gz_worlds</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">ign_ros2_control</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">launch</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">launch_ros</exec_depend>