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Multibeam Sonar Migration Template #291

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6cd4ec9
clean-up
woensug-choi May 21, 2024
fafe4c2
add ros gazebo installation script
woensug-choi May 30, 2024
7593e59
add ros gazebo installation script
woensug-choi May 30, 2024
adc6f1e
remove ci for now
woensug-choi May 30, 2024
70429e2
change script name
woensug-choi May 30, 2024
ad7aa30
ci set-up
woensug-choi May 31, 2024
9af4f81
ci set-up
woensug-choi May 31, 2024
f6763bc
actions and pre-commits
woensug-choi May 31, 2024
51deda1
add local test script
woensug-choi May 31, 2024
48afa58
fix python version
woensug-choi May 31, 2024
8db8afe
line length
woensug-choi May 31, 2024
c28745c
line length
woensug-choi May 31, 2024
ab20b92
add dockerfile lint
woensug-choi May 31, 2024
034568c
add dockerfile lint
woensug-choi May 31, 2024
a6bd607
add contrib memo
woensug-choi May 31, 2024
6b4c190
lint fix
woensug-choi May 31, 2024
bb3adb8
dockerfile fix
woensug-choi May 31, 2024
f3f8ca1
action fix
woensug-choi May 31, 2024
73c5971
add precommit ci
woensug-choi May 31, 2024
435fb61
add precommit ci with ros2 branch
woensug-choi May 31, 2024
956b866
add precommit ci autoupdate
woensug-choi May 31, 2024
f2d3a24
line width fix
woensug-choi May 31, 2024
16c87d6
pre-commit ci as action
woensug-choi May 31, 2024
5fd3233
remove precommit.ci
woensug-choi May 31, 2024
303ee0f
precommit back to pre
woensug-choi May 31, 2024
43084e9
remove precommit.ci
woensug-choi May 31, 2024
5a7ab44
add osrf key
woensug-choi Jun 3, 2024
f63db13
add some generic packages
woensug-choi Jun 3, 2024
4c4e0f0
modfiy for one-line installation
woensug-choi Jun 5, 2024
d0b4772
modfiy for one-line installation
woensug-choi Jun 5, 2024
8f85656
modfiy for one-line installation
woensug-choi Jun 5, 2024
9b64c85
modfiy for one-line installation
woensug-choi Jun 5, 2024
fc5eb99
modfiy for one-line installation
woensug-choi Jun 5, 2024
c1bce4a
final colorizing
woensug-choi Jun 5, 2024
6f247cc
docker update
woensug-choi Jun 5, 2024
13f54b0
install dave in docker ci image
woensug-choi Jun 5, 2024
3e8c848
support apple silicon
woensug-choi Jun 5, 2024
478ebc5
update
woensug-choi Jun 5, 2024
7131b95
fix docker ci
woensug-choi Jun 5, 2024
a3b21ce
fix docker ci
woensug-choi Jun 5, 2024
c493843
add rdp for apple silicon image
woensug-choi Jun 5, 2024
0eb057e
add rosdep init
woensug-choi Jun 5, 2024
dead9db
set user dave
woensug-choi Jun 5, 2024
57433bf
add dave in repos list
woensug-choi Jun 5, 2024
6436522
docker build error fix attempt
woensug-choi Jun 5, 2024
ed0250c
docker build error fix attempt
woensug-choi Jun 5, 2024
300efb3
docker build error fix attempt
woensug-choi Jun 5, 2024
f42785b
docker build error fix attempt
woensug-choi Jun 5, 2024
dd21d5d
docker build error fix attempt
woensug-choi Jun 5, 2024
d37a686
apple silicon docker tag to be ros2-arm-rdp
woensug-choi Jun 5, 2024
e7d26de
apple silicon docker tag to be ros2-arm-rdp
woensug-choi Jun 5, 2024
f9aafcc
apple silicon docker fix attempt
woensug-choi Jun 5, 2024
8ebae8b
apple silicon docker fix attempt
woensug-choi Jun 5, 2024
2618973
apple silicon docker fix attempt
woensug-choi Jun 5, 2024
5f8e963
shorten compile time and add bashrc
woensug-choi Jun 5, 2024
3d409a2
shorten compile time and add bashrc
woensug-choi Jun 5, 2024
3ade630
faster docker hub image for ci build
woensug-choi Jun 6, 2024
74a353e
faster docker hub image for ci build fix attempt
woensug-choi Jun 6, 2024
3353df3
remove doc for now
woensug-choi Jun 10, 2024
486a61f
changing docker hub repository
woensug-choi Jun 10, 2024
5972ff2
not tagging correctly fix
woensug-choi Jun 11, 2024
e8edbe2
not tagging correctly fix2
woensug-choi Jun 11, 2024
af720f4
not tagging correctly fix3
woensug-choi Jun 11, 2024
757435c
Added examples for launching models from fuel
rakeshv24 Jun 13, 2024
b3fc217
converted yaml to python files and added a hook for setting gazebo va…
rakeshv24 Jun 20, 2024
0bc6b25
universal trial
woensug-choi Jun 20, 2024
ff7746a
nop we need hooks
woensug-choi Jun 20, 2024
1c27b13
typo fix
woensug-choi Jun 20, 2024
8e4df54
updated README and minor code refactoring
rakeshv24 Jun 20, 2024
06b2c3a
Merge pull request #2 from IOES-Lab/fuel-models
rakeshv24 Jun 20, 2024
bfb1138
linting fixes
rakeshv24 Jun 20, 2024
1ee0b98
add special background
woensug-choi Jun 21, 2024
b685391
add background image
woensug-choi Jun 21, 2024
2d66b57
line change fix
woensug-choi Jun 21, 2024
9ce1b99
add env variable and welcome
woensug-choi Jun 21, 2024
1aedcf4
Restructuring of ROS 2 packages to follow the original dave repo
rakeshv24 Jun 24, 2024
13c02f6
package rename
rakeshv24 Jun 24, 2024
50b4752
Merge pull request #3 from IOES-Lab/restructure
rakeshv24 Jun 25, 2024
f4e45d1
add dave worlds and launch files
hmoyen Jun 25, 2024
6b1ac31
remove LICENSE
hmoyen Jun 25, 2024
ca9706b
WIP: added a package for dave_robot_models.
rakeshv24 Jun 25, 2024
7950f6f
add universal launch file and README
hmoyen Jun 26, 2024
42c95bd
rdp opengl error fix
woensug-choi Jun 26, 2024
db639af
move to host directory at start
woensug-choi Jun 26, 2024
d47d52b
clean up and mod
woensug-choi Jun 27, 2024
cb3eebe
added rexrov model with hydrodynamic, buoyancy, and thruster plugins
rakeshv24 Jun 27, 2024
8e96c30
Added Readme and minor fixes
rakeshv24 Jun 27, 2024
585101d
Merge pull request #4 from IOES-Lab/worlds
hmoyen Jun 27, 2024
553a7f0
rdp opengl error fix
woensug-choi Jun 26, 2024
aff413c
move to host directory at start
woensug-choi Jun 26, 2024
de9ac85
add dave worlds and launch files
hmoyen Jun 25, 2024
0bf5e27
remove LICENSE
hmoyen Jun 25, 2024
06f3d88
add universal launch file and README
hmoyen Jun 26, 2024
91d387f
clean up and mod
woensug-choi Jun 27, 2024
77cb4f8
rebased with ros2 branch, removed redudant code, applied pre-commit a…
rakeshv24 Jun 27, 2024
56badf6
Merge branch 'ros2' into robot-models
rakeshv24 Jun 27, 2024
61bf21b
Remove sudo message at beginning
woensug-choi Jun 28, 2024
b265572
pre-commit lint fixes
woensug-choi Jun 28, 2024
2f04a8a
revive pre-commit with fixes
woensug-choi Jun 28, 2024
6aa3b71
xml pre-commit fix
woensug-choi Jun 28, 2024
a65a39c
dockerfile lint remove (temp)
woensug-choi Jun 28, 2024
02817a6
Merge branch 'ros2' into robot-models
rakeshv24 Jun 28, 2024
0ebded4
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Jun 28, 2024
4c583f7
Changed added mass values, moved sensor tag within base_link, suppres…
rakeshv24 Jun 28, 2024
8bbf5b7
workflow lint check fix
woensug-choi Jun 28, 2024
7c8baba
yaml lint fix
woensug-choi Jun 28, 2024
045f11f
Merge branch 'ros2' into robot-models
woensug-choi Jun 28, 2024
a5bf461
Merge pull request #5 from IOES-Lab/robot-models
rakeshv24 Jun 28, 2024
fb82008
Moved dvl sensor to a dave_sensor_model package, added model.config f…
rakeshv24 Jun 28, 2024
2ee418e
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Jun 28, 2024
fb27cf8
WIP: added glider_slocum model; TODO: fix buoyancy, battery plugin, a…
rakeshv24 Jun 28, 2024
a07a1d7
Merge pull request #6 from IOES-Lab/dave-sensor
rakeshv24 Jun 29, 2024
753d7ce
Added buoyancy plugin to the world files
rakeshv24 Jul 1, 2024
8fbe7d8
changes to battery plugin
rakeshv24 Jul 2, 2024
428846f
Updated:
rakeshv24 Jul 3, 2024
174c238
initial position mod
woensug-choi Jul 6, 2024
9c171b0
Merge pull request #7 from IOES-Lab/buoyancy
rakeshv24 Jul 6, 2024
731e3db
Moved dvl sensor to a dave_sensor_model package, added model.config f…
rakeshv24 Jun 28, 2024
cbd21ed
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Jun 28, 2024
011c831
Added buoyancy plugin to the world files
rakeshv24 Jul 1, 2024
9d64ee7
Merge pull request #8 from IOES-Lab/glider-slocum
rakeshv24 Jul 6, 2024
a9f2309
add usbl plugins
hmoyen Jul 8, 2024
3b77631
remove -testing
woensug-choi Jul 8, 2024
199f6e5
add user argument
woensug-choi Jul 8, 2024
910b053
key conflit avoidance
woensug-choi Jul 8, 2024
5b015fd
usbl transponder working
hmoyen Jul 8, 2024
35cacfc
usbl transceiver working
hmoyen Jul 12, 2024
3861066
usbl transceiver working
hmoyen Jul 12, 2024
fc92e36
fix entity bug
hmoyen Jul 12, 2024
a23edad
corrections
hmoyen Jul 12, 2024
04f10ee
change package name
hmoyen Jul 12, 2024
1e14e88
change package name to sensors
hmoyen Jul 12, 2024
99dd3ab
change cmake minimum
hmoyen Jul 12, 2024
9748c5a
add parameters
hmoyen Jul 13, 2024
4242030
delete install in cmake
hmoyen Jul 15, 2024
f4d2a75
testing
woensug-choi Jul 15, 2024
3d9fc58
ament precommit fix attempt
woensug-choi Jul 15, 2024
40b471f
remove test file
woensug-choi Jul 15, 2024
6598717
add custom location message and mode conditions
hmoyen Jul 15, 2024
1743eb5
new sc branch
hmoyen Jul 17, 2024
ddb5f26
add interfaces
hmoyen Jul 19, 2024
954c965
change launch to add verbose
hmoyen Jul 19, 2024
1cd7702
fix set origin sc
hmoyen Jul 19, 2024
950969d
fix transform from sc to local
hmoyen Jul 19, 2024
b0801ba
fix tabs and set default ping to true
hmoyen Jul 19, 2024
0f1378e
Merge pull request #11 from IOES-Lab/usbl-plugins
hmoyen Jul 19, 2024
b01c36f
add usbl plugins
hmoyen Jul 8, 2024
598ce3f
usbl transponder working
hmoyen Jul 8, 2024
22a5258
usbl transceiver working
hmoyen Jul 12, 2024
bd73bfe
usbl transceiver working
hmoyen Jul 12, 2024
4ea1171
fix entity bug
hmoyen Jul 12, 2024
3db68e4
corrections
hmoyen Jul 12, 2024
3a99656
change package name
hmoyen Jul 12, 2024
effd089
change package name to sensors
hmoyen Jul 12, 2024
7882bec
change cmake minimum
hmoyen Jul 12, 2024
18e1f62
add parameters
hmoyen Jul 13, 2024
6c1ec08
testing
woensug-choi Jul 15, 2024
8b446c6
ament precommit fix attempt
woensug-choi Jul 15, 2024
e109afb
remove test file
woensug-choi Jul 15, 2024
227a97b
add custom location message and mode conditions
hmoyen Jul 15, 2024
1560aad
fix tabs and set default ping to true
hmoyen Jul 19, 2024
010a7d2
usbl transponder working
hmoyen Jul 8, 2024
d287b95
fix entity bug
hmoyen Jul 12, 2024
aab676d
delete old package
hmoyen Jul 19, 2024
2195ea9
linting fix and minor change to installation script
rakeshv24 Jul 19, 2024
06bee06
Removed redundant package installation
rakeshv24 Jul 19, 2024
f02e4fa
add cppzmq-dev
hmoyen Jul 19, 2024
8604b2f
desktop -> desktop-full
rakeshv24 Jul 19, 2024
9f1680f
Merge branch 'ros2' into sc-plugin
hmoyen Jul 19, 2024
79749bd
Merge pull request #12 from IOES-Lab/sc-plugin
hmoyen Jul 19, 2024
edfed6b
Update CMakeLists.txt
hmoyen Jul 19, 2024
cc7a1ef
added sub_sea_pressure_sensor_plugin
GauravKumar9920 Jul 24, 2024
0abb291
added support for proto
GauravKumar9920 Jul 24, 2024
ecee25d
updated cmake for review
GauravKumar9920 Jul 25, 2024
cda34c5
fix include issue
hmoyen Jul 25, 2024
6e871ef
removed duplicates
GauravKumar9920 Jul 26, 2024
3cbe0e3
Successfully compiling code
GauravKumar9920 Jul 27, 2024
a5ab8e2
Pre-Final fixes
GauravKumar9920 Aug 4, 2024
4bdc531
fix material issues
hmoyen Jul 25, 2024
f20510b
Final code for Sea_Pressure_sensor_plugin
GauravKumar9920 Aug 6, 2024
36d1898
minor Update
GauravKumar9920 Aug 6, 2024
3179fd4
source install test
woensug-choi Aug 7, 2024
22941bc
amd
woensug-choi Aug 7, 2024
c4a86a5
clean up
woensug-choi Aug 7, 2024
22864c1
add entry and pythonpath
woensug-choi Aug 7, 2024
4be7c2b
gazebo source install script
woensug-choi Aug 7, 2024
b9dd381
minor fix
woensug-choi Aug 7, 2024
f99c972
finalize
woensug-choi Aug 7, 2024
a4627f9
specify gz-physics version
woensug-choi Aug 7, 2024
13b44aa
specify gz-phyics version
woensug-choi Aug 7, 2024
9c61da3
testing self-hosted runner
woensug-choi Aug 7, 2024
d5ae9af
Update README.md
woensug-choi Aug 8, 2024
550f7d9
arm build takes longer than 6 hours
woensug-choi Aug 8, 2024
33435db
updated code with reccomended changes
GauravKumar9920 Aug 8, 2024
d405d4a
Minor changes
GauravKumar9920 Aug 8, 2024
d28a1f6
Removed Proto
GauravKumar9920 Aug 9, 2024
3df20aa
Merge branch 'dockertest' into ros2
woensug-choi Aug 9, 2024
363a7c7
Merge pull request #13 from IOES-Lab/sea_pressure_plugin
GauravKumar9920 Aug 9, 2024
de0ca62
remove empty file
woensug-choi Aug 9, 2024
f22dad4
add lints and build checks for PR too
woensug-choi Aug 9, 2024
0368e21
template save
woensug-choi Aug 15, 2024
912b984
intermediate save
woensug-choi Aug 15, 2024
7264f6b
rendering not working
woensug-choi Aug 16, 2024
06c3a2b
failing
woensug-choi Aug 16, 2024
bf919e2
dvl_template
woensug-choi Aug 16, 2024
4af0cd1
wrap
woensug-choi Aug 16, 2024
8c64ae5
dvl_template_ready
woensug-choi Aug 16, 2024
9538f40
rename the plugin
woensug-choi Aug 17, 2024
1c90b1e
add description
woensug-choi Aug 17, 2024
4527b4b
add to library path too
woensug-choi Aug 18, 2024
de1d329
ogre not found in target_link_libraries fix
woensug-choi Aug 18, 2024
e7a73a7
somewhat compile success
woensug-choi Aug 18, 2024
9717fe4
launch and upload test
woensug-choi Aug 18, 2024
0a561f3
match variable name for launchs
woensug-choi Aug 19, 2024
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Added examples for launching models from fuel
rakeshv24 committed Jun 13, 2024
commit 757435cc6f69f935745a9f176b454abc4fd5cc7c
11 changes: 11 additions & 0 deletions dave_demos/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -0,0 +1,11 @@
cmake_minimum_required(VERSION 3.8)
project(dave_demos)

find_package(ament_cmake REQUIRED)

install(
DIRECTORY launch
DESTINATION share/dave_demos
)

ament_package()
35 changes: 35 additions & 0 deletions dave_demos/README.md
Original file line number Diff line number Diff line change
@@ -0,0 +1,35 @@
## Examples

### 1. Launching a Dave Model using Fuel URI

To launch a Dave model directly from a Fuel URI, follow these steps:

1. Build and source the workspace:
```bash
colcon build && source install/setup.bash
```
2. Launch the model using the specified launch file:
```bash
ros2 launch dave_demos mossy_cinder_block.launch.yaml
```

This method simplifies the process by pulling the model directly from Fuel, ensuring you always have the latest version without needing to manage local files.

### 2. Launching a Dave Model using Downloaded Model Files

If you prefer to use model files downloaded from Fuel, proceed as follows:

1. Set the resource path to your local model files:
```bash
export GZ_SIM_RESOURCE_PATH=<Path-to-dave_ws>/src/dave/dave_model_description
```
2. Build and source the workspace:
```bash
colcon build && source install/setup.bash
```
3. Launch the model using the provided launch file:
```bash
ros2 launch dave_demos nortek_dvl500_300_bare_model.launch.yaml
```

This approach gives you more control over the models you use, allowing for offline use and customization. It's especially useful when working in environments with limited internet connectivity or when specific model versions are required.
26 changes: 26 additions & 0 deletions dave_demos/launch/mossy_cinder_block.launch.yaml
Original file line number Diff line number Diff line change
@@ -0,0 +1,26 @@
launch:
- arg:
name: gazebo_world_file
default: empty.sdf

- arg:
name: use_sim
default: "true"

- arg:
name: model_name
default: mossy_cinder_block

- include:
file: $(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py
arg:
- name: gz_args
value: -v 4 -r $(var gazebo_world_file)

- include:
file: $(find-pkg-share dave_model_description)/launch/$(var model_name)/upload_$(var model_name).launch.yaml
arg:
- name: namespace
value: $(var model_name)
- name: use_sim
value: $(var use_sim)
26 changes: 26 additions & 0 deletions dave_demos/launch/nortek_dvl500_300_bare_model.launch.yaml
Original file line number Diff line number Diff line change
@@ -0,0 +1,26 @@
launch:
- arg:
name: gazebo_world_file
default: empty.sdf

- arg:
name: use_sim
default: "true"

- arg:
name: model_name
default: nortek_dvl500_300_bare_model

- include:
file: $(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py
arg:
- name: gz_args
value: -v 4 -r $(var gazebo_world_file)

- include:
file: $(find-pkg-share dave_model_description)/launch/$(var model_name)/upload_$(var model_name).launch.yaml
arg:
- name: namespace
value: $(var model_name)
- name: use_sim
value: $(var use_sim)
18 changes: 18 additions & 0 deletions dave_demos/package.xml
Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
<?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>dave_demos</name>
<version>0.1.0</version>
<description> A package for demo launch files.</description>

<maintainer email="[email protected]">Rakesh Vivekanandan</maintainer>

<license>MIT</license>

<buildtool_depend>ament_cmake</buildtool_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>
11 changes: 11 additions & 0 deletions dave_model_description/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -0,0 +1,11 @@
cmake_minimum_required(VERSION 3.8)
project(dave_model_description)

find_package(ament_cmake REQUIRED)

install(
DIRECTORY description launch meshes
DESTINATION share/dave_model_description
)

ament_package()
10 changes: 10 additions & 0 deletions dave_model_description/description/mossy_cinder_block/model.sdf
Original file line number Diff line number Diff line change
@@ -0,0 +1,10 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<include>
<name>mossy_cinder_block</name>
<pose>0 0 0 0 0 0</pose>
<uri>
https://fuel.gazebosim.org/1.0/hmoyen/models/mossy_cinder_block
</uri>
</include>
</sdf>
Original file line number Diff line number Diff line change
@@ -0,0 +1,97 @@
<?xml version="1.0"?>
<sdf version="1.6">
<model name="dvl500_300">
<link name="dvl500_base_link">
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>3.5</mass>
<inertia>
<ixx>0.0195872</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0195872</iyy>
<iyz>0</iyz>
<izz>0.0151357</izz>
</inertia>
</inertial>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<!-- Removed sensor -->
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name="dvl500_base_link_visual">
<pose>0 0 0 0 0 3.14159</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<!-- Mesh is actually for a Nortek DVL1000-4000m for now -->
<uri>model://meshes/nortek_dvl500_300_bare_model/DVL500-300m.dae</uri>
</mesh>
</geometry>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name="dvl500_base_link_collision">
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 3.14159 0 0</pose>
<geometry>
<cylinder>
<radius>0.093</radius>
<length>0.203</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
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launch:

- arg:
name: use_sim
default: "true"

- arg:
name: model_name
default: mossy_cinder_block

- let:
name: description_file
value: $(find-pkg-share dave_model_description)/description/$(var model_name)/model.sdf

- node:
pkg: ros_gz_sim
exec: create
args: -name $(var model_name) -file $(var description_file)
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launch:

- arg:
name: use_sim
default: "true"

- arg:
name: model_name
default: nortek_dvl500_300_bare_model

- let:
name: description_file
value: $(find-pkg-share dave_model_description)/description/$(var model_name)/model.sdf

- node:
pkg: ros_gz_sim
exec: create
args: -name $(var model_name) -x 0 -y 0 -z 0 -file $(var description_file)

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18 changes: 18 additions & 0 deletions dave_model_description/package.xml
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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>dave_model_description</name>
<version>0.1.0</version>
<description> Dave model description files are placed here. </description>

<maintainer email="[email protected]">Rakesh Vivekanandan</maintainer>

<license>MIT</license>

<buildtool_depend>ament_cmake</buildtool_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>