Add crazyflie webots packages

webots_ros2_crazyflie/launch/robot_launch.py

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+# -*- coding: utf-8 -*-
+#
+#  ...........       ____  _ __
+#  |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+#  | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+#  | / ,..´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#     +.......   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+
+# MIT License
+
+# Copyright (c) 2023 Bitcraze
+
+
+"""
+file: robot_launch.py
+
+Launch Webots Crazyflie ROS2 driver.
+
+Author:   Kimberly McGuire (Bitcraze AB)
+"""
+
+
+import os
+import launch
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions.path_join_substitution import PathJoinSubstitution
+from launch import LaunchDescription
+from ament_index_python.packages import get_package_share_directory
+from webots_ros2_driver.webots_launcher import WebotsLauncher
+from webots_ros2_driver.webots_controller import WebotsController
+
+
+def generate_launch_description():
+    package_dir = get_package_share_directory('webots_ros2_crazyflie')
+    world = LaunchConfiguration('world')
+
+    webots = WebotsLauncher(
+        world=PathJoinSubstitution([package_dir, 'worlds', world]),
+        ros2_supervisor=True
+    )
+
+    robot_description_path = os.path.join(
+        package_dir, 'resource', 'crazyflie_webots.urdf')
+    crazyflie_driver = WebotsController(
+        robot_name='Crazyflie',
+        parameters=[
+            {'robot_description': robot_description_path},
+        ],
+        respawn=True
+    )
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'world',
+            default_value='crazyflie_apartment.wbt',
+            description='Choose one of the world files from `/webots_ros2_crazyflie/worlds` directory'
+        ),
+        webots,
+        webots._supervisor,
+        crazyflie_driver,
+
+        # This action will kill all nodes once the Webots simulation has exited
+        launch.actions.RegisterEventHandler(
+            event_handler=launch.event_handlers.OnProcessExit(
+                target_action=webots,
+                on_exit=[
+                    launch.actions.EmitEvent(event=launch.events.Shutdown())
+                ],
+            )
+        )
+    ])

webots_ros2_crazyflie/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>webots_ros2_crazyflie</name>
+  <version>2023.1.1</version>
+  <description>ROS2 package for Crazyflie webots simulator</description>
+  <maintainer email="[email protected]">Kimberly McGuire (Bitcraze AB)</maintainer>
+  <license>MIT</license>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>webots_ros2_driver</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

webots_ros2_crazyflie/resource/crazyflie_webots.urdf

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+<?xml version="1.0" ?>
+<robot name="Crazyflie Webots">
+    <webots>
+        <device reference="gps" type="GPS">
+            <ros>
+                <enabled>true</enabled>
+                <alwaysOn>true</alwaysOn>
+            </ros>
+        </device>
+        <device reference="camera" type="Camera">
+            <ros>
+                <topicName>/camera</topicName>
+            </ros>
+        </device>
+        <plugin type="webots_ros2_crazyflie.crazyflie_driver.CrazyflieDriver" />
+    </webots>
+</robot>

webots_ros2_crazyflie/setup.cfg

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+[develop]
+script_dir=$base/lib/webots_ros2_crazyflie
+[install]
+install_scripts=$base/lib/webots_ros2_crazyflie

webots_ros2_crazyflie/setup.py

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+from setuptools import find_packages, setup
+
+package_name = 'webots_ros2_crazyflie'
+data_files = []
+data_files.append(('share/ament_index/resource_index/packages', ['resource/' + package_name]))
+data_files.append(('share/' + package_name + '/launch', ['launch/robot_launch.py']))
+data_files.append(('share/' + package_name + '/worlds', [
+    'worlds/crazyflie_apartment.wbt', 'worlds/.crazyflie_apartment.wbproj',
+]))
+data_files.append(('share/' + package_name + '/resource', [
+    'resource/crazyflie_webots.urdf'
+]))
+data_files.append(('share/' + package_name, ['package.xml']))
+
+setup(
+    name=package_name,
+    version='2023.1.1',
+    packages=find_packages(exclude=['test']),
+    data_files=data_files,
+    install_requires=['setuptools', 'launch'],
+    zip_safe=True,
+    maintainer='Kimberly McGuire (Bitcraze AB)',
+    maintainer_email='[email protected]',
+    description='ROS2 package for Crazyflie webots simulator',
+    license='MIT',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'crazyflie_driver = webots_ros2_crazyflie.crazyflie_driver:main',
+        ],
+    },
+)