ROS_Robot/turtlebot3_simulations
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Merge pull request #119 from ms-iot/windows/foxy-devel

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More Windows related fixes
This commit is contained in:
Will Son 2020-09-11 14:59:05 +09:00 committed by GitHub
commit 5a2f3264aa
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GPG Key ID: 4AEE18F83AFDEB23
10 changed files with 109 additions and 25 deletions
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4
turtlebot3_gazebo/CMakeLists.txt
View File

@ -12,6 +12,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
if(MSVC)
add_compile_definitions(_USE_MATH_DEFINES)
endif()
################################################################################
# Find ament packages and libraries for ament and system dependencies
################################################################################

16
turtlebot3_gazebo/launch/empty_world.launch.py
View File

@ -34,11 +34,21 @@ def generate_launch_description():
world_file_name = 'empty_worlds/' + TURTLEBOT3_MODEL + '.model'
world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'worlds', world_file_name)
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
return LaunchDescription([
ExecuteProcess(
cmd=['gazebo', '--verbose', world, '-s', 'libgazebo_ros_init.so'],
output='screen'),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
),
launch_arguments={'world': world}.items(),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
),
),
ExecuteProcess(
cmd=['ros2', 'param', 'set', '/gazebo', 'use_sim_time', use_sim_time],

16
turtlebot3_gazebo/launch/turtlebot3_autorace.launch.py
View File

@ -34,11 +34,21 @@ def generate_launch_description():
world_file_name = 'turtlebot3_autoraces/' + TURTLEBOT3_MODEL + '.model'
world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'worlds', world_file_name)
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
return LaunchDescription([
ExecuteProcess(
cmd=['gazebo', '--verbose', world, '-s', 'libgazebo_ros_init.so'],
output='screen'),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
),
launch_arguments={'world': world}.items(),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']),

16
turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py
View File

@ -34,11 +34,21 @@ def generate_launch_description():
world_file_name = 'turtlebot3_dqn_stage1/' + TURTLEBOT3_MODEL + '.model'
world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'worlds', world_file_name)
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
return LaunchDescription([
ExecuteProcess(
cmd=['gazebo', '--verbose', world, '-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so'],
output='screen'),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
),
launch_arguments={'world': world}.items(),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']),

16
turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py
View File

@ -34,11 +34,21 @@ def generate_launch_description():
world_file_name = 'turtlebot3_dqn_stage2/' + TURTLEBOT3_MODEL + '.model'
world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'worlds', world_file_name)
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
return LaunchDescription([
ExecuteProcess(
cmd=['gazebo', '--verbose', world, '-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so'],
output='screen'),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
),
launch_arguments={'world': world}.items(),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']),

16
turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py
View File

@ -34,11 +34,21 @@ def generate_launch_description():
world_file_name = 'turtlebot3_dqn_stage3/' + TURTLEBOT3_MODEL + '.model'
world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'worlds', world_file_name)
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
return LaunchDescription([
ExecuteProcess(
cmd=['gazebo', '--verbose', world, '-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so'],
output='screen'),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
),
launch_arguments={'world': world}.items(),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']),

16
turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py
View File

@ -34,11 +34,21 @@ def generate_launch_description():
world_file_name = 'turtlebot3_dqn_stage4/' + TURTLEBOT3_MODEL + '.model'
world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'worlds', world_file_name)
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
return LaunchDescription([
ExecuteProcess(
cmd=['gazebo', '--verbose', world, '-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so'],
output='screen'),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
),
launch_arguments={'world': world}.items(),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']),

16
turtlebot3_gazebo/launch/turtlebot3_house.launch.py
View File

@ -34,11 +34,21 @@ def generate_launch_description():
world_file_name = 'turtlebot3_houses/' + TURTLEBOT3_MODEL + '.model'
world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'worlds', world_file_name)
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
return LaunchDescription([
ExecuteProcess(
cmd=['gazebo', '--verbose', world, '-s', 'libgazebo_ros_init.so'],
output='screen'),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
),
launch_arguments={'world': world}.items(),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']),

16
turtlebot3_gazebo/launch/turtlebot3_world.launch.py
View File

@ -34,11 +34,21 @@ def generate_launch_description():
world_file_name = 'turtlebot3_worlds/' + TURTLEBOT3_MODEL + '.model'
world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'worlds', world_file_name)
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
return LaunchDescription([
ExecuteProcess(
cmd=['gazebo', '--verbose', world, '-s', 'libgazebo_ros_init.so'],
output='screen'),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
),
launch_arguments={'world': world}.items(),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']),

2
turtlebot3_gazebo/models/turtlebot3_house/model.sdf
View File

@ -5395,7 +5395,7 @@
<collision name='collision'>
<geometry>
<mesh>
<uri>model:///table_marble/meshes/table_lightmap.dae</uri>
<uri>model://table_marble/meshes/table_lightmap.dae</uri>
<scale>0.25 0.25 0.25</scale>
</mesh>
</geometry>