Cleanup and finishing touches

README.md

@@ -0,0 +1,21 @@
+# Usage
+`ros2 launch ign_world gazebo_controller_launch.py scene:=` and one of the following scene types: `Coex`, `Coop` and `Colab` appended to the beforementioned command.
+
+Depending on your terminal configuration, adding the environment variable `DISPLAY=:0` may be required as a prefix to the command, as not all terminals load the predefined environment.
+
+# Build
+Building a package is handled by using the `build.sh` executable.
+Many IDE's require a `compile_commands.json` file to offer syntax highlighting, which will be output when using the script. This also includes a symlink, in case your IDE does not search for it in the build directory.
+Another addition of the script is the usage of `console_cohesion+` as event handler, which will format output by package, easing debugging in the noisy build output.
+
+# Packages
+package name|description
+-|-
+`btree` | the executable for the behavior trees and the used xml files
+`controller_test` | a debugging tool for sending direct commands to the ros_control controller of the `iisy`
+`gz_ros2_control` | the git version of that package, as the one in the repos was too outdated
+`ign_actor_plugin` | the Gazebo Ignition plugin for controllable Actors
+`ign_world` | the world for the simulation
+`ros_actor_action_server` | second component of actor plugin, has to be started to enable control functionality
+`ros_actor_action_server_msgs` | ros_action messages used by the actor plugin server
+`ros_actor_message_queue_msgs` | internal messages of the actor plugin

src/Groot

@@ -1 +0,0 @@
-Subproject commit 05fe640172e3cd447ab5db31f71355789f6a48b3

src/btree/trees/actorTreeCoex.xml

@@ -3,18 +3,41 @@
     <BehaviorTree ID="actorTree">
         <Control ID="WeightedRandom" weights="95,5">
             <Sequence>
-                <Control ID="WeightedRandom" weights="95,5">
+                <SubTree ID="WorkOnBench"/>
-                    <Action ID="GenerateXYPose" area="{safeArea}" pose="{actorTarget}"/>
+                <SubTree ID="DepositToShelf"/>
-                    <Action ID="GenerateXYPose" area="{warningArea}" pose="{actorTarget}"/>
-                </Control>
-                <Action ID="ActorMovement" animation_name="walk" target="{actorTarget}"/>
-                <Action ID="ActorAnimation" animation_name="standing_extend_arm"/>
-                <Action ID="ActorAnimation" animation_name="standing_retract_arm"/>
             </Sequence>
             <Sequence>
                 <Action ID="GenerateXYPose" area="{unsafeArea}" pose="{actorTarget}"/>
-                <Action ID="ActorMovement" animation_name="walk" target="{actorTarget}"/>
+                <Action ID="ActorMovement" animation_distance="1.5" animation_name="standing_walk" target="{actorTarget}"/>
             </Sequence>
         </Control>
     </BehaviorTree>
+    <BehaviorTree ID="DepositToShelf">
+        <Sequence>
+            <WeightedRandom weights="1,1,1">
+                <Action ID="ActorMovement" animation_distance="1.5" animation_name="standing_walk" target="5.5,0,0,0.707,0,0,-0.707"/>
+                <Action ID="ActorMovement" animation_distance="1.5" animation_name="standing_walk" target="6.5,0,0,0.707,0,0,-0.707"/>
+                <Action ID="ActorMovement" animation_distance="1.5" animation_name="standing_walk" target="7.5,0,0,0.707,0,0,-0.707"/>
+            </WeightedRandom>
+            <WeightedRandom weights="1,1">
+                <Sequence>
+                    <Action ID="ActorAnimation" animation_name="standing_extend_arm"/>
+                    <Action ID="ActorAnimation" animation_name="standing_retract_arm"/>
+                </Sequence>
+                <Sequence>
+                    <Action ID="ActorAnimation" animation_name="standing_to_low"/>
+                    <Action ID="ActorAnimation" animation_name="low_inspect"/>
+                    <Action ID="ActorAnimation" animation_name="low_put_back"/>
+                    <Action ID="ActorAnimation" animation_name="low_to_standing"/>
+                </Sequence>
+            </WeightedRandom>
+        </Sequence>
+    </BehaviorTree>
+    <BehaviorTree ID="WorkOnBench">
+        <Sequence>
+            <Action ID="ActorMovement" animation_distance="1.5" animation_name="standing_walk" target="6.5,6,0,0.707,0,0,0.707"/>
+            <Action ID="ActorAnimation" animation_name="standing_extend_arm"/>
+            <Action ID="ActorAnimation" animation_name="standing_retract_arm"/>
+        </Sequence>
+    </BehaviorTree>
 </root>

src/btree/trees/actorTreeColab.xml

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <root main_tree_to_execute="actorTree">
-    <!-- ////////// -->
     <BehaviorTree ID="actorTree">
         <Fallback>
             <ReactiveSequence>
@@ -14,12 +13,12 @@
                         <Action ID="GenerateXYPose" area="{warningArea}" pose="{actorTarget}"/>
                         <Action ID="GenerateXYPose" area="{unsafeArea}" pose="{actorTarget}"/>
                     </Control>
-                    <Action ID="ActorMovement" animation_name="walk" target="{actorTarget}"/>
+                    <Action ID="ActorMovement" animation_name="standing_walk" target="{actorTarget}"/>
                 </Sequence>
             </ReactiveSequence>
             <Sequence>
                 <Action ID="GenerateXYPose" area="{unsafeArea}" pose="{actorTarget}"/>
-                <Action ID="ActorMovement" animation_name="walk" target="{actorTarget}"/>
+                <Action ID="ActorMovement" animation_name="standing_walk" target="{actorTarget}"/>
                 <Action ID="SetCalledTo" state="false"/>
             </Sequence>
         </Fallback>

src/btree/trees/actorTreeCoop.xml

@@ -1,25 +1,23 @@
 <?xml version="1.0"?>
 <root main_tree_to_execute="actorTree">
-    <!-- ////////// -->
     <BehaviorTree ID="actorTree">
         <Fallback>
             <ReactiveSequence>
                 <Inverter>
                     <Condition ID="IsCalled"/>
                 </Inverter>
-
                 <Sequence>
                     <Control ID="WeightedRandom" weights="100,5,2">
                         <Action ID="GenerateXYPose" area="{safeArea}" pose="{actorTarget}"/>
                         <Action ID="GenerateXYPose" area="{warningArea}" pose="{actorTarget}"/>
                         <Action ID="GenerateXYPose" area="{unsafeArea}" pose="{actorTarget}"/>
                     </Control>
-                    <Action ID="ActorMovement" animation_name="walk" target="{actorTarget}"/>
+                    <Action ID="ActorMovement" animation_name="standing_walk" target="{actorTarget}"/>
                 </Sequence>
             </ReactiveSequence>
             <Sequence>
                 <Action ID="GenerateXYPose" area="{unsafeArea}" pose="{actorTarget}"/>
-                <Action ID="ActorMovement" animation_name="walk" target="{actorTarget}"/>
+                <Action ID="ActorMovement" animation_name="standing_walk" target="{actorTarget}"/>
                 <Action ID="SetCalledTo" state="false"/>
             </Sequence>
         </Fallback>

src/btree/trees/robotTreeColab.xml

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <root main_tree_to_execute="robotTree">
-    <!-- ////////// -->
     <BehaviorTree ID="robotTree">
         <ReactiveSequence>
             <Inverter>

src/btree/trees/robotTreeCoop.xml

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <root main_tree_to_execute="robotTree">
-    <!-- ////////// -->
     <BehaviorTree ID="robotTree">
         <ReactiveSequence>
             <Inverter>

src/ign_actor_plugin/CMakeLists.txt

@@ -33,7 +33,8 @@ target_link_libraries(ign_actor_plugin
 
 install(TARGETS
     ign_actor_plugin
-    DESTINATION lib/${PROJECT_NAME}
+    DESTINATION share/${PROJECT_NAME}
 )
+install(DIRECTORY   animation    DESTINATION   share/${PROJECT_NAME})
 
 ament_package()

src/ign_world/launch/gazebo_controller_launch.py

@@ -1,14 +1,28 @@
 import os
 from ament_index_python import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription, ExecuteProcess, RegisterEventHandler
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess, RegisterEventHandler
 from launch.event_handlers import OnProcessExit
 from launch_ros.actions import Node, SetParameter
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from moveit_configs_utils import MoveItConfigsBuilder
+from launch.substitutions import LaunchConfiguration, TextSubstitution
+from launch.conditions import LaunchConfigurationEquals
 import xacro
 
+
 def generate_launch_description():
+    scene_launch_arg = DeclareLaunchArgument(
+        "scene", default_value=TextSubstitution(text="Coex")
+    )
+
+    worldFile = open('/tmp/gazebo_world.sdf', 'w')
+    worldFile.write(xacro.process(os.path.join(get_package_share_directory('ign_world'), 'world', 'world.sdf')))
+    worldFile.flush()
+    worldFile.close()
+
+    scene = LaunchConfiguration('scene')
+
     moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config").to_moveit_configs()
 
     load_joint_state_broadcaster = ExecuteProcess(
@@ -39,8 +53,8 @@ def generate_launch_description():
         parameters=[
             {
                 "trees": [
-                    get_package_share_directory('btree')+'/trees/actorTreeCoex.xml',
+                    [get_package_share_directory('btree'), '/trees/actorTree', scene, '.xml'],
-                    get_package_share_directory('btree')+'/trees/robotTreeCoex.xml'
+                    [get_package_share_directory('btree'), '/trees/robotTree', scene, '.xml'],
                 ],
                 "areas": [
                     "safeArea",
@@ -79,21 +93,24 @@ def generate_launch_description():
     )
 
     return LaunchDescription([
+        scene_launch_arg,
+
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(os.path.join(get_package_share_directory('ros_gz_sim'), 'launch', 'gz_sim.launch.py')),
-            launch_arguments={'gz_args': '-v 4 -r '+get_package_share_directory('ign_world')+'/world/gaz_new_test.sdf'}.items(),
+            launch_arguments={'gz_args': '-v 4 -r /tmp/gazebo_world.sdf'}.items(),
         ),
 
         Node(
             package='ros_gz_sim',
             executable='create',
             arguments=[
-                '-name', 'office',
+                '-name', 'conveyor',
                 '-allow_renaming', 'true',
                 '-string', xacro.process(os.path.join(get_package_share_directory('ign_world'), 'world', 'conveyor.sdf')),
-                #'-file', 'https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Gazebo',
+                # '-file', 'https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Gazebo',
             ],
-            output='screen'
+            output='screen',
+            condition=LaunchConfigurationEquals('scene', 'Coop')
         ),
 
         Node(

src/ign_world/launch/moveit_launch.py

@@ -1,311 +0,0 @@
-import os
-import subprocess
-import yaml
-
-from launch import LaunchDescription
-from launch_ros.actions import Node, SetParameter
-from launch.actions import IncludeLaunchDescription, RegisterEventHandler, LogInfo, ExecuteProcess, ExecuteLocal, TimerAction
-from launch_ros.substitutions import FindPackageShare
-from launch.substitutions import PathJoinSubstitution
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from ament_index_python.packages import get_package_share_directory
-from launch.event_handlers import OnProcessExit
-from launch.launch_description_entity import LaunchDescriptionEntity
-from pathlib import Path
-
-
-def load_file(package_name, file_path):
-    package_path = get_package_share_directory(package_name)
-    absolute_file_path = os.path.join(package_path, file_path)
-
-    try:
-        with open(absolute_file_path, 'r') as file:
-            print("Opened file")
-            return file.read()
-    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError where available
-        print("ERROR: load_file " + package_name + " | " + file_path + " -> " + absolute_file_path)
-        return None
-
-
-def load_xacro(package_name, file_path):
-    package_path = get_package_share_directory(package_name)
-    absolute_file_path = os.path.join(package_path, file_path)
-
-    process = subprocess.run(["xacro", absolute_file_path], capture_output=True)
-    if process.returncode != 0:
-        print(process.stderr)
-    return process.stdout.decode("UTF-8")
-
-
-def load_yaml(package_name, file_path):
-    package_path = get_package_share_directory(package_name)
-    absolute_file_path = os.path.join(package_path, file_path)
-
-    try:
-        with open(absolute_file_path, 'r') as file:
-            print("Opened file")
-            return yaml.safe_load(file)
-    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError where available
-        print("ERROR: load_yaml " + package_name + " | " + file_path + " -> " + absolute_file_path)
-
-        return None
-
-
-def launch_chain(nodes: list[ExecuteLocal]):
-    generatedNodes: list[LaunchDescriptionEntity] = []
-    for index in range(1, len(nodes)):
-        generatedNodes.append(RegisterEventHandler(
-            OnProcessExit(
-                target_action=nodes[index-1],
-                on_exit=nodes[index]
-            )
-        ))
-    generatedNodes.append(nodes[0])
-    return generatedNodes
-
-
-def generate_launch_description():
-
-    robot_description_config = load_xacro('iisy_config', 'urdf/iisy.urdf')
-    robot_description = {'robot_description': robot_description_config}
-
-    robot_description_semantic_config = load_file('iisy_config', 'srdf/iisy.srdf')
-    robot_description_semantic = {'robot_description_semantic': robot_description_semantic_config}
-
-    kinematics_yaml = load_yaml('iisy_config', 'config/kinematics.yml')
-    robot_description_kinematics = {'robot_description_kinematics': kinematics_yaml}
-
-    controllers = {
-        "moveit_simple_controller_manager": load_yaml("iisy_config", "config/iisy_controllers.yml"),
-        "moveit_controller_manager": "moveit_ros_control_interface/Ros2ControlMultiManager",
-    }
-
-    ompl_planning_pipeline_config = {
-        'move_group': {
-            'planning_plugin': 'ompl_interface/OMPLPlanner',
-            'request_adapters': """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
-            'start_state_max_bounds_error': 0.1
-        }
-    }
-    ompl_planning_yaml = load_yaml('iisy_config', 'config/ompl_planning.yml')
-    ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml)
-
-    robot_description_planning = {
-        "robot_description_planning": PathJoinSubstitution(
-            [
-                FindPackageShare("iisy_config"),
-                "config/joint_limits.yml"
-            ]
-        )
-    }
-
-    trajectory_execution = {
-        'moveit_manage_controllers': False,
-        'trajectory_execution.allowed_execution_duration_scaling': 1.2,
-        'trajectory_execution.allowed_goal_duration_margin': 0.5,
-        'trajectory_execution.allowed_start_tolerance': 0.01
-    }
-
-    planning_scene_monitor_parameters = {
-        "publish_planning_scene": True,
-        "publish_geometry_updates": True,
-        "publish_state_updates": True,
-        "publish_transforms_updates": True
-    }
-
-    planning = {
-        "move_group": {
-            "planning_plugin": "ompl_interface/OMPLPlanner",
-            "request_adapters": "default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints",
-            "start_state_max_bounds_error": 0.1
-        }
-    }
-
-    spawn_robot = Node(
-        package='ros_gz_sim',
-        executable='create',
-        arguments=['-world', 'default', '-string', robot_description_config],
-        output='screen'
-    )
-
-    rviz = Node(
-        package='rviz2',
-        executable='rviz2',
-        arguments=['-d', os.path.join(get_package_share_directory("ign_world"), 'rviz', 'iisy.rviz')],
-        parameters=[
-            robot_description,
-            robot_description_semantic,
-            robot_description_planning,
-            ompl_planning_pipeline_config,
-            robot_description_kinematics,
-            planning,
-            trajectory_execution,
-            controllers,
-            planning_scene_monitor_parameters,
-        ],
-    )
-
-    controller_manager = Node(
-            package="controller_manager",
-            executable="ros2_control_node",
-            parameters=[
-                robot_description,
-                str(Path(get_package_share_directory("iisy_config")+"/config/iisy_controllers.yaml")),
-            ],
-    )
-
-    load_joint_state_broadcaster = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
-             'joint_state_broadcaster'],
-        output='both'
-    )
-
-    load_joint_trajectory_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
-             'joint_trajectory_controller'],
-        output='both'
-    )
-
-    move_group = Node(
-        package='moveit_ros_move_group',
-        executable='move_group',
-        # prefix='xterm -fs 10 -e gdb --ex run --args',
-        output='both',
-        parameters=[
-            robot_description,
-            robot_description_semantic,
-            robot_description_planning,
-            ompl_planning_pipeline_config,
-            robot_description_kinematics,
-            planning,
-            trajectory_execution,
-            controllers,
-            planning_scene_monitor_parameters,
-            # octomap_config,
-            # octomap_updater_config
-        ]
-    )
-
-    test = Node(
-        package='moveit_test',
-        executable='move',
-        output='both',
-        parameters=[
-            robot_description,
-            robot_description_semantic,
-            robot_description_planning,
-            ompl_planning_pipeline_config,
-            robot_description_kinematics,
-            planning,
-            trajectory_execution,
-            controllers,
-            planning_scene_monitor_parameters,
-            # octomap_config,
-            # octomap_updater_config
-        ],
-    )
-
-    # octomap_config = {'octomap_frame': 'camera_rgb_optical_frame',
-    #                  'octomap_resolution': 0.05,
-    #                  'max_range': 5.0}
-
-    # octomap_updater_config = load_yaml('moveit_tutorials', 'config/sensors_3d.yaml')
-
-    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
-
-    return LaunchDescription([
-
-        #IncludeLaunchDescription(
-        #    PythonLaunchDescriptionSource(os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),
-        #    launch_arguments={'gz_args': '-r '+get_package_share_directory('ign_world')+'/world/gaz_new_test.sdf'}.items(),
-        #),
-
-        Node(
-            package='ros_gz_bridge',
-            executable='parameter_bridge',
-            arguments=["/clock[rosgraph_msgs/msg/Clock@ignition.msgs.Clock"],
-            output='both',
-        ),
-
-        SetParameter(name="use_sim_time", value=True),
-
-        move_group,
-
-        #RegisterEventHandler(
-        #    OnProcessExit(
-        #        target_action=spawn_robot,
-        #        on_exit=[load_joint_state_broadcaster]
-        #    )
-        #),
-
-        controller_manager,
-
-        RegisterEventHandler(
-            OnProcessExit(
-                target_action=load_joint_state_broadcaster,
-                on_exit=[load_joint_trajectory_controller]
-            )
-        ),
-        RegisterEventHandler(
-            OnProcessExit(
-                target_action=load_joint_trajectory_controller,
-                on_exit=TimerAction(period=10.0,actions=[test])
-            )
-        ),
-
-        #spawn_robot,
-        load_joint_state_broadcaster,
-        #load_joint_trajectory_controller,
-        rviz,
-
-        Node(
-            package='ros_actor_action_server',
-            executable='ros_actor_action_server'),
-
-        Node(
-            package='tf2_ros',
-            executable='static_transform_publisher',
-            name='lidar_1_broadcaster',
-            arguments=[
-                "--x", "1",
-                "--y", "-1.9",
-                "--z", "1",
-                "--roll", "1.5707963267949",
-                "--pitch", "0",
-                "--yaw", "0",
-                "--frame-id", "world",
-                "--child-frame-id", "lidar_1_link"]
-        ),
-
-        Node(
-            package='tf2_ros',
-            executable='static_transform_publisher',
-            name='lidar_2_broadcaster',
-            arguments=[
-                "--x", "-1.9",
-                "--y", "1",
-                "--z", "1",
-                "--roll", "0",
-                "--pitch", "0",
-                "--yaw", "0",
-                "--frame-id", "world",
-                "--child-frame-id", "lidar_2_link"]
-        ),
-
-        #Node(
-        #    package='ros_gz_bridge',
-        #    executable='parameter_bridge',
-        #    arguments=["/world/default/model/iisy/joint_state[sensor_msgs/msg/JointState@ignition.msgs.Model"],
-        #    output='both',
-        #    remappings=[
-        #        ('/world/default/model/iisy/joint_state', '/joint_states'),
-        #    ]
-        #),
-
-        Node(
-            package='robot_state_publisher',
-            executable='robot_state_publisher',
-            output='both',
-            parameters=[robot_description]
-        ),
-    ])

src/ign_world/launch/new_launch.py

@@ -1,55 +0,0 @@
-import os
-from ament_index_python import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
-from launch_ros.actions import Node, SetParameter
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from moveit_configs_utils import MoveItConfigsBuilder
-from xacro import process as xacro_process
-
-def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config").to_moveit_configs()
-
-    return LaunchDescription([
-        SetParameter(name="use_sim_time", value=True),
-
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(os.path.join(get_package_share_directory('ros_gz_sim'), 'launch', 'gz_sim.launch.py')),
-            launch_arguments={'gz_args': '-v 4 -r '+get_package_share_directory('ign_world')+'/world/gaz_new_test.sdf'}.items(),
-        ),
-
-        Node(
-            package='ros_gz_bridge',
-            executable='parameter_bridge',
-            arguments=["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"],
-            output='both',
-        ),
-
-        #Node(
-        #    package='ros_gz_bridge',
-        #    executable='parameter_bridge',
-        #    arguments=["/world/default/dynamic_pose/info@tf2_msgs/msg/TFMessage]ignition.msgs.Pose_V"],
-        #    output='both',
-        #    remappings=[
-        #        ('/world/default/dynamic_pose/info', '/tf'),
-        #    ]
-        #),
-
-        Node(
-            package='ros_actor_action_server',
-            executable='ros_actor_action_server'
-        ),
-
-        #Node(
-        #    package='ros_gz_sim',
-        #    executable='create',
-        #    arguments=['-world', 'default', '-string', xacro_process(os.path.join(get_package_share_directory('iisy_config'), 'config', 'iisy_xacro.urdf'))],
-        #    output='screen'
-        #),
-
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                str(moveit_config.package_path / "launch/demo.launch.py")
-            ),
-        ),
-    ])

src/ign_world/world/conveyor.sdf

@@ -1,7 +1,7 @@
 <sdf version="1.6">
-    <model name="office">
+    <model name="conveyor">
         <static>true</static>
-        <link name="office">
+        <link name="conveyor">
             <visual name="visual">
                 <geometry>
                     <mesh>

src/ign_world/world/gaz_new_test.sdf

@@ -1,75 +0,0 @@
-<sdf version="1.6">
-  <world name="default">
-    <physics name="1ms" type="ignored">
-      <max_step_size>0.001</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
-    </physics>
-    <plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
-    <plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
-    <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
-    <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
-
-    <light type="directional" name="sun">
-      <cast_shadows>true</cast_shadows>
-      <pose>0 0 10 0 0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.2 0.2 0.2 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.1 -0.9</direction>
-    </light>
-    
-    <actor name="actor_walking">
-      <plugin name="ignition::gazebo::ActorSystem" filename="/home/ros/workspace/install/ign_actor_plugin/lib/ign_actor_plugin/libign_actor_plugin.so">
-        <x>2</x>
-        <y>2</y>
-        <rot>180</rot>
-      </plugin>
-      <skin>
-        <filename>/home/ros/walk.dae</filename>
-        <scale>1.0</scale>
-      </skin>
-      <animation name='walk'>
-        <filename>/home/ros/walk.dae</filename>
-        <interpolate_x>true</interpolate_x>
-      </animation>
-      <animation name='standing_extend_arm'>
-        <filename>/home/ros/standing_extend_arm.dae</filename>
-      </animation>
-      <animation name='standing_retract_arm'>
-        <filename>/home/ros/standing_retract_arm.dae</filename>
-      </animation>
-    </actor>
-    
-    <model name="ground_plane">
-      <static>true</static>
-      <link name="link">
-        <collision name="collision">
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <material>
-            <ambient>0.8 0.8 0.8 1</ambient>
-            <diffuse>0.8 0.8 0.8 1</diffuse>
-            <specular>0.8 0.8 0.8 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-  </world>
-</sdf>

src/ign_world/world/world.sdf

@@ -0,0 +1,109 @@
+<sdf version="1.6">
+    <world name="default">
+        <physics name="1ms" type="ignored">
+            <max_step_size>0.001</max_step_size>
+            <real_time_factor>1.0</real_time_factor>
+        </physics>
+        <plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
+        <plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
+        <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
+        <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
+    
+          <light type="directional" name="sun">
+            <cast_shadows>true</cast_shadows>
+            <pose>0 0 10 0 0 0</pose>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.2 0.2 0.2 1</specular>
+            <attenuation>
+                <range>1000</range>
+                <constant>0.9</constant>
+                <linear>0.01</linear>
+                <quadratic>0.001</quadratic>
+            </attenuation>
+            <direction>-0.5 0.1 -0.9  </direction>
+        </light>
+        
+        <actor name="actor_walking">
+            <plugin name="ignition::gazebo::ActorSystem" filename="$(find ign_actor_plugin)/libign_actor_plugin.so">
+                <x>2</x>
+                <y>2</y>
+                <rot>180</rot>
+            </plugin>
+            <skin>
+                <filename>$(find ign_actor_plugin)/animation/walk.dae</filename>
+                <scale>1.0</scale>
+            </skin>
+            
+            <animation name='standing_walk'>
+                <filename>$(find ign_actor_plugin)/animation/standing_walk.dae</filename>
+            </animation>
+            <animation name='standing_extend_arm'>
+                <filename>$(find ign_actor_plugin)/animation/standing_extend_arm.dae</filename>
+            </animation>
+            <animation name='standing_retract_arm'>
+                  <filename>$(find ign_actor_plugin)/animation/standing_retract_arm.dae</filename>
+            </animation>
+            <animation name='standing_to_low'>
+                <filename>$(find ign_actor_plugin)/animation/standing_to_low.dae</filename>
+            </animation>
+            
+            <animation name='low_to_standing'>
+                <filename>$(find ign_actor_plugin)/animation/low_to_standing.dae</filename>
+            </animation>
+            <animation name='low_grab'>
+                  <filename>$(find ign_actor_plugin)/animation/low_grab.dae</filename>
+            </animation>
+            <animation name='low_inspect'>
+                <filename>$(find ign_actor_plugin)/animation/low_inspect.dae</filename>
+            </animation>
+            <animation name='low_put_back'>
+                  <filename>$(find ign_actor_plugin)/animation/low_put_back.dae</filename>
+            </animation>
+        </actor>
+        
+        <model name="room">
+            <static>true</static> 
+            <link name="room">
+                <visual name="visual">
+                    <geometry>
+                        <mesh>
+                            <uri>file://$(find ign_world)/model/room.stl</uri>
+                        </mesh>
+                    </geometry>
+                    <material>
+                        <ambient>0.8 0.8 0.8 1</ambient>
+                        <diffuse>0.8 0.8 0.8 1</diffuse>
+                        <specular>0.8 0.8 0.8 1</specular>
+                    </material>
+                </visual>
+            </link>
+        </model>
+        
+        <model name="ground_plane">
+            <static>true</static>
+            <link name="link">
+                <collision name="collision">
+                    <geometry>
+                          <plane>
+                              <normal>0 0 1</normal>
+                              <size>100 100</size>
+                          </plane>
+                    </geometry>
+                </collision>
+                <visual name="visual">
+                    <geometry>
+                        <plane>
+                            <normal>0 0 1</normal>
+                            <size>100 100</size>
+                        </plane>
+                    </geometry>
+                    <material>
+                        <ambient>0.8 0.8 0.8 1</ambient>
+                        <diffuse>0.8 0.8 0.8 1</diffuse>
+                        <specular>0.8 0.8 0.8 1</specular>
+                    </material>
+                </visual>
+            </link>
+        </model>
+    </world>
+</sdf>