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Never changed ActorPlugin to Action, instead minor renaming and tweaks.

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Updated launch file to support GPU-acceleration of the gazebo client.
Created behavior tree for actor
Updated robot urdf, added better visualization and colliders.
This commit is contained in:
Bastian Hofmann
2022-03-14 21:02:55 +01:00
parent 3f9b39f9d6
commit 80da2d4153
28 changed files with 610 additions and 311 deletions
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14
src/gaz_simulation/launch/test_launch.py
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@@ -14,11 +14,19 @@ def generate_launch_description():
world_path = os.path.join(path, "world/test2.xml")
urdf_path = os.path.join(path, "urdf/iisy.urdf")
return LaunchDescription([
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')),
launch_arguments={'world': world_path}.items()
#IncludeLaunchDescription(
# PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')),
# launch_arguments={'world': world_path}.items()
#),
ExecuteProcess(
cmd=[[
'LIBGL_ALWAYS_SOFTWARE=true ros2 launch gazebo_ros gzserver.launch.py "world:='+world_path+'"'
]],
shell=True
),
# Start Gazebo client
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py'))