Merge pull request #2 from dgarcu/humble

Added support for new world!

config/params.yaml

@@ -37,6 +37,10 @@
 # aws_hospital  - x:  0.0 - y:   1.0  - z: 0.0 - roll: 0.0 - pitch: 0.0 - yaw: 1.58
 # aws_racetrack - x: 2.75 - y: -15.0  - z: 0.2 - roll: 0.0 - pitch: 0.0 - yaw:  0.0
 
+# plasys worlds and recommended positions:
+#
+# plasys_house  - x: -4.5 - y:  -3.5  - z: 0.0 - roll: 0.0 - pitch: 0.0 - yaw: 2.35619
+
 # Options:
 # Tiago arm: no-arm - tiago-arm
 

launch/simulation.launch.py

@@ -136,6 +136,15 @@ def generate_launch_description():
                     'launch'), '/view_bookstore.launch.py']),
             )
 
+    # Specific path for plasys worlds
+    if "plasys" in world_name:
+        # Default: house
+        gazebo = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([os.path.join(
+                get_package_share_directory('plasys_house_world'),
+                'launch'), '/view_house.launch.py']),
+        )
+
     tiago_state_publisher = include_launch_py_description(
         'tiago_description',
         ['launch', 'robot_state_publisher.launch.py'])

maps/plasys_house.yaml

@@ -0,0 +1,7 @@
+image: plasys_house.pgm
+mode: trinary
+resolution: 0.05
+origin: [-4.39, -13.1, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

thirdparty.repos

@@ -18,4 +18,8 @@ repositories:
   ThirdParty/aws-robomaker-small-warehouse-world:
     type: git
     url: https://github.com/aws-robotics/aws-robomaker-small-warehouse-world.git
-    version: ros2
+    version: ros2
+  ThirdParty/plasys_house_world:
+    type: git
+    url: https://github.com/dgarcu/plasys_house_world
+    version: master