Merge pull request #74 from peakyquest/crazyflie_description

adding a urdf of crazyflie

Author: ataffanel

crazyflie_ws/src/crazyflie_description/CMakeLists.txt

@@ -0,0 +1,29 @@
+cmake_minimum_required(VERSION 3.8)
+project(crazyflie_description)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# Install launch files
+install(DIRECTORY
+  launch
+  urdf
+  meshes
+  rviz
+  config
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()

crazyflie_ws/src/crazyflie_description/config/ros_gz_crazyflie_bridge.yaml

@@ -0,0 +1,10 @@
+---
+- ros_topic_name: "/cmd_vel"
+  gz_topic_name: "/crazyflie/gazebo/command/twist"
+  ros_type_name: "geometry_msgs/msg/Twist"
+  gz_type_name: "ignition.msgs.Twist"
+  direction: ROS_TO_GZ
+- ros_topic_name: "/clock"
+  gz_topic_name: "/clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "gz.msgs.Clock"

crazyflie_ws/src/crazyflie_description/launch/spawn_crazyflie_gz.launch.py

@@ -0,0 +1,65 @@
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+from ament_index_python.packages import get_package_share_directory
+import os
+import xacro
+
+
+def generate_launch_description():
+    # Package and xacro path
+    pkg_share = get_package_share_directory("crazyflie_description")
+    xacro_file = os.path.join(pkg_share, "urdf", "crazyflie_body.xacro")
+
+    # Process xacro → urdf
+    robot_description_config = xacro.process_file(xacro_file).toxml()
+
+    # Launch argument for robot name
+    robot_name_arg = DeclareLaunchArgument(
+        "robot_name",
+        default_value="crazyflie",
+        description="Name of the robot"
+    )
+
+    # Start Gazebo Harmonic (empty world)
+    gazebo_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("ros_gz_sim"), "launch", "gz_sim.launch.py"
+            )
+        ),
+        launch_arguments={"gz_args": "-r empty.sdf"}.items(),
+    )
+
+    # Spawn robot in Gazebo
+    spawn_robot = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=[
+            "-name", LaunchConfiguration("robot_name"),
+            "-string", robot_description_config,
+            "-x", "0.0",   # X position
+            "-y", "0.0",   # Y position
+            "-z", "0.5",   # Z position (height)
+        ],
+        output="screen",
+    )
+
+    # ROS-Gazebo bridge
+    bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        parameters=[{
+            "config_file": os.path.join(pkg_share, "config", "ros_gz_crazyflie_bridge.yaml"),
+        }],
+        output="screen",
+    )
+
+    return LaunchDescription([
+        robot_name_arg,
+        gazebo_launch,
+        spawn_robot,
+        bridge,
+    ])

crazyflie_ws/src/crazyflie_description/launch/view_crazyflie_launch.py

@@ -0,0 +1,74 @@
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import Command, PathJoinSubstitution
+from launch.substitutions.launch_configuration import LaunchConfiguration
+
+from launch_ros.actions import Node
+
+
+ARGUMENTS = [
+    DeclareLaunchArgument('use_sim_time', default_value='false',
+                          choices=['true', 'false'],
+                          description='Use simulation (Gazebo) clock if true'),
+    DeclareLaunchArgument('robot_name', default_value='crazyflie',
+                          description='Robot name'),
+    DeclareLaunchArgument('namespace', default_value=LaunchConfiguration('robot_name'),
+                          description='Robot namespace'),
+]
+
+
+def generate_launch_description():
+    pkg_crazyflie_description = get_package_share_directory('crazyflie_description')
+
+    # Paths
+    xacro_file = PathJoinSubstitution([pkg_crazyflie_description, 'urdf', 'crazyflie_body.xacro'])
+    rviz_config_file = PathJoinSubstitution([pkg_crazyflie_description, 'rviz', 'crazyflie_body.rviz'])
+
+    namespace = LaunchConfiguration('namespace')
+
+    # Robot State Publisher
+    robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        parameters=[
+            {'use_sim_time': LaunchConfiguration('use_sim_time')},
+            {'robot_description': Command(['xacro ', xacro_file])},
+        ],
+        remappings=[
+            ('/tf', 'tf'),
+            ('/tf_static', 'tf_static')
+        ]
+    )
+
+    # Joint State Publisher GUI (for revolute joints)
+    joint_state_publisher_gui = Node(
+        package='joint_state_publisher_gui',
+        executable='joint_state_publisher_gui',
+        name='joint_state_publisher_gui',
+        output='screen',
+        parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}],
+        remappings=[
+            ('/tf', 'tf'),
+            ('/tf_static', 'tf_static')
+        ]
+    )
+
+    # RViz2
+    rviz2 = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', rviz_config_file],
+        output='screen'
+    )
+
+    # LaunchDescription
+    ld = LaunchDescription(ARGUMENTS)
+    ld.add_action(robot_state_publisher)
+    ld.add_action(joint_state_publisher_gui)
+    ld.add_action(rviz2)
+    return ld