Add ur3 arm for Gazebo Harmonic to Industrial repo

CustomRobots/CMakeLists.txt

@@ -168,6 +168,12 @@ install(
 #         ${RI_ROOT_DIR}/Launchers/rescue_people.launch.py
 #   DESTINATION share/${PROJECT_NAME}/launch)
 
+install(
+  PROGRAMS
+    conveyor_belt/spawn_sausage.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
 if(BUILD_TESTING)
   # find_package(ament_lint_auto REQUIRED)
   # ament_lint_auto_find_test_dependencies()

CustomRobots/conveyor_belt/box.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<model>
+  <name>box</name>
+  <version>1.0</version>
+
+  <sdf version="1.9">model.sdf</sdf>
+
+  <author>
+    <name>Jesús Pérez Arjona</name>
+    <email>jesusper2010@gmail.com</email>
+  </author>
+
+  <description>
+    Simple box model for conveyor belt simulation in Gazebo Harmonic.
+  </description>
+</model>

CustomRobots/conveyor_belt/box.sdf

@@ -0,0 +1,64 @@
+<?xml version="1.0" ?>
+<sdf version="1.9">
+
+  <model name="box">
+
+    <link name="link">
+
+      <pose>0 0 0 0 0 0</pose>
+
+      <gravity>true</gravity>
+
+      <inertial>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.0002</ixx>
+          <iyy>0.0002</iyy>
+          <izz>0.0002</izz>
+        </inertia>
+      </inertial>
+
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.05 0.05 0.05</size>
+          </box>
+        </geometry>
+
+        <surface>
+
+          <contact>
+            <ode>
+              <kp>100000</kp>
+              <kd>10</kd>
+            </ode>
+          </contact>
+
+          <friction>
+            <ode>
+              <mu>0.1</mu>
+              <mu2>0.1</mu2>
+            </ode>
+          </friction>
+
+        </surface>
+      </collision>
+
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.05 0.05 0.05</size>
+          </box>
+        </geometry>
+
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>1 0 0 1</diffuse>
+        </material>
+      </visual>
+
+    </link>
+
+  </model>
+
+</sdf>

CustomRobots/conveyor_belt/model.config

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<model>
+
+  <name>Conveyor Belt</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+   <name>Mikel Bueno Viso</name>
+   <email>Mikel.Bueno-Viso@cranfield.ac.uk</email>
+  </author>
+
+  <description>
+    Conveyor Belt for IFRA_ConveyorBelt ROS2-Gazebo Plugin.
+  </description>
+
+</model>

CustomRobots/conveyor_belt/model.sdf

@@ -0,0 +1,66 @@
+<?xml version="1.0" ?>
+<sdf version="1.9">
+
+  <model name="conveyor_belt">
+
+    <static>false</static>
+
+    <link name="link">
+
+      <pose>0 0 0 0 0 0</pose>
+
+      <inertial>
+        <mass>1000.0</mass>
+        <inertia>
+          <ixx>1.0</ixx>
+          <iyy>1.0</iyy>
+          <izz>1.0</izz>
+        </inertia>
+      </inertial>
+
+      <visual name="visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/conveyor_belt.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <collision name="collision">
+        <pose>0 0 0 0 0 0</pose>
+
+        <geometry>
+          <box>
+            <size>0.5 1.2 1.48</size>
+          </box>
+        </geometry>
+
+        <surface>
+          <contact>
+            <ode>
+              <kp>100000</kp>
+              <kd>100</kd>
+              <min_depth>0.01</min_depth>
+              <max_vel>0.1</max_vel>
+            </ode>
+          </contact>
+
+          <friction>
+            <ode>
+              <mu>0.1</mu>
+              <mu2>0.1</mu2>
+            </ode>
+          </friction>
+        </surface>
+
+      </collision>
+
+    </link>
+
+    <plugin filename="libconveyor_plugin.so"
+            name="box_mover::BoxMoverPlugin"/>
+
+  </model>
+
+</sdf>

CustomRobots/conveyor_belt/sausage.sdf

@@ -0,0 +1,64 @@
+<?xml version="1.0" ?>
+<sdf version="1.9">
+
+  <model name="sausage">
+
+    <link name="link">
+
+      <pose>0 0 0 0 0 0</pose>
+
+      <gravity>true</gravity>
+
+      <inertial>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.0002</ixx>
+          <iyy>0.0002</iyy>
+          <izz>0.0002</izz>
+        </inertia>
+      </inertial>
+
+      <collision name="collision">
+
+        <geometry>
+          <box>
+            <size>0.04 0.12 0.04</size>
+          </box>
+        </geometry>
+
+        <surface>
+          <contact>
+            <ode>
+              <kp>100000</kp>
+              <kd>10</kd>
+            </ode>
+          </contact>
+
+          <friction>
+            <ode>
+              <mu>0.1</mu>
+              <mu2>0.1</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+
+      <visual name="visual">
+
+        <pose>0 0 -0.02 1.57 0 0</pose>
+
+        <geometry>
+          <mesh>
+            <uri>meshes/sausage.glb</uri>
+
+            <scale>0.01 0.01 0.01</scale>
+          </mesh>
+        </geometry>
+
+      </visual>
+
+    </link>
+
+  </model>
+
+</sdf>

CustomRobots/conveyor_belt/spawn_sausage.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+import subprocess
+import time
+import random
+import math
+
+class sausageSpawner(Node):
+
+    def __init__(self):
+        super().__init__('sausage_spawner')
+
+        time.sleep(5)
+        self.timer = self.create_timer(7.0, self.spawn_sausage)
+        self.counter = 0
+
+    def spawn_sausage(self):
+
+        name = f"box_{self.counter}"
+
+        x_random = random.uniform(-0.18, 0.18)
+        yaw = random.uniform(-2*math.pi, 2*math.pi)
+
+        cmd = [
+            "ros2", "run", "ros_gz_sim", "create",
+            "-name", name,
+            "-x", str(x_random),
+            "-y", "0.58",
+            "-z", "0.8",
+            "-R", "0", 
+            "-P", "0", 
+            "-Y", str(yaw),
+            "-file", "/home/ws/src/CustomRobots/conveyor_belt/sausage.sdf"
+        ]
+
+        subprocess.run(cmd)
+
+        self.get_logger().info(f"Spawned {name}")
+        self.counter += 1
+
+
+def main():
+    rclpy.init()
+    node = sausageSpawner()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

Industrial/conveyor_belt_plugin/CMakeLists.txt

@@ -0,0 +1,62 @@
+cmake_minimum_required(VERSION 3.8)
+project(conveyor_belt_plugin)
+
+# ============================
+# C++ standard
+# ============================
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# ============================
+# Warnings
+# ============================
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# ============================
+# Dependencies
+# ============================
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+
+find_package(gz-sim8 REQUIRED)
+find_package(gz-plugin2 REQUIRED)
+
+# ============================
+# Plugin
+# ============================
+add_library(conveyor_plugin SHARED
+  src/conveyor_plugin.cpp
+)
+
+target_include_directories(conveyor_plugin PUBLIC include)
+
+target_link_libraries(conveyor_plugin
+  gz-sim8::gz-sim8
+  gz-plugin2::gz-plugin2
+)
+
+ament_target_dependencies(conveyor_plugin
+  rclcpp
+)
+
+# ============================
+# Install
+# ============================
+install(TARGETS conveyor_plugin
+  LIBRARY DESTINATION lib
+)
+
+install(
+  FILES env-hooks/conveyor_belt.dsv
+  DESTINATION share/${PROJECT_NAME}/environment
+)
+
+# ============================
+# Export
+# ============================
+ament_export_libraries(conveyor_plugin)
+ament_export_dependencies(gz-sim8 gz-plugin2 rclcpp)
+
+ament_package()

Industrial/conveyor_belt_plugin/env-hooks/conveyor_belt.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;lib

Industrial/conveyor_belt_plugin/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<package format="3">
+
+  <name>conveyor_belt_plugin</name>
+  <version>0.0.1</version>
+
+  <description>Gazebo Harmonic Conveyor Plugin</description>
+
+  <maintainer email="dev@todo.com">dev</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>gz-sim</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>