NASA Challenge_[@azmyin12]_[Space ROS meets Open 3D Engine: A Case Study On Setup Complexity, Features, and Challenges in Mobile Robot Simulation](closes #63)

mars_rover/CMakeLists.txt

@@ -44,7 +44,8 @@ install(PROGRAMS
   nodes/move_arm
   nodes/move_mast
   nodes/move_wheel
-  nodes/run_demo
+  nodes/run_demo  # To run the Gazebo rover demo
+  nodes/teleop_rover  # To run O3DE rover demo
   nodes/odom_tf_publisher
   DESTINATION lib/${PROJECT_NAME}
 )

mars_rover/README.md

@@ -0,0 +1,14 @@
+# Curiosity Mars Rover ROS2 package
+
+This packge launches the curiositry mars rover simulation in Gazebo ignition. It is part of the Space ROS demonstration examples.
+
+**TODO**
+
+    * [ ] Description of fixing the .dae file for the ```chassis```
+    * [ ] How I configured it to work with the O3DE project.
+    * [ ] How to instructions
+
+**Changelogs**
+
+    * Changed RunDemo class name to TeleOpRover as this class's primary function is to publish Twist message based on user/teleop input.
+    * odom_tf_broadcaster may need to be turned off???

mars_rover/launch/mars_rover.launch.py

@@ -1,85 +1,87 @@
-from http.server import executable
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, ExecuteProcess, RegisterEventHandler, IncludeLaunchDescription
-from launch.substitutions import TextSubstitution, PathJoinSubstitution, LaunchConfiguration, Command
-from launch_ros.actions import Node, SetParameter
-from launch_ros.substitutions import FindPackageShare
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.event_handlers import OnProcessExit, OnExecutionComplete
-import os
-from os import environ
+"""
+Bring up nodes, hardware interfaces and spaw curiosity rover in a Gazebo world.
 
-from ament_index_python.packages import get_package_share_directory
+Author:
+Space ROS
 
-import xacro
+Date: TODO
+Version: N/A
 
+A.I Tool: ChatGPT 4.o
 
+"""
 
-# . ../spaceros_ws/install/setup.bash && . ../depends_ws/install/setup.bash
-# rm -rf build install log && colcon build && . install/setup.bash
+# Imports
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess, RegisterEventHandler
+from launch_ros.actions import Node, SetParameter
+from launch.event_handlers import OnProcessExit
+import os
+from os import environ
+import xacro
 
 def generate_launch_description():
-
+    """Generate launch description to bringup curiosity rover simulation."""
+    # Define paths to mars_rover and simulation packages
     mars_rover_demos_path = get_package_share_directory('mars_rover')
     mars_rover_models_path = get_package_share_directory('simulation')
-
+    # Define 
     env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH':
            ':'.join([environ.get('IGN_GAZEBO_SYSTEM_PLUGIN_PATH', default=''),
                      environ.get('LD_LIBRARY_PATH', default='')]),
            'IGN_GAZEBO_RESOURCE_PATH':
            ':'.join([environ.get('IGN_GAZEBO_RESOURCE_PATH', default=''), mars_rover_demos_path])}
-
     urdf_model_path = os.path.join(mars_rover_models_path, 'models', 'curiosity_path',
         'urdf', 'curiosity_mars_rover.xacro')
     mars_world_model = os.path.join(mars_rover_demos_path, 'worlds', 'mars_curiosity.world')
-
     doc = xacro.process_file(urdf_model_path)
     robot_description = {'robot_description': doc.toxml()}
-
+    # Arm
     arm_node = Node(
         package="mars_rover",
         executable="move_arm",
         output='screen'
     )
-
+    # Sensor mast
     mast_node = Node(
         package="mars_rover",
         executable="move_mast",
         output='screen'
     )
-
+    # Wheel groups
     wheel_node = Node(
         package="mars_rover",
         executable="move_wheel",
         output='screen'
     )
-
+    # Start demo
     run_node = Node(
         package="mars_rover",
         executable="run_demo",
         output='screen'
     )
-
+    # Publish odometry
     odom_node = Node(
         package="mars_rover",
         executable="odom_tf_publisher",
         output='screen'
     )
-
+    # Fire up Gazebo ignition model
     start_world = ExecuteProcess(
         cmd=['ign gazebo', mars_world_model, '-r'],
         output='screen',
         additional_env=env,
         shell=True
     )
-
+    # Publish various joint positions and link orientation
     robot_state_publisher = Node(
             package='robot_state_publisher',
             executable='robot_state_publisher',
             name='robot_state_publisher',
             output='screen',
             parameters=[robot_description])
-
+    # Bridge communication between ROS 2 and the Ignition Gazebo simulation
     ros_gz_bridge = Node(
             package='ros_gz_bridge',
             executable='parameter_bridge',
@@ -89,13 +91,13 @@ def generate_launch_description():
                 '/scan@sensor_msgs/msg/[email protected]',
             ],
             output='screen')
-            
+    # Connect image messages from Gazebo to ROS2
     image_bridge = Node(
             package='ros_gz_image',
             executable='image_bridge',
             arguments=['/image_raw', '/image_raw'],
             output='screen')
-
+    # Spawn curiosity rover into the world.
     spawn = Node(
         package='ros_ign_gazebo', executable='create',
         arguments=[
@@ -104,52 +106,49 @@ def generate_launch_description():
             '-z', '-7.5'
         ],
         output='screen'
-
     )
 
-
-    ## Control Components
-
+    # Control Components
     component_state_msg = '{name: "IgnitionSystem", target_state: {id: 3, label: ""}}'
-
-    ## a hack to resolve current bug
+    # TODO what bug was resolved with this hack?
+    # Set hardware_interface state to active
     set_hardware_interface_active = ExecuteProcess(
         cmd=['ros2', 'service', 'call', 
             'controller_manager/set_hardware_component_state',
             'controller_manager_msgs/srv/SetHardwareComponentState',
             component_state_msg]
     )
-
+    # Controller to broadcast all joint states
     load_joint_state_broadcaster = ExecuteProcess(
         cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_state_broadcaster'],
         output='screen'
     )
-
+    # Controller for arm
     load_arm_joint_traj_controller = ExecuteProcess(
         cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'arm_joint_trajectory_controller'],
         output='screen'
     )
-
+    # Controller for sensor mast
     load_mast_joint_traj_controller = ExecuteProcess(
         cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'mast_joint_trajectory_controller'],
         output='screen'
     )
-
+    # Controller for wheel
     load_wheel_joint_traj_controller = ExecuteProcess(
         cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'wheel_velocity_controller'],
         output='screen'
     )
-
+    # Controller for steering
     load_steer_joint_traj_controller = ExecuteProcess(
         cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'steer_position_controller'],
         output='screen'
     )
-
+    # Controller for suspension joints
     load_suspension_joint_traj_controller = ExecuteProcess(
         cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'wheel_tree_position_controller'],
@@ -175,12 +174,16 @@ def generate_launch_description():
                 on_exit=[set_hardware_interface_active],
             )
         ),
+        # After the hardware interface is activated, 
+        # the joint state broadcaster is loaded.
         RegisterEventHandler(
             OnProcessExit(
                 target_action=set_hardware_interface_active,
                 on_exit=[load_joint_state_broadcaster],
             )
         ),
+        # After the joint state broadcaster is loaded, 
+        # all trajectory controllers (arm, mast, wheel, steer, suspension) are loaded and activated.
         RegisterEventHandler(
             OnProcessExit(
                 target_action=load_joint_state_broadcaster,