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🔀 Release 0.1.0 (#4)
Signed-off-by: Luiz Carlos Cosmi Filho <luizcarloscosmifilho@gmail.com>
2 parents 36aff43 + 9227134 commit cccf031

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‎.gitignore

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*.py[cod]
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*$py.class
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# C extensions
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*.so
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# Distribution / packaging
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.Python
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build/
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*.egg
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MANIFEST
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# PyInstaller
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# Usually these files are written by a python script from a template
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# before PyInstaller builds the exe, so as to inject date/other infos into it.
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*.manifest
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*.spec
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# Installer logs
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pip-log.txt
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pip-delete-this-directory.txt
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# Unit test / coverage reports
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htmlcov/
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.tox/
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.hypothesis/
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.pytest_cache/
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# Translations
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*.mo
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*.pot
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# Django stuff:
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*.log
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local_settings.py
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db.sqlite3
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db.sqlite3-journal
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# Flask stuff:
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instance/
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.webassets-cache
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# Scrapy stuff:
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.scrapy
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# Sphinx documentation
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docs/_build/
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# PyBuilder
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target/
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# Jupyter Notebook
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.ipynb_checkpoints
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# IPython
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profile_default/
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ipython_config.py
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# pyenv
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.python-version
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# pipenv
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# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
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# However, in case of collaboration, if having platform-specific dependencies or dependencies
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# having no cross-platform support, pipenv may install dependencies that don't work, or not
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# install all needed dependencies.
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#Pipfile.lock
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# PEP 582; used by e.g. github.com/David-OConnor/pyflow
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__pypackages__/
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# Celery stuff
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celerybeat-schedule
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celerybeat.pid
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# SageMath parsed files
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*.sage.py
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# Environments
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.env
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.venv
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env.bak/
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venv.bak/
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# Spyder project settings
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.spyderproject
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.spyproject
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# Rope project settings
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.ropeproject
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# mkdocs documentation
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/site
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# mypy
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.mypy_cache/
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.dmypy.json
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dmypy.json
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# Pyre type checker
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.pyre/
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# CMake
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CMakeLists.txt.user
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CMakeCache.txt
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CMakeFiles
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CMakeScripts
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Testing
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Makefile
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cmake_install.cmake
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install_manifest.txt
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compile_commands.json
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CTestTestfile.cmake
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_deps
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# Prerequisites
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*.d
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# Compiled Object files
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*.slo
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*.lo
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*.o
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*.obj
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# Precompiled Headers
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*.gch
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*.pch
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# Compiled Dynamic libraries
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*.so
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*.dylib
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*.dll
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# Fortran module files
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*.mod
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*.smod
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# Compiled Static libraries
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*.lai
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*.la
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*.a
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*.lib
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# Executables
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*.exe
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*.out
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*.app

‎assignment-2/CMakeLists.txt

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cmake_minimum_required(VERSION 3.8)
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project(assignment-2)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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install(DIRECTORY launch
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DESTINATION share/${PROJECT_NAME}/
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)
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ament_package()

‎assignment-2/launch/assignment-2.launch.py

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# Copyright 2023 Luiz Carlos Cosmi Filho and others.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from launch.substitutions import LaunchConfiguration
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from ament_index_python.packages import get_package_share_directory
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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def generate_launch_description():
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launch_file_dir_custom = os.path.join(get_package_share_directory('custom_worlds'), 'launch')
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launch_file_dir_random = os.path.join(get_package_share_directory('turtlebot3_random_bouncer'))
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use_sim_time = LaunchConfiguration('use_sim_time', default='true')
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x_pose = LaunchConfiguration('x_pose', default='0.0')
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y_pose = LaunchConfiguration('y_pose', default='-1.0')
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headless = LaunchConfiguration('headless', default='False')
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custom_worlds_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir_custom, 'custom_worlds.launch.py')
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),
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launch_arguments={
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'x_pose': x_pose,
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'y_pose': y_pose,
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'headless': headless,
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'use_sim_time': use_sim_time,
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}.items()
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)
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random_bouncer_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir_random, 'turtlebot3_random_bouncer.launch.py')
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),
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)
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ld = LaunchDescription()
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ld.add_action(custom_worlds_cmd)
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ld.add_action(random_bouncer_cmd)
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return ld

‎assignment-2/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>assignment-2</name>
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<version>0.1.0</version>
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<description>ROS packages for assignment-2 (metapackage)</description>
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<author email="luizcarloscosmifilho@gmail.com">Luiz Carlos Cosmi Filho</author>
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<maintainer email="luizcarloscosmifilho@gmail.com">Luiz Carlos Cosmi Filho</maintainer>
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<url type="repository">https://github.com/autonomous-robots/assignment-2</url>
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<url type="bugtracker">https://github.com/autonomous-robots/assignment-2/issues</url>
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<license>Apache License 2.0</license>
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<exec_depend>custom_worlds</exec_depend>
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<exec_depend>turtlebot3_random_bouncer</exec_depend>
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<exec_depend>yolov8_ros2</exec_depend>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎custom_worlds/CMakeLists.txt

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cmake_minimum_required(VERSION 3.8)
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project(custom_worlds)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(gazebo_ros_pkgs REQUIRED)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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install(DIRECTORY launch models worlds urdf
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DESTINATION share/${PROJECT_NAME}/
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)
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ament_export_dependencies(gazebo_ros_pkgs)
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ament_package()

‎custom_worlds/launch/custom_worlds.launch.py

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# Copyright 2023 Luiz Carlos Cosmi Filho and others.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from launch import LaunchDescription
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from launch.conditions import IfCondition
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from launch.actions import IncludeLaunchDescription
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from ament_index_python.packages import get_package_share_directory
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from launch.substitutions import LaunchConfiguration, PythonExpression
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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def generate_launch_description():
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launch_file_dir_custom = os.path.join(get_package_share_directory('custom_worlds'), 'launch')
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pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
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pkg_custom_worlds = get_package_share_directory('custom_worlds')
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use_sim_time = LaunchConfiguration('use_sim_time', default='true')
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x_pose = LaunchConfiguration('x_pose', default='0.0')
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y_pose = LaunchConfiguration('y_pose', default='-1.0')
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headless = LaunchConfiguration('headless', default='False')
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world_arg = LaunchConfiguration(
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'world',
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default=os.path.join(
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pkg_custom_worlds,
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"worlds",
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"custom_house2.world",
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),
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)
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gzserver_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
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),
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launch_arguments={'world': world_arg, 'verbose': 'true'}.items()
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)
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gzclient_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
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),
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condition=IfCondition(
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PythonExpression(
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['not ', headless]
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)
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),
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)
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robot_state_publisher_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir_custom, 'robot_state_publisher.launch.py')
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),
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launch_arguments={'use_sim_time': use_sim_time}.items()
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)
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spawn_turtlebot_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir_custom, 'spawn_turtlebot3.launch.py')
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),
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launch_arguments={
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'x_pose': x_pose,
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'y_pose': y_pose
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}.items()
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)
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ld = LaunchDescription()
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# Add the commands to the launch description
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ld.add_action(gzserver_cmd)
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ld.add_action(gzclient_cmd)
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ld.add_action(robot_state_publisher_cmd)
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ld.add_action(spawn_turtlebot_cmd)
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return ld

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