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Migrate: Gazebo Classic -> Harmonic #1

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Migrate: Gazebo Classic -> Harmonic #1

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dbf5622
migrate robot_description generator & world file
bachzz Jun 8, 2025
c3e1ca9
migrate TrossenRoboticsOfficeBuilding world -> fix dart::dynamics::Bo…
bachzz Jun 9, 2025
b517fe7
migrate: add support for sensor plugins in world
bachzz Jun 16, 2025
d67d054
review: minor fix world
bachzz Jun 22, 2025
a6d9352
interbotix_common_sim: remove gazebo_ros dependency
bachzz Dec 2, 2025
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4 changes: 2 additions & 2 deletions ...erbotix_common_sim/models/TrossenRoboticsOfficeBuilding/TrossenRoboticsOfficeBuilding.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -112,7 +112,7 @@
<pose>2.37593 0 0.8 0 -0 0</pose>
<geometry>
<box>
<size>3.523 0.15 0</size>
<size>3.523 0.15 0.1</size>
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@fabid fabid Jun 20, 2025

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is the change required because walls with a depth of 0 are not rendered properly in ignition?

</box>
</geometry>
<material>
Expand All @@ -129,7 +129,7 @@
<collision name='Wall_0_Collision_4'>
<geometry>
<box>
<size>3.523 0.15 0</size>
<size>3.523 0.15 0.1</size>
</box>
</geometry>
<pose>2.37593 0 0.8 0 -0 0</pose>
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6 changes: 3 additions & 3 deletions interbotix_common_toolbox/interbotix_common_sim/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,12 +9,12 @@

<buildtool_depend>ament_cmake</buildtool_depend>

<exec_depend>gazebo_ros</exec_depend>
<!-- <exec_depend>gazebo_ros</exec_depend> -->

<export>
<build_type>ament_cmake</build_type>
<gazebo_ros gazebo_model_path="${prefix}/models"/>
<!-- <gazebo_ros gazebo_model_path="${prefix}/models"/>
<gazebo_ros gazebo_media_path="${prefix}/worlds"/>
<gazebo_ros gazebo_media_path="${prefix}/media"/>
<gazebo_ros gazebo_media_path="${prefix}/media"/> -->
</export>
</package>
34 changes: 31 additions & 3 deletions interbotix_common_toolbox/interbotix_common_sim/worlds/interbotix.world
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Original file line number Diff line number Diff line change
@@ -1,14 +1,42 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">

<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin
filename="gz-sim-imu-system"
name="gz::sim::systems::Imu">
</plugin>

<!-- A global light source -->
<include>
<uri>model://sun</uri>
<uri>
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun
</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<uri>
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane
</uri>
</include>

<!-- Trossen Robotics Offices -->
<include>
<uri>model://TrossenRoboticsOfficeBuilding</uri>
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4 changes: 2 additions & 2 deletions interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_launch/xs_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -463,7 +463,7 @@ def declare_interbotix_xslocobot_robot_description_launch_arguments(
choices=(
'actual',
'fake',
'gz_classic',
'gz_sim',
),
default_value=hardware_type,
description=(
Expand Down Expand Up @@ -556,7 +556,7 @@ def determine_use_sim_time_param(
:param hardware_type: The `hardware_type` LaunchConfiguration
:return: True if hardware is simulated, the `use_sim_time` LaunchConfiguration otherwise
"""
if hardware_type_launch_arg.perform(context) in ('gz_classic'):
if hardware_type_launch_arg.perform(context) in ('gz_sim'):
return TextSubstitution(text='true')
else:
return LaunchConfiguration('use_sim_time')