Skip to content

Commit 64bb3ee

Browse files
bburdabburda
committed
feat(moveit_pick_place): Add factory world
1 parent 8e69322 commit 64bb3ee

File tree

4 files changed

+1136
-2
lines changed

4 files changed

+1136
-2
lines changed

‎demos/moveit_pick_place/CMakeLists.txt‎

Lines changed: 5 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -13,6 +13,11 @@ install(DIRECTORY config/
1313
DESTINATION share/${PROJECT_NAME}/config
1414
)
1515

16+
# Install world files
17+
install(DIRECTORY worlds/
18+
DESTINATION share/${PROJECT_NAME}/worlds
19+
)
20+
1621
# Install scripts
1722
install(PROGRAMS
1823
scripts/manipulation_monitor.py

‎demos/moveit_pick_place/Dockerfile‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -49,6 +49,7 @@ COPY package.xml CMakeLists.txt ${COLCON_WS}/src/moveit_medkit_demo/
4949
COPY config/ ${COLCON_WS}/src/moveit_medkit_demo/config/
5050
COPY launch/ ${COLCON_WS}/src/moveit_medkit_demo/launch/
5151
COPY scripts/ ${COLCON_WS}/src/moveit_medkit_demo/scripts/
52+
COPY worlds/ ${COLCON_WS}/src/moveit_medkit_demo/worlds/
5253

5354
# Build ros2_medkit and demo package
5455
# Note: rosdep install uses || true because ros2_medkit packages are not in

‎demos/moveit_pick_place/launch/demo_gazebo.launch.py‎

Lines changed: 133 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -54,6 +54,11 @@ def generate_launch_description():
5454
demo_pkg_dir, "config", "panda_manifest.yaml"
5555
)
5656

57+
# Factory world file path
58+
factory_world = os.path.join(
59+
demo_pkg_dir, "worlds", "factory.sdf"
60+
)
61+
5762
headless = LaunchConfiguration("headless", default="False")
5863

5964
# ── Robot description (URDF with ros2_control + Gazebo hardware) ─
@@ -99,6 +104,7 @@ def generate_launch_description():
99104
world_joint = (
100105
' <link name="world"/>\n'
101106
' <joint name="world_to_panda" type="fixed">\n'
107+
' <origin xyz="0 0 0.75" rpy="0 0 0"/>\n'
102108
' <parent link="world"/>\n'
103109
' <child link="panda_link0"/>\n'
104110
' </joint>\n'
@@ -107,6 +113,122 @@ def generate_launch_description():
107113
"</robot>", world_joint + "</robot>"
108114
)
109115

116+
# ── Inject Gazebo visual materials for robot links ───────────────
117+
# Gives the Panda arm a realistic industrial appearance in Gazebo
118+
# with white body links, dark joints, and orange accents (Franka
119+
# Emika brand colors).
120+
gazebo_materials = (
121+
# Base and main body links — white with subtle metallic sheen
122+
' <gazebo reference="panda_link0">\n'
123+
" <visual>\n"
124+
" <material>\n"
125+
" <ambient>0.85 0.85 0.85 1</ambient>\n"
126+
" <diffuse>0.92 0.92 0.92 1</diffuse>\n"
127+
" <specular>0.6 0.6 0.6 1</specular>\n"
128+
" </material>\n"
129+
" </visual>\n"
130+
" </gazebo>\n"
131+
' <gazebo reference="panda_link1">\n'
132+
" <visual>\n"
133+
" <material>\n"
134+
" <ambient>0.85 0.85 0.85 1</ambient>\n"
135+
" <diffuse>0.92 0.92 0.92 1</diffuse>\n"
136+
" <specular>0.6 0.6 0.6 1</specular>\n"
137+
" </material>\n"
138+
" </visual>\n"
139+
" </gazebo>\n"
140+
# Joints — dark anthracite grey
141+
' <gazebo reference="panda_link2">\n'
142+
" <visual>\n"
143+
" <material>\n"
144+
" <ambient>0.25 0.25 0.28 1</ambient>\n"
145+
" <diffuse>0.35 0.35 0.38 1</diffuse>\n"
146+
" <specular>0.4 0.4 0.4 1</specular>\n"
147+
" </material>\n"
148+
" </visual>\n"
149+
" </gazebo>\n"
150+
' <gazebo reference="panda_link3">\n'
151+
" <visual>\n"
152+
" <material>\n"
153+
" <ambient>0.85 0.85 0.85 1</ambient>\n"
154+
" <diffuse>0.92 0.92 0.92 1</diffuse>\n"
155+
" <specular>0.6 0.6 0.6 1</specular>\n"
156+
" </material>\n"
157+
" </visual>\n"
158+
" </gazebo>\n"
159+
' <gazebo reference="panda_link4">\n'
160+
" <visual>\n"
161+
" <material>\n"
162+
" <ambient>0.25 0.25 0.28 1</ambient>\n"
163+
" <diffuse>0.35 0.35 0.38 1</diffuse>\n"
164+
" <specular>0.4 0.4 0.4 1</specular>\n"
165+
" </material>\n"
166+
" </visual>\n"
167+
" </gazebo>\n"
168+
# Upper arm — white
169+
' <gazebo reference="panda_link5">\n'
170+
" <visual>\n"
171+
" <material>\n"
172+
" <ambient>0.85 0.85 0.85 1</ambient>\n"
173+
" <diffuse>0.92 0.92 0.92 1</diffuse>\n"
174+
" <specular>0.6 0.6 0.6 1</specular>\n"
175+
" </material>\n"
176+
" </visual>\n"
177+
" </gazebo>\n"
178+
# Wrist joint — dark
179+
' <gazebo reference="panda_link6">\n'
180+
" <visual>\n"
181+
" <material>\n"
182+
" <ambient>0.25 0.25 0.28 1</ambient>\n"
183+
" <diffuse>0.35 0.35 0.38 1</diffuse>\n"
184+
" <specular>0.4 0.4 0.4 1</specular>\n"
185+
" </material>\n"
186+
" </visual>\n"
187+
" </gazebo>\n"
188+
# End-effector flange — white
189+
' <gazebo reference="panda_link7">\n'
190+
" <visual>\n"
191+
" <material>\n"
192+
" <ambient>0.85 0.85 0.85 1</ambient>\n"
193+
" <diffuse>0.92 0.92 0.92 1</diffuse>\n"
194+
" <specular>0.6 0.6 0.6 1</specular>\n"
195+
" </material>\n"
196+
" </visual>\n"
197+
" </gazebo>\n"
198+
# Hand / gripper — dark grey with slight blue tint
199+
' <gazebo reference="panda_hand">\n'
200+
" <visual>\n"
201+
" <material>\n"
202+
" <ambient>0.2 0.22 0.28 1</ambient>\n"
203+
" <diffuse>0.3 0.32 0.38 1</diffuse>\n"
204+
" <specular>0.45 0.45 0.5 1</specular>\n"
205+
" </material>\n"
206+
" </visual>\n"
207+
" </gazebo>\n"
208+
# Finger tips — dark rubber-like
209+
' <gazebo reference="panda_leftfinger">\n'
210+
" <visual>\n"
211+
" <material>\n"
212+
" <ambient>0.15 0.15 0.15 1</ambient>\n"
213+
" <diffuse>0.22 0.22 0.22 1</diffuse>\n"
214+
" <specular>0.1 0.1 0.1 1</specular>\n"
215+
" </material>\n"
216+
" </visual>\n"
217+
" </gazebo>\n"
218+
' <gazebo reference="panda_rightfinger">\n'
219+
" <visual>\n"
220+
" <material>\n"
221+
" <ambient>0.15 0.15 0.15 1</ambient>\n"
222+
" <diffuse>0.22 0.22 0.22 1</diffuse>\n"
223+
" <specular>0.1 0.1 0.1 1</specular>\n"
224+
" </material>\n"
225+
" </visual>\n"
226+
" </gazebo>\n"
227+
)
228+
robot_description_raw = robot_description_raw.replace(
229+
"</robot>", gazebo_materials + "</robot>"
230+
)
231+
110232
robot_description = {"robot_description": robot_description_raw}
111233

112234
# ── SRDF ─────────────────────────────────────────────────────────
@@ -185,6 +307,11 @@ def generate_launch_description():
185307
value="offscreen",
186308
condition=IfCondition(headless),
187309
),
310+
# ── Add world directory to Gazebo resource path ────────
311+
SetEnvironmentVariable(
312+
name="GZ_SIM_RESOURCE_PATH",
313+
value=os.path.join(demo_pkg_dir, "worlds"),
314+
),
188315
# ── Gazebo Harmonic (GUI) ────────────────────────────────
189316
IncludeLaunchDescription(
190317
PythonLaunchDescriptionSource(
@@ -198,7 +325,9 @@ def generate_launch_description():
198325
)
199326
]
200327
),
201-
launch_arguments={"gz_args": "-r empty.sdf"}.items(),
328+
launch_arguments={
329+
"gz_args": f"-r {factory_world}"
330+
}.items(),
202331
condition=UnlessCondition(headless),
203332
),
204333
# ── Gazebo Harmonic (headless — server only) ─────────────
@@ -214,7 +343,9 @@ def generate_launch_description():
214343
)
215344
]
216345
),
217-
launch_arguments={"gz_args": "-r -s empty.sdf"}.items(),
346+
launch_arguments={
347+
"gz_args": f"-r -s {factory_world}"
348+
}.items(),
218349
condition=IfCondition(headless),
219350
),
220351
# ── Clock bridge (Gazebo → ROS 2) ────────────────────────

0 commit comments

Comments
 (0)