Migration to gz harmonic

CustomRobots/CMakeLists.txt

@@ -131,6 +131,8 @@ install(DIRECTORY
 
   # DRONE_ASSETS
   drone_assets/models
+  drone_assets/worlds
+  drone_assets/bridges
 
   # GLOBAL_NAVIGATION
   taxi_navigator/models

CustomRobots/drone_assets/bridges/rescue_people.yaml

@@ -0,0 +1,83 @@
+# Clock
+- ros_topic_name: "/clock"
+  gz_topic_name: "/clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "gz.msgs.Clock"
+  direction: GZ_TO_ROS
+
+# gz topic published by IMU plugin
+- ros_topic_name: "sensor_measurements/imu"
+  gz_topic_name: "/world/empty/model/drone0/model/imu/link/internal/sensor/imu/imu"
+  ros_type_name: "sensor_msgs/msg/Imu"
+  gz_type_name: "gz.msgs.IMU"
+  direction: GZ_TO_ROS
+
+# TFs
+- ros_topic_name: "/tf"
+  gz_topic_name: "/model/drone0/pose"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/tf"
+  gz_topic_name: "/world/empty/model/drone0/pose"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/tf"
+  gz_topic_name: "/model/drone0/pose_static"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/tf"
+  gz_topic_name: "/world/empty/model/drone0/pose_static"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+# Battery plugin
+- ros_topic_name: "sensor_measurements/battery"
+  gz_topic_name: "/model/drone0/battery/linear_battery/state"
+  ros_type_name: "sensor_msgs/msg/BatteryState"
+  gz_type_name: "gz.msgs.BatteryState"
+  direction: GZ_TO_ROS
+
+# Multicopter plugin
+- ros_topic_name: "/gz/drone0/cmd_vel"
+  gz_topic_name: "/model/drone0/cmd_vel"
+  ros_type_name: "geometry_msgs/msg/Twist"
+  gz_type_name: "gz.msgs.Twist"
+  direction: ROS_TO_GZ
+
+- ros_topic_name: "/gz/drone0/arm"
+  gz_topic_name: "/model/drone0/velocity_controller/enable"
+  ros_type_name: "std_msgs/msg/Bool"
+  gz_type_name: "gz.msgs.Boolean"
+  direction: ROS_TO_GZ
+
+# Payload plugin
+- ros_topic_name: "sensor_measurements/frontal_camera/image_raw"
+  gz_topic_name: "/world/empty/model/drone0/model/frontal_cam/link/hd_camera/sensor/camera/image"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "sensor_measurements/frontal_camera/camera_info"
+  gz_topic_name: "/world/empty/model/drone0/model/frontal_cam/link/hd_camera/sensor/camera/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "sensor_measurements/ventral_camera/image_raw"
+  gz_topic_name: "/world/empty/model/drone0/model/ventral_cam/link/hd_camera/sensor/camera/image"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "sensor_measurements/ventral_camera/camera_info"
+  gz_topic_name: "/world/empty/model/drone0/model/ventral_cam/link/hd_camera/sensor/camera/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  direction: GZ_TO_ROS

CustomRobots/drone_assets/models/arrow/model.sdf

@@ -31,12 +31,15 @@
         </plane>
       </geometry>
         <material>
-          <script>
-            <uri>model://arrow/materials/scripts</uri>
-            <uri>model://arrow/materials/textures</uri>
-            <name>vrc/arrow</name>
-        </script>
-      </material>
+          <ambient>0.8 1.0 0.8 1.0</ambient>
+          <diffuse>0.8 1.0 0.8 1.0</diffuse>
+          <specular>0.1 0.1 0.1 1.0</specular>
+          <pbr>
+              <metal>
+                <albedo_map>model://arrow/materials/textures/arrow.png</albedo_map>
+              </metal>
+          </pbr>
+          </material>
     </visual>
   </link>
 </model>

CustomRobots/drone_assets/models/asphalt_plane/model-1_4.sdf

@@ -18,11 +18,14 @@
           </box>
         </geometry>
         <material>
-          <script>
-            <uri>model://asphalt_plane/materials/scripts</uri>
-            <uri>model://asphalt_plane/materials/textures</uri>
-            <name>vrc/asphalt</name>
-          </script>
+          <ambient>0.5 0.5 0.5 1.0</ambient>
+          <diffuse>0.5 0.5 0.5 1.0</diffuse>
+          <specular>0.2 0.2 0.2 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://asphalt_plane/materials/textures/tarmac.png</albedo_map>
+            </metal>
+          </pbr>
         </material>
       </visual>
     </link>

CustomRobots/drone_assets/models/asphalt_plane/model.sdf

@@ -18,11 +18,14 @@
           </box>
         </geometry>
         <material>
-          <script>
-            <uri>model://asphalt_plane/materials/scripts</uri>
-            <uri>model://asphalt_plane/materials/textures</uri>
-            <name>vrc/asphalt</name>
-          </script>
+          <ambient>0.5 0.5 0.5 1.0</ambient>
+          <diffuse>0.5 0.5 0.5 1.0</diffuse>
+          <specular>0.2 0.2 0.2 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://asphalt_plane/materials/textures/tarmac.png</albedo_map>
+            </metal>
+          </pbr>
         </material>
       </visual>
     </link>

CustomRobots/drone_assets/models/boat_beacon/boat_beacon.sdf

@@ -1,5 +1,6 @@
 <sdf version='1.6'>
   <model name='boat_beacon'>
+  <static>true</static>
     <link name='base_link'>
       <pose>0 0 0 0 -0 0</pose>
       <inertial>
@@ -270,10 +271,9 @@
           </mesh>
         </geometry>
         <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>__default__</uri>
-          </script>
+          <ambient>0.1 0.1 0.1 1</ambient>   
+          <diffuse>0.1 0.1 0.1 1</diffuse>  
+          <specular>0.05 0.05 0.05 1</specular> 
         </material>
       </visual>
       <visual name='base_link_fixed_joint_lump__right_battery_visual_visual_2'>
@@ -285,10 +285,9 @@
           </mesh>
         </geometry>
         <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>__default__</uri>
-          </script>
+          <ambient>0.1 0.1 0.1 1</ambient>   
+          <diffuse>0.1 0.1 0.1 1</diffuse>  
+          <specular>0.05 0.05 0.05 1</specular> 
         </material>
       </visual>
       <visual name='right_engine_link_visual'>
@@ -345,12 +344,11 @@
             <size>0.9 0.9 0.1</size>
           </box>
         </geometry>
-	<material>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Green</name>
-          </script>
-        </material>
+          <material>
+            <ambient>0 1 0 1</ambient>
+            <diffuse>0 1 0 1</diffuse>
+            <specular>0.1 0.1 0.1 1</specular>
+          </material>
       </visual>
     </link>
 

CustomRobots/drone_assets/models/boat_beacon/meshes/battery.dae

@@ -15,11 +15,6 @@
     <unit meter="1.000000" name="centimeter"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_images>
-    <image id="Payload_ncl1_1-image" name="Payload_ncl1_1">
-      <init_from>battery.png</init_from>
-    </image>
-  </library_images>
   <library_materials>
     <material id="Payload" name="Payload">
       <instance_effect url="#Payload-fx"/>

CustomRobots/drone_assets/models/custom_box_target_green/meshes/mesh.dae

@@ -103,7 +103,7 @@
   </library_lights>
   <library_images>
     <image id="start_pad_png" name="start_pad_png">
-      <init_from>start_pad.png</init_from>
+      <init_from>model://custom_box_target_green/materials/textures/start_pad.png</init_from>
     </image>
   </library_images>
   <library_effects>

CustomRobots/drone_assets/models/custom_box_target_red/meshes/mesh.dae

@@ -12,7 +12,7 @@
   </asset>
   <library_images>
     <image id="start_pad_png" name="start_pad_png">
-      <init_from>end_pad.png</init_from>
+      <init_from>model://custom_box_target_red/materials/textures/end_pad.png</init_from>
     </image>
   </library_images>
   <library_effects>

CustomRobots/drone_assets/models/cylinder1/model.sdf

@@ -26,14 +26,10 @@
           </cylinder>
         </geometry>
         <material>
-          <script>
-            <name>Gazebo/Grey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
           <!-- Brown -->
-          <ambient>0.9 0.6 0.3 1</ambient>
-          <diffuse>0.698039 0.698039 0.698039 1</diffuse>
-          <specular>0.898039 0.898039 0.898039 1 20</specular>
+          <ambient>0.25 0.15 0.05 1</ambient>
+          <diffuse>0.54 0.27 0.07 1</diffuse>
+          <specular>0.63 0.32 0.18 1</specular>
           <emissive>0 0 0 1</emissive>
           <shader type='vertex'>
             <normal_map>__default__</normal_map>

CustomRobots/drone_assets/models/cylinder2/model.sdf

@@ -26,15 +26,11 @@
           </cylinder>
         </geometry>
         <material>
-          <script>
-            <name>Gazebo/Grey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
           <!-- Grey -->
           <ambient>0.4 0.6 0.3 1</ambient>
           <diffuse>0.698039 0.698039 0.698039 1</diffuse>
-          <specular>0.898039 0.898039 0.898039 1 20</specular>
-          <emissive>0.1 0 0.1 1</emissive>
+          <specular>0.898039 0.898039 0.898039 1</specular>
+          <emissive>0 0 0 1</emissive>
           <shader type='vertex'>
             <normal_map>__default__</normal_map>
           </shader>

CustomRobots/drone_assets/models/cylinder3/model.sdf

@@ -26,14 +26,10 @@
           </cylinder>
         </geometry>
         <material>
-          <script>
-            <name>Gazebo/Grey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
           <!-- Yellow -->
           <ambient>0.698039 0.698039 0.698039 1</ambient>
           <diffuse>0.698039 0.698039 0.698039 1</diffuse>
-          <specular>0.898039 0.898039 0.898039 1 20</specular>
+          <specular>0.898039 0.898039 0.898039 1</specular>
           <emissive>1 1 0 1</emissive>
           <shader type='vertex'>
             <normal_map>__default__</normal_map>

CustomRobots/drone_assets/models/face1/model.sdf

@@ -1,5 +1,5 @@
 <?xml version='1.0'?>
-<sdf version='1.4'>
+<sdf version='1.6'>
   <model name='face1'>
     <static>true</static>
     <link name='link'>
@@ -31,12 +31,15 @@
         </plane>
       </geometry>
         <material>
-          <script>
-            <uri>model://face1/materials/scripts</uri>
-            <uri>model://face1/materials/textures</uri>
-            <name>vrc/face1</name>
-        </script>
-      </material>
+          <ambient>0.8 1.0 0.8 1.0</ambient>
+          <diffuse>0.8 1.0 0.8 1.0</diffuse>
+          <specular>0.1 0.1 0.1 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://face1/materials/textures/face1.png</albedo_map>
+            </metal>
+          </pbr>
+        </material>
     </visual>
   </link>
 </model>