diff --git a/.gitignore b/.gitignore index 75ec3f0..fb2d9d5 100644 --- a/.gitignore +++ b/.gitignore @@ -1 +1,3 @@ -.vscode/* \ No newline at end of file +.vscode/* +.env +.DS_Store \ No newline at end of file diff --git a/README.md b/README.md index d086a04..cb0eab6 100644 --- a/README.md +++ b/README.md @@ -70,6 +70,8 @@ Below is a list of all tutorials available in this repository: ### [ROS 2 Diagnostics Tutorial](integrations/ros2/diagnostics/README.md) - 📝 Basic example of publishing and visualizing DiagnosticArray messages - 🔗 [Related Blog Post](https://foxglove.dev/blog/a-practical-guide-to-using-ros-diagnostics) +### [ROS 2 Gazebo Simulation Demo](integrations/ros2/gazebo/README.md) +- 📝 Code reference for a ROS 2 + Gazebo Sim simulation, runnable headless in Docker with Foxglove as the UI ### [ROS 2 Launch Files Tutorial](integrations/ros2/launch/README.md) - 📝 Code reference for ROS 2 launch files tutorial - 🔗 [Related Blog Post](https://foxglove.dev/blog/how-to-use-ros2-launch-files) diff --git a/integrations/ros2/gazebo/.dockerignore b/integrations/ros2/gazebo/.dockerignore new file mode 100644 index 0000000..a8bcc9e --- /dev/null +++ b/integrations/ros2/gazebo/.dockerignore @@ -0,0 +1,6 @@ +build/ +install/ +log/ +.git/ +.env +.DS_Store diff --git a/integrations/ros2/gazebo/.env.example b/integrations/ros2/gazebo/.env.example new file mode 100644 index 0000000..e66f8e1 --- /dev/null +++ b/integrations/ros2/gazebo/.env.example @@ -0,0 +1,5 @@ +# Copy this file to .env and fill in a device token to enable Foxglove Remote Access. +# Create a device + token on the Devices page: https://app.foxglove.dev/~/devices +# Leave FOXGLOVE_DEVICE_TOKEN unset (or this file absent) to skip remote access and +# connect locally at ws://localhost:8765 instead -- see the README's "Remote access" section. +FOXGLOVE_DEVICE_TOKEN= diff --git a/integrations/ros2/gazebo/CMakeLists.txt b/integrations/ros2/gazebo/CMakeLists.txt new file mode 100644 index 0000000..d6acae9 --- /dev/null +++ b/integrations/ros2/gazebo/CMakeLists.txt @@ -0,0 +1,28 @@ +cmake_minimum_required(VERSION 3.8) +project(fg_gazebo_example) + +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) + +install(PROGRAMS + scripts/move_viewpoints.py + scripts/teleop_arm_bridge.py + DESTINATION lib/${PROJECT_NAME} +) + +install(DIRECTORY + launch + urdf + worlds + bridge + meshes + models + DESTINATION share/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/integrations/ros2/gazebo/README.md b/integrations/ros2/gazebo/README.md new file mode 100644 index 0000000..58c570f --- /dev/null +++ b/integrations/ros2/gazebo/README.md @@ -0,0 +1,174 @@ +--- +title: "ROS 2 Gazebo Simulation Demo" +short_description: "Code reference for a ROS 2 + Gazebo Sim simulation, runnable headless in Docker with Foxglove as the UI" +--- + +# ROS 2 Gazebo simulation demo + +A ROS 2 port of the [ROS 1 Gazebo simulation tutorial](../../ros1/gazebo/README.md). Gazebo Classic (used by +the original tutorial) is end-of-life, so this uses [Gazebo Sim](https://gazebosim.org/) ("Gazebo Harmonic") +via the [`ros_gz`](https://github.com/gazebosim/ros_gz) bridge packages, targeting **ROS 2 Jazzy Jalisco**. + +This `ament_cmake` package contains launch, URDF/xacro, and world files for a simple simulated robot arm with +a wrist-mounted RGB-D camera and a separate world-fixed RGB camera, plus a Foxglove-branded box for the camera +to look at. The arm sits on a table inside a warehouse "workcell" building (walls, storage racks, pallets, +a conveyor line, a control panel) reused from +[`warehouse_simulation_toolkit`](https://github.com/wh200720041/warehouse_simulation_toolkit) +(`models/workcell`, BSD-3 licensed -- see `models/workcell/LICENSE`); that toolkit's AGV robot, pedestrian +actors, and `workcell_bin` prop model weren't pulled in, since this tutorial's arm replaces the AGV and the +actors use a Gazebo-Classic-only collision plugin that doesn't exist in Gazebo Sim. It's set up to run +**headless** (no GUI, no GPU) so it can run inside Docker -- including on a Mac, where you'd otherwise have no +way to run Gazebo's GUI or access a GPU -- with the [Foxglove](https://foxglove.dev/) desktop app on your host +machine as the UI, connected over `foxglove_bridge`. + +Differences from the ROS1 tutorial, and why: + +- **UR5e + MoveIt -> a small custom arm driven by Gazebo's `JointPositionController`.** The original UR5e/MoveIt + stack is UR-specific and Gazebo-Classic-era. Gazebo Sim has no `gazebo_ros_control` equivalent built in, and + pulling in `ros2_control` and MoveIt would add a lot of bulk to what's meant to be a Gazebo/Foxglove tutorial. + Instead, each joint is driven directly via a `JointPositionController` system plugin, commanded over a topic -- + see `urdf/robot.xacro`. +- **`libgazebo_ros_openni_kinect.so` / `libgazebo_ros_camera.so` -> native Gazebo Sim sensors.** Gazebo Sim + simulates camera/RGB-D sensors natively and publishes on gz-transport topics; `ros_gz_bridge` (see + `bridge/gazebo_bridge.yaml`) bridges those to ROS 2 topics instead of a Gazebo-Classic ROS plugin doing it. +- **`roslaunch` XML -> Python launch files.** + +## Building this package + +You'll need a [ROS 2 Jazzy](https://docs.ros.org/en/jazzy/Installation.html) installation with +[Gazebo Harmonic / `ros_gz`](https://gazebosim.org/docs/harmonic/ros_installation) (`ros-jazzy-ros-gz`), plus +`robot_state_publisher`, `joint_state_publisher_gui`, `rviz2`, `xacro`, and `foxglove_bridge`. + +1. Create a [colcon workspace](https://docs.ros.org/en/jazzy/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html) +2. Clone this repository into the workspace's `src` folder +3. Build the package with `colcon build --packages-select fg_gazebo_example` +4. Source the workspace + +## Running the simulation + +```sh +ros2 launch fg_gazebo_example simulation.launch.py +``` + +This starts Gazebo Sim server-only with headless rendering (no GUI window), spawns the arm, the static camera, +and the Foxglove box, starts the `ros_gz_bridge` topic bridge, `foxglove_bridge` on port 8765, and the teleop +bridge node (see below). Connect the Foxglove app to `ws://localhost:8765` to see the two camera feeds, the +point cloud, and TF. The arm starts in a bent, non-zero rest pose (see `urdf/robot.xacro`) so it reads as an +arm even before you move it, rather than as a straight pole. + +### Moving the arm + +There are three ways, from easiest (inside Foxglove, no terminal) to most direct: + +**1. Jog it with a Teleop panel.** The [included layout](foxglove_layouts/Gazebo_Tutorial.json) has two Teleop +panels wired up: "Shoulder" (up/down = shoulder tilt, left/right = shoulder pan) and "Wrist" (up/down = wrist +tilt). Holding a button publishes `geometry_msgs/Twist` to `/foxglove_arm/teleop/shoulder` or +`/foxglove_arm/teleop/wrist`; `scripts/teleop_arm_bridge.py` (launched automatically by `simulation.launch.py`) +converts that into an incremental joint-angle target on the matching `cmd_pos` topic, clamped to the joint's +limits, and stops moving as soon as you release the button. This is a bridge rather than a direct connection +because the Teleop panel always publishes Twist-shaped messages, and the arm's joints expect an absolute +`std_msgs/Float64` angle -- see the comment at the top of `teleop_arm_bridge.py` for the exact field mapping. + +**2. Sweep through a few preset viewpoints** (replaces the original's MoveIt-driven `move_viewpoints.py`): + +```sh +ros2 run fg_gazebo_example move_viewpoints.py +``` + +**3. Command a single joint directly** to an exact angle -- each joint has its own `cmd_pos` topic +(`std_msgs/msg/Float64`, radians): + +```sh +ros2 topic pub /foxglove_arm/shoulder_pan_joint/cmd_pos std_msgs/msg/Float64 "{data: 0.8}" # yaw, limit ±3.14 +ros2 topic pub /foxglove_arm/shoulder_tilt_joint/cmd_pos std_msgs/msg/Float64 "{data: -0.5}" # pitch, limit ±1.57 +ros2 topic pub /foxglove_arm/wrist_tilt_joint/cmd_pos std_msgs/msg/Float64 "{data: 0.3}" # pitch, limit ±1.9 +``` + +You can also do this from a Foxglove **Publish** panel with type `std_msgs/msg/Float64` if you want an exact +value rather than jogging -- it isn't in the default layout, but is easy to add. + +Only use one of these at a time per joint -- the Teleop bridge, `move_viewpoints.py`, and manual `topic pub` all +write to the same `cmd_pos` topics and will fight each other if run together. + +To preview just the arm's URDF in RViz without Gazebo (native, requires a display): + +```sh +ros2 launch fg_gazebo_example view_robot.launch.py +``` + +## Running headless in Docker (e.g. on a Mac) + +Docker Desktop on a Mac has no GPU passthrough and no display, which is exactly what `simulation.launch.py` +is set up for: Gazebo runs server-only (`-s`) with `--headless-rendering`, using Mesa's software (`llvmpipe`) +OpenGL renderer instead of a GPU. Jazzy has `arm64` packages, so this also runs natively on Apple Silicon -- +no emulation needed. + +1. Build and start the container: + + ```sh + docker compose up --build + ``` + +2. On your Mac, open the [Foxglove desktop app](https://foxglove.dev/download), choose **Open connection** -> + **Foxglove WebSocket**, and connect to `ws://localhost:8765`. Docker Desktop forwards the container's + published `8765` port to `localhost` on the Mac automatically, so no `host.docker.internal` or extra + networking is needed. +3. Load the included layout ([`foxglove_layouts/Gazebo_Tutorial.json`](foxglove_layouts/Gazebo_Tutorial.json)): + in Foxglove, go to the **Layouts** sidebar -> **Import from file** -> select that file. It sets up a 3D panel + (TF + the URDF + the `/wrist_camera/points` point cloud), an Image panel each for `/wrist_camera/image` and + `/static_camera/image`, a Raw Messages panel for `/joint_states`, and two Teleop panels for jogging the arm + (see [Moving the arm](#moving-the-arm) above). You can also just add those panels manually if you'd rather + build your own layout. +4. Move the arm straight from the layout's Teleop panels -- no container shell needed, since Foxglove is already + connected to `foxglove_bridge`. If you'd rather run `move_viewpoints.py` or a manual `topic pub` instead, open + a second shell into the running container: + + ```sh + docker compose exec gazebo bash -lc \ + "source /opt/ros/jazzy/setup.bash && source /ros2_ws/install/setup.bash && ros2 run fg_gazebo_example move_viewpoints.py" + ``` + +Software rendering is noticeably slower than a GPU, so expect the camera topics to publish at a low framerate -- +that's expected, not a bug. + +### Remote access + +Instead of connecting to `ws://localhost:8765` yourself, [Foxglove Remote Access](https://docs.foxglove.dev/docs/visualization/connecting/live/remote-access) +lets you (or anyone in your Foxglove org) open the simulation from the **Devices** page at +[app.foxglove.dev](https://app.foxglove.dev/~/devices) and click **Connect** -- no port forwarding, and it works +even if the container is on a network you can't reach directly. `foxglove_bridge` here is built from source with +this enabled (see `docker/Dockerfile`), rather than installed from apt, since the apt package doesn't include it. + +1. On the [Devices page](https://app.foxglove.dev/~/devices), create a device and a device token for it. +2. Export the token in the shell you run `docker compose` from, or copy [`.env.example`](.env.example) to + `.env` next to `docker-compose.yml` and fill it in there instead (`.env` is gitignored, so it's never + committed): + + ```sh + export FOXGLOVE_DEVICE_TOKEN=fox_dt-... + docker compose up --build + ``` + + `simulation.launch.py` checks for `FOXGLOVE_DEVICE_TOKEN` at launch and turns remote access on automatically + when it's set -- there's no separate flag to pass. Leave it unset and everything behaves exactly as in the + local-only steps above. +3. The device should appear on the Devices page shortly after the container starts; click **Connect** to open it. + +The local `ws://localhost:8765` connection keeps working the same way whether or not remote access is enabled, so +you can use either one interchangeably. + +### Troubleshooting + +- **No image on the camera topics / black frames:** confirm the `Sensors` system plugin loaded with + `render_engine: ogre2` (see `worlds/foxglove_demo.sdf`) and that `LIBGL_ALWAYS_SOFTWARE=1` is set (it's baked + into the image and set again in `docker-compose.yml`). +- **`/joint_states` is empty, or `/foxglove_arm//cmd_pos` doesn't move the arm:** Gazebo Sim's model/world + topic-scoping determines the exact gz-transport topic names for the `JointPositionController` and + `JointStatePublisher` plugins in `urdf/robot.xacro`. Run `gz topic -l` inside the container while the sim is + running (`docker compose exec gazebo gz topic -l`) and update `bridge/gazebo_bridge.yaml` if the names differ + from what's there. +- **`/wrist_camera/points` looks rotated relative to the wrist images:** the point cloud is stamped with + `wrist_camera_link` (Gazebo's body frame, +X forward). `/wrist_camera/image`, `/wrist_camera/depth_image`, and + `/wrist_camera/camera_info` stay on `wrist_camera_optical_frame`. +- **Slow first `docker compose up`:** the image installs Gazebo Harmonic and builds the workspace on first build; + subsequent builds/starts are much faster. diff --git a/integrations/ros2/gazebo/bridge/gazebo_bridge.yaml b/integrations/ros2/gazebo/bridge/gazebo_bridge.yaml new file mode 100644 index 0000000..6c68f3f --- /dev/null +++ b/integrations/ros2/gazebo/bridge/gazebo_bridge.yaml @@ -0,0 +1,87 @@ +# Bridges topics between Gazebo Sim (gz-transport) and ROS 2, consumed by +# ros_gz_bridge's `parameter_bridge` node. +# Schema reference: https://github.com/gazebosim/ros_gz/blob/jazzy/ros_gz_bridge/README.md +# +# All gz_topic_name values below were confirmed against a running container with +# `gz topic -l` / `gz topic -i -t `. Notably, JointPositionController's +# tag (urdf/robot.xacro) is used LITERALLY, with no /model// auto-scoping +# applied -- so the cmd_pos topics are bare (e.g. /shoulder_pan_joint/cmd_pos), not +# under /model/foxglove_arm/. JointStatePublisher (no override) does get the +# default scoped name, /world/foxglove_demo/model/foxglove_arm/joint_state. + +- 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 + +- ros_topic_name: "/joint_states" + gz_topic_name: "/world/foxglove_demo/model/foxglove_arm/joint_state" + ros_type_name: "sensor_msgs/msg/JointState" + gz_type_name: "gz.msgs.Model" + direction: GZ_TO_ROS + +- ros_topic_name: "/foxglove_arm/shoulder_pan_joint/cmd_pos" + gz_topic_name: "/shoulder_pan_joint/cmd_pos" + ros_type_name: "std_msgs/msg/Float64" + gz_type_name: "gz.msgs.Double" + direction: ROS_TO_GZ + +- ros_topic_name: "/foxglove_arm/shoulder_tilt_joint/cmd_pos" + gz_topic_name: "/shoulder_tilt_joint/cmd_pos" + ros_type_name: "std_msgs/msg/Float64" + gz_type_name: "gz.msgs.Double" + direction: ROS_TO_GZ + +- ros_topic_name: "/foxglove_arm/wrist_tilt_joint/cmd_pos" + gz_topic_name: "/wrist_tilt_joint/cmd_pos" + ros_type_name: "std_msgs/msg/Float64" + gz_type_name: "gz.msgs.Double" + direction: ROS_TO_GZ + +# Wrist-mounted RGB-D camera (replaces the ROS1 tutorial's Kinect) +- ros_topic_name: "/wrist_camera/image" + gz_topic_name: "/wrist_camera/image" + ros_type_name: "sensor_msgs/msg/Image" + gz_type_name: "gz.msgs.Image" + direction: GZ_TO_ROS + +- ros_topic_name: "/wrist_camera/depth_image" + gz_topic_name: "/wrist_camera/depth_image" + ros_type_name: "sensor_msgs/msg/Image" + gz_type_name: "gz.msgs.Image" + direction: GZ_TO_ROS + +- ros_topic_name: "/wrist_camera/points" + gz_topic_name: "/wrist_camera/points" + ros_type_name: "sensor_msgs/msg/PointCloud2" + gz_type_name: "gz.msgs.PointCloudPacked" + direction: GZ_TO_ROS + # Gazebo RGB-D XYZ is body-frame (+X forward), not ROS optical (+Z forward). + # Images/camera_info stay on wrist_camera_optical_frame. + frame_id: "wrist_camera_link" + +- ros_topic_name: "/wrist_camera/camera_info" + gz_topic_name: "/wrist_camera/camera_info" + ros_type_name: "sensor_msgs/msg/CameraInfo" + gz_type_name: "gz.msgs.CameraInfo" + direction: GZ_TO_ROS + +# World-fixed static RGB camera. +# Unlike rgbd_camera (used for wrist_camera above), a plain `type="camera"` sensor in +# gz-sim does NOT scope its sub-topics under its tag the same way: the image +# publishes on the bare value itself (no "/image" suffix), and camera_info +# publishes on a bare, unscoped /camera_info -- not /camera_info. Confirmed live +# via `gz topic -i -t `. This only works cleanly because there's a single plain +# `camera` sensor in this world; a second one would collide on /camera_info. +- ros_topic_name: "/static_camera/image" + gz_topic_name: "/static_camera" + ros_type_name: "sensor_msgs/msg/Image" + gz_type_name: "gz.msgs.Image" + direction: GZ_TO_ROS + +- ros_topic_name: "/static_camera/camera_info" + gz_topic_name: "/camera_info" + ros_type_name: "sensor_msgs/msg/CameraInfo" + gz_type_name: "gz.msgs.CameraInfo" + direction: GZ_TO_ROS diff --git a/integrations/ros2/gazebo/docker-compose.yml b/integrations/ros2/gazebo/docker-compose.yml new file mode 100644 index 0000000..bbd68c9 --- /dev/null +++ b/integrations/ros2/gazebo/docker-compose.yml @@ -0,0 +1,15 @@ +services: + gazebo: + build: + context: . + dockerfile: docker/Dockerfile + ports: + # foxglove_bridge websocket -- Docker Desktop forwards this to localhost + # on the Mac host automatically, no host.docker.internal needed. + - "8765:8765" + environment: + - LIBGL_ALWAYS_SOFTWARE=1 + # Set this in your shell (or a .env file next to this docker-compose.yml) to turn on + # Foxglove Remote Access -- see the "Remote access" section of the README. Left unset, + # this is a no-op and the bridge behaves exactly as before. + - FOXGLOVE_DEVICE_TOKEN diff --git a/integrations/ros2/gazebo/docker/Dockerfile b/integrations/ros2/gazebo/docker/Dockerfile new file mode 100644 index 0000000..c96832a --- /dev/null +++ b/integrations/ros2/gazebo/docker/Dockerfile @@ -0,0 +1,99 @@ +FROM ros:jazzy-ros-base + +ENV DEBIAN_FRONTEND=noninteractive +ENV ROS_DISTRO=jazzy + +# Gazebo Harmonic (ros_gz) plus what this tutorial needs to run headless. +# rviz2 / joint_state_publisher_gui are intentionally NOT installed here -- +# they're only used by launch/view_robot.launch.py for local GUI preview, +# not by the headless simulation.launch.py this image runs. +# +# libgl1-mesa-dri / libglx-mesa0 / mesa-utils provide a software (llvmpipe) +# OpenGL implementation so the camera sensors can render with no GPU +# passthrough -- the situation on Docker Desktop for macOS. +# +# foxglove_bridge is NOT installed from apt here (see below) -- the apt build +# doesn't have Foxglove Remote Access compiled in. +RUN apt-get update && apt-get install -y --no-install-recommends \ + ros-${ROS_DISTRO}-ros-gz \ + ros-${ROS_DISTRO}-robot-state-publisher \ + ros-${ROS_DISTRO}-xacro \ + libgl1-mesa-dri \ + libglx-mesa0 \ + mesa-utils \ + && rm -rf /var/lib/apt/lists/* + +# Force software rendering; unset DISPLAY since there's no X server in the container. +ENV LIBGL_ALWAYS_SOFTWARE=1 +ENV DISPLAY= + +# Build foxglove_bridge from source with Remote Access support instead of installing +# ros-${ROS_DISTRO}-foxglove-bridge from apt: the apt package is built with +# FOXGLOVE_BRIDGE_REMOTE_ACCESS=OFF, and Foxglove's own prebuilt Docker image with it ON +# is linux/amd64-only, which would force emulation on Apple Silicon. Building from source +# here instead gets a native arm64 build -- foxglove_bridge's CMakeLists.txt fetches a +# prebuilt Foxglove SDK for both aarch64 and x86_64 Linux, so no cross-compilation or +# emulation is involved. Remote Access needs glibc >= 2.35; ros:jazzy-ros-base is Ubuntu +# 24.04 (glibc 2.39), so it's on by default, but -DFOXGLOVE_BRIDGE_REMOTE_ACCESS=ON is +# passed explicitly below for clarity. +# +# Done in its own layer, BEFORE `COPY . .` for this tutorial's own (frequently-edited) +# package below: foxglove_bridge is a ~30s C++ compile, and keeping it ahead of the COPY +# means editing this tutorial's launch/world/URDF files doesn't invalidate its build cache. +WORKDIR /ros2_ws/src +RUN git clone --depth 1 --branch ros-v3.5.0 --filter=blob:none --sparse \ + https://github.com/foxglove/foxglove-sdk.git /tmp/foxglove-sdk && \ + git -C /tmp/foxglove-sdk sparse-checkout set ros/src/foxglove_bridge && \ + cp -r /tmp/foxglove-sdk/ros/src/foxglove_bridge . && \ + rm -rf /tmp/foxglove-sdk + +WORKDIR /ros2_ws +# --skip-keys excludes foxglove_bridge's test-only test_depends (test_msgs, asio, +# libwebsocketpp-dev, nlohmann-json-dev), which -DBUILD_TESTING=OFF below also means we +# don't need built. +# +# Not --symlink-install: foxglove_bridge's `install(FILES $ +# ...)` points at the fetched SDK's shared library, a build-time generator expression +# outside the source tree that ament's symlink-install can't resolve. This image has no +# live-mounted source to benefit from symlinking anyway, so a plain copy-install is fine. +RUN apt-get update && \ + . /opt/ros/${ROS_DISTRO}/setup.sh && \ + rosdep update && \ + rosdep install --from-paths src --ignore-src -r -y \ + --skip-keys "test_msgs asio libwebsocketpp-dev nlohmann-json-dev" && \ + colcon build --cmake-args -DFOXGLOVE_BRIDGE_REMOTE_ACCESS=ON -DBUILD_TESTING=OFF && \ + rm -rf /var/lib/apt/lists/* + +WORKDIR /ros2_ws/src/fg_gazebo_example +COPY . . + +WORKDIR /ros2_ws +# apt-get update again: the previous layer's `rm -rf /var/lib/apt/lists/*` left nothing +# for rosdep's apt-get calls to look packages up in. +# +# --from-paths is still the whole `src` tree (not just fg_gazebo_example): fg_gazebo_example +# exec_depends on foxglove_bridge, and rosdep only recognizes that as satisfied by the +# workspace-local package (rather than trying to apt-get the plain, non-remote-access +# ros-${ROS_DISTRO}-foxglove-bridge package right on top of it) if foxglove_bridge's +# source is also within --from-paths. +# +# --skip-keys excludes joint_state_publisher_gui/rviz2, fg_gazebo_example's GUI-only +# exec_depends -- intentionally not installed here, see the comment near the top of this +# file. --packages-select fg_gazebo_example on the colcon build: foxglove_bridge is already +# built and installed above, and hasn't changed. +RUN apt-get update && \ + . /opt/ros/${ROS_DISTRO}/setup.sh && \ + rosdep update && \ + rosdep install --from-paths src --ignore-src -r -y \ + --skip-keys "joint_state_publisher_gui rviz2 test_msgs asio libwebsocketpp-dev nlohmann-json-dev" && \ + colcon build --packages-select fg_gazebo_example && \ + rm -rf /var/lib/apt/lists/* + +COPY docker/entrypoint.sh /entrypoint.sh +RUN chmod +x /entrypoint.sh + +# foxglove_bridge websocket +EXPOSE 8765 + +ENTRYPOINT ["/entrypoint.sh"] +CMD ["ros2", "launch", "fg_gazebo_example", "simulation.launch.py"] diff --git a/integrations/ros2/gazebo/docker/entrypoint.sh b/integrations/ros2/gazebo/docker/entrypoint.sh new file mode 100755 index 0000000..d221007 --- /dev/null +++ b/integrations/ros2/gazebo/docker/entrypoint.sh @@ -0,0 +1,7 @@ +#!/bin/bash +set -e + +source "/opt/ros/${ROS_DISTRO}/setup.bash" +source "/ros2_ws/install/setup.bash" + +exec "$@" diff --git a/integrations/ros2/gazebo/foxglove_layouts/Gazebo_Tutorial.json b/integrations/ros2/gazebo/foxglove_layouts/Gazebo_Tutorial.json new file mode 100644 index 0000000..70d0900 --- /dev/null +++ b/integrations/ros2/gazebo/foxglove_layouts/Gazebo_Tutorial.json @@ -0,0 +1,352 @@ +{ + "configById": { + "3D!gazebotutorial": { + "cameraState": { + "perspective": true, + "distance": 6.001624999927989, + "phi": 54.56255729196609, + "thetaOffset": 58.75599846266413, + "targetOffset": [ + 1.4057332231343318, + -3.4915966577505846, + 0.6418715674527825 + ], + "target": [ + 1, + -3.5, + 1 + ], + "targetOrientation": [ + 0, + 0, + 0, + 1 + ], + "fovy": 50, + "near": 0.01, + "far": 5000 + }, + "followMode": "follow-pose", + "followTf": "world", + "scene": { + "transforms": { + "showLabel": false, + "axisSize": 0.245, + "visible": true + } + }, + "transforms": { + "frame:podest": { + "visible": true + } + }, + "topics": { + "/wrist_camera/points": { + "visible": true, + "colorMode": "colormap", + "colorMap": "turbo", + "colorField": "z", + "pointSize": 4 + }, + "/robot_description": { + "visible": true + }, + "/foxglove_box/robot_description": { + "visible": true + }, + "/room/robot_description": { + "visible": true + }, + "/wrist_camera/image": { + "visible": true, + "frameLocked": true, + "cameraInfoTopic": "/wrist_camera/camera_info", + "distance": 1, + "planarProjectionFactor": 0, + "renderMode": "default", + "projectionFrameId": "world", + "color": "#ffffff", + "rectifyImage": true, + "pointSize": 1.5, + "syncModeEnabled": false + }, + "/wrist_camera/camera_info": { + "visible": true + } + }, + "layers": { + "grid": { + "visible": true, + "frameLocked": true, + "label": "Grid", + "instanceId": "gazebo-tutorial-grid", + "layerId": "foxglove.Grid", + "size": 10, + "divisions": 10, + "lineWidth": 1, + "color": "#248eff", + "position": [ + 0, + 0, + 0 + ], + "rotation": [ + 0, + 0, + 0 + ] + }, + "gazebo-tutorial-urdf": { + "visible": true, + "frameLocked": true, + "label": "URDF", + "instanceId": "gazebo-tutorial-urdf", + "layerId": "foxglove.Urdf", + "sourceType": "topic", + "url": "", + "filePath": "", + "parameter": "", + "topic": "/robot_description", + "framePrefix": "", + "displayMode": "auto", + "order": 1 + }, + "gazebo-tutorial-box-urdf": { + "visible": true, + "frameLocked": true, + "label": "Foxglove box URDF", + "instanceId": "gazebo-tutorial-box-urdf", + "layerId": "foxglove.Urdf", + "sourceType": "topic", + "url": "", + "filePath": "", + "parameter": "", + "topic": "/foxglove_box/robot_description", + "framePrefix": "", + "displayMode": "auto", + "order": 2 + }, + "gazebo-tutorial-room-urdf": { + "visible": true, + "frameLocked": true, + "label": "Room URDF", + "instanceId": "gazebo-tutorial-room-urdf", + "layerId": "foxglove.Urdf", + "sourceType": "topic", + "url": "", + "filePath": "", + "parameter": "", + "topic": "/room/robot_description", + "framePrefix": "", + "displayMode": "auto", + "order": 3 + } + }, + "publish": { + "type": "point", + "poseTopic": "/move_base_simple/goal", + "pointTopic": "/clicked_point", + "poseEstimateTopic": "/initialpose", + "poseEstimateXDeviation": 0.5, + "poseEstimateYDeviation": 0.5, + "poseEstimateThetaDeviation": 0.26179939 + }, + "imageMode": {}, + "foxglovePanelTitle": "3D", + "synchronize": false + }, + "Image!wristcamera": { + "cameraState": { + "distance": 20, + "perspective": true, + "phi": 60, + "target": [ + 0, + 0, + 0 + ], + "targetOffset": [ + 0, + 0, + 0 + ], + "targetOrientation": [ + 0, + 0, + 0, + 1 + ], + "thetaOffset": 45, + "fovy": 45, + "near": 0.5, + "far": 5000 + }, + "followMode": "follow-pose", + "scene": {}, + "transforms": {}, + "topics": {}, + "layers": {}, + "publish": { + "type": "point", + "poseTopic": "/move_base_simple/goal", + "pointTopic": "/clicked_point", + "poseEstimateTopic": "/initialpose", + "poseEstimateXDeviation": 0.5, + "poseEstimateYDeviation": 0.5, + "poseEstimateThetaDeviation": 0.26179939 + }, + "imageMode": { + "imageTopic": "/wrist_camera/image" + }, + "foxglovePanelTitle": "Wrist camera", + "synchronize": false + }, + "Image!staticcamera": { + "cameraState": { + "distance": 20, + "perspective": true, + "phi": 60, + "target": [ + 0, + 0, + 0 + ], + "targetOffset": [ + 0, + 0, + 0 + ], + "targetOrientation": [ + 0, + 0, + 0, + 1 + ], + "thetaOffset": 45, + "fovy": 45, + "near": 0.5, + "far": 5000 + }, + "followMode": "follow-pose", + "scene": {}, + "transforms": {}, + "topics": { + "/wrist_camera/points": { + "visible": false, + "colorField": "rgb", + "colorMode": "colormap", + "colorMap": "turbo", + "pointSize": 3.47, + "minValue": 7.1658, + "maxValue": -10.1534 + } + }, + "layers": {}, + "publish": { + "type": "point", + "poseTopic": "/move_base_simple/goal", + "pointTopic": "/clicked_point", + "poseEstimateTopic": "/initialpose", + "poseEstimateXDeviation": 0.5, + "poseEstimateYDeviation": 0.5, + "poseEstimateThetaDeviation": 0.26179939 + }, + "imageMode": { + "imageTopic": "/static_camera/image", + "calibrationTopic": "/static_camera/camera_info" + }, + "foxglovePanelTitle": "Static camera", + "synchronize": false + }, + "RawMessages!jointstates": { + "diffEnabled": false, + "diffMethod": "custom", + "diffTopicPath": "", + "showFullMessageForDiff": false, + "topicPath": "/joint_states", + "foxglovePanelTitle": "Joint states", + "defaultExpanded": false + }, + "Teleop!shoulder": { + "topic": "/foxglove_arm/teleop/shoulder", + "publishRate": 20, + "upButton": { + "field": "linear-x", + "value": 1 + }, + "downButton": { + "field": "linear-x", + "value": -1 + }, + "leftButton": { + "field": "linear-y", + "value": 1 + }, + "rightButton": { + "field": "linear-y", + "value": -1 + }, + "foxglovePanelTitle": "Shoulder (up/down = tilt, left/right = pan)", + "autoSendStopOnRelease": false, + "stopButton": { + "field": "linear-x", + "value": 0 + } + }, + "Teleop!wrist": { + "topic": "/foxglove_arm/teleop/wrist", + "publishRate": 20, + "upButton": { + "field": "linear-x", + "value": 1 + }, + "downButton": { + "field": "linear-x", + "value": -1 + }, + "leftButton": { + "field": "linear-y", + "value": 1 + }, + "rightButton": { + "field": "linear-y", + "value": -1 + }, + "foxglovePanelTitle": "Wrist (up/down = tilt, left/right unused)", + "autoSendStopOnRelease": false, + "stopButton": { + "field": "linear-x", + "value": 0 + } + } + }, + "globalVariables": {}, + "userNodes": {}, + "playbackConfig": { + "speed": 1 + }, + "layout": { + "first": "3D!gazebotutorial", + "second": { + "first": { + "first": { + "first": "Image!wristcamera", + "second": "Image!staticcamera", + "direction": "column" + }, + "second": "RawMessages!jointstates", + "direction": "column", + "splitPercentage": 66.66 + }, + "second": { + "first": "Teleop!shoulder", + "second": "Teleop!wrist", + "direction": "column" + }, + "direction": "row", + "splitPercentage": 55.19951788390402 + }, + "direction": "row", + "splitPercentage": 60.63426447608434 + } +} \ No newline at end of file diff --git a/integrations/ros2/gazebo/launch/simulation.launch.py b/integrations/ros2/gazebo/launch/simulation.launch.py new file mode 100644 index 0000000..9a14a92 --- /dev/null +++ b/integrations/ros2/gazebo/launch/simulation.launch.py @@ -0,0 +1,321 @@ +"""Launches the full simulation: Gazebo Sim (headless), the arm, the static +camera, the Foxglove box, the gz<->ROS bridge, and foxglove_bridge. + +Runs Gazebo server-only with headless rendering so it works with no GUI/GPU, +which is what's needed inside a Docker container (e.g. Docker Desktop on macOS). +To run with the native Gazebo GUI on Linux instead, drop "-s --headless-rendering" +from `gz_args` below. +""" +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import Command +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue + + +def generate_launch_description(): + pkg_share = get_package_share_directory("fg_gazebo_example") + pkg_ros_gz_sim = get_package_share_directory("ros_gz_sim") + + world_path = os.path.join(pkg_share, "worlds", "foxglove_demo.sdf") + robot_xacro = os.path.join(pkg_share, "urdf", "robot.xacro") + static_camera_xacro = os.path.join(pkg_share, "urdf", "static_camera.urdf.xacro") + foxglove_box_urdf = os.path.join(pkg_share, "urdf", "foxglove_box.urdf") + room_urdf = os.path.join(pkg_share, "urdf", "room.urdf") + bridge_config = os.path.join(pkg_share, "bridge", "gazebo_bridge.yaml") + + # The arm, the Foxglove box, and the static camera all sit at this height above the + # floor instead of directly on it -- see "arm_table" in worlds/foxglove_demo.sdf + # (top surface height must match this). Every x/y/z below tuned for a floor-mounted + # arm is reused unchanged, just uniformly raised by this amount, so their positions + # *relative to the arm* stay exactly as before. Must also match arm_z in + # robot.xacro (which the table height is baked into separately -- see the comment + # there for why the spawner's "-z" can't be used for the arm itself). + table_height = 0.5 + + # sdformat rewrites this package's URDF mesh URIs (package://fg_gazebo_example/...) + # to model://fg_gazebo_example/... when converting URDF to SDF for spawning. Gazebo + # only resolves model:// URIs against GZ_SIM_RESOURCE_PATH, which isn't set by + # default -- without this, mesh loads (e.g. the Foxglove box) fail silently at + # spawn time (visual just doesn't render; check `docker compose logs` for + # "Unable to find file with URI [model://...]" if a mesh goes missing again). + # pkg_share already ends in .../share/fg_gazebo_example, so its parent is the + # .../share root that model:// URIs need to resolve "fg_gazebo_example/..." under. + # The second path resolves "model://workcell" (see foxglove_demo.sdf): that model + # was pulled in as models/workcell, so its own share root is pkg_share/models. + gz_resource_path = SetEnvironmentVariable( + "GZ_SIM_RESOURCE_PATH", + os.path.dirname(pkg_share) + os.pathsep + os.path.join(pkg_share, "models"), + ) + + gz_sim = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_ros_gz_sim, "launch", "gz_sim.launch.py") + ), + launch_arguments={ + "gz_args": f"-s -r --headless-rendering -v 4 {world_path}" + }.items(), + ) + + # Robot description for the arm, published on /robot_description + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + output="screen", + parameters=[ + { + "robot_description": ParameterValue( + Command(["xacro ", robot_xacro]), value_type=str + ), + "use_sim_time": True, + } + ], + ) + + # Robot description for the static camera, published on /static_camera/camera_description + static_camera_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="static_camera_state_publisher", + namespace="static_camera", + output="screen", + parameters=[ + { + "robot_description": ParameterValue( + Command(["xacro ", static_camera_xacro]), value_type=str + ), + "use_sim_time": True, + } + ], + remappings=[("robot_description", "camera_description")], + ) + + # Robot description for the Foxglove box, published on /foxglove_box/robot_description. + # Without this (and box_tf below), Foxglove's 3D panel has no URDF + TF frame to render + # the box from -- it only ever sees the box indirectly, via the wrist camera's point + # cloud. The box is still spawned directly into Gazebo by spawn_foxglove_box below; + # this is a parallel, ROS-side-only description of the same static object purely so + # Foxglove can render it too. Deliberately NOT remapped away (unlike + # static_camera_state_publisher's "camera_description"): Foxglove's 3D panel only + # auto-detects topics literally named ".../robot_description". + box_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="foxglove_box_state_publisher", + namespace="foxglove_box", + output="screen", + parameters=[ + { + "robot_description": ParameterValue( + Command(["xacro ", foxglove_box_urdf]), value_type=str + ), + "use_sim_time": True, + } + ], + ) + + # Static-only ROS-side mirror of the "workcell" warehouse building spawned directly + # in worlds/foxglove_demo.sdf. That's a Gazebo-only entity with no ROS topic, so + # without this Foxglove's 3D panel would never show it, only the camera image + # panels would. See urdf/room.urdf for the mesh reference itself. + room_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="room_state_publisher", + namespace="room", + output="screen", + parameters=[ + { + "robot_description": ParameterValue( + Command(["xacro ", room_urdf]), value_type=str + ), + "use_sim_time": True, + } + ], + ) + + # room.urdf's single link is placed directly at the world origin -- every + # inside it already carries its full world-frame pose (copied from foxglove_demo.sdf), + # so this TF is just an identity link into the tree, not a real offset. + room_tf = Node( + package="tf2_ros", + executable="static_transform_publisher", + name="room_tf", + arguments=[ + "--frame-id", "world", + "--child-frame-id", "room_origin", + ], + ) + + # Keep these x/y/z/yaw values in sync with spawn_foxglove_box below -- one places the + # TF frame, the other spawns the matching Gazebo entity. child-frame-id is "root_link", + # NOT "foxglove_box/root_link": as with static_camera_tf below, the namespace above + # only prefixes ROS topic/service names, not the frame_id strings inside the messages + # robot_state_publisher publishes -- those still use the raw link name from + # foxglove_box.urdf. + # + # Box stays near the +X side of the table while the arm sits further back + # (arm_x=0.75 in robot.xacro). z = half the 0.04m cube so it sits flat on the + # table top; yaw is the previous -1.56 plus +90 deg about Z. + box_tf = Node( + package="tf2_ros", + executable="static_transform_publisher", + name="foxglove_box_tf", + arguments=[ + "--x", "1.35", + "--y", "-3.45", + "--z", str(0.02 + table_height), + "--yaw", "0.0108", + "--frame-id", "world", + "--child-frame-id", "root_link", + ], + ) + + # Keep these x/y/z/roll/pitch/yaw values in sync with spawn_static_camera below -- + # one places the TF frame, the other spawns the matching Gazebo entity. + # + # roll=0, pitch=0.5028, yaw=1.5708: a look-at aim computed from camera position + # (1.0, -7.5, 2.8), south of the arm/table between it and the (real, textured) + # south wall, toward target (1.0, -3.5, 0.6) -- straight at the arm/table -- via + # yaw=atan2(dy,dx), pitch=atan2(-dz,hypot(dx,dy)), roll=0. + # + # Two earlier vantage points didn't work: a distant north-west corner shot aimed + # generally at the floor showed the arm/table only as a barely-recognizable speck + # next to the much larger shelving/poles; a closer north-side shot aimed straight + # at the table ran the sightline straight through the tall yellow safety-fence + # posts (see the "pole1/2/3" collisions in models/workcell/model.sdf, at y=-2.39, + # directly between that camera position and the table at y=-3.5), blocking it. + # Approaching from the south instead has a clear, unobstructed sightline. Verified + # this all lines up (position, forward direction, and that "up" isn't flipped) by + # actually grabbing a frame from /static_camera/image and inspecting it, not just + # by the math -- see the note in the PR/commit message, or ask for the frame again + # if this ever needs re-tuning. + # + # The workcell model's north/east side has no wall at all (compare the wall1/ + # wall2/wall3 collisions in model.sdf -- there's no wall4); a camera aimed out + # that way sees this world's color, a flat grey/blue, which + # looks like a wall whose texture failed to load but is really just open space + # where the reused model genuinely has no wall. roll should almost always be 0 for + # a camera that isn't meant to be canted sideways (a previous roll=pi here flipped + # the camera's local "up" axis to point down in world Z, which reads as an + # upside-down image). + # + # child-frame-id is "static_camera_base", NOT "static_camera/static_camera_base": + # the static_camera_state_publisher node above is namespaced under "static_camera", + # but that only prefixes ROS topic/service names -- it does NOT prefix the frame_id + # strings *inside* the messages it publishes. robot_state_publisher still publishes + # TF frames using the raw link names from static_camera.urdf.xacro (unprefixed), so + # this has to match that exactly or the static camera's TF subtree never connects to + # the rest of the tree. + static_camera_tf = Node( + package="tf2_ros", + executable="static_transform_publisher", + name="static_camera_tf", + arguments=[ + "--x", "1.0", + "--y", "-7.5", + "--z", "2.8", + "--roll", "0.0", + "--pitch", "0.5028", + "--yaw", "1.5708", + "--frame-id", "world", + "--child-frame-id", "static_camera_base", + ], + ) + + # -x/-y/-z 0.0: robot.xacro's root link is literally named "world" (a reserved + # Gazebo frame name), so spawn-time pose offsets here are silently ignored -- + # arm_x/arm_y/arm_z are baked into robot.xacro's world_joint origin instead. See + # the comment there. + spawn_robot = Node( + package="ros_gz_sim", + executable="create", + arguments=["-topic", "robot_description", "-name", "foxglove_arm", + "-x", "0.0", "-y", "0.0", "-z", "0.0"], + output="screen", + ) + + spawn_static_camera = Node( + package="ros_gz_sim", + executable="create", + arguments=[ + "-topic", "static_camera/camera_description", + "-name", "static_camera", + "-x", "1.0", "-y", "-7.5", "-z", "2.8", + "-R", "0.0", "-P", "0.5028", "-Y", "1.5708", + ], + output="screen", + ) + + # Keep x/y/z/yaw in sync with box_tf above. + spawn_foxglove_box = Node( + package="ros_gz_sim", + executable="create", + arguments=[ + "-file", foxglove_box_urdf, + "-name", "foxglove_box", + "-x", "1.35", "-y", "-3.45", "-z", str(0.02 + table_height), "-Y", "0.0108", + ], + output="screen", + ) + + bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + parameters=[{"config_file": bridge_config, "use_sim_time": True}], + output="screen", + ) + + # Enables Foxglove Remote Access (connect via app.foxglove.dev's Devices page instead + # of ws://localhost:8765) whenever FOXGLOVE_DEVICE_TOKEN is set in the environment -- + # see the "Remote access" section of the README. device_token is intentionally NOT set + # as a parameter here: the bridge reads it straight from FOXGLOVE_DEVICE_TOKEN instead, + # since a parameter is readable by other nodes via the ROS 2 parameter services while + # the environment variable is only visible to the bridge process itself. + remote_access_enabled = bool(os.environ.get("FOXGLOVE_DEVICE_TOKEN")) + + foxglove_bridge = Node( + package="foxglove_bridge", + executable="foxglove_bridge", + parameters=[ + { + "port": 8765, + "address": "0.0.0.0", + "use_sim_time": True, + "remote_access": remote_access_enabled, + } + ], + output="screen", + ) + + # Converts Twist "jog" commands (e.g. from Foxglove's Teleop panel) into cmd_pos + # targets for the arm's joints. See scripts/teleop_arm_bridge.py. + teleop_arm_bridge = Node( + package="fg_gazebo_example", + executable="teleop_arm_bridge.py", + output="screen", + ) + + return LaunchDescription( + [ + gz_resource_path, + gz_sim, + robot_state_publisher, + box_state_publisher, + box_tf, + room_state_publisher, + room_tf, + static_camera_state_publisher, + static_camera_tf, + spawn_robot, + spawn_static_camera, + spawn_foxglove_box, + bridge, + foxglove_bridge, + teleop_arm_bridge, + ] + ) diff --git a/integrations/ros2/gazebo/launch/view_robot.launch.py b/integrations/ros2/gazebo/launch/view_robot.launch.py new file mode 100644 index 0000000..7e40ee2 --- /dev/null +++ b/integrations/ros2/gazebo/launch/view_robot.launch.py @@ -0,0 +1,44 @@ +"""Previews the arm's URDF in RViz (no Gazebo). For native use with a display +attached -- not part of the headless Docker workflow. Add a RobotModel and a +TF display in RViz once it opens, or drag/drop the wrist joints in +joint_state_publisher_gui to move the arm. +""" +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.substitutions import Command +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue + + +def generate_launch_description(): + pkg_share = get_package_share_directory("fg_gazebo_example") + robot_xacro = os.path.join(pkg_share, "urdf", "robot.xacro") + + return LaunchDescription( + [ + Node( + package="robot_state_publisher", + executable="robot_state_publisher", + output="screen", + parameters=[ + { + "robot_description": ParameterValue( + Command(["xacro ", robot_xacro]), value_type=str + ) + } + ], + ), + Node( + package="joint_state_publisher_gui", + executable="joint_state_publisher_gui", + output="screen", + ), + Node( + package="rviz2", + executable="rviz2", + output="screen", + ), + ] + ) diff --git a/integrations/ros2/gazebo/meshes/foxglove_box.dae b/integrations/ros2/gazebo/meshes/foxglove_box.dae new file mode 100644 index 0000000..14ec886 --- /dev/null +++ b/integrations/ros2/gazebo/meshes/foxglove_box.dae @@ -0,0 +1,133 @@ + + + + + + Foxglove + fg_gazebo_example + + 2026-03-18T00:00:00 + 2026-03-18T00:00:00 + + Z_UP + + + + foxglove_logo.png + + + + + + + + logo_png + + + + + logo_png-surface + + + + + + 0 0 0 1 + + + + + + 1.45 + + + + + + + + + + + + + + + + -1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1 + + + + + + + + + + -1 0 0 1 0 0 0 -1 0 0 1 0 0 0 -1 0 0 1 + + + + + + + + + + 0 0 0.971505 0 0.971505 1 0 1 0 0 0.971505 0 0.971505 1 0 1 0.971505 0 0 0 0 1 0.971505 1 0 0 0.971505 0 0.971505 1 0 1 0.985752 0.5 0.985752 0.5 0.985752 0.5 0.985752 0.5 0.985752 0.5 0.985752 0.5 0.985752 0.5 0.985752 0.5 + + + + + + + + + + + + + + +

+ 4 1 0 6 1 1 7 1 2 + 4 1 0 7 1 2 5 1 3 + 2 0 4 0 0 5 1 0 6 + 2 0 4 1 0 6 3 0 7 + 1 5 8 5 5 9 7 5 10 + 1 5 8 7 5 10 3 5 11 + 0 4 12 2 4 13 6 4 14 + 0 4 12 6 4 14 4 4 15 + 0 2 16 4 2 17 5 2 18 + 0 2 16 5 2 18 1 2 19 + 6 3 20 2 3 21 3 3 22 + 6 3 20 3 3 22 7 3 23 +

+ + + + + + + + 1 0 0 0 0 4.261806 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + diff --git a/integrations/ros2/gazebo/meshes/foxglove_logo.png b/integrations/ros2/gazebo/meshes/foxglove_logo.png new file mode 100644 index 0000000..e53314a Binary files /dev/null and b/integrations/ros2/gazebo/meshes/foxglove_logo.png differ diff --git a/integrations/ros2/gazebo/models/workcell/LICENSE b/integrations/ros2/gazebo/models/workcell/LICENSE new file mode 100644 index 0000000..6b95140 --- /dev/null +++ b/integrations/ros2/gazebo/models/workcell/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2020, Wang Han wh200720041@gmail.com +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/integrations/ros2/gazebo/models/workcell/materials/textures/Bin.png b/integrations/ros2/gazebo/models/workcell/materials/textures/Bin.png new file mode 100644 index 0000000..8bcf7af Binary files /dev/null and b/integrations/ros2/gazebo/models/workcell/materials/textures/Bin.png differ diff --git a/integrations/ros2/gazebo/models/workcell/materials/textures/CardboardBoxes.png b/integrations/ros2/gazebo/models/workcell/materials/textures/CardboardBoxes.png new 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2502.613 5005.848 2711.502 2502.613 5013.412 2719.065 2502.613 5005.848 2659.866 2502.613 5013.412 2652.303 2502.613 5771.348 1237.411 179.7909 5740.687 1063.522 179.7909 5771.348 1237.411 532.9345 5423.57 1298.734 179.7909 5566.798 1094.184 179.7909 5597.459 1268.073 179.7909 5423.57 1298.734 532.9345 5597.459 1268.073 532.9345 5566.798 1094.184 532.9345 5710.025 889.6329 179.7909 5536.136 920.2943 179.7909 5710.025 889.6329 532.9345 5536.136 920.2943 532.9345 5740.687 1063.522 532.9345 5362.247 950.9557 179.7909 5392.908 1124.845 179.7909 5362.247 950.9557 532.9345 5392.908 1124.845 532.9345 5293.385 1248.216 179.7909 5305.777 1106.575 179.7909 5293.385 1248.216 464.1542 5010.104 1223.432 179.7909 5164.137 1094.184 179.7909 5151.745 1235.824 179.7909 5010.104 1223.432 464.1542 5151.745 1235.824 464.1542 5164.137 1094.184 464.1542 5318.169 964.9349 179.7909 5176.528 952.543 179.7909 5318.169 964.9349 464.1542 5176.528 952.543 464.1542 5305.777 1106.575 464.1542 5034.888 940.1511 179.7909 5022.496 1081.792 179.7909 5034.888 940.1511 464.1542 5022.496 1081.792 464.1542 5718.75 1928.874 179.7909 5701.081 1726.937 179.7909 5718.75 1928.874 585.2076 5314.875 1964.208 179.7909 5499.144 1744.604 179.7909 5516.812 1946.541 179.7909 5314.875 1964.208 585.2076 5516.812 1946.541 585.2076 5499.144 1744.604 585.2076 5683.414 1525 179.7909 5481.477 1542.667 179.7909 5683.414 1525 585.2076 5481.477 1542.667 585.2076 5701.081 1726.937 585.2076 5279.54 1560.334 179.7909 5297.207 1762.271 179.7909 5279.54 1560.334 585.2076 5297.207 1762.271 585.2076 5756.78 2398.479 176.2928 5756.78 2195.77 176.2928 5756.78 2398.479 581.7095 5351.363 2398.479 176.2928 5554.072 2195.77 176.2928 5554.072 2398.478 176.2928 5351.363 2398.479 581.7095 5554.072 2398.478 581.7095 5554.072 2195.77 581.7095 5756.78 1993.062 176.2928 5554.072 1993.062 176.2928 5756.78 1993.062 581.7095 5554.072 1993.062 581.7095 5756.78 2195.77 581.7095 5351.363 1993.062 176.2928 5351.363 2195.77 176.2928 5351.363 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1651.397 953.8516 5745.937 1633.853 825.6177 5745.937 1614.887 807.2442 5745.937 1629.7 812.4434 5745.937 1633.853 953.8516 5750.301 1661.867 723.7068 5348.596 1661.867 723.7068 5750.301 1661.867 953.8516 5348.596 1661.867 953.8516 5750.301 1682.607 953.8516 5750.301 1730.703 807.2442 5750.301 1701.573 807.2442 5750.301 1682.607 825.6177 5750.301 1686.76 812.4434 5750.301 1799.538 723.7068 5348.596 1799.538 723.7068 5348.596 1730.703 723.7068 5750.301 1730.703 723.7068 5348.596 1799.538 953.8516 5348.596 1730.703 953.8516 5750.301 1799.538 953.8516 5750.301 1778.798 825.6177 5750.301 1759.832 807.2442 5750.301 1774.645 812.4434 5750.301 1778.798 953.8516 5745.937 1665.063 726.5802 5352.143 1665.063 726.5802 5745.937 1665.063 953.8516 5352.143 1665.063 953.8516 5745.937 1682.607 953.8516 5745.937 1730.703 807.2442 5745.937 1701.573 807.2442 5745.937 1682.607 825.6177 5745.937 1686.76 812.4434 5745.937 1796.342 726.5802 5352.143 1796.342 726.5802 5352.143 1730.703 727.226 5745.937 1730.703 727.226 5352.143 1796.342 953.8516 5352.143 1730.703 953.8516 5745.937 1796.342 953.8516 5745.937 1778.798 825.6177 5745.937 1759.832 807.2442 5745.937 1774.645 812.4434 5745.937 1778.798 953.8516 5750.301 1806.812 723.7068 5348.596 1806.812 723.7068 5750.301 1806.812 953.8516 5348.596 1806.812 953.8516 5750.301 1827.552 953.8516 5750.301 1875.647 807.2442 5750.301 1846.518 807.2442 5750.301 1827.552 825.6177 5750.301 1831.705 812.4434 5750.301 1944.483 723.7068 5348.596 1944.483 723.7068 5348.596 1875.647 723.7068 5750.301 1875.647 723.7068 5348.596 1944.483 953.8516 5348.596 1875.647 953.8516 5750.301 1944.483 953.8516 5750.301 1923.743 825.6177 5750.301 1904.776 807.2442 5750.301 1919.59 812.4434 5750.301 1923.743 953.8516 5745.937 1810.008 726.5802 5352.143 1810.008 726.5802 5745.937 1810.008 953.8516 5352.143 1810.008 953.8516 5745.937 1827.552 953.8516 5745.937 1875.647 807.2442 5745.937 1846.518 807.2442 5745.937 1827.552 825.6177 5745.937 1831.705 812.4434 5745.937 1941.287 726.5802 5352.143 1941.287 726.5802 5352.143 1875.647 727.226 5745.937 1875.647 727.226 5352.143 1941.287 953.8516 5352.143 1875.647 953.8516 5745.937 1941.287 953.8516 5745.937 1923.743 825.6177 5745.937 1904.776 807.2442 5745.937 1919.59 812.4434 5745.937 1923.743 953.8516 5750.301 1951.757 723.7068 5348.596 1951.757 723.7068 5750.301 1951.757 953.8516 5348.596 1951.757 953.8516 5750.301 1972.497 953.8516 5750.301 2020.592 807.2442 5750.301 1991.463 807.2442 5750.301 1972.497 825.6177 5750.301 1976.65 812.4434 5750.301 2089.428 723.7068 5348.596 2089.428 723.7068 5348.596 2020.592 723.7068 5750.301 2020.592 723.7068 5348.596 2089.428 953.8516 5348.596 2020.592 953.8516 5750.301 2089.428 953.8516 5750.301 2068.688 825.6177 5750.301 2049.721 807.2442 5750.301 2064.535 812.4434 5750.301 2068.688 953.8516 5745.937 1954.953 726.5802 5352.143 1954.953 726.5802 5745.937 1954.953 953.8516 5352.143 1954.953 953.8516 5745.937 1972.497 953.8516 5745.937 2020.592 807.2442 5745.937 1991.463 807.2442 5745.937 1972.497 825.6177 5745.937 1976.649 812.4434 5745.937 2086.231 726.5802 5352.143 2086.231 726.5802 5352.143 2020.592 727.226 5745.937 2020.592 727.226 5352.143 2086.231 953.8516 5352.143 2020.592 953.8516 5745.937 2086.231 953.8516 5745.937 2068.688 825.6177 5745.937 2049.721 807.2442 5745.937 2064.535 812.4434 5745.937 2068.688 953.8516 5750.301 2096.702 723.7068 5348.596 2096.702 723.7068 5750.301 2096.702 953.8516 5348.596 2096.702 953.8516 5750.301 2117.442 953.8516 5750.301 2165.537 807.2442 5750.301 2136.408 807.2442 5750.301 2117.442 825.6177 5750.301 2121.594 812.4434 5750.301 2234.373 723.7068 5348.596 2234.373 723.7068 5348.596 2165.537 723.7068 5750.301 2165.537 723.7068 5348.596 2234.373 953.8516 5348.596 2165.537 953.8516 5750.301 2234.373 953.8516 5750.301 2213.633 825.6177 5750.301 2194.666 807.2442 5750.301 2209.48 812.4434 5750.301 2213.633 953.8516 5745.937 2099.898 726.5802 5352.143 2099.898 726.5802 5745.937 2099.898 953.8516 5352.143 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2244.843 726.5802 5352.143 2244.843 726.5802 5745.937 2244.843 953.8516 5352.143 2244.843 953.8516 5745.937 2262.387 953.8516 5745.937 2310.482 807.2442 5745.937 2281.353 807.2442 5745.937 2262.387 825.6177 5745.937 2266.539 812.4434 5745.937 2376.121 726.5802 5352.143 2376.121 726.5802 5352.143 2310.482 727.226 5745.937 2310.482 727.226 5352.143 2376.121 953.8516 5352.143 2310.482 953.8516 5745.937 2376.121 953.8516 5745.937 2358.577 825.6177 5745.937 2339.611 807.2442 5745.937 2354.425 812.4434 5745.937 2358.577 953.8516 5750.301 2386.592 723.7068 5348.596 2386.592 723.7068 5750.301 2386.592 953.8516 5348.596 2386.592 953.8516 5750.301 2407.332 953.8516 5750.301 2455.427 807.2442 5750.301 2426.298 807.2442 5750.301 2407.332 825.6177 5750.301 2411.484 812.4434 5750.301 2524.263 723.7068 5348.596 2524.263 723.7068 5348.596 2455.427 723.7068 5750.301 2455.427 723.7068 5348.596 2524.263 953.8516 5348.596 2455.427 953.8516 5750.301 2524.263 953.8516 5750.301 2503.522 825.6177 5750.301 2484.556 807.2442 5750.301 2499.37 812.4434 5750.301 2503.522 953.8516 5745.937 2389.788 726.5802 5352.143 2389.788 726.5802 5745.937 2389.788 953.8516 5352.143 2389.788 953.8516 5745.937 2407.332 953.8516 5745.937 2455.427 807.2442 5745.937 2426.298 807.2442 5745.937 2407.332 825.6177 5745.937 2411.484 812.4434 5745.937 2521.066 726.5802 5352.143 2521.066 726.5802 5352.143 2455.427 727.226 5745.937 2455.427 727.226 5352.143 2521.066 953.8516 5352.143 2455.427 953.8516 5745.937 2521.066 953.8516 5745.937 2503.522 825.6177 5745.937 2484.556 807.2442 5745.937 2499.37 812.4434 5745.937 2503.522 953.8516 5758.972 1384.701 721.8915 5741.305 1182.764 721.8915 5758.972 1384.701 1127.308 5355.098 1420.036 721.8915 5539.368 1200.431 721.8915 5557.035 1402.368 721.8915 5355.098 1420.036 1127.308 5557.035 1402.368 1127.308 5539.368 1200.431 1127.308 5723.638 980.8273 721.8915 5521.701 998.4944 721.8915 5723.638 980.8273 1127.308 5521.701 998.4944 1127.308 5741.305 1182.764 1127.308 5319.764 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1591.006 1267.499 5452.007 1447.078 1559.797 5426.629 1591.006 1559.797 5790.162 2242.078 1267.499 5772.494 2040.141 1267.499 5790.162 2242.078 1672.916 5386.288 2277.412 1267.499 5570.557 2057.808 1267.499 5588.225 2259.745 1267.499 5386.288 2277.412 1672.916 5588.225 2259.745 1672.916 5570.557 2057.808 1672.916 5754.827 1838.204 1267.499 5552.89 1855.871 1267.499 5754.827 1838.204 1672.916 5552.89 1855.871 1672.916 5772.494 2040.141 1672.916 5350.953 1873.538 1267.499 5368.621 2075.475 1267.499 5350.953 1873.538 1672.916 5368.621 2075.475 1672.916 5742.147 2062.32 1817.464 5728.343 1904.535 1817.464 5742.147 2062.32 2134.24 5426.576 2089.929 1817.464 5570.558 1918.339 1817.464 5584.362 2076.125 1817.464 5426.576 2089.929 2134.24 5584.362 2076.125 2134.24 5570.558 1918.339 2134.24 5714.539 1746.749 1817.464 5556.753 1760.554 1817.464 5714.539 1746.749 2134.24 5556.753 1760.554 2134.24 5728.343 1904.535 2134.24 5398.967 1774.358 1817.464 5412.772 1932.144 1817.464 5398.967 1774.358 2134.24 5412.772 1932.144 2134.24 5813.533 2562.504 1817.464 5793.985 2339.076 1817.464 5813.533 2562.504 2266.027 5366.677 2601.599 1817.464 5570.557 2358.623 1817.464 5590.104 2582.052 1817.464 5366.677 2601.599 2266.027 5590.104 2582.052 2266.027 5570.557 2358.623 2266.027 5774.438 2115.648 1817.464 5551.01 2135.195 1817.464 5774.438 2115.648 2266.027 5551.01 2135.195 2266.027 5793.985 2339.076 2266.027 5327.582 2154.743 1817.464 5347.129 2378.171 1817.464 5327.582 2154.743 2266.027 5347.129 2378.171 2266.027 5750.301 1037.483 1821.664 5348.596 1037.483 1821.664 5750.301 1037.483 2051.81 5348.596 1037.483 2051.81 5750.301 1058.223 2051.81 5750.301 1106.318 1905.202 5750.301 1077.189 1905.202 5750.301 1058.223 1923.575 5750.301 1062.375 1910.401 5750.301 1175.154 1821.664 5348.596 1175.154 1821.664 5348.596 1106.318 1821.664 5750.301 1106.318 1821.664 5348.596 1175.154 2051.81 5348.596 1106.318 2051.81 5750.301 1175.154 2051.81 5750.301 1154.414 1923.575 5750.301 1135.447 1905.202 5750.301 1150.261 1910.401 5750.301 1154.414 2051.81 5745.937 1040.679 1824.538 5352.143 1040.679 1824.538 5745.937 1040.679 2051.81 5352.143 1040.679 2051.81 5745.937 1058.223 2051.81 5745.937 1106.318 1905.202 5745.937 1077.189 1905.202 5745.937 1058.223 1923.575 5745.937 1062.375 1910.401 5745.937 1171.957 1824.538 5352.143 1171.958 1824.538 5352.143 1106.318 1825.184 5745.937 1106.318 1825.184 5352.143 1171.958 2051.81 5352.143 1106.318 2051.81 5745.937 1171.957 2051.81 5745.937 1154.414 1923.575 5745.937 1135.447 1905.202 5745.937 1150.261 1910.401 5745.937 1154.414 2051.81 5750.301 892.538 1821.664 5348.596 892.538 1821.664 5750.301 892.538 2051.81 5348.596 892.538 2051.81 5750.301 913.2781 2051.81 5750.301 961.3734 1905.202 5750.301 932.2444 1905.202 5750.301 913.2781 1923.575 5750.301 917.4305 1910.401 5750.301 1030.209 1821.664 5348.596 1030.209 1821.664 5348.596 961.3734 1821.664 5750.301 961.3734 1821.664 5348.596 1030.209 2051.81 5348.596 961.3734 2051.81 5750.301 1030.209 2051.81 5750.301 1009.469 1923.575 5750.301 990.5024 1905.202 5750.301 1005.316 1910.401 5750.301 1009.469 2051.81 5745.937 895.7341 1824.538 5352.143 895.7341 1824.538 5745.937 895.7341 2051.81 5352.143 895.7343 2051.81 5745.937 913.2781 2051.81 5745.937 961.3734 1905.202 5745.937 932.2444 1905.202 5745.937 913.2781 1923.575 5745.937 917.4305 1910.401 5745.937 1027.012 1824.538 5352.143 1027.013 1824.538 5352.143 961.3734 1825.184 5745.937 961.3734 1825.184 5352.143 1027.013 2051.81 5352.143 961.3734 2051.81 5745.937 1027.012 2051.81 5745.937 1009.469 1923.575 5745.937 990.5024 1905.202 5745.937 1005.316 1910.401 5745.937 1009.469 2051.81 5750.301 1182.428 1821.664 5348.596 1182.428 1821.664 5750.301 1182.428 2051.81 5348.596 1182.428 2051.81 5750.301 1203.168 2051.81 5750.301 1251.263 1905.202 5750.301 1222.134 1905.202 5750.301 1203.168 1923.575 5750.301 1207.32 1910.401 5750.301 1320.099 1821.664 5348.596 1320.099 1821.664 5348.596 1251.263 1821.664 5750.301 1251.263 1821.664 5348.596 1320.099 2051.81 5348.596 1251.263 2051.81 5750.301 1320.099 2051.81 5750.301 1299.358 1923.575 5750.301 1280.392 1905.202 5750.301 1295.206 1910.401 5750.301 1299.358 2051.81 5745.937 1185.624 1824.538 5352.143 1185.624 1824.538 5745.937 1185.624 2051.81 5352.143 1185.624 2051.81 5745.937 1203.168 2051.81 5745.937 1251.263 1905.202 5745.937 1222.134 1905.202 5745.937 1203.168 1923.575 5745.937 1207.32 1910.401 5745.937 1316.902 1824.538 5352.143 1316.902 1824.538 5352.143 1251.263 1825.184 5745.937 1251.263 1825.184 5352.143 1316.902 2051.81 5352.143 1251.263 2051.81 5745.937 1316.902 2051.81 5745.937 1299.358 1923.575 5745.937 1280.392 1905.202 5745.937 1295.206 1910.401 5745.937 1299.358 2051.81 5628.503 805.8102 2368.168 5485.42 818.3283 2368.168 5628.503 805.8102 2655.428 5653.54 1091.977 2368.168 5497.938 961.4116 2368.168 5641.021 948.8935 2368.168 5653.54 1091.977 2655.428 5641.021 948.8935 2655.428 5497.938 961.4116 2655.428 5342.337 830.8464 2368.168 5354.855 973.9299 2368.168 5342.337 830.8464 2655.428 5354.855 973.9299 2655.428 5485.42 818.3283 2655.428 5367.373 1117.013 2368.168 5510.457 1104.495 2368.168 5367.373 1117.013 2655.428 5510.457 1104.495 2655.428 5751.537 1678.628 2368.168 5731.135 1445.432 2368.168 5751.537 1678.628 2836.343 5285.144 1719.432 2368.168 5497.938 1465.833 2368.168 5518.34 1699.03 2368.168 5285.144 1719.432 2836.343 5518.34 1699.03 2836.343 5497.938 1465.833 2836.343 5710.733 1212.235 2368.168 5477.536 1232.637 2368.168 5710.733 1212.235 2836.343 5477.536 1232.637 2836.343 5731.135 1445.432 2836.343 5244.339 1253.039 2368.168 5264.742 1486.236 2368.168 5244.339 1253.039 2836.343 5264.742 1486.236 2836.343 5704.101 2241.694 2368.168 5704.101 2035.531 2368.168 5704.101 2241.694 2780.493 5291.775 2241.695 2368.168 5497.938 2035.532 2368.168 5497.938 2241.694 2368.168 5291.775 2241.695 2780.493 5497.938 2241.694 2780.493 5497.938 2035.532 2780.493 5704.101 1829.369 2368.168 5497.938 1829.369 2368.168 5704.101 1829.369 2780.493 5497.938 1829.369 2780.493 5704.101 2035.531 2780.493 5291.775 1829.369 2368.168 5291.775 2035.532 2368.168 5291.775 1829.369 2780.493 5291.775 2035.532 2780.493 5779.053 779.2468 631.7852 5779.053 2709.353 631.7852 4956.847 779.2468 631.7852 4956.847 2709.353 631.7852 5779.053 779.2468 723.7382 5779.053 2709.353 723.7382 4956.847 779.2468 723.7382 4956.847 2709.353 723.7382 5779.053 2709.353 698.2914 5779.053 779.2468 698.2914 4956.847 2709.353 698.2914 4956.847 779.2468 698.2914 5779.053 779.2468 2280.099 5779.053 2709.353 2280.099 4956.847 779.2468 2280.099 4956.847 2709.353 2280.099 5779.053 779.2468 2372.052 5779.053 2709.353 2372.052 4956.847 779.2468 2372.052 4956.847 2709.353 2372.052 5779.053 2709.353 2346.605 5779.053 779.2468 2346.605 4956.847 2709.353 2346.605 4956.847 779.2468 2346.605 5779.053 779.2468 1730.661 5779.053 2709.353 1730.661 4956.847 779.2468 1730.661 4956.847 2709.353 1730.661 5779.053 779.2468 1822.614 5779.053 2709.353 1822.614 4956.847 779.2468 1822.614 4956.847 2709.353 1822.614 5779.053 2709.353 1797.167 5779.053 779.2468 1797.167 4956.847 2709.353 1797.167 4956.847 779.2468 1797.167 5779.053 779.2468 1181.223 5779.053 2709.353 1181.223 4956.847 779.2468 1181.223 4956.847 2709.353 1181.223 5779.053 779.2468 1273.176 5779.053 2709.353 1273.176 4956.847 779.2468 1273.176 4956.847 2709.353 1273.176 5779.053 2709.353 1247.729 5779.053 779.2468 1247.729 4956.847 2709.353 1247.729 4956.847 779.2468 1247.729 7759.442 779.2468 82.34722 7759.442 2709.353 82.34722 6937.236 779.2468 82.34722 6937.236 2709.353 82.34722 7759.442 779.2468 174.3001 7759.442 2709.353 174.3001 6937.236 779.2468 174.3001 6937.236 2709.353 174.3001 7759.442 2709.353 148.8534 7759.442 779.2468 148.8534 6937.236 2709.353 148.8534 6937.236 779.2468 148.8534 7766.161 773.0139 0 7766.161 832.8176 0 7706.357 773.0139 0 7762.341 776.8335 0 7766.161 773.0139 2553.122 7766.161 832.8176 2553.122 7706.357 773.0139 2553.122 7762.341 776.8335 2553.122 7766.161 2715.586 0 7762.341 2711.766 0 7766.161 2655.782 0 7766.161 2715.586 2553.122 7762.341 2711.766 2553.122 7706.356 2715.586 2553.122 7766.161 2655.782 2553.122 7706.356 2715.586 0 6930.517 773.0139 0 6934.337 776.8335 0 6930.517 832.8176 0 6930.517 773.0139 2553.122 6934.337 776.8335 2553.122 6990.321 773.0139 2553.122 6930.517 832.8176 2553.122 6990.321 773.0139 0 6930.517 2715.586 0 6930.517 2655.782 0 6934.337 2711.766 0 6930.517 2715.586 2553.122 6990.321 2715.586 2553.122 6934.337 2711.766 2553.122 6930.517 2655.782 2553.122 6990.321 2715.586 0 7772.778 770.8342 3.481941 7768.34 834.9971 0 7704.177 766.3959 3.481941 7704.177 834.9971 0 7772.778 770.8342 53.81835 7768.34 839.4354 53.81835 7704.177 766.3959 53.81835 7699.739 834.9971 53.81835 7762.076 777.0978 57.30029 7762.076 828.7334 57.30029 7710.44 828.7334 57.30029 7710.44 777.0978 57.30029 7768.34 766.3959 3.481941 7768.34 770.8342 0 7768.34 839.4354 3.481941 7772.778 834.9971 3.481941 7699.739 770.8342 3.481941 7704.177 770.8342 0 7699.739 834.9971 3.481941 7704.177 839.4354 3.481941 7769.64 769.5343 57.30029 7768.34 766.3959 53.81835 7769.64 836.2969 57.30029 7772.778 834.9971 53.81835 7702.877 769.5343 57.30029 7699.739 770.8342 53.81835 7702.877 836.2969 57.30029 7704.177 839.4354 53.81835 7772.778 834.9971 2556.431 7768.34 770.8342 2559.913 7704.177 839.4354 2556.431 7704.177 770.8342 2559.913 7772.778 834.9971 2506.095 7768.34 766.3959 2506.095 7704.177 839.4354 2506.095 7699.739 770.8342 2506.095 7762.076 828.7334 2502.613 7762.076 777.0978 2502.613 7710.44 777.0978 2502.613 7710.44 828.7334 2502.613 7768.34 839.4354 2556.431 7768.34 834.9971 2559.913 7768.34 766.3959 2556.431 7772.778 770.8342 2556.431 7699.739 834.9971 2556.431 7704.177 834.9971 2559.913 7699.739 770.8342 2556.431 7704.177 766.3959 2556.431 7769.64 836.2969 2502.613 7768.34 839.4354 2506.095 7769.64 769.5343 2502.613 7772.778 770.8342 2506.095 7702.877 836.2969 2502.613 7699.739 834.9971 2506.095 7702.877 769.5343 2502.613 7704.177 766.3959 2506.095 7768.34 2717.765 0 7704.177 2717.765 0 7704.177 2653.603 0 7768.34 2653.603 0 7772.778 2717.765 3.481941 7772.778 2653.603 3.481941 7772.778 2653.603 53.81835 7772.778 2717.765 53.81835 7768.34 2649.165 3.481941 7704.177 2649.165 3.481941 7704.177 2649.165 53.81835 7768.34 2649.165 53.81835 7699.739 2653.603 3.481941 7699.739 2717.765 3.481941 7699.739 2717.765 53.81835 7699.739 2653.603 53.81835 7704.177 2722.204 3.481941 7768.34 2722.204 3.481941 7768.34 2722.204 53.81835 7704.177 2722.204 53.81835 7769.64 2719.065 57.30029 7769.64 2652.303 57.30029 7762.076 2659.866 57.30029 7762.076 2711.502 57.30029 7702.877 2652.303 57.30029 7710.44 2659.866 57.30029 7702.877 2719.065 57.30029 7710.44 2711.502 57.30029 7768.34 2653.603 2559.913 7704.177 2653.603 2559.913 7704.177 2717.766 2559.913 7768.34 2717.766 2559.913 7772.778 2653.603 2556.431 7772.778 2717.766 2556.431 7772.778 2717.765 2506.095 7772.778 2653.603 2506.095 7768.34 2722.204 2556.431 7704.177 2722.204 2556.431 7704.177 2722.204 2506.095 7768.34 2722.204 2506.095 7699.739 2717.766 2556.431 7699.739 2653.603 2556.431 7699.739 2653.603 2506.095 7699.739 2717.765 2506.095 7704.177 2649.165 2556.431 7768.34 2649.165 2556.431 7768.34 2649.165 2506.095 7704.177 2649.165 2506.095 7769.64 2652.303 2502.613 7769.64 2719.065 2502.613 7762.076 2711.502 2502.613 7762.076 2659.866 2502.613 7702.877 2719.065 2502.613 7710.44 2711.502 2502.613 7702.877 2652.303 2502.613 7710.44 2659.866 2502.613 6928.338 770.8343 0 6992.5 770.8343 0 6992.5 834.9971 0 6928.338 834.9971 0 6923.899 770.8343 3.481941 6923.899 834.9971 3.481941 6923.899 834.9971 53.81835 6923.899 770.8343 53.81835 6928.338 839.4354 3.481941 6992.5 839.4354 3.481941 6992.5 839.4354 53.81835 6928.338 839.4354 53.81835 6996.939 834.9971 3.481941 6996.939 770.8343 3.481941 6996.939 770.8343 53.81835 6996.939 834.9971 53.81835 6992.5 766.3959 3.481941 6928.338 766.3959 3.481941 6928.338 766.3959 53.81835 6992.5 766.3959 53.81835 6927.038 769.5342 57.30029 6927.038 836.2969 57.30029 6934.603 828.7334 57.30029 6934.603 777.0978 57.30029 6993.801 836.2969 57.30029 6986.237 828.7334 57.30029 6993.801 769.5342 57.30029 6986.237 777.0978 57.30029 6928.338 834.9971 2559.913 6992.5 834.9971 2559.913 6992.5 770.8342 2559.913 6928.338 770.8342 2559.913 6923.899 834.9971 2556.431 6923.899 770.8342 2556.431 6923.899 770.8343 2506.095 6923.899 834.9971 2506.095 6928.338 766.3959 2556.431 6992.5 766.3959 2556.431 6992.5 766.3959 2506.095 6928.338 766.3959 2506.095 6996.939 770.8342 2556.431 6996.939 834.9971 2556.431 6996.939 834.9971 2506.095 6996.939 770.8343 2506.095 6992.5 839.4354 2556.431 6928.338 839.4354 2556.431 6928.338 839.4354 2506.095 6992.5 839.4354 2506.095 6927.038 836.2969 2502.613 6927.038 769.5342 2502.613 6934.603 777.0978 2502.613 6934.603 828.7334 2502.613 6993.801 769.5342 2502.613 6986.237 777.0978 2502.613 6993.801 836.2969 2502.613 6986.237 828.7334 2502.613 6928.338 2717.765 0 6928.338 2653.603 0 6992.5 2653.603 0 6992.5 2717.765 0 6923.899 2717.765 3.481941 6923.899 2717.765 53.81835 6923.899 2653.603 53.81835 6923.899 2653.603 3.481941 6928.338 2649.165 3.481941 6928.338 2649.165 53.81835 6992.5 2649.165 53.81835 6992.5 2649.165 3.481941 6996.939 2653.603 3.481941 6996.939 2653.603 53.81835 6996.939 2717.765 53.81835 6996.939 2717.765 3.481941 6992.5 2722.204 3.481941 6992.5 2722.204 53.81835 6928.338 2722.204 53.81835 6928.338 2722.204 3.481941 6927.038 2719.065 57.30029 6934.603 2711.502 57.30029 6934.603 2659.866 57.30029 6927.038 2652.303 57.30029 6986.237 2659.866 57.30029 6993.801 2652.303 57.30029 6986.237 2711.502 57.30029 6993.801 2719.065 57.30029 6928.338 2653.603 2559.913 6928.338 2717.766 2559.913 6992.5 2717.766 2559.913 6992.5 2653.603 2559.913 6923.899 2653.603 2556.431 6923.899 2653.603 2506.095 6923.899 2717.765 2506.095 6923.899 2717.766 2556.431 6928.338 2722.204 2556.431 6928.338 2722.204 2506.095 6992.5 2722.204 2506.095 6992.5 2722.204 2556.431 6996.939 2717.766 2556.431 6996.939 2717.765 2506.095 6996.939 2653.603 2506.095 6996.939 2653.603 2556.431 6992.5 2649.165 2556.431 6992.5 2649.165 2506.095 6928.338 2649.165 2506.095 6928.338 2649.165 2556.431 6927.038 2652.303 2502.613 6934.603 2659.866 2502.613 6934.603 2711.502 2502.613 6927.038 2719.065 2502.613 6986.237 2711.502 2502.613 6993.801 2719.065 2502.613 6986.237 2659.866 2502.613 6993.801 2652.303 2502.613 7751.737 1237.411 179.7909 7721.076 1063.522 179.7909 7751.737 1237.411 532.9345 7403.959 1298.734 179.7909 7547.187 1094.184 179.7909 7577.848 1268.073 179.7909 7403.959 1298.734 532.9345 7577.848 1268.073 532.9345 7547.187 1094.184 532.9345 7690.416 889.6329 179.7909 7516.525 920.2943 179.7909 7690.416 889.6329 532.9345 7516.525 920.2943 532.9345 7721.076 1063.522 532.9345 7342.636 950.9557 179.7909 7373.297 1124.845 179.7909 7342.636 950.9557 532.9345 7373.297 1124.845 532.9345 7273.774 1248.216 179.7909 7286.167 1106.575 179.7909 7273.774 1248.216 464.1542 6990.493 1223.432 179.7909 7144.526 1094.184 179.7909 7132.134 1235.824 179.7909 6990.493 1223.432 464.1542 7132.134 1235.824 464.1542 7144.526 1094.184 464.1542 7298.558 964.9349 179.7909 7156.917 952.543 179.7909 7298.558 964.9349 464.1542 7156.917 952.543 464.1542 7286.167 1106.575 464.1542 7015.277 940.1511 179.7909 7002.885 1081.792 179.7909 7015.277 940.1511 464.1542 7002.885 1081.792 464.1542 7699.138 1928.874 179.7909 7681.47 1726.937 179.7909 7699.138 1928.874 585.2076 7295.264 1964.208 179.7909 7479.533 1744.604 179.7909 7497.201 1946.541 179.7909 7295.264 1964.208 585.2076 7497.201 1946.541 585.2076 7479.533 1744.604 585.2076 7663.803 1525 179.7909 7461.866 1542.667 179.7909 7663.803 1525 585.2076 7461.866 1542.667 585.2076 7681.47 1726.937 585.2076 7259.929 1560.334 179.7909 7277.596 1762.271 179.7909 7259.929 1560.334 585.2076 7277.596 1762.271 585.2076 7737.169 2398.479 176.2928 7737.169 2195.77 176.2928 7737.169 2398.479 581.7095 7331.752 2398.479 176.2928 7534.461 2195.77 176.2928 7534.461 2398.478 176.2928 7331.752 2398.479 581.7095 7534.461 2398.478 581.7095 7534.461 2195.77 581.7095 7737.169 1993.062 176.2928 7534.461 1993.062 176.2928 7737.169 1993.062 581.7095 7534.461 1993.062 581.7095 7737.169 2195.77 581.7095 7331.752 1993.062 176.2928 7331.752 2195.77 176.2928 7331.752 1993.062 581.7095 7331.752 2195.77 581.7095 7730.69 1516.922 723.7068 7328.985 1516.922 723.7068 7730.69 1516.922 953.8516 7328.985 1516.922 953.8516 7730.69 1537.662 953.8516 7730.69 1585.758 807.2442 7730.69 1556.629 807.2442 7730.69 1537.662 825.6177 7730.69 1541.815 812.4434 7730.69 1654.593 723.7068 7328.985 1654.593 723.7068 7328.985 1585.758 723.7068 7730.69 1585.758 723.7068 7328.985 1654.593 953.8516 7328.985 1585.758 953.8516 7730.69 1654.593 953.8516 7730.69 1633.853 825.6177 7730.69 1614.887 807.2442 7730.69 1629.7 812.4434 7730.69 1633.853 953.8516 7726.326 1520.118 726.5802 7332.532 1520.119 726.5802 7726.326 1520.118 953.8516 7332.532 1520.119 953.8516 7726.326 1537.662 953.8516 7726.326 1585.758 807.2442 7726.326 1556.629 807.2442 7726.326 1537.662 825.6177 7726.326 1541.815 812.4434 7726.326 1651.397 726.5802 7332.532 1651.397 726.5802 7332.532 1585.758 727.226 7726.326 1585.758 727.226 7332.532 1651.397 953.8516 7332.532 1585.758 953.8516 7726.326 1651.397 953.8516 7726.326 1633.853 825.6177 7726.326 1614.887 807.2442 7726.326 1629.7 812.4434 7726.326 1633.853 953.8516 7730.69 1661.867 723.7068 7328.985 1661.867 723.7068 7730.69 1661.867 953.8516 7328.985 1661.867 953.8516 7730.69 1682.607 953.8516 7730.69 1730.703 807.2442 7730.69 1701.573 807.2442 7730.69 1682.607 825.6177 7730.69 1686.76 812.4434 7730.69 1799.538 723.7068 7328.985 1799.538 723.7068 7328.985 1730.703 723.7068 7730.69 1730.703 723.7068 7328.985 1799.538 953.8516 7328.985 1730.703 953.8516 7730.69 1799.538 953.8516 7730.69 1778.798 825.6177 7730.69 1759.832 807.2442 7730.69 1774.645 812.4434 7730.69 1778.798 953.8516 7726.326 1665.063 726.5802 7332.532 1665.063 726.5802 7726.326 1665.063 953.8516 7332.532 1665.063 953.8516 7726.326 1682.607 953.8516 7726.326 1730.703 807.2442 7726.326 1701.573 807.2442 7726.326 1682.607 825.6177 7726.326 1686.76 812.4434 7726.326 1796.342 726.5802 7332.532 1796.342 726.5802 7332.532 1730.703 727.226 7726.326 1730.703 727.226 7332.532 1796.342 953.8516 7332.532 1730.703 953.8516 7726.326 1796.342 953.8516 7726.326 1778.798 825.6177 7726.326 1759.832 807.2442 7726.326 1774.645 812.4434 7726.326 1778.798 953.8516 7730.69 1806.812 723.7068 7328.985 1806.812 723.7068 7730.69 1806.812 953.8516 7328.985 1806.812 953.8516 7730.69 1827.552 953.8516 7730.69 1875.647 807.2442 7730.69 1846.518 807.2442 7730.69 1827.552 825.6177 7730.69 1831.705 812.4434 7730.69 1944.483 723.7068 7328.985 1944.483 723.7068 7328.985 1875.647 723.7068 7730.69 1875.647 723.7068 7328.985 1944.483 953.8516 7328.985 1875.647 953.8516 7730.69 1944.483 953.8516 7730.69 1923.743 825.6177 7730.69 1904.776 807.2442 7730.69 1919.59 812.4434 7730.69 1923.743 953.8516 7726.326 1810.008 726.5802 7332.532 1810.008 726.5802 7726.326 1810.008 953.8516 7332.532 1810.008 953.8516 7726.326 1827.552 953.8516 7726.326 1875.647 807.2442 7726.326 1846.518 807.2442 7726.326 1827.552 825.6177 7726.326 1831.705 812.4434 7726.326 1941.287 726.5802 7332.532 1941.287 726.5802 7332.532 1875.647 727.226 7726.326 1875.647 727.226 7332.532 1941.287 953.8516 7332.532 1875.647 953.8516 7726.326 1941.287 953.8516 7726.326 1923.743 825.6177 7726.326 1904.776 807.2442 7726.326 1919.59 812.4434 7726.326 1923.743 953.8516 7730.69 1951.757 723.7068 7328.985 1951.757 723.7068 7730.69 1951.757 953.8516 7328.985 1951.757 953.8516 7730.69 1972.497 953.8516 7730.69 2020.592 807.2442 7730.69 1991.463 807.2442 7730.69 1972.497 825.6177 7730.69 1976.65 812.4434 7730.69 2089.428 723.7068 7328.985 2089.428 723.7068 7328.985 2020.592 723.7068 7730.69 2020.592 723.7068 7328.985 2089.428 953.8516 7328.985 2020.592 953.8516 7730.69 2089.428 953.8516 7730.69 2068.688 825.6177 7730.69 2049.721 807.2442 7730.69 2064.535 812.4434 7730.69 2068.688 953.8516 7726.326 1954.953 726.5802 7332.532 1954.953 726.5802 7726.326 1954.953 953.8516 7332.532 1954.953 953.8516 7726.326 1972.497 953.8516 7726.326 2020.592 807.2442 7726.326 1991.463 807.2442 7726.326 1972.497 825.6177 7726.326 1976.649 812.4434 7726.326 2086.231 726.5802 7332.532 2086.231 726.5802 7332.532 2020.592 727.226 7726.326 2020.592 727.226 7332.532 2086.231 953.8516 7332.532 2020.592 953.8516 7726.326 2086.231 953.8516 7726.326 2068.688 825.6177 7726.326 2049.721 807.2442 7726.326 2064.535 812.4434 7726.326 2068.688 953.8516 7730.69 2096.702 723.7068 7328.985 2096.702 723.7068 7730.69 2096.702 953.8516 7328.985 2096.702 953.8516 7730.69 2117.442 953.8516 7730.69 2165.537 807.2442 7730.689 2136.408 807.2442 7730.69 2117.442 825.6177 7730.69 2121.594 812.4434 7730.69 2234.373 723.7068 7328.985 2234.373 723.7068 7328.985 2165.537 723.7068 7730.69 2165.537 723.7068 7328.985 2234.373 953.8516 7328.985 2165.537 953.8516 7730.69 2234.373 953.8516 7730.69 2213.633 825.6177 7730.69 2194.666 807.2442 7730.69 2209.48 812.4434 7730.69 2213.633 953.8516 7726.326 2099.898 726.5802 7332.532 2099.898 726.5802 7726.326 2099.898 953.8516 7332.532 2099.898 953.8516 7726.326 2117.442 953.8516 7726.326 2165.537 807.2442 7726.326 2136.408 807.2442 7726.326 2117.442 825.6177 7726.326 2121.594 812.4434 7726.326 2231.177 726.5802 7332.532 2231.177 726.5802 7332.532 2165.537 727.226 7726.326 2165.537 727.226 7332.532 2231.177 953.8516 7332.532 2165.537 953.8516 7726.326 2231.177 953.8516 7726.326 2213.633 825.6177 7726.326 2194.666 807.2442 7726.326 2209.48 812.4434 7726.326 2213.633 953.8516 7730.69 2241.647 723.7068 7328.985 2241.647 723.7068 7730.69 2241.647 953.8516 7328.985 2241.647 953.8516 7730.69 2262.387 953.8516 7730.69 2310.482 807.2442 7730.69 2281.353 807.2442 7730.69 2262.387 825.6177 7730.69 2266.539 812.4434 7730.69 2379.318 723.7068 7328.985 2379.318 723.7068 7328.985 2310.482 723.7068 7730.69 2310.482 723.7068 7328.985 2379.318 953.8516 7328.985 2310.482 953.8516 7730.69 2379.318 953.8516 7730.69 2358.577 825.6177 7730.69 2339.611 807.2442 7730.69 2354.425 812.4434 7730.69 2358.577 953.8516 7726.326 2244.843 726.5802 7332.532 2244.843 726.5802 7726.326 2244.843 953.8516 7332.532 2244.843 953.8516 7726.326 2262.387 953.8516 7726.326 2310.482 807.2442 7726.326 2281.353 807.2442 7726.326 2262.387 825.6177 7726.326 2266.539 812.4434 7726.326 2376.121 726.5802 7332.532 2376.121 726.5802 7332.532 2310.482 727.226 7726.326 2310.482 727.226 7332.532 2376.121 953.8516 7332.532 2310.482 953.8516 7726.326 2376.121 953.8516 7726.326 2358.577 825.6177 7726.326 2339.611 807.2442 7726.326 2354.425 812.4434 7726.326 2358.577 953.8516 7730.69 2386.592 723.7068 7328.985 2386.592 723.7068 7730.69 2386.592 953.8516 7328.985 2386.592 953.8516 7730.689 2407.332 953.8516 7730.69 2455.427 807.2442 7730.69 2426.298 807.2442 7730.689 2407.332 825.6177 7730.69 2411.484 812.4434 7730.69 2524.263 723.7068 7328.985 2524.263 723.7068 7328.985 2455.427 723.7068 7730.69 2455.427 723.7068 7328.985 2524.263 953.8516 7328.985 2455.427 953.8516 7730.69 2524.263 953.8516 7730.69 2503.522 825.6177 7730.69 2484.556 807.2442 7730.69 2499.37 812.4434 7730.69 2503.522 953.8516 7726.326 2389.788 726.5802 7332.532 2389.788 726.5802 7726.326 2389.788 953.8516 7332.532 2389.788 953.8516 7726.326 2407.332 953.8516 7726.326 2455.427 807.2442 7726.326 2426.298 807.2442 7726.326 2407.332 825.6177 7726.326 2411.484 812.4434 7726.326 2521.066 726.5802 7332.532 2521.066 726.5802 7332.532 2455.427 727.226 7726.326 2455.427 727.226 7332.532 2521.066 953.8516 7332.532 2455.427 953.8516 7726.326 2521.066 953.8516 7726.326 2503.522 825.6177 7726.326 2484.556 807.2442 7726.326 2499.37 812.4434 7726.326 2503.522 953.8516 7739.361 1384.701 721.8915 7721.694 1182.764 721.8915 7739.361 1384.701 1127.308 7335.487 1420.036 721.8915 7519.757 1200.431 721.8915 7537.424 1402.368 721.8915 7335.487 1420.036 1127.308 7537.424 1402.368 1127.308 7519.757 1200.431 1127.308 7704.027 980.8273 721.8915 7502.09 998.4944 721.8915 7704.027 980.8273 1127.308 7502.09 998.4944 1127.308 7721.694 1182.764 1127.308 7300.153 1016.162 721.8915 7317.82 1218.099 721.8915 7300.153 1016.162 1127.308 7317.82 1218.099 1127.308 7638.864 1259.179 1267.499 7621.197 1057.242 1267.499 7638.864 1259.179 1672.916 7234.99 1294.513 1267.499 7419.26 1074.909 1267.499 7436.927 1276.846 1267.499 7234.99 1294.513 1672.916 7436.927 1276.846 1672.916 7419.26 1074.909 1672.916 7603.53 855.3051 1267.499 7401.593 872.9722 1267.499 7603.53 855.3051 1672.916 7401.593 872.9722 1672.916 7621.197 1057.242 1672.916 7199.656 890.6394 1267.499 7217.323 1092.576 1267.499 7199.656 890.6394 1672.916 7217.323 1092.576 1672.916 7669.498 1785.692 1267.499 7694.875 1641.763 1267.499 7669.498 1785.692 1559.797 7381.64 1734.935 1267.499 7550.946 1616.385 1267.499 7525.568 1760.313 1267.499 7381.64 1734.935 1559.797 7525.568 1760.313 1559.797 7550.946 1616.385 1559.797 7720.253 1497.835 1267.499 7576.325 1472.456 1267.499 7720.253 1497.835 1559.797 7576.325 1472.456 1559.797 7694.875 1641.763 1559.797 7432.396 1447.078 1267.499 7407.019 1591.006 1267.499 7432.396 1447.078 1559.797 7407.019 1591.006 1559.797 7770.551 2242.078 1267.499 7752.883 2040.141 1267.499 7770.551 2242.078 1672.916 7366.677 2277.412 1267.499 7550.946 2057.808 1267.499 7568.614 2259.745 1267.499 7366.677 2277.412 1672.916 7568.614 2259.745 1672.916 7550.946 2057.808 1672.916 7735.216 1838.204 1267.499 7533.279 1855.871 1267.499 7735.216 1838.204 1672.916 7533.279 1855.871 1672.916 7752.883 2040.141 1672.916 7331.342 1873.538 1267.499 7349.01 2075.475 1267.499 7331.342 1873.538 1672.916 7349.01 2075.475 1672.916 7722.538 2062.32 1817.464 7708.732 1904.535 1817.464 7722.538 2062.32 2134.24 7406.965 2089.929 1817.464 7550.946 1918.339 1817.464 7564.751 2076.125 1817.464 7406.965 2089.929 2134.24 7564.751 2076.125 2134.24 7550.946 1918.339 2134.24 7694.928 1746.749 1817.464 7537.143 1760.554 1817.464 7694.928 1746.749 2134.24 7537.143 1760.554 2134.24 7708.732 1904.535 2134.24 7379.356 1774.358 1817.464 7393.161 1932.144 1817.464 7379.356 1774.358 2134.24 7393.161 1932.144 2134.24 7793.922 2562.504 1817.464 7774.375 2339.076 1817.464 7793.922 2562.504 2266.027 7347.066 2601.599 1817.464 7550.946 2358.623 1817.464 7570.494 2582.052 1817.464 7347.066 2601.599 2266.027 7570.494 2582.052 2266.027 7550.946 2358.623 2266.027 7754.827 2115.648 1817.464 7531.399 2135.195 1817.464 7754.827 2115.648 2266.027 7531.399 2135.195 2266.027 7774.375 2339.076 2266.027 7307.971 2154.743 1817.464 7327.52 2378.171 1817.464 7307.971 2154.743 2266.027 7327.52 2378.171 2266.027 7730.69 1037.483 1821.664 7328.985 1037.483 1821.664 7730.69 1037.483 2051.81 7328.985 1037.483 2051.81 7730.69 1058.223 2051.81 7730.69 1106.318 1905.202 7730.69 1077.189 1905.202 7730.69 1058.223 1923.575 7730.69 1062.375 1910.401 7730.69 1175.154 1821.664 7328.985 1175.154 1821.664 7328.985 1106.318 1821.664 7730.69 1106.318 1821.664 7328.985 1175.154 2051.81 7328.985 1106.318 2051.81 7730.69 1175.154 2051.81 7730.69 1154.414 1923.575 7730.69 1135.447 1905.202 7730.69 1150.261 1910.401 7730.69 1154.414 2051.81 7726.326 1040.679 1824.538 7332.532 1040.679 1824.538 7726.326 1040.679 2051.81 7332.532 1040.679 2051.81 7726.326 1058.223 2051.81 7726.326 1106.318 1905.202 7726.326 1077.189 1905.202 7726.326 1058.223 1923.575 7726.326 1062.375 1910.401 7726.326 1171.957 1824.538 7332.532 1171.958 1824.538 7332.532 1106.318 1825.184 7726.326 1106.318 1825.184 7332.532 1171.958 2051.81 7332.532 1106.318 2051.81 7726.326 1171.957 2051.81 7726.326 1154.414 1923.575 7726.326 1135.447 1905.202 7726.326 1150.261 1910.401 7726.326 1154.414 2051.81 7730.69 892.538 1821.664 7328.985 892.538 1821.664 7730.69 892.538 2051.81 7328.985 892.538 2051.81 7730.69 913.2781 2051.81 7730.69 961.3734 1905.202 7730.69 932.2444 1905.202 7730.69 913.2781 1923.575 7730.69 917.4305 1910.401 7730.69 1030.209 1821.664 7328.985 1030.209 1821.664 7328.985 961.3734 1821.664 7730.69 961.3734 1821.664 7328.985 1030.209 2051.81 7328.985 961.3734 2051.81 7730.69 1030.209 2051.81 7730.69 1009.469 1923.575 7730.69 990.5024 1905.202 7730.69 1005.316 1910.401 7730.69 1009.469 2051.81 7726.326 895.7341 1824.538 7332.532 895.7341 1824.538 7726.326 895.7341 2051.81 7332.532 895.7343 2051.81 7726.326 913.2781 2051.81 7726.326 961.3734 1905.202 7726.326 932.2444 1905.202 7726.326 913.2781 1923.575 7726.326 917.4305 1910.401 7726.326 1027.012 1824.538 7332.532 1027.013 1824.538 7332.532 961.3734 1825.184 7726.326 961.3734 1825.184 7332.532 1027.013 2051.81 7332.532 961.3734 2051.81 7726.326 1027.012 2051.81 7726.326 1009.469 1923.575 7726.326 990.5024 1905.202 7726.326 1005.316 1910.401 7726.326 1009.469 2051.81 7730.69 1182.428 1821.664 7328.985 1182.428 1821.664 7730.69 1182.428 2051.81 7328.985 1182.428 2051.81 7730.69 1203.168 2051.81 7730.69 1251.263 1905.202 7730.69 1222.134 1905.202 7730.69 1203.168 1923.575 7730.69 1207.32 1910.401 7730.69 1320.099 1821.664 7328.985 1320.099 1821.664 7328.985 1251.263 1821.664 7730.69 1251.263 1821.664 7328.985 1320.099 2051.81 7328.985 1251.263 2051.81 7730.69 1320.099 2051.81 7730.69 1299.358 1923.575 7730.69 1280.392 1905.202 7730.69 1295.206 1910.401 7730.69 1299.358 2051.81 7726.326 1185.624 1824.538 7332.532 1185.624 1824.538 7726.326 1185.624 2051.81 7332.532 1185.624 2051.81 7726.326 1203.168 2051.81 7726.326 1251.263 1905.202 7726.326 1222.134 1905.202 7726.326 1203.168 1923.575 7726.326 1207.32 1910.401 7726.326 1316.902 1824.538 7332.532 1316.902 1824.538 7332.532 1251.263 1825.184 7726.326 1251.263 1825.184 7332.532 1316.902 2051.81 7332.532 1251.263 2051.81 7726.326 1316.902 2051.81 7726.326 1299.358 1923.575 7726.326 1280.392 1905.202 7726.326 1295.206 1910.401 7726.326 1299.358 2051.81 7608.894 805.8102 2368.168 7465.81 818.3283 2368.168 7608.894 805.8102 2655.428 7633.929 1091.977 2368.168 7478.328 961.4116 2368.168 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8496 1068 23298 8517 1069 23299 8497 1070 23300 8497 1070 23301 8519 1999 23302 8499 2184 23303 8499 2184 23304 8518 1073 23305 8498 2185 23306 8498 2185 23307 8515 1075 23308 8495 1076 23309 8495 2006 23310 8513 2006 23311 8493 2006 23312 8505 2007 23313 8524 2007 23314 8504 2007 23315 8504 0 23316 8526 0 23317 8506 0 23318 8508 2180 23319 8516 1079 23320 8496 1068 23321 8509 1690 23322 8528 2181 23323 8508 2180 23324 8507 1137 23325 8529 1511 23326 8509 1690 23327 8510 0 23328 8526 0 23329 8530 0 23330 8510 1084 23331 8527 1367 23332 8507 1137 23333 8542 36 23334 8531 36 23335 8532 36 23336 8532 14 23337 8545 14 23338 8542 14 23339 8533 15 23340 8532 15 23341 8531 15 23342 8538 2174 23343 8533 2174 23344 8531 2174 23345 8543 1 23346 8536 1 23347 8537 1 23348 8537 1 23349 8539 1 23350 8531 1 23351 8531 1993 23352 8539 1993 23353 8538 1993 23354 8538 1 23355 8535 1 23356 8533 1 23357 8537 1 23358 8531 1 23359 8543 1 23360 8540 36 23361 8542 36 23362 8541 36 23363 8545 14 23364 8541 14 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23503 8578 2013 23504 8578 1 23505 8575 1 23506 8573 1 23507 8577 1 23508 8571 1 23509 8583 1 23510 8580 36 23511 8582 36 23512 8581 36 23513 8585 14 23514 8581 14 23515 8582 14 23516 8581 2 23517 8586 2 23518 8580 2 23519 8587 2175 23520 8580 2175 23521 8586 2175 23522 8583 1 23523 8588 1 23524 8576 1 23525 8588 1 23526 8580 1 23527 8589 1 23528 8580 2012 23529 8587 2012 23530 8589 2012 23531 8587 1 23532 8586 1 23533 8590 1 23534 8588 1 23535 8583 1 23536 8580 1 23537 8602 1060 23538 8591 1061 23539 8603 1062 23540 8594 1 23541 8602 1 23542 8605 1 23543 8593 2 23544 8592 2 23545 8594 2 23546 8591 14 23547 8593 14 23548 8598 14 23549 8597 14 23550 8596 14 23551 8603 14 23552 8591 2189 23553 8599 2189 23554 8597 2189 23555 8598 14 23556 8599 14 23557 8591 14 23558 8593 14 23559 8595 14 23560 8598 14 23561 8603 14 23562 8591 14 23563 8597 14 23564 8600 1065 23565 8602 1060 23566 8603 1062 23567 8604 2190 23568 8602 2190 23569 8601 2190 23570 8601 15 23571 8606 15 23572 8604 15 23573 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ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/integrations/ros2/gazebo/scripts/move_viewpoints.py b/integrations/ros2/gazebo/scripts/move_viewpoints.py new file mode 100755 index 0000000..854a9cc --- /dev/null +++ b/integrations/ros2/gazebo/scripts/move_viewpoints.py @@ -0,0 +1,69 @@ +#!/usr/bin/env python3 +"""Continuously sweeps the arm through a handful of joint-angle viewpoints. + +Replaces the ROS1 tutorial's MoveIt-based move_viewpoints.py: instead of planning +motions with MoveIt, joint angles (radians) are published directly to each joint's +JointPositionController command topic (see urdf/robot.xacro and bridge/gazebo_bridge.yaml). +""" +import time + +import rclpy +from rclpy.node import Node +from std_msgs.msg import Float64 + +JOINT_NAMES = [ + "shoulder_pan_joint", + "shoulder_tilt_joint", + "wrist_tilt_joint", +] + +# A handful of joint-angle viewpoints (radians), one triple per joint above. +TARGET_JOINT_STATES = [ + [0.6, -0.3, 0.4], + [-0.8, -0.5, 0.2], + [0.0, -0.9, 0.8], + [1.2, -0.2, -0.4], + [-1.2, -0.4, 0.6], +] + +HOLD_SECONDS = 4.0 + + +class MoveViewpoints(Node): + def __init__(self): + super().__init__("move_viewpoints") + self._publishers = { + joint_name: self.create_publisher( + Float64, f"/foxglove_arm/{joint_name}/cmd_pos", 10 + ) + for joint_name in JOINT_NAMES + } + + def move_to(self, target_state): + for joint_name, angle in zip(JOINT_NAMES, target_state): + msg = Float64() + msg.data = float(angle) + self._publishers[joint_name].publish(msg) + + +def main(): + rclpy.init() + node = MoveViewpoints() + + try: + while rclpy.ok(): + for target_state in TARGET_JOINT_STATES: + node.get_logger().info(f"Moving to viewpoint: {target_state}") + node.move_to(target_state) + deadline = time.monotonic() + HOLD_SECONDS + while time.monotonic() < deadline and rclpy.ok(): + rclpy.spin_once(node, timeout_sec=0.1) + except KeyboardInterrupt: + pass + finally: + node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/integrations/ros2/gazebo/scripts/teleop_arm_bridge.py b/integrations/ros2/gazebo/scripts/teleop_arm_bridge.py new file mode 100755 index 0000000..15e1ac9 --- /dev/null +++ b/integrations/ros2/gazebo/scripts/teleop_arm_bridge.py @@ -0,0 +1,108 @@ +#!/usr/bin/env python3 +"""Converts Twist "jog" commands (e.g. from Foxglove's Teleop panel) into +joint-angle targets for the arm's JointPositionController cmd_pos topics. + +The Teleop panel always publishes geometry_msgs/Twist-shaped messages, so it +can't target the Float64 cmd_pos topics directly. Instead, two Twist topics +feed this node, which integrates them into an absolute joint angle (clamped +to the joint's limits) and republishes that to the matching cmd_pos topic -- +only while a button is actually held, since a message on a Twist topic times +out and its velocity is treated as zero after STALE_TIMEOUT_SEC. + + /foxglove_arm/teleop/shoulder linear.x -> shoulder_tilt_joint + linear.y -> shoulder_pan_joint + /foxglove_arm/teleop/wrist linear.x -> wrist_tilt_joint + +Don't run this alongside move_viewpoints.py or manual `ros2 topic pub` to the +same cmd_pos topics -- they'll fight over the same joints. +""" +import rclpy +from rclpy.node import Node +from geometry_msgs.msg import Twist +from std_msgs.msg import Float64 + +TIMER_HZ = 20.0 +DT = 1.0 / TIMER_HZ +STALE_TIMEOUT_SEC = 0.15 +SPEED_RAD_PER_SEC = 1.0 # per unit of Twist linear value + +JOINT_LIMITS = { + "shoulder_pan_joint": (-3.14, 3.14), + "shoulder_tilt_joint": (-1.57, 1.57), + "wrist_tilt_joint": (-1.9, 1.9), +} + + +class TeleopArmBridge(Node): + def __init__(self): + super().__init__("teleop_arm_bridge") + + self._angle = {joint_name: 0.0 for joint_name in JOINT_LIMITS} + self._cmd_pub = { + joint_name: self.create_publisher( + Float64, f"/foxglove_arm/{joint_name}/cmd_pos", 10 + ) + for joint_name in JOINT_LIMITS + } + + self._shoulder_twist = Twist() + self._wrist_twist = Twist() + self._last_shoulder_msg = self.get_clock().now() + self._last_wrist_msg = self.get_clock().now() + + self.create_subscription( + Twist, "/foxglove_arm/teleop/shoulder", self._on_shoulder, 10 + ) + self.create_subscription( + Twist, "/foxglove_arm/teleop/wrist", self._on_wrist, 10 + ) + self.create_timer(DT, self._on_timer) + + def _on_shoulder(self, msg): + self._shoulder_twist = msg + self._last_shoulder_msg = self.get_clock().now() + + def _on_wrist(self, msg): + self._wrist_twist = msg + self._last_wrist_msg = self.get_clock().now() + + def _seconds_since(self, stamp): + return (self.get_clock().now() - stamp).nanoseconds / 1e9 + + def _on_timer(self): + shoulder_active = self._seconds_since(self._last_shoulder_msg) <= STALE_TIMEOUT_SEC + wrist_active = self._seconds_since(self._last_wrist_msg) <= STALE_TIMEOUT_SEC + + if shoulder_active: + self._integrate("shoulder_tilt_joint", self._shoulder_twist.linear.x) + self._integrate("shoulder_pan_joint", self._shoulder_twist.linear.y) + if wrist_active: + self._integrate("wrist_tilt_joint", self._wrist_twist.linear.x) + + def _integrate(self, joint_name, twist_value): + velocity = twist_value * SPEED_RAD_PER_SEC + if velocity == 0.0: + return + lower, upper = JOINT_LIMITS[joint_name] + angle = max(lower, min(upper, self._angle[joint_name] + velocity * DT)) + self._angle[joint_name] = angle + + msg = Float64() + msg.data = angle + self._cmd_pub[joint_name].publish(msg) + + +def main(): + rclpy.init() + node = TeleopArmBridge() + try: + rclpy.spin(node) + except KeyboardInterrupt: + pass + finally: + node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/integrations/ros2/gazebo/urdf/camera_macro.xacro b/integrations/ros2/gazebo/urdf/camera_macro.xacro new file mode 100644 index 0000000..47ad5f2 --- /dev/null +++ b/integrations/ros2/gazebo/urdf/camera_macro.xacro @@ -0,0 +1,98 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/DarkGrey + + true + 15 + true + + ${name} + ${name}_optical_frame + + ${fov} + + 640 + 480 + + + + 0.05 + ${far_clip} + + + + + + diff --git a/integrations/ros2/gazebo/urdf/foxglove_box.urdf b/integrations/ros2/gazebo/urdf/foxglove_box.urdf new file mode 100644 index 0000000..bbb96be --- /dev/null +++ b/integrations/ros2/gazebo/urdf/foxglove_box.urdf @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/integrations/ros2/gazebo/urdf/robot.xacro b/integrations/ros2/gazebo/urdf/robot.xacro new file mode 100644 index 0000000..9027257 --- /dev/null +++ b/integrations/ros2/gazebo/urdf/robot.xacro @@ -0,0 +1,213 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/DarkGrey + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${joint_name} + ${joint_name}/cmd_pos + 15 + 0.1 + 1.0 + 1 + -1 + 10 + -10 + 0 + + + + + + + + + + + + + + diff --git a/integrations/ros2/gazebo/urdf/room.urdf b/integrations/ros2/gazebo/urdf/room.urdf new file mode 100644 index 0000000..722c574 --- /dev/null +++ b/integrations/ros2/gazebo/urdf/room.urdf @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/integrations/ros2/gazebo/urdf/static_camera.urdf.xacro b/integrations/ros2/gazebo/urdf/static_camera.urdf.xacro new file mode 100644 index 0000000..6a16e88 --- /dev/null +++ b/integrations/ros2/gazebo/urdf/static_camera.urdf.xacro @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + true + + diff --git a/integrations/ros2/gazebo/worlds/foxglove_demo.sdf b/integrations/ros2/gazebo/worlds/foxglove_demo.sdf new file mode 100644 index 0000000..1f63b2e --- /dev/null +++ b/integrations/ros2/gazebo/worlds/foxglove_demo.sdf @@ -0,0 +1,165 @@ + + + + + 0.001 + 1.0 + + + + + + + + + ogre2 + + + + 0.5 0.5 0.5 1 + 0.4 0.42 0.45 1 + false + + + + false + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + -0.5 0.1 -0.9 + + + + + false + 0 -3 6 0 0 0 + 0.9 0.9 0.85 1 + 0.1 0.1 0.1 1 + + 20 + 0.1 + 0.01 + + + + false + 0 3 6 0 0 0 + 0.9 0.9 0.85 1 + 0.1 0.1 0.1 1 + + 20 + 0.1 + 0.01 + + + + + + model://workcell + 0 0 0 0 0 0 + + + + + true + 1.0 -3.5 0.475 0 0 0 + + + 1.0 0.8 0.05 + + + 1.0 0.8 0.05 + + 0.78 0.72 0.62 1 + 0.78 0.72 0.62 1 + + + + + + true + 1.42 -3.18 0.225 0 0 0 + + + 0.030.45 + + + 0.030.45 + + 0.35 0.35 0.38 1 + 0.35 0.35 0.38 1 + + + + + + true + 1.42 -3.82 0.225 0 0 0 + + + 0.030.45 + + + 0.030.45 + + 0.35 0.35 0.38 1 + 0.35 0.35 0.38 1 + + + + + + true + 0.58 -3.18 0.225 0 0 0 + + + 0.030.45 + + + 0.030.45 + + 0.35 0.35 0.38 1 + 0.35 0.35 0.38 1 + + + + + + true + 0.58 -3.82 0.225 0 0 0 + + + 0.030.45 + + + 0.030.45 + + 0.35 0.35 0.38 1 + 0.35 0.35 0.38 1 + + + + + +