PRO-GUNE · YutharsanS · Jul 23, 2025
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
@@ -0,0 +1,41 @@
+FROM osrf/ros:foxy-desktop
+
+# Add ubuntu user with same UID and GID as your host system, if it doesn't already exist
+# Since Ubuntu 24.04, a non-root user is created by default with the name vscode and UID=1000
+ARG USERNAME=ubuntu
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+RUN if ! id -u $USER_UID >/dev/null 2>&1; then \
+        groupadd --gid $USER_GID $USERNAME && \
+        useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME; \
+    fi
+# Add sudo support for the non-root user
+RUN apt-get update && \
+    apt-get install -y sudo && \
+    echo "$USERNAME ALL=(root) NOPASSWD:ALL" > /etc/sudoers.d/$USERNAME && \
+    chmod 0440 /etc/sudoers.d/$USERNAME
+
+# Switch from root to user
+USER $USERNAME
+
+# Add user to video group to allow access to webcam
+RUN sudo usermod --append --groups video $USERNAME
+
+# Update all packages
+RUN sudo apt update && sudo apt upgrade -y
+
+# Install Git
+RUN sudo apt install -y git
+
+# Rosdep update
+RUN rosdep update
+
+# Source the ROS setup file
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
+
+################################
+## ADD ANY CUSTOM SETUP BELOW ##
+################################
+# Install essential simulation utilities
+RUN sudo apt-get install -y ros-foxy-joint-state-publisher-gui ros-foxy-xacro \
+    ros-foxy-gazebo-ros-pkgs
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -0,0 +1,25 @@
+{
+  "name": "foxy desktop",
+  "dockerFile": "Dockerfile",
+  "runArgs": [
+    "--privileged",
+    "--network=host"
+  ],
+  "workspaceMount": "source=${localWorkspaceFolder},target=/${localWorkspaceFolderBasename},type=bind",
+  "workspaceFolder": "/${localWorkspaceFolderBasename}",
+  "mounts": [
+    "source=${localEnv:HOME}${localEnv:USERPROFILE}/.bash_history,target=/home/vscode/.bash_history,type=bind"
+  ],
+  "features": {
+    "ghcr.io/devcontainers/features/desktop-lite": {}
+  },
+  "forwardPorts": [6080, 5901],
+  "portsAttributes": {
+    "6080": {
+      "label": "Desktop (Web)"
+    },
+    "5901" : {
+      "label": "Desktop (VNC)"
+    }
+  }
+}
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -0,0 +1,53 @@
+cmake_minimum_required(VERSION 3.5)
+project(urdf_ex)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# Install launch files.
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+# Install urdf directory
+install(DIRECTORY
+  urdf
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+# Install worlds directory
+install(DIRECTORY
+  worlds
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()
diff --git a/gazebo.yaml b/gazebo.yaml
@@ -0,0 +1,4 @@
+/gazebo:
+  ros__parameters:
+    publish_rate: 10.0
+    use_sim_time: true
diff --git a/gitignore b/gitignore
@@ -0,0 +1,38 @@
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# Virtual Env
+.venv
+
+# Solutions
+solution*.ipynb
diff --git a/joint_state_publisher.yaml b/joint_state_publisher.yaml
@@ -0,0 +1,85 @@
+/joint_state_publisher:
+  ros__parameters:
+    delta: 0.0
+    publish_default_efforts: false
+    publish_default_positions: true
+    publish_default_velocities: false
+    rate: 10
+    robot_description: <?xml version="1.0" ?> <!-- ===================================================================================
+      --> <!-- |    This document was autogenerated by xacro from /ros2_ws/install/urdf_ex/share/urdf_ex/urdf/robot.xacro
+      | --> <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 |
+      --> <!-- ===================================================================================
+      --> <robot name="four_wheel_robot"> <!-- Material description --> <material
+      name="white"> <color rgba="1 1 1 1"/> </material> <material name="orange"> <color
+      rgba="1 0.3 0.1 1"/> </material> <material name="blue"> <color rgba="0.2 0.2
+      1 1"/> </material> <material name="black"> <color rgba="0 0 0 1"/> </material>
+      <material name="red"> <color rgba="1 0 0 1"/> </material> <!-- Comment out the
+      gazebo include for now --> <!-- <xacro:include filename="/ros2_ws/src/urdf_ex/urdf/robot.gazebo"/>
+      --> <!-- Dummy link --> <link name="base_link"/> <!-- Body link --> <link name="body_link">
+      <visual> <geometry> <box size="1 0.6 0.3"/> </geometry> <origin rpy="0 0 3.141592653589793"
+      xyz="0 0 0"/> </visual> <collision> <geometry> <box size="1 0.6 0.3"/> </geometry>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/> </collision> <inertial> <origin
+      rpy="0 0 3.141592653589793" xyz="0 0 0"/> <mass value="487.79999999999995"/>
+      <inertia ixx="18.292499999999993" ixy="0" ixz="0" iyy="44.308499999999995" iyz="0"
+      izz="55.283999999999985"/> </inertial> </link> <!-- Fixed joint between dummy
+      and body --> <joint name="base_joint" type="fixed"> <parent link="base_link"/>
+      <child link="body_link"/> <origin xyz="0 0 0.25"/> </joint> <link name="rear_right_wheel">
+      <visual> <geometry> <cylinder length="0.1" radius="0.15"/> </geometry> <origin
+      rpy="0 0 0" xyz="0 0 0"/> <material name="blue"/> </visual> <collision> <geometry>
+      <cylinder length="0.1" radius="0.15"/> </geometry> <origin rpy="0 0 0" xyz="0
+      0 0"/> </collision> <inertial> <origin rpy="0 0 0" xyz="0 0 0"/> <mass value="19.155861183375002"/>
+      <inertia ixx="0.12371493680929685" ixy="0" ixz="0" iyy="0.12371493680929685"
+      iyz="0" izz="0.21550343831296875"/> </inertial> </link> <joint name="rear_right_wheel_joint"
+      type="continuous"> <parent link="body_link"/> <child link="rear_right_wheel"/>
+      <origin rpy="1.5707963267948966 0 0" xyz="-0.32 -0.36 -0.1"/> <axis xyz="0 0
+      -1"/> <limit effort="1000" velocity="1000"/> <dynamics damping="1.0" friction="1.0"/>
+      </joint> <link name="rear_left_wheel"> <visual> <geometry> <cylinder length="0.1"
+      radius="0.15"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0"/> <material name="blue"/>
+      </visual> <collision> <geometry> <cylinder length="0.1" radius="0.15"/> </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/> </collision> <inertial> <origin rpy="0 0 0"
+      xyz="0 0 0"/> <mass value="19.155861183375002"/> <inertia ixx="0.12371493680929685"
+      ixy="0" ixz="0" iyy="0.12371493680929685" iyz="0" izz="0.21550343831296875"/>
+      </inertial> </link> <joint name="rear_left_wheel_joint" type="continuous"> <parent
+      link="body_link"/> <child link="rear_left_wheel"/> <origin rpy="-1.5707963267948966
+      0 0" xyz="-0.32 0.36 -0.1"/> <axis xyz="0 0 1"/> <limit effort="1000" velocity="1000"/>
+      <dynamics damping="1.0" friction="1.0"/> </joint> <link name="front_right_wheel">
+      <visual> <geometry> <cylinder length="0.1" radius="0.15"/> </geometry> <origin
+      rpy="0 0 0" xyz="0 0 0"/> <material name="blue"/> </visual> <collision> <geometry>
+      <cylinder length="0.1" radius="0.15"/> </geometry> <origin rpy="0 0 0" xyz="0
+      0 0"/> </collision> <inertial> <origin rpy="0 0 0" xyz="0 0 0"/> <mass value="19.155861183375002"/>
+      <inertia ixx="0.12371493680929685" ixy="0" ixz="0" iyy="0.12371493680929685"
+      iyz="0" izz="0.21550343831296875"/> </inertial> </link> <joint name="front_right_wheel_joint"
+      type="continuous"> <parent link="body_link"/> <child link="front_right_wheel"/>
+      <origin rpy="1.5707963267948966 0 0" xyz="0.32 -0.36 -0.1"/> <axis xyz="0 0
+      -1"/> <limit effort="1000" velocity="1000"/> <dynamics damping="1.0" friction="1.0"/>
+      </joint> <link name="front_left_wheel"> <visual> <geometry> <cylinder length="0.1"
+      radius="0.15"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0"/> <material name="blue"/>
+      </visual> <collision> <geometry> <cylinder length="0.1" radius="0.15"/> </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/> </collision> <inertial> <origin rpy="0 0 0"
+      xyz="0 0 0"/> <mass value="19.155861183375002"/> <inertia ixx="0.12371493680929685"
+      ixy="0" ixz="0" iyy="0.12371493680929685" iyz="0" izz="0.21550343831296875"/>
+      </inertial> </link> <joint name="front_left_wheel_joint" type="continuous">
+      <parent link="body_link"/> <child link="front_left_wheel"/> <origin rpy="-1.5707963267948966
+      0 0" xyz="0.32 0.36 -0.1"/> <axis xyz="0 0 1"/> <limit effort="1000" velocity="1000"/>
+      <dynamics damping="1.0" friction="1.0"/> </joint> <!-- Camera --> <link name="camera_link">
+      <visual> <origin xyz="0 0 0"/> <geometry> <cylinder length="0.05" radius="0.0125"/>
+      </geometry> <material name="black"/> </visual> <visual> <geometry> <box size="0.05
+      0.05 0.05"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0.05"/> </visual> <collision>
+      <geometry> <box size="0.05 0.05 0.05"/> </geometry> <origin rpy="0 0 0" xyz="0
+      0 0"/> </collision> <inertial> <origin rpy="0 0 0" xyz="0 0 0"/> <mass value="0.5"/>
+      <inertia ixx="1e-6" ixy="0.0" ixz="0.0" iyy="1e-6" iyz="0.0" izz="1e-6"/> </inertial>
+      </link> <joint name="camera_joint" type="fixed"> <parent link="body_link"/>
+      <child link="camera_link"/> <origin xyz="-0.25 0 0.175"/> <axis xyz="0 1 0"/>
+      </joint> <!-- Sonar  --> <link name="sonar_link"> <visual> <geometry> <box size="0.05
+      0.1 0.05"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0.025"/> <material name="black"/>
+      </visual> <visual> <geometry> <box size="0.025 0.025 0.05"/> </geometry> <origin
+      rpy="0 0 0" xyz="0 0 0"/> <material name="black"/> </visual> <collision> <geometry>
+      <box size="0.05 0.05 0.05"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0"/> </collision>
+      <inertial> <origin rpy="0 0 0" xyz="0 0 0"/> <mass value="0.5"/> <inertia ixx="1e-6"
+      ixy="0.0" ixz="0.0" iyy="1e-6" iyz="0.0" izz="1e-6"/> </inertial> </link> <joint
+      name="sonar_joint" type="fixed"> <parent link="body_link"/> <child link="sonar_link"/>
+      <origin xyz="0.4875 0 0.175"/> <axis xyz="0 1 0"/> </joint> </robot>
+    source_list: []
+    use_mimic_tags: true
+    use_sim_time: false
+    use_smallest_joint_limits: true
diff --git a/launch/simulation.launch.py b/launch/simulation.launch.py
@@ -1,66 +1,66 @@
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription, ExecuteProcess
+from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.actions import Node
-from launch.substitutions import FindExecutable, PathJoinSubstitution
+from launch.substitutions import Command, PathJoinSubstitution
 from launch_ros.substitutions import FindPackageShare
 
-
 def generate_launch_description():
-    pkg_name = FindPackageShare("pkg_name")
+    pkg_name = FindPackageShare("urdf_ex")
+
+    # Robot description using xacro
+    robot_description = Command([
+        "xacro ",
+        PathJoinSubstitution([pkg_name, "urdf", "robot.xacro"])
+    ])
+
+    return LaunchDescription([
+        # Load Gazebo world
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([
+                PathJoinSubstitution([
+                    FindPackageShare("gazebo_ros"),
+                    "launch",
+                    "gazebo.launch.py",
+                ])
+            ]),
+            launch_arguments={
+                "world": PathJoinSubstitution([pkg_name, "worlds", "four_walls.world"]),
+                "paused": "false",
+                "use_sim_time": "true",
+                "gui": "true",
+                "headless": "false",
+                "debug": "false",
+            }.items(),
+        ),
+
+        # Robot state publisher
+        Node(
+            package="robot_state_publisher",
+            executable="robot_state_publisher",
+            name="robot_state_publisher",
+            output="screen",
+            parameters=[{"robot_description": robot_description}]
+        ),
 
-    # Xacro command to generate URDF
-    xacro_command = [
-        PathJoinSubstitution([FindExecutable(name="xacro")]),
-        " ",
-        PathJoinSubstitution([pkg_name, "urdf", "robot.xacro"]),
-    ]
+        # Joint state publisher
+        Node(
+            package="joint_state_publisher",
+            executable="joint_state_publisher",
+            name="joint_state_publisher",
+            output="screen",
+            parameters=[{"robot_description": robot_description}]
+        ),
 
-    return LaunchDescription(
-        [
-            # TODO: Create the control node
-            # Node
-            # Load Gazebo world
-            IncludeLaunchDescription(
-                PythonLaunchDescriptionSource(
-                    [
-                        PathJoinSubstitution(
-                            [
-                                FindPackageShare("gazebo_ros"),
-                                "launch",
-                                "gazebo.launch.py",
-                            ]
-                        )
-                    ]
-                ),
-                # TODO: Provide the correct values for the argumentsarguments
-                launch_arguments={
-                    "world": PathJoinSubstitution(
-                        [pkg_name, "worlds", "four_walls.world"]
-                    ),
-                    "paused": "TODO: Provide the correct value",
-                    "use_sim_time": "TODO: Provide the correct value",
-                    "gui": "TODO: Provide the correct value",
-                    "headless": "TODO: Provide the correct value",
-                    "debug": "TODO: Provide the correct value",
-                }.items(),
-            ),
-            # Robot description parameter
-            ExecuteProcess(
-                cmd=[
-                    "ros2",
-                    "param",
-                    "set",
-                    "/robot_state_publisher",
-                    "robot_description",
-                    PathJoinSubstitution([FindExecutable(name="xacro")]),
-                    PathJoinSubstitution([pkg_name, "urdf", "robot.xacro"]),
-                ],
-                shell=True,
-            ),
-            # TODO: Create the robot state publisher node
-            # Robot state publisher
-            # TODO: Spawn the robot in Gazebo
-            # Spawn robot in Gazebo
-        ]
-    )
+        # Spawn robot in Gazebo
+        Node(
+            package="gazebo_ros",
+            executable="spawn_entity.py",
+            name="spawn_entity",
+            output="screen",
+            arguments=[
+                "-topic", "robot_description",
+                "-entity", "robot",
+            ],
+        ),
+    ])
diff --git a/package.xml b/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>urdf_ex</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="yutharsansivabalan@gmail.com">ubuntu</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>