nexus_demos, move all files mentioning rmf to new package, parameteri…

…ze launch files from integration tests

Signed-off-by: Aaron Chong <[email protected]>

nexus_demos/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.16)
+set(PROJECT_NAME nexus_demos)
+project(${PROJECT_NAME})
+
+find_package(ament_cmake REQUIRED)
+
+set(CMAKE_CXX_FLAGS "-Wall -Wpedantic")
+
+install(DIRECTORY launch config maps DESTINATION share/${PROJECT_NAME})
+
+# Refactored from rmf_demos_maps, we just need to download models
+file(GLOB_RECURSE traffic_editor_paths "maps/*.building.yaml")
+foreach(building_map_path ${traffic_editor_paths})
+  ##############################################################################
+  # Generate Gz world and download Models
+  ##############################################################################
+  if (NOT NO_DOWNLOAD_MODELS)
+    message("DOWNLOADING MODELS WITH COMMAND: ros2 run rmf_building_map_tools building_map_model_downloader ${building_map_path}")
+    execute_process(
+      COMMAND ros2 run rmf_building_map_tools building_map_model_downloader ${building_map_path} -e ~/.gazebo/models
+    )
+  endif()
+endforeach()
+
+ament_package()

nexus_demos/README.md

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+# nexus_demos
+
+## Regenerating the simulation world file and nav graph
+
+Source build of `rmf_building_map_tools` is required, at least from commit hash [0d18f59](https://github.com/open-rmf/rmf_traffic_editor/tree/0d18f593356fa2e4de0dbfa297ae1fba66b8e101) onwards.
+
+Generate world file,
+
+```bash
+# Source the workspace where rmf_building_map_tools is built
+
+cd ~/ws_nexus/src/nexus/nexus_demos
+ros2 run rmf_building_map_tools building_map_generator gazebo \
+  maps/depot/depot.building.yaml \
+  maps/depot/depot.world \
+  maps/depot/models \
+  --TEMPLATE_WORLD_FILE maps/depot/template/depot_world.sdf \
+  --SKIP_CAMERA_POSE
+```
+
+Generate navigation graphs,
+
+```bash
+ros2 run rmf_building_map_tools building_map_generator nav \
+  maps/depot/depot.building.yaml \
+  maps/depot/nav_graphs
+```
+
+## Build
+
+Build `nexus_demos`,
+
+```bash
+colcon build --packages-up-to nexus_demos
+```
+
+## Launch
+
+Launch the demo,
+
+```bash
+ros2 launch nexus_demos depot.launch.xml headless:=0
+```

nexus_demos/launch/depot.launch.xml

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+<?xml version='1.0' ?>
+
+<launch>
+  <arg name="headless" default="true"/>
+  <arg name="use_simulator" default="true"/>
+  <arg name="sim_update_rate" default='100'/>
+
+  <!-- RMF Common launch -->
+  <include file="$(find-pkg-share rmf_demos)/common.launch.xml">
+    <arg name="headless" value="$(var headless)" />
+    <arg name="use_sim_time" value="$(var use_simulator)"/>
+    <arg name="viz_config_file" value ="$(find-pkg-share nexus_demos)/launch/include/depot/depot.rviz"/>
+    <arg name="config_file" value="$(find-pkg-share nexus_demos)/maps/depot/depot.building.yaml"/>
+  </include>
+
+  <!-- Nexus Common launch -->
+  <include file="$(find-pkg-share nexus_integration_tests)/launch/common.launch.xml">
+    <arg name="headless" value="$(var headless)" />
+    <arg name="use_sim_time" value="$(var use_simulator)"/>
+  </include>
+
+  <!-- DeliveryRobot fleet adapter -->
+  <group>
+    <include file="$(find-pkg-share rmf_demos_fleet_adapter)/launch/fleet_adapter.launch.xml">
+      <arg name="use_sim_time" value="$(var use_sim_time)"/>
+      <arg name="nav_graph_file" value="$(find-pkg-share nexus_demos)/maps/depot/nav_graphs/0.yaml" />
+      <arg name="config_file" value="$(find-pkg-share nexus_demos)/config/depot/deliveryRobot_config.yaml"/>
+    </include>
+  </group>
+
+  <node pkg="nexus_workcell_orchestrator" exec="nexus_workcell_orchestrator" name="rmf_nexus_transporter" output="both">
+    <param name="capabilities" value="[nexus::capabilities::RMFRequestCapability]"/>
+    <param name="bt_path" value="$(find-pkg-share nexus_integration_tests)/config/rmf_bts"/>
+  </node>
+
+  <!-- Simulator launch -->
+  <include if="$(var use_simulator)" file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
+    <arg name="headless" value="$(var headless)" />
+    <arg name="map_package" value="nexus_demos" />
+    <arg name="map_name" value="depot" />
+    <arg name="gazebo_version" value="8" />
+    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
+  </include>
+
+  <!-- Bringup from integration tests -->
+  <!-- TODO(luca) should we move the integration launch here instead? -->
+  <include file="$(find-pkg-share nexus_integration_tests)/launch/launch.py">
+    <!-- Set as true to make it auto bringup and remove all the extra rviz launches -->
+    <arg name="headless" value="true" />
+    <arg name="use_sim_time" value="$(var use_simulator)"/>
+    <arg name="main_bt_package" value="nexus_demos"/>
+    <arg name="main_bt_filename" value="main_rmf.xml"/>
+    <arg name="remap_task_types" value="{pick_and_place_rmf: [place_on_amr, pick_from_amr]}"/>
+  </include>
+
+</launch>