IntelLabs · fred-labs · Jun 20, 2024 · Jun 19, 2024 · Jun 19, 2024 · Jun 19, 2024
diff --git a/.github/workflows/test_build.yml b/.github/workflows/test_build.yml
@@ -230,7 +230,7 @@ jobs:
           Xvfb :1 -screen 0 800x600x16 &
           export DISPLAY=:1.0
           export -n CYCLONEDDS_URI
-          export ROS_DOMAIN_ID=119
+          export ROS_DOMAIN_ID=2
           export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
           sed -i 's/60s/600s/g' examples/example_nav2/example_nav2.osc
           # shellcheck disable=SC1083
@@ -263,7 +263,7 @@ jobs:
           Xvfb :1 -screen 0 800x600x16 &
           export DISPLAY=:1.0
           export -n CYCLONEDDS_URI
-          export ROS_DOMAIN_ID=119
+          export ROS_DOMAIN_ID=2
           export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
           sed -i 's/120s/600s/g' examples/example_simulation/scenarios/example_simulation.osc
           # shellcheck disable=SC1083
@@ -296,7 +296,7 @@ jobs:
           Xvfb :1 -screen 0 800x600x16 &
           export DISPLAY=:1.0
           export -n CYCLONEDDS_URI
-          export ROS_DOMAIN_ID=119
+          export ROS_DOMAIN_ID=2
           export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
           sed -i 's/240s/900s/g' examples/example_multi_robot/example_multi_robot.osc
           # shellcheck disable=SC1083
@@ -307,8 +307,40 @@ jobs:
         with:
           name: test-example-multirobot-result
           path: test_example_multirobot/test.xml
+  test-scenario-execution-gazebo:
+    needs: [build]
+    runs-on: intellabs-01
+    container:
+      image: ghcr.io/intellabs/scenario-execution:humble
+      credentials:
+        username: ${{ github.repository_owner }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    steps:
+      - name: Restore cache
+        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
+        with:
+          key: ${{ runner.os }}-build-${{ github.run_number }}
+          path: .
+      - name: Test Scenario Execution Gazebo
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          source install/setup.bash
+          Xvfb :1 -screen 0 800x600x16 &
+          export DISPLAY=:1.0
+          export -n CYCLONEDDS_URI
+          export ROS_DOMAIN_ID=2
+          export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
+          # shellcheck disable=SC1083
+          scenario_batch_execution -i simulation/gazebo/test_scenario_execution_gazebo/scenarios/ -o test_scenario_execution_gazebo -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} spawn:=False nav2:=False
+      - name: Upload result
+        uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
+        if: always()
+        with:
+          name: test-example-simulation-result
+          path: test_example_simulation/test.xml
   tests:
-    needs: [test-scenario-execution, test-scenario-execution-ros, scenario-files-validation, test-example-scenario, test-example-library, test-example-variation, test-example-nav2, test-example-simulation, test-example-multirobot]
+    needs: [test-scenario-execution, test-scenario-execution-ros, scenario-files-validation, test-example-scenario, test-example-library, test-example-variation, test-example-nav2, test-example-simulation, test-example-multirobot, test-scenario-execution-gazebo]
     runs-on: intellabs-01
     if: ${{ always() }}
     steps:

diff --git a/docs/libraries.rst b/docs/libraries.rst
@@ -248,16 +248,30 @@ Waits for an actor to exist within simulation.
 
 Delete an object from the simulation.
 
+- ``entity_name``: Entity name within simulation
 - ``world_name: string``: Gazebo world name (default: ``default``)
 
 ``osc_object.spawn()``
 """"""""""""""""""""""
 
-Spawn an actor within simulation by using the ``model`` and ``namespace`` of the associated actor.
+Spawn an actor within simulation.
 
 - ``spawn_pose: pose_3d``: Pose of the spawned actor.
 - ``world_name: string``: Gazebo world name (default: ``default``)
-- ``xacro_arguments: string``: Comma-separated list of argument key:=value pairs
+- ``model: string``: Model definition
+- ``xacro_arguments: string``: (optional) Comma-separated list of argument key:=value pairs
+
+.. note::
+
+    The model definition can be specified in different formats:
+
+    - ``file://<path-to-model>``: Local path to model file
+    - ``model://<path-to-model>``: Path relative to available model search paths
+    - ``<package-name>://<path-to-model>``: Path relative to an available package (e.g. :repo_link:`simulation/gazebo/test_scenario_execution_gazebo/scenarios/test_spawn_exists_delete.osc`)
+    - ``https:://fuel``: Model from `fuel.gazebosim.org <https://app.gazebosim.org/>`__ (e.g. ``https://fuel.gazebosim.org/1.0/OpenRobotics/models/Beer``)
+
+    If the file ending is ``.xacro`` the model is forwarded to `xacro <https://wiki.ros.org/xacro>`__ before getting spawned.
+
 
 ``wait_for_sim()``
 """"""""""""""""""

diff --git a/scenario_execution_gazebo/package.xml b/scenario_execution_gazebo/package.xml
@@ -12,16 +12,12 @@
 
   <exec_depend>rclpy</exec_depend>
   <exec_depend>py_trees</exec_depend>
-  <exec_depend>nav2_bringup</exec_depend>
-  <exec_depend>turtlebot4_navigation</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
 
-  <depend>ignition-fortress</depend>
-
   <export>
     <build_type>ament_python</build_type>
   </export>

diff --git a/scenario_execution_gazebo/scenario_execution_gazebo/actions/gazebo_actor_exists.py b/scenario_execution_gazebo/scenario_execution_gazebo/actions/gazebo_actor_exists.py
@@ -37,11 +37,11 @@ class GazeboActorExists(RunProcess):
 
     """
 
-    def __init__(self, entity_name: str, world_name: str):
+    def __init__(self, name, entity_name: str, world_name: str):
         """
         init
         """
-        super().__init__('GazeboActorExistsAction')
+        super().__init__(name)
         self.entity_name = entity_name
         self.node = None
         self.set_command(["ign", "topic", "-t", "/world/" +

diff --git a/scenario_execution_gazebo/scenario_execution_gazebo/actions/gazebo_delete_actor.py b/scenario_execution_gazebo/scenario_execution_gazebo/actions/gazebo_delete_actor.py
@@ -37,7 +37,7 @@ class GazeboDeleteActor(RunProcess):
 
     """
 
-    def __init__(self, name, entity_name: str, world_name: str):
+    def __init__(self, name, associated_actor, entity_name: str, world_name: str):
         """
         init
         """

diff --git a/scenario_execution_gazebo/scenario_execution_gazebo/lib_osc/gazebo.osc b/scenario_execution_gazebo/scenario_execution_gazebo/lib_osc/gazebo.osc
@@ -8,10 +8,11 @@ action actor_exists:
 
 action osc_actor.delete:
     # Delete an actor from simulation
+    entity_name: string                 # name of the actor within simulation
     world_name: string = 'default'      # simulation world name
 
 action osc_actor.spawn:
-    # Spawn a simulation entity, uses namespace of entity
+    # Spawn a simulation entity.
     spawn_pose: pose_3d                 # position at which the object gets spawned
     world_name: string = 'default'      # simulation world name
     model: string                       # model definition

diff --git a/scenario_execution_gazebo/setup.py b/scenario_execution_gazebo/setup.py
@@ -15,8 +15,6 @@
 # SPDX-License-Identifier: Apache-2.0
 
 """ Setup python package """
-from glob import glob
-import os
 from setuptools import find_namespace_packages, setup
 
 PACKAGE_NAME = 'scenario_execution_gazebo'
@@ -28,15 +26,7 @@
     data_files=[
         ('share/ament_index/resource_index/packages',
             ['resource/' + PACKAGE_NAME]),
-        ('share/' + PACKAGE_NAME, ['package.xml']),
-        (os.path.join('share', PACKAGE_NAME, 'scenarios'), glob('scenarios/*.osc')),
-        (os.path.join('share', PACKAGE_NAME, 'launch'), glob('launch/*launch.py')),
-        (os.path.join('share', PACKAGE_NAME, 'params'), glob('params/*.yaml')),
-        (os.path.join('share', PACKAGE_NAME, 'models'), glob('models/*.sdf*')),
-        (os.path.join('share', PACKAGE_NAME, 'models'), glob('models/*.dae*')),
-        (os.path.join('share', PACKAGE_NAME, 'models'), glob('models/*.png*')),
-        (os.path.join('share', PACKAGE_NAME, 'worlds'), glob('worlds/*.world')),
-        (os.path.join('share', PACKAGE_NAME, 'worlds'), glob('worlds/*.model'))
+        ('share/' + PACKAGE_NAME, ['package.xml'])
     ],
     install_requires=['setuptools'],
     zip_safe=True,

diff --git a/simulation/gazebo/tb4_sim_scenario/launch/nav2_launch.py b/simulation/gazebo/tb4_sim_scenario/launch/nav2_launch.py
@@ -19,6 +19,7 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.actions import IncludeLaunchDescription
+from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 
@@ -34,8 +35,10 @@
     DeclareLaunchArgument('model', default_value='standard',
                           choices=['standard', 'lite'],
                           description='Turtlebot4 Model'),
-    DeclareLaunchArgument('launch_simulation', default_value='True',
-                          description='Set "false" to skip simulation startup.'),
+
+    DeclareLaunchArgument('nav2', default_value='True',
+                          description='Set "False" to skip nav2 startup.'),
+
     DeclareLaunchArgument('headless', default_value='True',
                           description='Start Igniton GUI or not'),
 
@@ -59,9 +62,11 @@ def generate_launch_description():
 
     # Launch args
     map_yaml = LaunchConfiguration('map_yaml')
+    nav2 = LaunchConfiguration('nav2')
 
     nav2_bringup = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([PathJoinSubstitution([pkg_nav2_bringup, 'launch', 'bringup_launch.py'])]),
+        condition=IfCondition(nav2),
         launch_arguments={
             'map': PathJoinSubstitution([pkg_tb4_nav, 'maps', map_yaml]),
             'use_sim_time': 'True',

diff --git a/simulation/gazebo/test_scenario_execution_gazebo/README.md b/simulation/gazebo/test_scenario_execution_gazebo/README.md
@@ -0,0 +1,3 @@
+# Tests of Scenario Execution Library for Gazebo
+
+The `test_scenario_execution_gazebo` package provides test scenarios to test `scenario_execution_gazebo` within the `tb4_sim_scenario` setup.
diff --git a/simulation/gazebo/test_scenario_execution_gazebo/models/box.sdf b/simulation/gazebo/test_scenario_execution_gazebo/models/box.sdf
@@ -0,0 +1,35 @@
+<?xml version='1.0'?>
+<sdf version="1.4">
+  <model name="my_model">
+    <pose>0 0 0.5 0 0 0</pose>
+    <static>true</static>
+    <link name="link">
+      <inertial>
+        <mass>1.0</mass>
+        <inertia> <!-- inertias are tricky to compute -->
+          <!-- http://gazebosim.org/tutorials?tut=inertia&cat=build_robot -->
+          <ixx>0.083</ixx>       <!-- for a box: ixx = 0.083 * mass * (y*y + z*z) -->
+          <ixy>0.0</ixy>         <!-- for a box: ixy = 0 -->
+          <ixz>0.0</ixz>         <!-- for a box: ixz = 0 -->
+          <iyy>0.083</iyy>       <!-- for a box: iyy = 0.083 * mass * (x*x + z*z) -->
+          <iyz>0.0</iyz>         <!-- for a box: iyz = 0 -->
+          <izz>0.083</izz>       <!-- for a box: izz = 0.083 * mass * (x*x + y*y) -->
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>1 1 1</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>1 1 1</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/simulation/gazebo/test_scenario_execution_gazebo/models/box.sdf.xacro b/simulation/gazebo/test_scenario_execution_gazebo/models/box.sdf.xacro
@@ -0,0 +1,41 @@
+<?xml version='1.0'?>
+<sdf version="1.4" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:arg name="box_width_length" default="" />
+  <xacro:arg name="box_height" default="" />
+
+  <xacro:property name="box_width_length" value="$(arg box_width_length)"/>
+  <xacro:property name="box_height" value="$(arg box_height)"/>
+  <model name="my_model">
+    <pose>0 0 0.5 0 0 0</pose>
+    <static>true</static>
+    <link name="link">
+      <inertial>
+        <mass>1.0</mass>
+        <inertia> <!-- inertias are tricky to compute -->
+          <!-- http://gazebosim.org/tutorials?tut=inertia&cat=build_robot -->
+          <ixx>0.083</ixx>       <!-- for a box: ixx = 0.083 * mass * (y*y + z*z) -->
+          <ixy>0.0</ixy>         <!-- for a box: ixy = 0 -->
+          <ixz>0.0</ixz>         <!-- for a box: ixz = 0 -->
+          <iyy>0.083</iyy>       <!-- for a box: iyy = 0.083 * mass * (x*x + z*z) -->
+          <iyz>0.0</iyz>         <!-- for a box: iyz = 0 -->
+          <izz>0.083</izz>       <!-- for a box: izz = 0.083 * mass * (x*x + y*y) -->
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>${box_width_length} ${box_height}</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>${box_width_length} ${box_height}</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/simulation/gazebo/test_scenario_execution_gazebo/models/walking_human.sdf b/simulation/gazebo/test_scenario_execution_gazebo/models/walking_human.sdf
@@ -0,0 +1,27 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+    <actor name="actor1">
+        <pose>0 0 0 0 0 0</pose>
+        <skin>
+            <filename>file://walk.dae</filename>
+            <scale>1.0</scale>
+        </skin>
+        <animation name="NAME">
+            <filename>file://walk.dae</filename>
+            <scale>1.000000</scale>
+            <interpolate_x>true</interpolate_x>
+        </animation>
+        <script>
+            <trajectory id="0" type="NAME">
+                <waypoint>
+                    <time>0</time>
+                    <pose>0 2 0 0 0 -1.57</pose>
+                </waypoint>
+                <waypoint>
+                    <time>2</time>
+                    <pose>0 -2 0 0 0 -1.57</pose>
+                </waypoint>
+            </trajectory>
+        </script>
+    </actor>
+</sdf>
diff --git a/simulation/gazebo/test_scenario_execution_gazebo/package.xml b/simulation/gazebo/test_scenario_execution_gazebo/package.xml
@@ -0,0 +1,23 @@
+<?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>test_scenario_execution_gazebo</name>
+  <version>1.1.0</version>
+  <description>Tests for Scenario Execution library for Gazebo</description>
+  <author email="[email protected]">Intel Labs</author>
+  <maintainer email="[email protected]">Intel Labs</maintainer>
+  <license file="../../../LICENSE">Apache-2.0</license>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>scenario_execution_gazebo</exec_depend>
+  <exec_depend>tb4_sim_scenario</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/simulation/gazebo/test_scenario_execution_gazebo/resource/test_scenario_execution_gazebo b/simulation/gazebo/test_scenario_execution_gazebo/resource/test_scenario_execution_gazebo
diff --git a/simulation/gazebo/test_scenario_execution_gazebo/scenarios/test_spawn_exists_delete.osc b/simulation/gazebo/test_scenario_execution_gazebo/scenarios/test_spawn_exists_delete.osc
@@ -0,0 +1,23 @@
+import osc.gazebo
+
+scenario test_spawn_and_exists:
+
+    test_obstacle: osc_actor
+
+    do parallel:
+        test_obstacle.spawn(
+            spawn_pose: pose_3d(position: position_3d(x: 1m, y: 0m, z: 1m)),
+            world_name: 'maze',
+            model: 'test_scenario_execution_gazebo://models/box.sdf')
+        test_case: serial:
+            wait elapsed(5s)
+            test: actor_exists(
+                entity_name: 'test_obstacle',
+                world_name: 'maze')
+            delete_obstacle: test_obstacle.delete(
+                world_name: 'maze',
+                entity_name: 'test_obstacle')
+            success: emit end
+        time_out: serial:
+            wait elapsed(30s)
+            emit fail
diff --git a/...tion/gazebo/test_scenario_execution_gazebo/scenarios/test_spawn_xacro_with_parameters.osc b/...tion/gazebo/test_scenario_execution_gazebo/scenarios/test_spawn_xacro_with_parameters.osc
@@ -0,0 +1,20 @@
+import osc.gazebo
+
+scenario test_spawn_xacro_with_parameters:
+
+    test_obstacle: osc_actor
+
+    do parallel:
+        test_obstacle.spawn(
+            spawn_pose: pose_3d(position: position_3d(z: 2m)),
+            world_name: 'maze',
+            xacro_arguments: 'box_width_length:=1 1,box_height:=4',
+            model: 'test_scenario_execution_gazebo://models/box.sdf.xacro')
+        test_case: serial:
+            test: actor_exists(
+                entity_name: 'test_obstacle',
+                world_name: 'maze')
+            success: emit end
+        time_out: serial:
+            wait elapsed(30s)
+            time_out_shutdown: emit fail
-Original file line number
+Diff line change
@@ Expand Up / @@ -37,7 +37,7 @@ class GazeboDeleteActor(RunProcess): @@
         """
-        def __init__(self, name, entity_name: str, world_name: str):
+        def __init__(self, name, associated_actor, entity_name: str, world_name: str):
             """
             init
             """
@@ Expand Down @@
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,3 @@
		# Tests of Scenario Execution Library for Gazebo

		The `test_scenario_execution_gazebo` package provides test scenarios to test `scenario_execution_gazebo` within the `tb4_sim_scenario` setup.