add caster models

simulator/simulator/launch/gazebo_simulator_active_caster.launch.py

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+import os.path as osp
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import (
+    DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess
+)
+from launch.substitutions import LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    VEHICLE_NAME = "ai_car_active_caster"
+    launch_args = (
+        DeclareLaunchArgument(
+            "world_name",
+            default_value="shihou_course",
+            description="World Name",
+        ),
+        DeclareLaunchArgument(
+            "vehicle_name",
+            default_value="ai_car_active_caster",
+            description="Vehicle Name",
+        ),
+        DeclareLaunchArgument(
+            "world_path",
+            default_value=[
+                osp.join(get_package_share_directory("simulator"), "worlds", ""),
+                LaunchConfiguration("world_name"), "/",
+                LaunchConfiguration("vehicle_name"), ".model"
+            ],
+            description="Path to world file.",
+        ),
+        DeclareLaunchArgument(
+            "use_sim_time",
+            default_value="true",
+            description="If true, use simulation (Gazebo) clock",
+        ),
+    )
+
+    tf_static_publisher = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            osp.join(get_package_share_directory("vehicle"),
+                     "launch/extrinsic_tfstatic_broadcaster_no_namespace.launch.py"),
+        ),
+        launch_arguments={
+            "vehicle_name": VEHICLE_NAME,
+            "use_sim_time": LaunchConfiguration("use_sim_time"),
+        }.items(),
+    )
+    # ExecuteProcess(
+    # cmd=["export", "GAZEBO_MODEL_PATH=$(ros2 pkg prefix vehicle)/share/vehicle/xacro"],
+    # shell=True),
+    gzserver = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            osp.join(get_package_share_directory("gazebo_ros"),
+                     "launch/gzserver.launch.py"),
+        ),
+        launch_arguments={
+            "world": LaunchConfiguration("world_path"),
+            "world_name": LaunchConfiguration("world_name"),
+        }.items(),
+    )
+    gzclient = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            osp.join(get_package_share_directory("gazebo_ros"),
+                     "launch/gzclient.launch.py"),
+        ),
+    )
+    set_use_sim_time = ExecuteProcess(
+        cmd=['ros2', 'param', 'set', '/gazebo',
+             'use_sim_time', LaunchConfiguration("use_sim_time")],
+        output='screen'
+    )
+
+    return LaunchDescription([
+        *launch_args,
+        tf_static_publisher,
+        gzserver,
+        gzclient,
+        set_use_sim_time,
+        Node(
+            package='controller_manager',
+            executable='spawner.py',
+            arguments=['position_controller'],
+            output='screen'
+        )
+    ])

simulator/simulator/launch/gazebo_simulator_caster_trail.launch.py

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+import os.path as osp
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess
+)
+from launch.substitutions import LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    VEHICLE_NAME = "ai_car_caster_trail"
+    launch_args = (
+        DeclareLaunchArgument(
+            "world_name",
+            default_value="shihou_course",
+            description="World Name",
+        ),
+        DeclareLaunchArgument(
+            "vehicle_name",
+            default_value="ai_car_caster_trail",
+            description="Vehicle Name",
+        ),
+        DeclareLaunchArgument(
+            "world_path",
+            default_value=[
+                osp.join(get_package_share_directory("simulator"), "worlds", ""),
+                LaunchConfiguration("world_name"), "/",
+                LaunchConfiguration("vehicle_name"), ".model"
+            ],
+            description="Path to world file.",
+        ),
+        DeclareLaunchArgument(
+            "use_sim_time",
+            default_value="true",
+            description="If true, use simulation (Gazebo) clock",
+        ),
+    )
+
+    tf_static_publisher = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            osp.join(get_package_share_directory("vehicle"),
+                     "launch/extrinsic_tfstatic_broadcaster_no_namespace.launch.py"),
+        ),
+        launch_arguments={
+            "vehicle_name": VEHICLE_NAME,
+            "use_sim_time": LaunchConfiguration("use_sim_time"),
+        }.items(),
+    )
+    # ExecuteProcess(
+    # cmd=["export", "GAZEBO_MODEL_PATH=$(ros2 pkg prefix vehicle)/share/vehicle/xacro"],
+    # shell=True),
+    gzserver = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            osp.join(get_package_share_directory("gazebo_ros"),
+                     "launch/gzserver.launch.py"),
+        ),
+        launch_arguments={
+            "world": LaunchConfiguration("world_path"),
+            "world_name": LaunchConfiguration("world_name"),
+        }.items(),
+    )
+    gzclient = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            osp.join(get_package_share_directory("gazebo_ros"),
+                     "launch/gzclient.launch.py"),
+        ),
+    )
+    set_use_sim_time = ExecuteProcess(
+        cmd=['ros2', 'param', 'set', '/gazebo',
+             'use_sim_time', LaunchConfiguration("use_sim_time")],
+        output='screen'
+    )
+
+    return LaunchDescription([
+        *launch_args,
+        tf_static_publisher,
+        gzserver,
+        gzclient,
+        set_use_sim_time,
+    ])

simulator/simulator/models/ai_car_active_caster/controller_position.yaml

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+controller_manager:
+  ros__parameters:
+    update_rate: 30  # Hz
+
+    position_controller:
+      type: position_controllers/JointGroupPositionController
+
+position_controller:
+  ros__parameters:
+    joints:
+      - caster_back_steering_joint

simulator/simulator/models/ai_car_active_caster/model.config

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+<?xml version="1.0"?>
+
+<model>
+  <name>ai_car_active_caster</name>
+  <version>2.0</version>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Masaya Okada</name>
+    <email>[email protected]</email>
+  </author>
+
+  <description>
+    ai_car_active_caster
+  </description>
+</model>