physics-simulation-fundamentals

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# Install Gazebo Garden (latest version)
sudo apt install ros-iron-gazebo-*

# Or install Ignition Fortress (alternative)
sudo apt install ignition-fortress

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<!-- launch/gazebo.launch.py -->
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare

def generate_launch_description():
    world_file = PathJoinSubstitution([
        FindPackageShare('my_robot_gazebo'),
        'worlds',
        'simple_room.world'
    ])

    return LaunchDescription([
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource([
                PathJoinSubstitution([
                    FindPackageShare('gazebo_ros'),
                    'launch',
                    'gazebo.launch.py'
                ])
            ]),
            launch_arguments={'world': world_file}.items()
        )
    ])

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<!-- worlds/simple_room.world -->
<?xml version="1.0" ?>
<sdf version="1.7">
  <world name="simple_room">
    <!-- Include a model -->
    <include>
      <uri>model://ground_plane</uri>
    </include>

    <!-- Lighting -->
    <light name="sun" type="directional">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.6 0.4 -0.8</direction>
    </light>

    <!-- A simple box obstacle -->
    <model name="box_obstacle">
      <pose>2 0 0.5 0 0 0</pose>
      <link name="box_link">
        <collision name="box_collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
        <visual name="box_visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <ambient>1 0 0 1</ambient>
            <diffuse>1 0 0 1</diffuse>
            <specular>1 0 0 1</specular>
          </material>
        </visual>
      </link>
    </model>
  </world>
</sdf>

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// Scripts/RobotController.cs
using UnityEngine;
using Unity.Robotics.ROSTCPConnector;
using RosMessageTypes.Sensor;

public class RobotController : MonoBehaviour
{
    ROSConnection ros;
    string robotTopic = "unity_robot_control";

    // Start is called before the first frame update
    void Start()
    {
        ros = ROSConnection.instance;
        ros.Subscribe<JointStateMsg>(robotTopic);
    }

    // Update is called once per frame
    void Update()
    {
        // Handle robot control based on ROS messages
    }

    void OnJointStateMessage(JointStateMsg msg)
    {
        // Update robot joints based on message
        for (int i = 0; i < msg.name.Length; i++)
        {
            // Find and update joint by name
            Transform joint = transform.Find(msg.name[i]);
            if (joint != null)
            {
                joint.localRotation = Quaternion.Euler(0, 0, msg.position[i]);
            }
        }
    }
}

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