Move to nexus_integration_tests instead

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

Author: luca-della-vedova

.github/workflows/nexus_integration_tests.yaml

@@ -27,6 +27,7 @@ jobs:
     - name: vcs
       run: |
         vcs import . < abb.repos
+        vcs import . < rmf.repos
     - name: rosdep
       run: |
         apt update

nexus_demos/CMakeLists.txt

@@ -115,7 +115,7 @@ add_custom_target(generate_zenoh_bridge_configs ALL
   COMMAND ros2 run nexus_network_configuration nexus_network_configuration -n ${nexus_network_cfg_path} -o ${zenoh_cfg_output_dir}
 )
 
-install(DIRECTORY launch config rviz scripts DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY launch config rviz scripts maps/ DESTINATION share/${PROJECT_NAME})
 # Install the zenoh config directory containing generated configs.
 message("zenoh_cfg_output_dir: " ${zenoh_cfg_output_dir})
 install(DIRECTORY ${zenoh_cfg_output_dir} DESTINATION share/${PROJECT_NAME}/config/)
@@ -176,4 +176,79 @@ if(BUILD_TESTING)
   endif()
 endif()
 
+# Taken from rmf_demos_maps
+file(GLOB_RECURSE traffic_editor_paths "maps/*.building.yaml")
+
+foreach(path ${traffic_editor_paths})
+
+  # Get the output world name
+  string(REGEX REPLACE "\\.[^.]*\.[^.]*$" "" no_extension_path ${path})
+  string(REGEX MATCH "[^\/]+$" world_name  ${no_extension_path})
+
+  set(map_path ${path})
+  set(output_world_name ${world_name})
+  set(output_dir ${CMAKE_CURRENT_BINARY_DIR}/maps/${output_world_name})
+  set(output_world_path ${output_dir}/${output_world_name}.world)
+  set(output_model_dir ${output_dir}/models)
+
+  ##############################################################################
+  # Generate Gz world and download Models
+  ##############################################################################
+
+  message("BUILDING WORLDFILE WITH COMMAND: ros2 run rmf_building_map_tools building_map_generator gazebo ${map_path} ${output_world_path} ${output_model_dir}")
+  if (NO_DOWNLOAD_MODELS)
+    add_custom_command(
+      DEPENDS ${map_path}
+      COMMAND ros2 run rmf_building_map_tools building_map_generator gazebo ${map_path} ${output_world_path} ${output_model_dir}
+      OUTPUT ${output_world_path}
+    )
+  else()
+    message("DOWNLOADING MODELS WITH COMMAND: ros2 run rmf_building_map_tools building_map_model_downloader ${map_path}")
+    add_custom_command(
+      DEPENDS ${map_path}
+      COMMAND ros2 run rmf_building_map_tools building_map_generator gazebo ${map_path} ${output_world_path} ${output_model_dir}
+      COMMAND ros2 run rmf_building_map_tools building_map_model_downloader ${map_path} -e ~/.gazebo/models
+      OUTPUT ${output_world_path}
+    )
+  endif()
+
+  ##############################################################################
+  # generate the navmesh and required files for crowd simulation for gz
+  ##############################################################################
+  set(crowd_sim_config_resource ${output_dir}/config_resource/)
+
+  add_custom_command(
+    OUTPUT ${world_name}_crowdsim
+    COMMAND ros2 run rmf_building_map_tools building_crowdsim ${map_path} ${crowd_sim_config_resource} ${output_world_path}
+    DEPENDS ${output_world_path}
+  )
+
+  # This will initiate both custom commands: ${output_world_path} and ${world_name}_crowdsim
+  add_custom_target(generate_${world_name}_crowdsim ALL
+    DEPENDS ${world_name}_crowdsim
+  )
+
+  ##############################################################################
+  # Generate the nav graphs
+  ##############################################################################
+
+  set(output_nav_graphs_dir ${output_dir}/nav_graphs/)
+  set(output_nav_graphs_phony ${output_nav_graphs_dir}/phony)
+  add_custom_command(
+    OUTPUT ${output_nav_graphs_phony}
+    COMMAND ros2 run rmf_building_map_tools building_map_generator nav ${map_path} ${output_nav_graphs_dir}
+    DEPENDS ${map_path}
+  )
+
+  add_custom_target(generate_${output_world_name}_nav_graphs ALL
+    DEPENDS ${output_nav_graphs_phony}
+  )
+
+  install(
+    DIRECTORY ${output_dir}
+    DESTINATION share/${PROJECT_NAME}/maps
+  )
+
+endforeach()
+
 ament_package()

nexus_demos/package.xml

@@ -9,30 +9,22 @@
   <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)/include/office/office.rviz"/>
-    <arg name="config_file" value="$(find-pkg-share nexus_demos)/office/office.building.yaml"/>
+    <arg name="viz_config_file" value ="$(find-pkg-share nexus_integration_tests)/launch/include/office/office.rviz"/>
+    <arg name="config_file" value="$(find-pkg-share nexus_integration_tests)/office/office.building.yaml"/>
   </include>
 
   <!-- Nexus Common launch -->
-  <include file="$(find-pkg-share nexus_demos)/common.launch.xml">
+  <include file="$(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>
 
-  <!-- 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)"/>
-  </include>
-
   <!-- TinyRobot 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_simulator)"/>
-      <arg name="nav_graph_file" value="$(find-pkg-share nexus_demos)/maps/office/nav_graphs/0.yaml" />
-      <arg name="config_file" value="$(find-pkg-share nexus_demos)/config/office/tinyRobot_config.yaml"/>
+      <arg name="nav_graph_file" value="$(find-pkg-share nexus_integration_tests)/maps/office/nav_graphs/0.yaml" />
+      <arg name="config_file" value="$(find-pkg-share nexus_integration_tests)/config/office/tinyRobot_config.yaml"/>
     </include>
   </group>
 
@@ -44,4 +36,12 @@
     <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)"/>
+  </include>
+
 </launch>