add drone cat-mouse chase exercise (world + launcher + city model)

[anishk85]

adds the gazebo world, launcher, and custom city model for the drone cat-mouse chase exercise. two quadrotor drones (drone_cat and drone_mouse) spawn in a blender-exported city

files are split across the three standard RI directories following the same pattern as pick_place: world SDF goes in Worlds/, the city GLB model goes in CustomRobots/drone_cat_mouse/models/, and the launch file + AS2 config YAMLs go in Launchers/drone_cat_mouse/. the launch file brings up gazebo harmonic, ros-gz bridges for both drones (cmd_vel, imu, camera), and the full aerostack2 stack per drone (platform, state estimator, motion controller, takeoff/land/goto/follow behaviours).

the city mesh is about 7MB — kept it low poly on purpose (~65K faces) so it dosnt kill gazebo on weaker machines. the quadrotor_base model is already in AS2 so its not duplicated here. keep thsi much add here as aerostack 2 is already installed in the radi image we will config it with it right now thsi is just an external setup moving foeward in upcoming weeks for further integartion

initial_setup.webm

[anishk85]

hi @jmplaza @pariaspe ,
This is the second PR focused on the project's assets.

[javizqh]

Launcher must be named after the universe, for example: drone_cat_mouse.launch.py, not gazebo.launch.py.

It must be inside the Launchers folder not inside a subfolder.

World name must be default. Please read documentation before submitting a PR.

This has not been tested inside the RADI as it is missing the Cmake changes to compile the model.

Also missing database entry.

[anishk85]

Launcher must be named after the universe, for example: drone_cat_mouse.launch.py, not gazebo.launch.py.

It must be inside the Launchers folder not inside a subfolder.

World name must be default. Please read documentation before submitting a PR.

This has not been tested inside the RADI as it is missing the Cmake changes to compile the model.

Also missing database entry.

Hi @javizqh,

Thanks for the feedback. We're still in the early stages of development, so these were mainly initial pushes. Pedro wanted to take a look at some configs, so I bundled the required assets in the RI repo for the time being.

The actual integration work will start in the coming weeks, and I'll be restructuring things as part of that process. Don't worry—I’ll make sure everything ends up in the appropriate place. I'm familiar with the repository layout and will keep it aligned with the project's conventions.

Appreciate the review!

[javizqh]

If this is not ready for review, please open a draft instead of a PR next time

[pariaspe]

@anishk85 please take a look

[pariaspe]

I suggest to create a custom model at jderobot_drones package and to include it from there. World file would be much cleaner.

[anishk85]

I have noted this but will address this later

[anishk85]

Hi,

I just wanted to mention that these files have only been arranged inside the RI repository for now so that the assets are available and visible. I haven't integrated them or split them into their final structure yet, but I will do that once I start the integration work.

Currently, the files mainly reflect my local code setup that has been moved into the RI repository. I plan to start the actual integration next week, and I'll commit additional changes as the integration effort progresses.

[anishk85]

hi @pariaspe kindly review this once especially these two files Launchers/drone_cat_mouse.launch.py
jderobot_drones/launch/as2_default_gazebo_sim.launch.py

[anishk85]

I added all bridges at one place

[pariaspe]

I would love to see a custom model at jderobot_drones package and to include it at the world file. We can face it in a future PR.

Anyway, PR looks good to me. Nice work @anishk85 .

[anishk85]

I would love to see a custom model at jderobot_drones package and to include it at the world file. We can face it in a future PR.

Anyway, PR looks good to me. Nice work @anishk85 .

Sure I will do that.

[javizqh]

Please fix conflicts

[javizqh]

Missing Cmake changes to compile Models. Right now it does not work

[anishk85]

Hi @javizqh please take a look

[anishk85]

I would love to see a custom model at jderobot_drones package and to include it at the world file. We can face it in a future PR.

Anyway, PR looks good to me. Nice work @anishk85 .

Hi @pariaspe ,
model://cat_mouse_drone0 wouldn't resolve if the models lived in jderobot_drones.
so I can move them to custom robots where the wrold live with separate namespaces

[anishk85]

Hi @pariaspe ,
Please now take a look

[anishk85]

Please fix conflicts

resolved
Thanks!

[pariaspe]

Hi @pariaspe , model://cat_mouse_drone0 wouldn't resolve if the models lived in jderobot_drones. so I can move them to custom robots where the wrold live with separate namespaces

Absolutely, sorry for the confusion. Move them to CustomRobots/drone_assets/models similar to quadrotor_dual_cam. Also, choose a more representative name, rather than cat_mouse_drone0.