Migrate TB3 to nav2 minimal turtlebot repository & add the TB4 bringup option for modern gazebo (ros-navigation#4401)

* Initial support to the new Gazebo

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* Added feedback

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* Fixed build

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* Added feeback

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* Fixed physics tag

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* Fixed physics tag

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* Fix copyright and urdf

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* min range cannot be zero

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* Simplify files

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* Added feedback

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* Added feedback

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* Fix

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* Try to reduce load

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* Removed cast shadows

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* Use Gazebo plugins instead of gz_ros2_control

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* update dependency

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* Removed dependency

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* Removed ros2_control and use ogre

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* Use param file to configure bridge

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

* Use sdf model and change to ogre instead of ogre2 for sensors

Signed-off-by: Addisu Z. Taddese <[email protected]>

* Support Garden and later, performance improvements

Signed-off-by: Addisu Z. Taddese <[email protected]>

* Use xacro for world file (ros-navigation#2)

Signed-off-by: Addisu Z. Taddese <[email protected]>

* Reviewer feedback

Signed-off-by: Addisu Z. Taddese <[email protected]>

* Add comment explaining temp file

Signed-off-by: Addisu Z. Taddese <[email protected]>

* Fix linter

Signed-off-by: Addisu Z. Taddese <[email protected]>

* Update nav2_bringup/worlds/gz_world_only.sdf.xacro

Co-authored-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>

* port GZ Classic launch changes to modern GZ and remove GZ Classic launch file

* adding changes

* changes done for TB4

* tb3 sim prototype

* fix missing ref

* linting

* fix branch name

* remove assets

* removing refs to turtlebot3_gazebo

* update map

* add new depot map

* Update Nav2 side of multirobot launch files

* linting

---------

Signed-off-by: Alejandro Hernández Cordero <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: Alejandro Hernández Cordero <[email protected]>
Co-authored-by: Addisu Z. Taddese <[email protected]>
Co-authored-by: Addisu Z. Taddese <[email protected]>

Author: 3 people

.circleci/config.yml

@@ -82,7 +82,6 @@ _commands:
         - run:
             name: Install Dependencies | << parameters.workspace >>
             working_directory: << parameters.workspace >>
-            # Remove/Replace turtlebot3_gazebo and gazebo_ros_pkgs from --skip-keys after https://github.com/ros-navigation/navigation2/pull/3634
             command: |
               . << parameters.underlay >>/install/setup.sh
               AMENT_PREFIX_PATH=$(echo "$AMENT_PREFIX_PATH" | \
@@ -105,7 +104,6 @@ _commands:
                   --ignore-src \
                   --skip-keys " \
                     slam_toolbox \
-                    turtlebot3_gazebo \
                     " \
                   --verbose | \
                 awk '$1 ~ /^resolution\:/' | \

Dockerfile

@@ -102,7 +102,6 @@ RUN . $UNDERLAY_WS/install/setup.sh && \
       --from-paths src \
       --skip-keys " \
         slam_toolbox \
-        turtlebot3_gazebo \
         "\
       --ignore-src \
     && rm -rf /var/lib/apt/lists/*