Port to ROS Noetic and Gazebo 11

Dockerfile

@@ -1,4 +1,4 @@
-FROM osrf/ros:kinetic-desktop
+FROM osrf/ros:noetic-desktop
 
 RUN apt-get update \
  && apt-get install -y \
@@ -14,10 +14,12 @@ RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs`
  && wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \
  && apt-get update \
  && apt-get install -y \
-    gazebo9 \
-    ros-kinetic-gazebo9-ros-pkgs \
-    ros-kinetic-fake-localization \
-    ros-kinetic-joy \
+    gazebo11 \
+    ros-noetic-gazebo-ros-pkgs \
+    ros-noetic-fake-localization \
+    ros-noetic-joy \
+    libignition-math6 \
+    libignition-math6-dev \
  && apt-get clean
 
 
@@ -26,8 +28,8 @@ COPY prius_description /tmp/workspace/src/prius_description
 COPY prius_msgs /tmp/workspace/src/prius_msgs
 COPY car_demo /tmp/workspace/src/car_demo
 RUN /bin/bash -c 'cd /tmp/workspace \
- && source /opt/ros/kinetic/setup.bash \
+ && source /opt/ros/noetic/setup.bash \
  && catkin_make'
 
 
-CMD ["/bin/bash", "-c", "source /opt/ros/kinetic/setup.bash && source /tmp/workspace/devel/setup.bash && roslaunch car_demo demo.launch"]
+CMD ["/bin/bash", "-c", "source /opt/ros/noetic/setup.bash && source /tmp/workspace/devel/setup.bash && roslaunch car_demo demo.launch"]

README.md

@@ -1,8 +1,8 @@
 # Demo of Prius in ROS/GAZEBO
 
-This is a simulation of a Prius in [gazebo 9](http://gazebosim.org) with sensor data being published using [ROS kinetic](http://wiki.ros.org/kinetic/Installation)
+This is a simulation of a Prius in [gazebo 11](http://gazebosim.org) with sensor data being published using [ROS noetic](http://wiki.ros.org/noetic/Installation)
 The car's throttle, brake, steering, and gear shifting are controlled by publishing a ROS message.
-A ROS node allows driving with a gamepad or joystick.
+A ROS node allows driving with a gamepad or joystick or keyboard.
 
 # Video + Pictures
 
@@ -12,7 +12,7 @@ A video and screenshots of the demo can be seen in this blog post: https://www.o
 
 # Requirements
 
-This demo has been tested on Ubuntu Xenial (16.04)
+This demo has been tested on Ubuntu Xenial (20.04)
 
 * An X server
 * [Docker](https://www.docker.com/get-docker)

car_demo/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(car_demo)
 
 set (PRIUSCUP_MAJOR_VERSION 0)
@@ -11,8 +11,8 @@ find_package(catkin REQUIRED COMPONENTS
   prius_msgs
 )
 
-find_package(gazebo 9 REQUIRED)
-find_package(ignition-msgs1 REQUIRED)
+find_package(gazebo 11 REQUIRED)
+find_package(ignition-math6 REQUIRED)
 
 catkin_package(
  # INCLUDE_DIRS include

prius_description/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.0.2)
 project(prius_description)
 
 find_package(catkin REQUIRED)

prius_msgs/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.0.2)
 project(prius_msgs)
 
 find_package(catkin REQUIRED COMPONENTS