Update to ROS 2 Jazzy and make TurtleBot naming generic

[sea-bass]

This PR upgrades to ROS 2 Jazzy and replaces most mentions of TurtleBot3 / tb3 with generic TurtleBot / tb

We needed #51 merged in first, since Gazebo classic is not in this version of ROS 2.

[sea-bass]

@elsayedelsheikh This was working until I renamed all the tb3_ packages to just tb_ ... do you by any chance know what it could be?

I'm basically getting a disconnected TF tree in the Nav2 setup, but I can't figure out what is misconfigured.

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EDIT: ... never mind, I did a clean rebuild and it works now. Could you review regardless?

[elsayedelsheikh]

So far so good, I think turtlebot 4 is spawned with turtlebot3_gazebo_bridge so this line needs to be updated TURTLEBOT3_MODEL -> TURTLEBOT_MODEL

turtlebot3_behavior_demos/tb_worlds/launch/tb_world.launch.py

Line 77 in 2bb15ae

turtlebot_model_os_value = os.getenv("TURTLEBOT3_MODEL", "3")

And if the default is turtlebot 3, this one needs to be updated as well turtlebot4_bridge.yaml -> turtlebot3_bridge.yaml

turtlebot3_behavior_demos/tb_worlds/launch/turtlebot_spawner.launch.py

Line 68 in 2bb15ae

default_value=os.path.join(bringup_dir, "configs", "turtlebot4_bridge.yaml"),

EDIT: Maybe this isn't the best practice (TURTLEBOT_MODEL is read twice)

• tb_world.launch.py reads TURTLEBOT_MODEL to set the bridge config file and passed to turtlebot_spawner.launch.py as argument
• turtlebot_spawner.launch.py has access as well to choose the suitable way either xacro or robot_description topic to spawn the robot

[sea-bass]

Thanks @elsayedelsheikh -- good catch!

I just made those fixes and was able to run the TB3 and TB4 examples.

Might merge this, and then we can make other "nice to have" fixes as we find time.