Initial Jazzy implementation (#80)

* Begin renaming ignition -> gz, updating dependencies for Jazzy * Update gazebo macros, include paths * More include paths * Namespace replacements * Include messages in the header * Update dependencies * create_ignition -> create_gz * Rename more launch files * Revert launch argument change * More ignition renames * Remove depcreated condition checks * Fix imports * IfCondition wrappers * Rename gazebo -> sim/gz, fix resource path envar * Fix permissions * Update the GUI configurations * Update the simulation launch file * ign -> gz for plugin logging, cover up the "UNKNOWN %0" text for now * Replace the Table model with CoffeeTable; Table doesn't appear to be supported anymore * Replace the sitting person so they're in a chair instead of on the ground * Hmi -> HMI in titlebars * Ignition -> Harmonic transition, minor updates to the warehouse world * Fix gz-gui8 rosdep * Launch Rviz in the naviation profile if it's being started as part of the simulation launch * Update CI for Jazzy * Change the gz_gui_vendor dependency to depend (from buildtool_depend) * Update github issue template * Enable OSRF testing packages for CI * Linting & formatting fixes
turtlebot · Sep 3, 2024 · 7786143 · 7786143
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commit 7786143
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diff --git a/.github/ISSUE_TEMPLATE/1-bug.yml b/.github/ISSUE_TEMPLATE/1-bug.yml
@@ -30,6 +30,7 @@ body:
         - Select One
         - Galactic
         - Humble
+        - Jazzy
     validations:
       required: true
   - type: dropdown
@@ -52,6 +53,7 @@ body:
         - Select One
         - Ubuntu 20.04
         - Ubuntu 22.04
+        - Ubuntu 24.04
         - Other Linux
         - Windows / MAC
     validations:

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -3,20 +3,21 @@ name: turtlebot4_simulator_ci
 on: [push, pull_request]
 
 jobs:
-  turtlebot4_humble_ci:
-    name: Humble
-    runs-on: ubuntu-22.04
+  turtlebot4_jazzy_ci:
+    name: Jazzy
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/[email protected]
       - uses: ros-tooling/[email protected]
         with:
-          required-ros-distributions: humble
+          required-ros-distributions: jazzy
+          use-ros2-testing: true
       - uses: ros-tooling/[email protected]
         id: action_ros_ci_step
         with:
-          target-ros2-distro: humble
+          target-ros2-distro: jazzy
           import-token: ${{ secrets.GITHUB_TOKEN }}
           package-name:
-            turtlebot4_ignition_bringup
-            turtlebot4_ignition_gui_plugins
-            turtlebot4_ignition_toolbox
+            turtlebot4_gz_bringup
+            turtlebot4_gz_gui_plugins
+            turtlebot4_gz_toolbox
diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
 # Turtlebot4 Simulator
 
-Turtlebot4 Simulation using Ignition Gazebo.
+Turtlebot4 Simulation using Harmonic Gazebo for ROS 2 Jazzy.
 
 Visit the [TurtleBot 4 User Manual](https://turtlebot.github.io/turtlebot4-user-manual/software/turtlebot4_simulator.html) for details.
 
@@ -10,5 +10,5 @@ sudo apt-get update && sudo apt-get install wget
 sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 sudo apt-get update
-sudo apt-get install ignition-fortress ros-humble-turtlebot4-simulator
+sudo apt-get install gz-harmonic ros-jazzy-turtlebot4-simulator
 ```
diff --git a/turtlebot4_ignition_bringup/CHANGELOG.rst → turtlebot4_gz_bringup/CHANGELOG.rst b/turtlebot4_ignition_bringup/CHANGELOG.rst → turtlebot4_gz_bringup/CHANGELOG.rst
@@ -1,5 +1,5 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package turtlebot4_ignition_bringup
+Changelog for package turtlebot4_gz_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 1.0.2 (2024-04-15)

diff --git a/turtlebot4_ignition_bringup/CMakeLists.txt → turtlebot4_gz_bringup/CMakeLists.txt b/turtlebot4_ignition_bringup/CMakeLists.txt → turtlebot4_gz_bringup/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(turtlebot4_ignition_bringup)
+project(turtlebot4_gz_bringup)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -8,7 +8,7 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 
-find_package(ros_ign_interfaces REQUIRED)
+find_package(ros_gz_interfaces REQUIRED)
 
 install(
   DIRECTORY config gui launch worlds

diff --git a/turtlebot4_gz_bringup/README.md b/turtlebot4_gz_bringup/README.md
@@ -0,0 +1 @@
+# turtlebot4_gz_bringup
diff --git a/...ition_bringup/config/turtlebot4_node.yaml → ...t4_gz_bringup/config/turtlebot4_node.yaml b/...ition_bringup/config/turtlebot4_node.yaml → ...t4_gz_bringup/config/turtlebot4_node.yaml
diff --git a/..._ignition_bringup/gui/standard/gui.config → turtlebot4_gz_bringup/gui/lite/gui.config b/..._ignition_bringup/gui/standard/gui.config → turtlebot4_gz_bringup/gui/lite/gui.config
@@ -1,34 +1,46 @@
 <?xml version="1.0" ?>
 
 <!-- 3D scene -->
-<plugin filename="GzScene3D" name="3D View">
-  <ignition-gui>
-    <title>3D View</title>
-    <property type="bool" key="showTitleBar">false</property>
-    <property type="string" key="state">docked</property>
-  </ignition-gui>
-
-  <engine>ogre2</engine>
-  <scene>scene</scene>
-  <camera_pose>-0.0176 -0.737 0.017 0 -0.135 1.64</camera_pose>
+<plugin filename="MinimalScene" name="3D View">
+    <gz-gui>
+      <title>3D View</title>
+      <property key="state" type="string">docked</property>
+      <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+    <engine>ogre2</engine>
+    <scene>scene</scene>
+    <ambient_light>0.4 0.4 0.4</ambient_light>
+    <background_color>0.8 0.8 0.8</background_color>
+    <camera_pose>-6 0 6 0 0.5 0</camera_pose>
+</plugin>
+<plugin filename="GzSceneManager" name="Scene Manager">
+    <gz-gui>
+      <property key="visible" type="bool">false</property>
+      <property key="state" type="string">floating</property>
+    </gz-gui>
+</plugin>
+<plugin filename="InteractiveViewControl" name="Interactive view control">
+    <gz-gui>
+        <property key="visible" type="bool">false</property>
+        <property key="state" type="string">floating</property>
+    </gz-gui>
 </plugin>
 
 <!-- Play / pause / step -->
 <plugin filename="WorldControl" name="World control">
-  <ignition-gui>
+  <gz-gui>
     <title>World control</title>
     <property type="bool" key="showTitleBar">false</property>
     <property type="bool" key="resizable">false</property>
     <property type="double" key="height">72</property>
-    <property type="double" key="width">121</property>
     <property type="double" key="z">1</property>
 
     <property type="string" key="state">floating</property>
     <anchors target="3D View">
       <line own="left" target="left"/>
       <line own="bottom" target="bottom"/>
     </anchors>
-  </ignition-gui>
+  </gz-gui>
 
   <play_pause>true</play_pause>
   <step>true</step>
@@ -37,7 +49,7 @@
 
 <!-- Time / RTF -->
 <plugin filename="WorldStats" name="World stats">
-  <ignition-gui>
+  <gz-gui>
     <title>World stats</title>
     <property type="bool" key="showTitleBar">false</property>
     <property type="bool" key="resizable">false</property>
@@ -50,7 +62,7 @@
       <line own="right" target="right"/>
       <line own="bottom" target="bottom"/>
     </anchors>
-  </ignition-gui>
+  </gz-gui>
 
   <sim_time>true</sim_time>
   <real_time>true</real_time>
@@ -60,7 +72,7 @@
 
 <!-- Translate / rotate -->
 <plugin filename="TransformControl" name="Transform control">
-  <ignition-gui>
+  <gz-gui>
     <title>Transform control</title>
     <anchors target="3D View">
       <line own="left" target="left"/>
@@ -72,12 +84,12 @@
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
     <property key="cardBackground" type="string">#03a9f4</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 
 <!-- Insert simple shapes -->
 <plugin filename="Shapes" name="Shapes">
-  <ignition-gui>
+  <gz-gui>
     <anchors target="Transform control">
       <line own="left" target="right"/>
       <line own="top" target="top"/>
@@ -88,25 +100,25 @@
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
     <property key="cardBackground" type="string">#03a9f4</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 
 <!-- HMI -->
-<plugin filename="Turtlebot4Hmi" name="Turtlebot4Hmi">
-  <ignition-gui>
+<plugin filename="Create3Hmi" name="Create3 HMI">
+  <gz-gui>
     <property type="bool" key="showTitleBar">true</property>
     <property type="string" key="state">docked</property>
     <property type="double" key="height">200</property>
     <property key="resizable" type="bool">true</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 
 <!-- Teleop -->
 <plugin filename="Teleop">
   <topic>/cmd_vel</topic>
-  <ignition-gui>
+  <gz-gui>
     <property type="bool" key="showTitleBar">true</property>
     <property type="string" key="state">docked</property>
     <property key="resizable" type="bool">true</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
diff --git a/...bot4_ignition_bringup/gui/lite/gui.config → ...lebot4_gz_bringup/gui/standard/gui.config b/...bot4_ignition_bringup/gui/lite/gui.config → ...lebot4_gz_bringup/gui/standard/gui.config
@@ -1,34 +1,46 @@
 <?xml version="1.0" ?>
 
 <!-- 3D scene -->
-<plugin filename="GzScene3D" name="3D View">
-  <ignition-gui>
-    <title>3D View</title>
-    <property type="bool" key="showTitleBar">false</property>
-    <property type="string" key="state">docked</property>
-  </ignition-gui>
-
-  <engine>ogre2</engine>
-  <scene>scene</scene>
-  <camera_pose>-0.0176 -0.737 0.017 0 -0.135 1.64</camera_pose>
+<plugin filename="MinimalScene" name="3D View">
+    <gz-gui>
+      <title>3D View</title>
+      <property key="state" type="string">docked</property>
+      <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+    <engine>ogre2</engine>
+    <scene>scene</scene>
+    <ambient_light>0.4 0.4 0.4</ambient_light>
+    <background_color>0.8 0.8 0.8</background_color>
+    <camera_pose>-6 0 6 0 0.5 0</camera_pose>
+</plugin>
+<plugin filename="GzSceneManager" name="Scene Manager">
+    <gz-gui>
+      <property key="visible" type="bool">false</property>
+      <property key="state" type="string">floating</property>
+    </gz-gui>
+</plugin>
+<plugin filename="InteractiveViewControl" name="Interactive view control">
+    <gz-gui>
+        <property key="visible" type="bool">false</property>
+        <property key="state" type="string">floating</property>
+    </gz-gui>
 </plugin>
 
 <!-- Play / pause / step -->
 <plugin filename="WorldControl" name="World control">
-  <ignition-gui>
+  <gz-gui>
     <title>World control</title>
     <property type="bool" key="showTitleBar">false</property>
     <property type="bool" key="resizable">false</property>
     <property type="double" key="height">72</property>
-    <property type="double" key="width">121</property>
     <property type="double" key="z">1</property>
 
     <property type="string" key="state">floating</property>
     <anchors target="3D View">
       <line own="left" target="left"/>
       <line own="bottom" target="bottom"/>
     </anchors>
-  </ignition-gui>
+  </gz-gui>
 
   <play_pause>true</play_pause>
   <step>true</step>
@@ -37,7 +49,7 @@
 
 <!-- Time / RTF -->
 <plugin filename="WorldStats" name="World stats">
-  <ignition-gui>
+  <gz-gui>
     <title>World stats</title>
     <property type="bool" key="showTitleBar">false</property>
     <property type="bool" key="resizable">false</property>
@@ -50,7 +62,7 @@
       <line own="right" target="right"/>
       <line own="bottom" target="bottom"/>
     </anchors>
-  </ignition-gui>
+  </gz-gui>
 
   <sim_time>true</sim_time>
   <real_time>true</real_time>
@@ -60,7 +72,7 @@
 
 <!-- Translate / rotate -->
 <plugin filename="TransformControl" name="Transform control">
-  <ignition-gui>
+  <gz-gui>
     <title>Transform control</title>
     <anchors target="3D View">
       <line own="left" target="left"/>
@@ -72,12 +84,12 @@
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
     <property key="cardBackground" type="string">#03a9f4</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 
 <!-- Insert simple shapes -->
 <plugin filename="Shapes" name="Shapes">
-  <ignition-gui>
+  <gz-gui>
     <anchors target="Transform control">
       <line own="left" target="right"/>
       <line own="top" target="top"/>
@@ -88,25 +100,25 @@
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
     <property key="cardBackground" type="string">#03a9f4</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 
 <!-- HMI -->
-<plugin filename="Create3Hmi" name="Create3Hmi">
-  <ignition-gui>
+<plugin filename="Turtlebot4Hmi" name="Turtlebot4 HMI">
+  <gz-gui>
     <property type="bool" key="showTitleBar">true</property>
     <property type="string" key="state">docked</property>
     <property type="double" key="height">200</property>
     <property key="resizable" type="bool">true</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 
 <!-- Teleop -->
 <plugin filename="Teleop">
   <topic>/cmd_vel</topic>
-  <ignition-gui>
+  <gz-gui>
     <property type="bool" key="showTitleBar">true</property>
     <property type="string" key="state">docked</property>
     <property key="resizable" type="bool">true</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>