feat: humble/add harmonic gz#40
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It requires RobotnikAutomation/robotnik_description#75 |
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Pull Request Overview
This PR adds support for Gazebo Harmonic with ROS2 Humble to the Robotnik simulation stack, introducing new robot configuration profiles and improving the overall simulation infrastructure. It focuses on modernizing the launch system, adding comprehensive controller configurations for multiple robot variants, and updating documentation.
Key changes include:
- Added comprehensive robot control profiles for rbkairos, rbwatcher, rbsummit, rbrobout, rbfiqus, rbvogui, and rb1 robots
- Refactored the spawn_robot launch system with improved controller management and dynamic bridge generation
- Updated documentation with Gazebo Harmonic setup guide and expanded robot examples
Reviewed Changes
Copilot reviewed 37 out of 40 changed files in this pull request and generated 4 comments.
Show a summary per file
| File | Description |
|---|---|
| robotnik_simulation.jazzy.repos | Adds repository configuration for Jazzy distribution with specific package versions |
| robotnik_gazebo_ignition/worlds/ignition/demo.world | Updates world configuration with improved physics, lighting, and plugin settings |
| robotnik_gazebo_ignition/package.xml | Updates package metadata and dependencies |
| robotnik_gazebo_ignition/launch/spawn_world.launch.py | Simplifies world launching with cleaner argument handling |
| robotnik_gazebo_ignition/launch/spawn_robot.launch.py | Complete refactor of robot spawning with dynamic controller configuration |
| robotnik_gazebo_ignition/hooks/robotnik_gazebo_ignition.sh.in | Adds environment hook for Gazebo resource paths |
| robotnik_gazebo_ignition/config/rviz_config.rviz | Updates RViz configuration with improved topic names and frame references |
| robotnik_gazebo_ignition/config/profile/*/ros2_control.yaml | Adds comprehensive controller configurations for multiple robot variants |
| robotnik_gazebo_ignition/CMakeLists.txt | Simplifies build configuration and adds environment hooks |
| docs/gazebo-harmonic-humble.md | Adds setup guide for Gazebo Harmonic with ROS2 Humble |
| README.md | Updates documentation with new robot models and corrected image paths |
| Dockerfile | Updates package installation to use ROS-distro-specific patterns |
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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
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Robotnik Sensors and Robotnik Description were updated, If all is ok, we can merge this PR |
Although not being used for now
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
rafa-martin
approved these changes
Sep 12, 2025
ja-palen
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Oct 24, 2025
* Adds new robots: rbficus (later renamed rbfiqus), rbsummit_steel, and rbwatcher. * Includes a joint trajectory controller and a top PTZ camera for the RB-WATCHER. * Adds controller configurations and improves the robot spawner to extract controllers from control.yaml. * Refactors the harmonic simulation and adds bridge dynamic capabilities. * Introduces a clean and add humble harmonic simulation and a new function to add a depth camera (though currently unused). * Multiple updates to the documentation (doc, README.md) to reflect the new robots and features. * Updates package versions for the humble and jazzy releases. * Bumps the main version to 1.0.0. * Fixes minor issues, such as the rbtheron motor limits.
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This pull request introduces several improvements and updates to the Robotnik simulation stack, focusing on enhanced documentation, expanded robot support, configuration unification, and codebase cleanup. The most significant changes include the addition of a setup guide for Gazebo Harmonic with ROS2 Humble, new and refactored robot controller configurations, improved installation instructions, and expanded examples for launching various robots.
Documentation and User Guide Improvements
docs/gazebo-harmonic-humble.md, including installation steps, dependency management, and workspace compilation instructions.README.mdto use new asset locations and clarified installation and usage instructions. [1] [2] [3] [4]Robot Support and Launch Examples
rbwatcherandrbfiqus, and added multiple launch examples for different robot models.Controller Configuration and Profiles
rbkairosandrb1robots underrobotnik_gazebo_ignition/config/profile/, providing detailed parameters for robot base control and joint trajectory controllers. [1] [2]rbvoguitorbfiqus, updating parameters for improved consistency and flexibility, including the use of variable-based frame prefixes and more accurate kinematic limits. [1] [2] [3] [4] [5]Build and Packaging Improvements
CMakeLists.txtforrobotnik_gazebo_ignitionby removing unnecessary compiler flags and improving installation directives for configuration, launch, and world files..debpackages matching theros-${ROS_DISTRO}-*.debpattern, ensuring compatibility with the selected ROS distribution. [1] [2]Minor Documentation and Cleanup
has_arm) from the robot spawning documentation for clarity.These changes collectively improve the usability, flexibility, and maintainability of the simulation stack, making it easier to set up and use with a wider range of Robotnik robots and simulation environments.This pull request introduces several improvements and additions to the Robotnik simulation stack, focusing on enhanced robot configuration management, documentation updates, and codebase cleanup. The main highlights are the addition of new control profiles for multiple robots, improved documentation for Gazebo Harmonic and ROS2 Humble integration, and various updates to streamline usage and installation.
Robot configuration and control improvements:
ros2_control.yamlconfiguration profiles forrbkairos,rb1, and refactoredrbvoguitorbfiqus, each with detailed parameters for base control, joint limits, and topic names. These profiles improve modularity and make it easier to manage robot-specific settings. [1] [2] [3] [4] [5] [6] [7]Documentation enhancements:
docs/gazebo-harmonic-humble.md) for setting up the simulation environment with Gazebo Harmonic and ROS2 Humble, including installation steps and dependency management.README.mdto reflect new robot models (rbwatcher,rbfiqus), improved installation instructions, and corrected image paths and example commands. [1] [2] [3] [4] [5] [6] [7]Build and installation process:
CMakeLists.txtby removing unnecessary compiler flags and improving installation logic for configuration, launch, and world files.Dockerfileand installation commands to only copy and installros-${ROS_DISTRO}-*.debpackages, ensuring compatibility with the current ROS distribution. [1] [2]Other minor changes:
has_armparameter from documentation to avoid confusion.These changes collectively improve the maintainability, usability, and extensibility of the Robotnik simulation stack.This pull request introduces significant improvements to the Robotnik simulation stack, focusing on enhanced configuration and support for multiple robot profiles in Gazebo/ROS2 environments. It adds detailed ROS2 control configuration files for various robots, updates documentation for Gazebo Harmonic with ROS2 Humble, and improves consistency in file structure and installation instructions.
Key changes include:
New and Updated Robot Configuration Profiles
rbkairos,rbficus,rbrobout,rbsummit, andrb1robots, enabling tailored simulation and control parameters for each robot profile. These configurations cover controller parameters, topic names, frame IDs, kinematics, and joint limits, and in some cases, arm trajectory controllers. [1] [2] [3] [4] [5]rbficusprofile, with corrected topic names and kinematic values for improved simulation accuracy. [1] [2] [3] [4] [5]Documentation and Usability Improvements
docs/gazebo-harmonic-humble.md, including installation steps and dependency management.README.mdto use the newdocs/assets/imgdirectory for better organization and consistency. [1] [2] [3]README.mdto use ROS-distro-specific.debpackages, ensuring correct package selection for different ROS distributions.Build and Packaging Adjustments
Dockerfileand build scripts to copy only the relevant ROS-distro-specific.debfiles, reducing clutter and potential installation issues.CMakeLists.txtforrobotnik_gazebo_ignition, improving maintainability and ensuring correct installation of configuration and launch files.