feat: humble/add harmonic gz

Dockerfile

@@ -43,7 +43,7 @@ target=/tmp/common.repo.yml,ro \
 # Generate deb packages
 RUN generate_debs.sh
 
-RUN cp /home/robot/robot_ws/src/robotnik_simulation/debs/*.deb /home/robot/robot_ws/debs
+RUN cp /home/robot/robot_ws/src/robotnik_simulation/debs/ros-${ROS_DISTRO}-*.deb /home/robot/robot_ws/debs
 WORKDIR /home/robot/robot_ws/debs
 # Generate Packages.gz
 RUN dpkg-scanpackages . | gzip -9c > Packages.gz

README.md

@@ -11,7 +11,7 @@
 
 
 <!-- PROJECT LOGO -->
-![Logo Robotnik](./img/LOGO%20BLANCO-ROJO.png)
+![Logo Robotnik](./docs/assets/img/LOGO%20BLANCO-ROJO.png)
 
 <br />
 <div align="center">
@@ -145,7 +145,7 @@ Then continue with the installation of packages.
 Install precompiled debs for simulation. Please, change directory to the root of the repository and run the following command:
 
 ```sh
-sudo apt-get install -y ./debs/*.deb
+sudo apt-get install -y ./debs/ros-${ROS_DISTRO}-*.deb
 ```
 
 Install missing dependencies with rosdep:
@@ -208,7 +208,6 @@ Once you have the simulation running, you can spawn the robot in the world. For
 | x                | 0.0                          | position x in the Gazebo world to spawn the robot                                              |
 | y                | 0.0                          | position y in the Gazebo world to spawn the robot                                              |
 | z                | 0.0                          | position z in the Gazebo world to spawn the robot                                              |
-| has_arm          | false                        | If the robot has arm or not to initilize joint_trajectory_controller                           |
 
 With the arguments described above, the launcher creates the robot that you want in Gazebo. As default, it will spawn a RBKairos robot, but you can changed it.
 
@@ -219,25 +218,35 @@ Available robots
 - rbsummit
 - rbkairos
 - rbrobout
+- rbwatcher
+- rbfiqus
 
 Available robot_model
 
 - rbkairos_plus
 - rbrobout_plus
 
-Example:
+Examples:
 ```sh
 ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbvogui
-```
 
-In case that your robot has a variation (check robots folder in robotnik_description package), you can select it by the argument **robot_model**.
+ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbtheron
 
-Example:
-```sh
-ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbkairos robot_model:=rbkairos_plus has_arm:=true
+ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbsummit
+
+ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbkairos robot_model:=rbkairos
+
+ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbrobout robot_model:=rbrobout
+
+ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbwatcher robot_model:=rbwatcher
+
+ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbfiqus robot_model:=rbfiqus
 ```
 
-Then, the arguments _x_, _y_ and _z_ selects the position respect the world frame to spawn the robot.
+Additionally, the arguments _x_, _y_ and _z_ selects the position respect the world frame to spawn the robot.
+
+In case that your robot has a variation (check robots folder in robotnik_description package), you can select it by the argument **robot_model**.
+
 
 #### Control the robot
 
@@ -276,7 +285,12 @@ There are two mobile bases with a manipulator that can be used:
 To use them launch the spawn of the robot as follows:
 
 ```sh
-ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbkairos robot_model:=rbkairos_plus has_arm:=true
+ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbkairos robot_model:=rbkairos_plus
+```
+
+
+```sh
+ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbrobout robot_model:=rbrobout_plus
 ```
 
 The arm has a joint_trajectory_controller configured that can be used with rqt_joint_trajectory_controller:
@@ -290,7 +304,7 @@ ros2 run rqt_joint_trajectory_controller rqt_joint_trajectory_controller --ros-a
 
 #### Enjoy!
 
-![rbvogui_gif](img/RBVogui_Docking.gif)
+![rbvogui_gif](docs/assets/img/RBVogui_Docking.gif)
 
 <p align="right">(<a href="#readme-top">back to top</a>)</p>
 
@@ -387,4 +401,4 @@ Project Link: [https://github.com/RobotnikAutomation](https://github.com/Robotni
 [license-url]: https://github.com/RobotnikAutomation/robot_simulation/blob/master/LICENSE.txt
 [linkedin-shield]: https://img.shields.io/badge/-LinkedIn-black.svg?style=for-the-badge&logo=linkedin&colorB=555
 [linkedin-url]: https://www.linkedin.com/company/robotnik-automation/
-[product-screenshot]: img/ignition_simulation_view.png
+[product-screenshot]: docs/assets/img/ignition_simulation_view.png

docs/gazebo-harmonic-humble.md

@@ -0,0 +1,86 @@
+# Gazebo Harmonic - ROS2 Humble
+
+This document provides a guide to using Robotnik Simulation with:
+ - Gazebo Harmonic
+ - ROS2 Humble.
+
+This combination is tested and working follow the instructions below to set up your environment.
+
+1. Install the required packages:
+
+```bash
+sudo apt-get update
+sudo apt-get install curl lsb-release gnupg
+```
+
+2. Install Gazebo Harmonic
+
+```bash
+sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+sudo apt-get update
+sudo apt-get install gz-harmonic
+```
+
+3. Install Connect with ROS2
+
+> **WARNING**: The package `ros-humble-ros-gzharmonic` conflicts with `ros-humble-ros-gz*`. Remove those packages before installing.
+
+```bash
+sudo apt-get remove ros-humble-ros-gz*
+sudo apt-get install ros-humble-ros-gzharmonic
+```
+
+4. Clone source
+
+```yaml
+# dependencies.repos
+gz_ros2_control:
+  type: git
+  url: https://github.com/ros-controls/gz_ros2_control.git
+  version: 0.7.16
+visualization_tutorials:
+  type: git
+  url: https://github.com/ros-visualization/visualization_tutorials.git
+  version: b43b3f6a867b1d799af3edba673c56d37178e847  # ros2
+robotnik_common:
+  type: git
+  url: https://github.com/RobotnikAutomation/robotnik_common.git
+  version: 1.2.0
+robotnik_description:
+  type: git
+  url: https://github.com/RobotnikAutomation/robotnik_description.git
+  version: bacd4a4d3b2f021cdc5c4ac4f56585d15c54eaff  # Waiting for upstream release
+robotnik_interfaces:
+  type: git
+  url: https://github.com/RobotnikAutomation/robotnik_interfaces.git
+  version: 1.1.0
+robotnik_sensors:
+  type: git
+  url: https://github.com/RobotnikAutomation/robotnik_sensors.git
+  version: faaab6e1db429a6708c65d7311b148bba592fd1a  # humble-devel
+robotnik_simulation:
+  type: git
+  url: https://github.com/RobotnikAutomation/robotnik_simulation.git
+  version: jazzy-devel  # Latest version
+```
+
+```bash
+vcs import --input-file dependencies.repos src
+```
+
+5. Install dependencies
+
+```bash
+sudo apt-get update
+cd robotnik_simulation
+sudo apt-get install -y ./debs/ros-${ROS_DISTRO}-*.deb
+rosdep install --from-paths src --ignore-src -r -y
+```
+
+6. Compile workspace
+
+```bash
+export GZ_VERSION=harmonic
+colcon build --symlink-install
+```

robotnik_gazebo_ignition/CMakeLists.txt

@@ -1,35 +1,21 @@
 cmake_minimum_required(VERSION 3.8)
 project(robotnik_gazebo_ignition)
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# find dependencies
 find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
+
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.sh.in")
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
   set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
   set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
 
 # Install launch files
-install(DIRECTORY
-  launch
-  config
-  worlds
+install(
+  DIRECTORY config launch worlds
   DESTINATION share/${PROJECT_NAME}/
 )
 
-
 ament_package()

robotnik_gazebo_ignition/config/profile/rb1/ros2_control.yaml

@@ -0,0 +1,75 @@
+---
+/**:
+  robotnik_base_control:
+    ros__parameters:
+      publish_rate: 50
+
+      # General Params
+      profile: base
+      debug: true
+      open_loop: true
+
+      # Timeouts
+      joint_command_timeout: 0.1
+      cmd_vel_timeout: 2.0
+
+      # Odom
+      odom_frame_id: $(var frame_prefix)odom
+      base_frame_id: $(var frame_prefix)base_footprint
+      set_odometry_service: ~/set_odometry
+
+      # Kinematics Params
+      wheel_radius: 0.0703  # radius: 0.0703
+      track_width: 0.5032
+      wheel_base: 0.0
+      max_steering_position_error: 0.3
+
+      # Topics
+      cmd_vel_topic: ~/cmd_vel_unstamped
+      odom_topic: ~/odom
+      imu_topic: imu/data
+      emergency_topic: robotnik_base_hw/emergency_stop
+      joint_control_topic: ~/joint_control_command
+
+      # RBTheron Controller Params
+
+      #Cartesian and wheels limits
+      base:
+        linear:
+          x:
+            velocity:
+              min: -1.2
+              max: 1.2
+            acceleration:
+              min: -100.0
+              max: 100.0
+        angular:
+          z:
+            velocity:
+              min: -1.5
+              max: 1.5
+            acceleration:
+              min: -30.0
+              max: 30.0
+
+        right:
+          traction:
+            joint_name: $(var frame_prefix)right_wheel_joint
+            limits:
+              velocity:
+                min: -27.7
+                max: 27.7
+              acceleration:
+                min: -10.0
+                max: 10.0
+
+        left:
+          traction:
+            joint_name: $(var frame_prefix)left_wheel_joint
+            limits:
+              velocity:
+                min: -270.7
+                max: 270.7
+              acceleration:
+                min: -10.0
+                max: 10.0