Remove Gazebo Classic support and Update for MoveIt Jazzy/Rolling (#228)

* Remove Gazebo Classic support * Move the repos * Add to not released repos list as well * Fix the Robotiq params * Fix request adapters in ompl_planning.yaml * Fix the 6DOF too * Actually fix the configs now * Switch fake to mock * Remove one more unnecessary dependency * Add gz_ros2_control to rolling repos * Other renames * Fix .repos files * Skip the gz_ros2_control rosdep key in Humble CI * More fixes to get CI working * Use main branch of ros2_robotiq_gripper and fix gazebo paths * Additional needed modifications * Final Modifications * Formatting Modifications --------- Co-authored-by: Abed Al Rahman Al Mrad <aalmrad@kinova.ca>
Kinovarobotics · Jan 13, 2025 · c2b4ce2 · c2b4ce2
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diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
@@ -24,6 +24,7 @@ jobs:
           - {ROS_DISTRO: humble, ROS_REPO: testing}
     env:
       UPSTREAM_WORKSPACE: ros2_kortex-not-released.${{ matrix.env.ROS_DISTRO }}.repos
+      ROSDEP_SKIP_KEYS: gz_ros2_control
       CCACHE_DIR: ${{ github.workspace }}/.ccache
       BASEDIR: ${{ github.workspace }}/.work
       CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}

diff --git a/README.md b/README.md
@@ -113,9 +113,10 @@ If the bug fix you need isn't in a released version or If you want to build this
    vcs import src --skip-existing --input src/ros2_kortex/ros2_kortex-not-released.$ROS_DISTRO.repos
    ```
 
-   If you plan on simulating the robot with ignition or gazebo, make sure to pull the additional simulation packages. If you're on    ROS2 Humble, run
+   If you plan on simulating the robot with Gazebo, make sure to pull the additional simulation packages.
+   If you're on ROS 2 Humble, run
    ```
-   vcs import src --skip-existing --input src/ros2_kortex/simulation.humble.repos
+   vcs import src --skip-existing --input src/ros2_kortex/simulation.jazzy.repos
    ```
 
    otherwise
@@ -125,12 +126,10 @@ If the bug fix you need isn't in a released version or If you want to build this
 
    If you plan on using MoveIt, you must make sure that you have it already [installed](https://moveit.ros.org/install-moveit2/binary/) either from binaries or by building it from source.
 
-   If you plan on simulating the Gen3 7Dof robot mounted on the Husky mobile robot from clearpath, make sure to pull the additional related packages. On ROS2 Humble, run
-   ```
-   vcs import src --skip-existing --input src/ros2_kortex/clearpath.repos
-   ```
 
-4. Install dependencies, compile, and source the workspace:
+4. Follow the instructions to install [Gazebo Harmonic](https://gazebosim.org/docs/harmonic/getstarted/)
+
+5. Install dependencies, compile, and source the workspace:
    ```
    rosdep install --ignore-src --from-paths src -y -r
    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
@@ -140,7 +139,7 @@ If the bug fix you need isn't in a released version or If you want to build this
    ```
    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 3
    ```
-5. Source the previously built workspace using the following command:
+6. Source the previously built workspace using the following command:
    ```
    echo 'source ~/workspace/ros2_kortex_ws/install/setup.bash' >> ~/.bashrc
    ```
@@ -215,7 +214,7 @@ You can specify the following arguments if you wish to change your arm configura
 
 * `robot_type`: Your robot model. Default value (and only one) is `gen3`.
 
-* `gripper` : Gripper to use. Possible values for the Gen3 are either `robotiq_2f_85`, `robotiq_2f_140` or `""`. Default is `robotiq_2f_85`. An empty string will not initialise any gripper.
+* `gripper` : Gripper to use. Possible values for the Gen3 are either `robotiq_2f_85`, `robotiq_2f_140` or `""`. Default is `""`. An empty string will not initialise any gripper.
 
 * `gripper_joint_name` : Name of the controlled joint of the gripper attached to the arm. Default value is `robotiq_85_left_knuckle_joint`.
 
@@ -308,11 +307,11 @@ The `kortex_sim_control.launch.py` launch file is designed to simulate all of ou
 ```bash
 ros2 launch kortex_bringup kortex_sim_control.launch.py \
   use_sim_time:=true \
-  launch_rviz:=false
+  launch_rviz:=false \
+  robot_controller:=joint_trajectory_controller
 ```
 
-* `sim_ignition` : Use Ignition for simulation. Default value is `true`.
-* `sim_gazebo` : Use Gazebo Classic for simulation. Default value is `false`.
+* `sim_gazebo` : Use Gazebo for simulation. Default value is `false`.
 * `robot_type` : Your robot model. Possible values are either `gen3` or `gen3_lite`.Default is `gen3`.
 * `robot_name` : Name you would like your robot to have. Default value is `gen3`.
 * `dof` : Degrees of freedom of the arm. Possible values are either `6` or `7`.Default value is `7`.
@@ -325,9 +324,9 @@ ros2 launch kortex_bringup kortex_sim_control.launch.py \
 * `description_file` : URDF/XACRO description file with the robot. Default value is `kinova.urdf.xacro`.
 * `prefix` : Prefix of the joint names, useful for multi-robot setup. If changed, then also joint names in the controllers' configuration have to be updated. Default value is `""` (none).
 * `use_sim_time` : Use simulated clock. Default value is `true`.
-* `gripper` : Gripper to use. Possible values for the Gen3 are either `robotiq_2f_85`, `robotiq_2f_140` or `""`. Default is `robotiq_2f_85`. An empty string will not initialise any gripper.
+* `gripper` : Gripper to use. Possible values for the Gen3 are: `robotiq_2f_85`, `robotiq_2f_140`, `""` and `gen3_lite_2f`. Default is `robotiq_2f_85`. An empty string will not initialise any gripper.
 
-#### MoveIt2
+#### MoveIt 2
 
 To generate motion plans and execute them with a simulated 7 DoF Kinova Gen3 arm with mock hardware:
 
@@ -345,7 +344,7 @@ ros2 launch kinova_gen3_6dof_robotiq_2f_85_moveit_config robot.launch.py \
   use_fake_hardware:=true
 ```
 
-To generate motion plans and execute them with an ignition simulated 7 DoF Kinova Gen3 arm (previously launched with the command at the [simulation](#simulation) section):
+To generate motion plans and execute them with a Gazebo simulated 7 DoF Kinova Gen3 arm (previously launched with the command at the [simulation](#simulation) section):
 
 ```bash
 ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config sim.launch.py \

diff --git a/kortex_bringup/launch/gen3_lite.launch.py b/kortex_bringup/launch/gen3_lite.launch.py
@@ -61,7 +61,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "robot_controller",
-            default_value="gen3_lite_joint_trajectory_controller",
+            default_value="joint_trajectory_controller",
             description="Robot controller to start.",
         )
     )

diff --git a/kortex_bringup/launch/kortex_sim_control.launch.py b/kortex_bringup/launch/kortex_sim_control.launch.py
@@ -14,10 +14,12 @@
 #
 # Author: Marq Rasmussen
 
+import os
+from ament_index_python.packages import get_package_prefix
 from launch import LaunchDescription
 from launch.actions import (
+    AppendEnvironmentVariable,
     DeclareLaunchArgument,
-    ExecuteProcess,
     IncludeLaunchDescription,
     OpaqueFunction,
     RegisterEventHandler,
@@ -38,7 +40,6 @@
 def launch_setup(context, *args, **kwargs):
     # Initialize Arguments
     sim_gazebo = LaunchConfiguration("sim_gazebo")
-    sim_ignition = LaunchConfiguration("sim_ignition")
     robot_type = LaunchConfiguration("robot_type")
     dof = LaunchConfiguration("dof")
     vision = LaunchConfiguration("vision")
@@ -97,9 +98,6 @@ def launch_setup(context, *args, **kwargs):
             "sim_gazebo:=",
             sim_gazebo,
             " ",
-            "sim_ignition:=",
-            sim_ignition,
-            " ",
             "simulation_controllers:=",
             robot_controllers,
             " ",
@@ -171,7 +169,7 @@ def launch_setup(context, *args, **kwargs):
         condition=UnlessCondition(is_gen3_lite),
     )
 
-    robot_hand_controller_spawner = Node(
+    robot_hand_lite_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
         arguments=[robot_lite_hand_controller, "-c", "/controller_manager"],
@@ -182,42 +180,16 @@ def launch_setup(context, *args, **kwargs):
     bridge = Node(
         package="ros_gz_bridge",
         executable="parameter_bridge",
-        arguments=["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"],
-        output="screen",
-    )
-
-    # Gazebo nodes
-    gzserver = ExecuteProcess(
-        cmd=["gzserver", "-s", "libgazebo_ros_init.so", "-s", "libgazebo_ros_factory.so", ""],
+        arguments=["/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"],
         output="screen",
-        condition=IfCondition(sim_gazebo),
     )
 
-    # Gazebo client
-    gzclient = ExecuteProcess(
-        cmd=["gzclient"],
-        output="screen",
-        condition=IfCondition(sim_gazebo),
-    )
-
-    # gazebo = IncludeLaunchDescription(
-    # PythonLaunchDescriptionSource(
-    # [PathJoinSubstitution([FindPackageShare("gazebo_ros"), "launch", "gazebo.launch.py"])]
-    # ),
-    # launch_arguments={"verbose": "false"}.items(),
-    # )
-
-    # Spawn robot
-    gazebo_spawn_robot = Node(
-        package="gazebo_ros",
-        executable="spawn_entity.py",
-        name="spawn_robot",
-        arguments=["-entity", robot_name, "-topic", "robot_description"],
-        output="screen",
-        condition=IfCondition(sim_gazebo),
+    robotiq_description_prefix = get_package_prefix("robotiq_description")
+    gz_robotiq_env_var_resource_path = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH", os.path.join(robotiq_description_prefix, "share")
     )
 
-    ignition_spawn_entity = Node(
+    gz_spawn_entity = Node(
         package="ros_gz_sim",
         executable="create",
         output="screen",
@@ -241,15 +213,17 @@ def launch_setup(context, *args, **kwargs):
             "-Y",
             "0.0",
         ],
-        condition=IfCondition(sim_ignition),
+        condition=IfCondition(sim_gazebo),
     )
 
-    ignition_launch_description = IncludeLaunchDescription(
+    gz_launch_description = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             [FindPackageShare("ros_gz_sim"), "/launch/gz_sim.launch.py"]
         ),
-        launch_arguments={"ign_args": " -r -v 3 empty.sdf"}.items(),
-        condition=IfCondition(sim_ignition),
+        launch_arguments={
+            "gz_args": " -r -v 3 empty.sdf --physics-engine gz-physics-bullet-featherstone-plugin"
+        }.items(),
+        condition=IfCondition(sim_gazebo),
     )
 
     # Bridge
@@ -258,10 +232,10 @@ def launch_setup(context, *args, **kwargs):
         executable="parameter_bridge",
         parameters=[{"use_sim_time": use_sim_time}],
         arguments=[
-            "/wrist_mounted_camera/image@sensor_msgs/msg/Image[ignition.msgs.Image",
-            "/wrist_mounted_camera/depth_image@sensor_msgs/msg/Image[ignition.msgs.Image",
-            "/wrist_mounted_camera/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked",
-            "/wrist_mounted_camera/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo",
+            "/wrist_mounted_camera/image@sensor_msgs/msg/Image[gz.msgs.Image",
+            "/wrist_mounted_camera/depth_image@sensor_msgs/msg/Image[gz.msgs.Image",
+            "/wrist_mounted_camera/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked",
+            "/wrist_mounted_camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
         ],
         output="screen",
     )
@@ -274,11 +248,10 @@ def launch_setup(context, *args, **kwargs):
         robot_traj_controller_spawner,
         robot_pos_controller_spawner,
         robot_hand_controller_spawner,
-        gzserver,
-        gzclient,
-        gazebo_spawn_robot,
-        ignition_launch_description,
-        ignition_spawn_entity,
+        robot_hand_lite_controller_spawner,
+        gz_robotiq_env_var_resource_path,
+        gz_launch_description,
+        gz_spawn_entity,
         gazebo_bridge,
     ]
 
@@ -288,18 +261,11 @@ def launch_setup(context, *args, **kwargs):
 def generate_launch_description():
     declared_arguments = []
     # Simulation specific arguments
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "sim_ignition",
-            default_value="true",
-            description="Use Ignition for simulation",
-        )
-    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "sim_gazebo",
-            default_value="false",
-            description="Use Gazebo Classic for simulation",
+            default_value="true",
+            description="Use Gazebo for simulation",
         )
     )
     # Robot specific arguments
@@ -369,7 +335,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "robot_controller",
-            default_value="gen3_lite_joint_trajectory_controller",
+            default_value="joint_trajectory_controller",
             description="Robot controller to start.",
         )
     )
@@ -404,8 +370,8 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "gripper",
-            default_value="robotiq_2f_85",
-            choices=["robotiq_2f_85", "robotiq_2f_140", "gen3_lite_2f"],
+            default_value="",
+            choices=["robotiq_2f_85", "robotiq_2f_140", "gen3_lite_2f", ""],
             description="Gripper to use",
         )
     )

diff --git a/kortex_bringup/package.xml b/kortex_bringup/package.xml
@@ -22,13 +22,14 @@
   <exec_depend>rviz2</exec_depend>
   <exec_depend>urdf</exec_depend>
   <exec_depend>xacro</exec_depend>
-  <exec_depend>gazebo_ros2_control</exec_depend>
   <exec_depend>gripper_controllers</exec_depend>
   <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>robotiq_description</exec_depend>
   <exec_depend>kortex_description</exec_depend>
   <exec_depend>kortex_driver</exec_depend>
+  <exec_depend>ros_gz_bridge</exec_depend>
+  <exec_depend>ros_gz_sim</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro
@@ -26,7 +26,6 @@
     use_fake_hardware:=false
     fake_sensor_commands:=false
     sim_gazebo:=false
-    sim_ignition:=false
     sim_isaac:=false
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
@@ -41,7 +40,6 @@
       use_fake_hardware="${use_fake_hardware}"
       fake_sensor_commands="${fake_sensor_commands}"
       sim_gazebo="${sim_gazebo}"
-      sim_ignition="${sim_ignition}"
       sim_isaac="${sim_isaac}"
       isaac_joint_commands="${isaac_joint_commands}"
       isaac_joint_states="${isaac_joint_states}"

diff --git a/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro
@@ -7,7 +7,6 @@
     use_fake_hardware:=false
     fake_sensor_commands:=false
     sim_gazebo:=false
-    sim_ignition:=false
     sim_isaac:=false
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
@@ -29,10 +28,7 @@
     <ros2_control name="${name}" type="system">
       <hardware>
         <xacro:if value="${sim_gazebo}">
-          <plugin>gazebo_ros2_control/GazeboSystem</plugin>
-        </xacro:if>
-        <xacro:if value="${sim_ignition}">
-          <plugin>ign_ros2_control/IgnitionSystem</plugin>
+          <plugin>gz_ros2_control/GazeboSimSystem</plugin>
         </xacro:if>
         <xacro:if value="${sim_isaac}">
           <plugin>topic_based_ros2_control/TopicBasedSystem</plugin>
@@ -44,7 +40,7 @@
           <param name="fake_sensor_commands">${fake_sensor_commands}</param>
           <param name="state_following_offset">0.0</param>
         </xacro:if>
-        <xacro:unless value="${use_fake_hardware or sim_gazebo or sim_ignition or sim_isaac}">
+        <xacro:unless value="${use_fake_hardware or sim_gazebo or sim_isaac}">
           <plugin>kortex_driver/KortexMultiInterfaceHardware</plugin>
           <param name="robot_ip">${robot_ip}</param>
           <param name="username">${username}</param>

diff --git a/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro
@@ -26,7 +26,6 @@
     use_fake_hardware:=false
     fake_sensor_commands:=false
     sim_gazebo:=false
-    sim_ignition:=false
     sim_isaac:=false
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
@@ -41,7 +40,6 @@
       use_fake_hardware="${use_fake_hardware}"
       fake_sensor_commands="${fake_sensor_commands}"
       sim_gazebo="${sim_gazebo}"
-      sim_ignition="${sim_ignition}"
       sim_isaac="${sim_isaac}"
       isaac_joint_commands="${isaac_joint_commands}"
       isaac_joint_states="${isaac_joint_states}"
@@ -452,7 +450,7 @@
     </joint>
     <xacro:if value="${vision}">
       <!-- sim camera needs to be rotated which might not apply to built in vision module -->
-      <xacro:if value="${sim_ignition}">
+      <xacro:if value="${sim_gazebo}">
         <link name="${prefix}camera_link" />
         <joint name="${prefix}camera_module" type="fixed">
           <origin xyz="0 0.05639 0.01305" rpy="0 ${-PI/2} ${-PI/2}" />
@@ -472,7 +470,7 @@
           <child  link="${prefix}camera_color_frame" />
         </joint>
       </xacro:if>
-      <xacro:unless value="${sim_ignition}">
+      <xacro:unless value="${sim_gazebo}">
         <link name="${prefix}camera_link" />
         <joint name="${prefix}camera_module" type="fixed">
           <origin xyz="0 0.05639 -0.00305" rpy="${PI} ${PI} 0" />