From c2b4ce2a97e588643c07af85b9f0e90daa52ad4a Mon Sep 17 00:00:00 2001 From: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Date: Mon, 13 Jan 2025 16:34:27 -0500 Subject: [PATCH] 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 --- .github/workflows/humble-binary-build.yml | 1 + README.md | 29 +++--- kortex_bringup/launch/gen3_lite.launch.py | 2 +- .../launch/kortex_sim_control.launch.py | 90 ++++++------------- kortex_bringup/package.xml | 3 +- .../arms/gen3/6dof/urdf/gen3_macro.xacro | 2 - .../gen3/6dof/urdf/kortex.ros2_control.xacro | 8 +- .../arms/gen3/7dof/urdf/gen3_macro.xacro | 6 +- .../gen3/7dof/urdf/kortex.ros2_control.xacro | 10 +-- .../6dof/config/ros2_controllers.yaml | 4 +- .../gen3_lite/6dof/urdf/gen3_lite_macro.xacro | 8 +- .../6dof/urdf/kortex.ros2_control.xacro | 12 +-- .../urdf/gen3_lite_2f.ros2_control.xacro | 18 ++-- .../urdf/gen3_lite_2f_macro.xacro | 14 +-- .../urdf/robotiq_2f_140_macro.xacro | 8 +- .../urdf/robotiq_2f_85_macro.xacro | 8 +- kortex_description/package.xml | 1 + kortex_description/readme.md | 4 +- kortex_description/robots/gen3.xacro | 4 +- .../robots/gen3_lite_gen3_lite_2f.xacro | 2 - kortex_description/robots/kinova.urdf.xacro | 23 ++--- kortex_description/robots/kortex_robot.xacro | 4 +- .../config/ompl_planning.yaml | 41 +++------ .../launch/sim.launch.py | 8 +- .../package.xml | 5 +- .../config/ompl_planning.yaml | 41 +++------ .../launch/sim.launch.py | 8 +- .../package.xml | 5 +- .../launch/sim.launch.py | 8 +- ...os => ros2_kortex-not-released.jazzy.repos | 6 +- ros2_kortex-not-released.rolling.repos | 8 -- ...ex.humble.repos => ros2_kortex.jazzy.repos | 12 ++- ros2_kortex.repos | 2 +- ...ion.humble.repos => simulation.jazzy.repos | 15 +--- simulation.repos | 22 ++--- 35 files changed, 153 insertions(+), 289 deletions(-) rename ros2_kortex-not-released.humble.repos => ros2_kortex-not-released.jazzy.repos (71%) rename ros2_kortex.humble.repos => ros2_kortex.jazzy.repos (67%) rename simulation.humble.repos => simulation.jazzy.repos (52%) diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml index 4e0c2276..a7984242 100644 --- 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 index bda52628..83a0d9b7 100644 --- 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 index 5eb1d3d4..844114db 100644 --- 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 index e33034f6..5d50503a 100644 --- 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 index 2742ebd1..f8648b02 100644 --- a/kortex_bringup/package.xml +++ b/kortex_bringup/package.xml @@ -22,13 +22,14 @@ rviz2 urdf xacro - gazebo_ros2_control gripper_controllers joint_trajectory_controller joint_state_broadcaster robotiq_description kortex_description kortex_driver + ros_gz_bridge + ros_gz_sim ament_cmake diff --git a/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro index d3387924..8a568ff9 100644 --- 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 index e2b631f8..24503529 100644 --- 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 @@ - gazebo_ros2_control/GazeboSystem - - - ign_ros2_control/IgnitionSystem + gz_ros2_control/GazeboSimSystem topic_based_ros2_control/TopicBasedSystem @@ -44,7 +40,7 @@ ${fake_sensor_commands} 0.0 - + kortex_driver/KortexMultiInterfaceHardware ${robot_ip} ${username} diff --git a/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro index 90a05f38..c647a04c 100644 --- a/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro +++ b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro @@ -26,7 +26,6 @@ use_fake_hardware:=false fake_sensor_commands:=false sim_gazebo:=false - sim_ignition:=false sim_isaac:=false isaac_joint_commands:=/isaac_joint_commands isaac_joint_states:=/isaac_joint_states @@ -41,7 +40,6 @@ use_fake_hardware="${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 @@ - + @@ -472,7 +470,7 @@ - + diff --git a/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro index e85bbdfb..0524907b 100644 --- a/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro +++ b/kortex_description/arms/gen3/7dof/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 @@ - gazebo_ros2_control/GazeboSystem - - - ign_ros2_control/IgnitionSystem + gz_ros2_control/GazeboSimSystem topic_based_ros2_control/TopicBasedSystem @@ -44,7 +40,7 @@ ${fake_sensor_commands} 0.0 - + kortex_driver/KortexMultiInterfaceHardware ${robot_ip} ${username} @@ -137,7 +133,7 @@ - + diff --git a/kortex_description/arms/gen3_lite/6dof/config/ros2_controllers.yaml b/kortex_description/arms/gen3_lite/6dof/config/ros2_controllers.yaml index b1dbf1e6..665c9c3c 100644 --- a/kortex_description/arms/gen3_lite/6dof/config/ros2_controllers.yaml +++ b/kortex_description/arms/gen3_lite/6dof/config/ros2_controllers.yaml @@ -5,7 +5,7 @@ controller_manager: joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster - gen3_lite_joint_trajectory_controller: + joint_trajectory_controller: type: joint_trajectory_controller/JointTrajectoryController twist_controller: @@ -17,7 +17,7 @@ controller_manager: gen3_lite_2f_gripper_controller: type: position_controllers/GripperActionController -gen3_lite_joint_trajectory_controller: +joint_trajectory_controller: ros__parameters: joints: - joint_1 diff --git a/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro b/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro index 998e1bce..47616e3f 100644 --- a/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro +++ b/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro @@ -25,7 +25,6 @@ use_fake_hardware:=false fake_sensor_commands:=false sim_gazebo:=false - sim_ignition:=false sim_isaac:=false isaac_joint_commands:=/isaac_joint_commands isaac_joint_states:=/isaac_joint_states @@ -35,9 +34,9 @@ - + - + @@ -45,7 +44,7 @@ - + @@ -58,7 +57,6 @@ use_fake_hardware="${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_lite/6dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3_lite/6dof/urdf/kortex.ros2_control.xacro index f7a3f19b..5b909bb6 100644 --- a/kortex_description/arms/gen3_lite/6dof/urdf/kortex.ros2_control.xacro +++ b/kortex_description/arms/gen3_lite/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 @@ -30,12 +29,7 @@ - gazebo_ros2_control/GazeboSystem - - - - - ign_ros2_control/IgnitionSystem + gz_ros2_control/GazeboSimSystem @@ -52,7 +46,7 @@ 0.0 - + kortex_driver/KortexMultiInterfaceHardware ${robot_ip} @@ -151,7 +145,7 @@ - + diff --git a/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f.ros2_control.xacro b/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f.ros2_control.xacro index d671ce3a..1712fde0 100644 --- a/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f.ros2_control.xacro +++ b/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f.ros2_control.xacro @@ -5,7 +5,7 @@ prefix use_fake_hardware:=false fake_sensor_commands:=false - sim_ignition:=false + sim_gazebo:=false sim_isaac:=false isaac_joint_commands:=/isaac_joint_commands isaac_joint_states:=/isaac_joint_states @@ -30,15 +30,15 @@ ${isaac_joint_states} 0.02 - - ign_ros2_control/IgnitionSystem + + gz_ros2_control/GzSimSystem mock_components/GenericSystem ${fake_sensor_commands} 0.0 - + kortex_driver/KortexMultiInterfaceHardware ${robot_ip} ${username} @@ -56,7 +56,7 @@ - + @@ -67,11 +67,11 @@ - + ${prefix}right_finger_bottom_joint -1 - + @@ -80,7 +80,7 @@ ${prefix}right_finger_bottom_joint -1 - + @@ -89,7 +89,7 @@ ${prefix}right_finger_bottom_joint -1 - + diff --git a/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_macro.xacro b/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_macro.xacro index 55f03507..3bf45914 100644 --- a/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_macro.xacro +++ b/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_macro.xacro @@ -7,24 +7,24 @@ com_port use_fake_hardware:=false fake_sensor_commands:=false - sim_ignition:=false + sim_gazebo:=false sim_isaac:=false isaac_joint_commands:=/isaac_joint_commands isaac_joint_states:=/isaac_joint_states use_internal_bus_gripper_comm:=true moveit_active:=false"> - + - - + + - + @@ -32,7 +32,7 @@ prefix="${prefix}" use_fake_hardware="${use_fake_hardware}" fake_sensor_commands="${fake_sensor_commands}" - sim_ignition="${sim_ignition}" + sim_gazebo="${sim_gazebo}" sim_isaac="${sim_isaac}" isaac_joint_commands="${isaac_joint_commands}" isaac_joint_states="${isaac_joint_states}" @@ -215,7 +215,7 @@ - + diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro index bb54731b..16d0241d 100644 --- a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro +++ b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro @@ -5,7 +5,7 @@ prefix use_fake_hardware:=false fake_sensor_commands:=false - sim_ignition:=false + sim_gazebo:=false sim_isaac:=false isaac_joint_commands:=/isaac_joint_commands isaac_joint_states:=/isaac_joint_states @@ -16,7 +16,7 @@ - + @@ -27,8 +27,8 @@ include_ros2_control="${include_ros2_control}" com_port="${com_port}" use_fake_hardware="${use_fake_hardware}" - fake_sensor_commands="${fake_sensor_commands}" - sim_ignition="${sim_ignition}" + mock_sensor_commands="${fake_sensor_commands}" + sim_gazebo="${sim_gazebo}" sim_isaac="${sim_isaac}" isaac_joint_commands="${isaac_joint_commands}" isaac_joint_states="${isaac_joint_states}"> diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro index cbf7f42f..9ff28785 100644 --- a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro +++ b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro @@ -5,7 +5,7 @@ prefix use_fake_hardware:=false fake_sensor_commands:=false - sim_ignition:=false + sim_gazebo:=false sim_isaac:=false isaac_joint_commands:=/isaac_joint_commands isaac_joint_states:=/isaac_joint_states @@ -16,7 +16,7 @@ - + @@ -27,8 +27,8 @@ include_ros2_control="${include_ros2_control}" com_port="${com_port}" use_fake_hardware="${use_fake_hardware}" - fake_sensor_commands="${fake_sensor_commands}" - sim_ignition="${sim_ignition}" + mock_sensor_commands="${fake_sensor_commands}" + sim_gazebo="${sim_gazebo}" sim_isaac="${sim_isaac}" isaac_joint_commands="${isaac_joint_commands}" isaac_joint_states="${isaac_joint_states}"> diff --git a/kortex_description/package.xml b/kortex_description/package.xml index 1fbbd82a..0d363214 100644 --- a/kortex_description/package.xml +++ b/kortex_description/package.xml @@ -15,6 +15,7 @@ for Kortex arms and supported grippers

ament_cmake + gz_ros2_control joint_state_publisher_gui joint_state_publisher joint_trajectory_controller diff --git a/kortex_description/readme.md b/kortex_description/readme.md index 56e57d78..74241404 100644 --- a/kortex_description/readme.md +++ b/kortex_description/readme.md @@ -55,8 +55,7 @@ Param | Description | Default | `use_internal_bus_gripper_comm` | Boolean value to indicate if your gripper will be communicated with through the internal Kinova communication interface. Set to true if the gripper is directly plugged into the kinova arm. Set to false if running in simulation or if gripper is connected to PC via USB. Setting to false will create a ros2_control instance for the gripper. | false | `use_fake_hardware` | Boolean value to indicate whether or not the hardware components will be mocked. If true the hardware params will be ignored and the hardware components will be mocked. | false | `fake_sensor_commands` | Boolean value. If set to true will create fake command interfaces for faking sensor measurements with an external command. | false | -`sim_gazebo` | Boolean value to indicate whether or not the gazebo_ros2_control/GazeboSystem plugin will be loaded. | false | -`sim_ignition` | Boolean value to indicate whether or not the ign_ros2_control/IgnitionSystem plugin will be loaded. | false | +`sim_gazebo` | Boolean value to indicate whether or not the gz_ros2_control/GazeboSimSystem plugin will be loaded. | false | `sim_isaac` | Boolean value to indicate whether or not the topic_based_ros2_control/TopicBasedSystem plugin will be loaded and the "joint_commands_topic" and "joint_states_topic" parameters will be set to the `isaac_joint_commands` and `isaac_joint_states` values respectively. | false | `isaac_joint_commands` | Name of the joint commands topic to be used by Isaac Sim. | /isaac_joint_commands | `isaac_joint_states` | Name of the joint states topic to be used by Isaac Sim. | /isaac_joint_states | @@ -88,7 +87,6 @@ Param | Description | Default | connection_inactivity_timeout_ms="2000" use_internal_bus_gripper_comm="true" sim_gazebo="false" - sim_ignition="false" sim_isaac="false" prefix="" use_fake_hardware="false" diff --git a/kortex_description/robots/gen3.xacro b/kortex_description/robots/gen3.xacro index 9527825c..8b0b586a 100644 --- a/kortex_description/robots/gen3.xacro +++ b/kortex_description/robots/gen3.xacro @@ -18,7 +18,6 @@ - @@ -27,7 +26,7 @@ - + @@ -53,7 +52,6 @@ use_fake_hardware="$(arg use_fake_hardware)" fake_sensor_commands="$(arg fake_sensor_commands)" sim_gazebo="$(arg sim_gazebo)" - sim_ignition="$(arg sim_ignition)" sim_isaac="$(arg sim_isaac)" use_external_cable="$(arg use_external_cable)" initial_positions="${xacro.load_yaml(initial_positions_file)}" > diff --git a/kortex_description/robots/gen3_lite_gen3_lite_2f.xacro b/kortex_description/robots/gen3_lite_gen3_lite_2f.xacro index 39eaf908..cbbcd839 100644 --- a/kortex_description/robots/gen3_lite_gen3_lite_2f.xacro +++ b/kortex_description/robots/gen3_lite_gen3_lite_2f.xacro @@ -18,7 +18,6 @@ - @@ -51,7 +50,6 @@ use_fake_hardware="$(arg use_fake_hardware)" fake_sensor_commands="$(arg fake_sensor_commands)" sim_gazebo="$(arg sim_gazebo)" - sim_ignition="$(arg sim_ignition)" sim_isaac="$(arg sim_isaac)" use_external_cable="$(arg use_external_cable)" moveit_active = "$(arg moveit_active)" > diff --git a/kortex_description/robots/kinova.urdf.xacro b/kortex_description/robots/kinova.urdf.xacro index eacc4e15..61f52148 100644 --- a/kortex_description/robots/kinova.urdf.xacro +++ b/kortex_description/robots/kinova.urdf.xacro @@ -24,7 +24,6 @@ - @@ -36,7 +35,7 @@ - + @@ -66,7 +65,6 @@ use_fake_hardware="$(arg use_fake_hardware)" fake_sensor_commands="$(arg fake_sensor_commands)" sim_gazebo="$(arg sim_gazebo)" - sim_ignition="$(arg sim_ignition)" sim_isaac="$(arg sim_isaac)" initial_positions="${xacro.load_yaml(initial_positions_file)}" moveit_active="$(arg moveit_active)"> @@ -78,22 +76,11 @@ - - $(arg simulation_controllers) - - - - - - - - - - + $(arg simulation_controllers) $(arg prefix)controller_manager - + $(arg gazebo_renderer) @@ -127,7 +114,7 @@ 0 + Gazebo will default to different default values --> 554.25469 554.25469 @@ -150,7 +137,7 @@ color_optical_frame - camera_color_frame + camera_color_frame 1 $(arg camera_fps) true diff --git a/kortex_description/robots/kortex_robot.xacro b/kortex_description/robots/kortex_robot.xacro index f89c6f57..b9ac9adf 100644 --- a/kortex_description/robots/kortex_robot.xacro +++ b/kortex_description/robots/kortex_robot.xacro @@ -22,7 +22,6 @@ use_fake_hardware:=false fake_sensor_commands:=false sim_gazebo:=false - sim_ignition:=false sim_isaac:=false isaac_joint_commands:=/isaac_joint_commands isaac_joint_states:=/isaac_joint_states @@ -53,7 +52,6 @@ use_fake_hardware="${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}" @@ -86,7 +84,7 @@ prefix="${prefix}" use_fake_hardware="${use_fake_hardware}" fake_sensor_commands="${fake_sensor_commands}" - sim_ignition="${sim_ignition}" + sim_gazebo="${sim_gazebo}" sim_isaac="${sim_isaac}" isaac_joint_commands="${isaac_joint_commands}" isaac_joint_states="${isaac_joint_states}" diff --git a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml index 44372b03..0effe503 100644 --- a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml +++ b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml @@ -1,33 +1,14 @@ -###################################### NOTE ############################################# -# -# This is the Humble version of this file. On other ROS2 distributions (such as Rolling), -# you might encounter errors with MoveIt regarding the syntax of the request_adpters -# section, such as: -# -# what(): parameter 'ompl.request_adapters' has invalid type: expected [string] got [string_array] -# -# This is because on Humble, MoveIt is expecting a simple string for the request adapters, -# while some distributions expect it as an array of strings instead. If it's the case for you, -# You just need to remove the folded style block (>-) and replace it by a list of strings : -# -# request_adapters: -# - default_planner_request_adapters/AddTimeOptimalParameterization -# - default_planner_request_adapters/ResolveConstraintFrames -# - default_planner_request_adapters/FixWorkspaceBounds -# - default_planner_request_adapters/FixStartStateBounds -# - default_planner_request_adapters/FixStartStateCollision -# - default_planner_request_adapters/FixStartStatePathConstraints -# -###################################### NOTE ############################################# - -planning_plugin: ompl_interface/OMPLPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeOptimalParameterization - default_planner_request_adapters/ResolveConstraintFrames - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - ompl_interface/OMPLPlanner +request_adapters: + - default_planning_request_adapters/ResolveConstraintFrames + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision +response_adapters: + - default_planning_response_adapters/AddTimeOptimalParameterization + - default_planning_response_adapters/ValidateSolution + - default_planning_response_adapters/DisplayMotionPath start_state_max_bounds_error: 0.1 planner_configs: SBLkConfigDefault: diff --git a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/launch/sim.launch.py b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/launch/sim.launch.py index 8f52efe5..e3109475 100644 --- a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/launch/sim.launch.py +++ b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/launch/sim.launch.py @@ -32,9 +32,9 @@ def generate_launch_description(): # Simulation specific arguments declared_arguments.append( DeclareLaunchArgument( - "sim_ignition", + "sim_gazebo", default_value="true", - description="Use Ignition for simulation", + description="Use Gazebo for simulation", ) ) declared_arguments.append( @@ -51,14 +51,14 @@ def generate_launch_description(): # Initialize Arguments launch_rviz = LaunchConfiguration("launch_rviz") use_sim_time = LaunchConfiguration("use_sim_time") - sim_ignition = LaunchConfiguration("sim_ignition") + sim_gazebo = LaunchConfiguration("sim_gazebo") description_arguments = { "robot_ip": "xxx.yyy.zzz.www", "use_fake_hardware": "false", "gripper": "robotiq_2f_85", "dof": "6", - "sim_ignition": sim_ignition, + "sim_gazebo": sim_gazebo, } moveit_config = ( diff --git a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/package.xml b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/package.xml index 464c5e00..0d722c69 100644 --- a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/package.xml +++ b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/package.xml @@ -26,10 +26,7 @@ joint_state_publisher_gui tf2_ros xacro - - - + joint_trajectory_controller controller_manager kortex_description moveit_configs_utils diff --git a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml index 44372b03..0effe503 100644 --- a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml +++ b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml @@ -1,33 +1,14 @@ -###################################### NOTE ############################################# -# -# This is the Humble version of this file. On other ROS2 distributions (such as Rolling), -# you might encounter errors with MoveIt regarding the syntax of the request_adpters -# section, such as: -# -# what(): parameter 'ompl.request_adapters' has invalid type: expected [string] got [string_array] -# -# This is because on Humble, MoveIt is expecting a simple string for the request adapters, -# while some distributions expect it as an array of strings instead. If it's the case for you, -# You just need to remove the folded style block (>-) and replace it by a list of strings : -# -# request_adapters: -# - default_planner_request_adapters/AddTimeOptimalParameterization -# - default_planner_request_adapters/ResolveConstraintFrames -# - default_planner_request_adapters/FixWorkspaceBounds -# - default_planner_request_adapters/FixStartStateBounds -# - default_planner_request_adapters/FixStartStateCollision -# - default_planner_request_adapters/FixStartStatePathConstraints -# -###################################### NOTE ############################################# - -planning_plugin: ompl_interface/OMPLPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeOptimalParameterization - default_planner_request_adapters/ResolveConstraintFrames - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - ompl_interface/OMPLPlanner +request_adapters: + - default_planning_request_adapters/ResolveConstraintFrames + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision +response_adapters: + - default_planning_response_adapters/AddTimeOptimalParameterization + - default_planning_response_adapters/ValidateSolution + - default_planning_response_adapters/DisplayMotionPath start_state_max_bounds_error: 0.1 planner_configs: SBLkConfigDefault: diff --git a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/sim.launch.py b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/sim.launch.py index 8a080130..79d0528a 100644 --- a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/sim.launch.py +++ b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/sim.launch.py @@ -32,9 +32,9 @@ def generate_launch_description(): # Simulation specific arguments declared_arguments.append( DeclareLaunchArgument( - "sim_ignition", + "sim_gazebo", default_value="true", - description="Use Ignition for simulation", + description="Use Gazebo for simulation", ) ) declared_arguments.append( @@ -58,7 +58,7 @@ def generate_launch_description(): # Initialize Arguments launch_rviz = LaunchConfiguration("launch_rviz") use_sim_time = LaunchConfiguration("use_sim_time") - sim_ignition = LaunchConfiguration("sim_ignition") + sim_gazebo = LaunchConfiguration("sim_gazebo") vision = LaunchConfiguration("vision") description_arguments = { @@ -66,7 +66,7 @@ def generate_launch_description(): "use_fake_hardware": "false", "gripper": "robotiq_2f_85", "dof": "7", - "sim_ignition": sim_ignition, + "sim_gazebo": sim_gazebo, "vision": vision, } diff --git a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/package.xml b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/package.xml index f34b3a8c..c3c1ea85 100644 --- a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/package.xml +++ b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/package.xml @@ -26,10 +26,7 @@ joint_state_publisher_gui tf2_ros xacro - - - + joint_trajectory_controller controller_manager kortex_description moveit_configs_utils diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/sim.launch.py b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/sim.launch.py index f0db94de..d7ba869c 100644 --- a/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/sim.launch.py +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/sim.launch.py @@ -39,9 +39,9 @@ def generate_launch_description(): ) declared_arguments.append( DeclareLaunchArgument( - "sim_ignition", + "sim_gazebo", default_value="true", - description="Use Ignition for simulation", + description="Use Gazebo for simulation", ) ) declared_arguments.append( @@ -58,7 +58,7 @@ def generate_launch_description(): # Initialize Arguments launch_rviz = LaunchConfiguration("launch_rviz") use_sim_time = LaunchConfiguration("use_sim_time") - sim_ignition = LaunchConfiguration("sim_ignition") + sim_gazebo = LaunchConfiguration("sim_gazebo") moveit_active = LaunchConfiguration("moveit_active") description_arguments = { @@ -66,7 +66,7 @@ def generate_launch_description(): "use_fake_hardware": "false", "gripper": "gen3_lite_2f", "dof": "6", - "sim_ignition": sim_ignition, + "sim_gazebo": sim_gazebo, "moveit_active": moveit_active, } diff --git a/ros2_kortex-not-released.humble.repos b/ros2_kortex-not-released.jazzy.repos similarity index 71% rename from ros2_kortex-not-released.humble.repos rename to ros2_kortex-not-released.jazzy.repos index 6a2cbfaf..eed1f540 100644 --- a/ros2_kortex-not-released.humble.repos +++ b/ros2_kortex-not-released.jazzy.repos @@ -6,8 +6,12 @@ repositories: ros2_robotiq_gripper: type: git url: https://github.com/picknikrobotics/ros2_robotiq_gripper.git - version: b6136bdc866a929bfb096890ca61dde1335ffd30 + version: main serial: type: git url: https://github.com/tylerjw/serial.git version: ros2 + gz_ros2_control: + type: git + url: https://github.com/ros-controls/gz_ros2_control.git + version: jazzy diff --git a/ros2_kortex-not-released.rolling.repos b/ros2_kortex-not-released.rolling.repos index ffbb0db0..76a9cfea 100644 --- a/ros2_kortex-not-released.rolling.repos +++ b/ros2_kortex-not-released.rolling.repos @@ -1,12 +1,4 @@ repositories: - ros2_control: - type: git - url: https://github.com/ros-controls/ros2_control.git - version: master - ros2_controllers: - type: git - url: https://github.com/ros-controls/ros2_controllers.git - version: master picknik_controllers: type: git url: https://github.com/picknikrobotics/picknik_controllers.git diff --git a/ros2_kortex.humble.repos b/ros2_kortex.jazzy.repos similarity index 67% rename from ros2_kortex.humble.repos rename to ros2_kortex.jazzy.repos index da520577..90660188 100644 --- a/ros2_kortex.humble.repos +++ b/ros2_kortex.jazzy.repos @@ -2,16 +2,20 @@ repositories: control_msgs: type: git url: https://github.com/ros-controls/control_msgs.git - version: humble + version: master ros2_control: type: git url: https://github.com/ros-controls/ros2_control.git - version: humble + version: master ros2_controllers: type: git url: https://github.com/ros-controls/ros2_controllers.git - version: humble + version: master ros2_robotiq_gripper: type: git url: https://github.com/picknikrobotics/ros2_robotiq_gripper.git - version: b6136bdc866a929bfb096890ca61dde1335ffd30 + version: main + gz_ros2_control: + type: git + url: https://github.com/ros-controls/gz_ros2_control.git + version: jazzy diff --git a/ros2_kortex.repos b/ros2_kortex.repos index 5da7477e..fd089dd8 100644 --- a/ros2_kortex.repos +++ b/ros2_kortex.repos @@ -14,4 +14,4 @@ repositories: ros2_robotiq_gripper: type: git url: https://github.com/picknikrobotics/ros2_robotiq_gripper.git - version: b6136bdc866a929bfb096890ca61dde1335ffd30 + version: main diff --git a/simulation.humble.repos b/simulation.jazzy.repos similarity index 52% rename from simulation.humble.repos rename to simulation.jazzy.repos index 0f9cc1bc..53e9d85e 100644 --- a/simulation.humble.repos +++ b/simulation.jazzy.repos @@ -1,16 +1,9 @@ repositories: - - gazebo_ros2_control: + ros_gz: type: git - url: https://github.com/ros-simulation/gazebo_ros2_control.git - version: humble - + url: https://github.com/gazebosim/ros_gz.git + version: jazzy gz_ros2_control: type: git url: https://github.com/ros-controls/gz_ros2_control.git - version: humble - - ros_gz: - type: git - url: https://github.com/gazebosim/ros_gz.git - version: humble + version: jazzy diff --git a/simulation.repos b/simulation.repos index 16dc2a35..4c54e918 100644 --- a/simulation.repos +++ b/simulation.repos @@ -1,21 +1,9 @@ repositories: - - gazebo_ros2_control: + ros_gz: type: git - url: https://github.com/ros-simulation/gazebo_ros2_control.git - version: master - - ign_ros2_control: - type: git - url: https://github.com/ignitionrobotics/ign_ros2_control.git - version: master - - ros_ign: - type: git - url: https://github.com/ignitionrobotics/ros_ign.git + url: https://github.com/gazebosim/ros_gz.git version: ros2 - - ros_ign: + gz_ros2_control: type: git - url: https://github.com/ignitionrobotics/ros_ign.git - version: ros2 + url: https://github.com/ros-controls/gz_ros2_control.git + version: rolling