Migrate TB3 to nav2 minimal turtlebot repository & add the TB4 bringu…

…p option for modern gazebo (ros-navigation#4401) * Initial support to the new Gazebo Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Added feedback Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fixed build Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Added feeback Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fixed physics tag Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fixed physics tag Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fix copyright and urdf Signed-off-by: Alejandro Hernández Cordero <[email protected]> * min range cannot be zero Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Simplify files Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Added feedback Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Added feedback Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fix Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Try to reduce load Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Removed cast shadows Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Use Gazebo plugins instead of gz_ros2_control Signed-off-by: Alejandro Hernández Cordero <[email protected]> * update dependency Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Removed dependency Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Removed ros2_control and use ogre Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Use param file to configure bridge Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Use sdf model and change to ogre instead of ogre2 for sensors Signed-off-by: Addisu Z. Taddese <[email protected]> * Support Garden and later, performance improvements Signed-off-by: Addisu Z. Taddese <[email protected]> * Use xacro for world file (ros-navigation#2) Signed-off-by: Addisu Z. Taddese <[email protected]> * Reviewer feedback Signed-off-by: Addisu Z. Taddese <[email protected]> * Add comment explaining temp file Signed-off-by: Addisu Z. Taddese <[email protected]> * Fix linter Signed-off-by: Addisu Z. Taddese <[email protected]> * Update nav2_bringup/worlds/gz_world_only.sdf.xacro Co-authored-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Steve Macenski <[email protected]> * port GZ Classic launch changes to modern GZ and remove GZ Classic launch file * adding changes * changes done for TB4 * tb3 sim prototype * fix missing ref * linting * fix branch name * remove assets * removing refs to turtlebot3_gazebo * update map * add new depot map * Update Nav2 side of multirobot launch files * linting --------- Signed-off-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>
Marc-Morcos · Jul 4, 2024 · 6c8eb92 · 6c8eb92
1 parent c628e1d
commit 6c8eb92
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diff --git a/.circleci/config.yml b/.circleci/config.yml
@@ -82,7 +82,6 @@ _commands:
         - run:
             name: Install Dependencies | << parameters.workspace >>
             working_directory: << parameters.workspace >>
-            # Remove/Replace turtlebot3_gazebo and gazebo_ros_pkgs from --skip-keys after https://github.com/ros-navigation/navigation2/pull/3634
             command: |
               . << parameters.underlay >>/install/setup.sh
               AMENT_PREFIX_PATH=$(echo "$AMENT_PREFIX_PATH" | \
@@ -105,7 +104,6 @@ _commands:
                   --ignore-src \
                   --skip-keys " \
                     slam_toolbox \
-                    turtlebot3_gazebo \
                     " \
                   --verbose | \
                 awk '$1 ~ /^resolution\:/' | \

diff --git a/Dockerfile b/Dockerfile
@@ -102,7 +102,6 @@ RUN . $UNDERLAY_WS/install/setup.sh && \
       --from-paths src \
       --skip-keys " \
         slam_toolbox \
-        turtlebot3_gazebo \
         "\
       --ignore-src \
     && rm -rf /var/lib/apt/lists/*

diff --git a/nav2_bringup/launch/tb3_gz_robot_launch.py b/nav2_bringup/launch/tb3_gz_robot_launch.py