Merge branch 'master' into jrivero/src_install

.github/workflows/deploy.yml

@@ -39,6 +39,8 @@ jobs:
         with:
           name: website
           path: dist
+          if-no-files-found: 'error'
+          include-hidden-files: 'true'
 
       # Build Docs
   build_docs:
@@ -67,6 +69,8 @@ jobs:
         with:
           name: docs
           path: .build
+          if-no-files-found: 'error'
+          include-hidden-files: 'true'
 
   deploy:
     runs-on: ubuntu-latest

harmonic/ros2_spawn_model.md

@@ -5,13 +5,14 @@ Additionally, it's possible to spawn new models at any time. To do so using ROS
 we have provided the following mechanisms:
 
 ## Spawn a model using the launch file included in `ros_gz_sim`.
+*Currently only available in Rolling.*
 
 The package `ros_gz_sim` contains a launch file named
 `ros_gz_spawn_model.launch.py`. You can use it to spawn a new model into an
 existing simulation. Here's an example:
 
 ```bash
-ros2 launch ros_gz_sim gz_spawn_model.launch.py world:=empty file:=$(ros2 pkg prefix --share ros_gz_sim_demos)/models/vehicle/model.sdf name:=my_vehicle x:=5.0 y:=5.0 z:=0.5
+ros2 launch ros_gz_sim ros_gz_spawn_model.launch.py world:=empty file:=$(ros2 pkg prefix --share ros_gz_sim_demos)/models/vehicle/model.sdf name:=my_vehicle x:=5.0 y:=5.0 z:=0.5
 ```
 
 Check [this block](https://github.com/gazebosim/ros_gz/blob/cadae1c8323a74395c09a37e3de4c669c8c09d4f/ros_gz_sim/launch/ros_gz_spawn_model.launch.py#L33-L44)

ionic/install_ubuntu_src.md

@@ -29,32 +29,17 @@ sudo apt install python3-pip lsb-release gnupg curl
 
 ## vcstool and colcon from pip
 
-PIP is available on all platforms:
+PIP is available on all platforms. Using a PIP workspace to install the tools:
 
 ```bash
-pip install vcstool || pip3 install vcstool
+python3 -m venv $HOME/vcs_colcon_installation
+. $HOME/vcs_colcon_installation/bin/activate
+pip3 install vcstool colcon-common-extensions
 ```
 
-```bash
-pip install -U colcon-common-extensions || pip3 install -U colcon-common-extensions
-```
-
-Check that no errors were printed while installing with PIP. If your system is not recognising the commands, and you're using a system that is compatible with Debian or Ubuntu packages, see the instructions below to install using `apt`.
-
-After installing `vcstool` and `colcon` with PIP, you may need to add their executables to your `$PATH`.
-Check where the installation of these packages took place:
-
-```bash
-pip show vcstool || pip3 show vcstool | grep Location
-
-pip show colcon-common-extensions || pip3 show colcon-common-extensions | grep Location
-```
-
-If your install path is prefixed with `$HOME/.local`, you'll probably need to add the executables within this directory to your `$PATH` in order to avoid "command not found" errors when using `vcstool` and `colcon` later on:
-
-```bash
-export PATH=$PATH:$HOME/.local/bin/
-```
+`vcs` and `colcon` are now available from the PIP workspace in the current
+terminal. For using them in other terminals run the `activate` script as
+done above.
 
 ## vcstool and colcon from apt
 

ionic/moving_robot.md

@@ -88,7 +88,26 @@ The last command will display all messages sent on `/keyboard/keypress` topic.
 
 In the Gazebo window press different keys and you should see data (numbers) on the terminal where you run the `gz topic -e -t /keyboard/keypress` command.
 
-![KeyPublisher](tutorials/moving_robot/keypublisher_data.png)
+```
+$ gz topic -e -t /keyboard/keypress
+data: 68
+
+data: 85
+
+data: 72
+
+data: 74
+
+data: 81
+
+data: 16777235
+
+data: 16777234
+
+data: 16777237
+
+data: 16777236
+```
 
 We want to map these keystrokes into messages of type `Twist` and publish them to the `/cmd_vel` topic which our model listens to.
 The `TriggeredPublisher` plugin will do this.
@@ -116,7 +135,7 @@ It accepts messages of type `gz.msgs.Int32` on the `/keyboard/keypress` topic an
 
 Now launch `building_robot.sdf` then add the Key Publisher plugin and our robot should move forward as we press the Up arrow key ↑ (make sure you start the simulation by pressing the play button to see the robot move forward after pressing the Up arrow key).
 
-There is a demo explaining how the [Triggered Publisher](https://github.com/gazebosim/gz-sim/blob/gz-sim7/tutorials/triggered_publisher.md) works.
+There is a demo explaining how the [Triggered Publisher](https://github.com/gazebosim/gz-sim/blob/gz-sim9/tutorials/triggered_publisher.md) works.
 
 ### Moving using arrow keys
 

ionic/sensors.md

@@ -86,7 +86,7 @@ The last command listens to the messages sent over the `/imu` topic. The IMU dat
 
 ![Imu_message](tutorials/sensors/imu_msgs.png)
 
-Move your robot forward using the keyboard up key. You should see the sensor values changing.
+Move your robot forward using the keyboard up key. To do so, don't forget to enable the Key Publisher Plugin. You should see the sensor values changing.
 
 ## Contact sensor
 
@@ -315,24 +315,25 @@ To do that, we'll write a short C++ program that listens to
 the sensor data and sends velocity commands to the robot.
 This program is called a node. We will build a node that subscribes
 to the `/lidar` topic and reads its data.
-Have a look at this [tutorial](https://gazebosim.org/api/transport/9.0/messages.html)
+Have a look at this [tutorial](https://gazebosim.org/api/transport/14/messages.html)
 to learn how to build a `publisher` and a `subscriber` node.
 You can download the finished node for this demo from [here](https://github.com/gazebosim/docs/blob/master/ionic/tutorials/sensors/lidar_node.cc).
 
 #### The lidar_node
 
 ```cpp
-gz::transport::Node node;
 std::string topic_pub = "/cmd_vel";
-gz::msgs::Twist data;
+gz::transport::Node node;
 auto pub = node.Advertise<gz::msgs::Twist>(topic_pub);
 ```
 
-We declare a `node` which will publish to `cmd_vel` topic and defined the message type `Twist`. Then advertise our node.
+We declare a `node` which will publish to `cmd_vel` topic. Then advertise our node.
 
 ```cpp
 void cb(const gz::msgs::LaserScan &_msg)
 {
+  gz::msgs::Twist data;
+
   bool allMore = true;
   for (int i = 0; i < _msg.ranges_size(); i++)
   {
@@ -362,11 +363,11 @@ If so we publish a message to our car to move forward. Otherwise we make the rob
 ```cpp
 int main(int argc, char **argv)
 {
-    std::string topic = "/lidar";
+    std::string topic_sub = "/lidar";
     // Subscribe to a topic by registering a callback.
-    if (!node.Subscribe(topic, cb))
+    if (!node.Subscribe(topic_sub, cb))
     {
-        std::cerr << "Error subscribing to topic [" << topic << "]" << std::endl;
+        std::cerr << "Error subscribing to topic [" << topic_sub << "]" << std::endl;
         return -1;
     }