Adding docs for loopback sim (ros-navigation#580)

* Addingdocs for loopback sim

Signed-off-by: Steve Macenski <[email protected]>

* fix typo

---------

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Rob Fisher <[email protected]>

configuration/index.rst

@@ -34,4 +34,5 @@ the best navigation performance.
    packages/configuring-velocity-smoother.rst
    packages/configuring-collision-monitor.rst
    packages/configuring-waypoint-follower.rst
+   packages/configuring-loopback-sim.rst
    packages/configuring-docking-server.rst

configuration/packages/configuring-loopback-sim.rst

@@ -0,0 +1,82 @@
+.. _configuring_loopback_sim:
+
+Loopback Simulator
+##################
+
+Source code on Github_.
+
+.. _Github: https://github.com/ros-navigation/navigation2/tree/main/nav2_loopback_sim
+
+
+The ``nav2_loopback_sim`` is a stand-alone simulator to create a "loopback" for non-physical simulation to replace robot hardware, physics simulators (Gazebo, Bullet, Isaac Sim, etc).
+It computes the robot's odometry based on the command velocity's output request to create a perfect 'frictionless plane'-style simulation for unit testing, system testing, R&D on higher level systems, testing behaviors without concerning yourself with localization accuracy or system dynamics, and multirobot simulations.
+
+Parameters
+**********
+
+:update_duration:
+
+  ============== ==============
+  Type           Default                                               
+  -------------- --------------
+  double         0.01          
+  ============== ==============
+
+  Description
+    The duration between updates (s)
+
+:base_frame_id:
+
+  ============== ==============
+  Type           Default                                               
+  -------------- --------------
+  string         "base_link"          
+  ============== ==============
+
+  Description
+    The base frame to use.
+
+:odom_frame_id:
+
+  ============== ==============
+  Type           Default                                               
+  -------------- --------------
+  string         "odom"          
+  ============== ==============
+
+  Description
+    The odom frame to use.
+
+:map_frame_id:
+
+  ============== ==============
+  Type           Default                                               
+  -------------- --------------
+  string         "map"      
+  ============== ==============
+
+  Description
+    The map frame to use.
+
+:scan_frame_id:
+
+  ============== ==============
+  Type           Default                                               
+  -------------- --------------
+  string         "base_scan"    
+  ============== ==============
+
+  Description
+    The scan frame to use to publish a scan for collision monitor's happiness
+
+Example
+*******
+.. code-block:: yaml
+
+    loopback_simulator:
+      ros__parameters:
+        base_frame_id: "base_footprint"
+        odom_frame_id: "odom"
+        map_frame_id: "map"
+        scan_frame_id: "base_scan"  # tb4_loopback_simulator.launch.py remaps to 'rplidar_link'
+        update_duration: 0.02

migration/Jazzy.rst

@@ -5,6 +5,11 @@ Jazzy to K-Turtle
 
 Moving from ROS 2 Jazzy to K-Turtle, a number of stability improvements were added that we will not specifically address here.
 
+New Nav2 Loopback Simulator
+***************************
+
+The ``nav2_looback_sim`` is a stand-alone simulator to create a "loopback" for non-physical simulation to replace robot hardware, physics simulators (Gazebo, Bullet, Isaac Sim, etc).
+It computes the robot's odometry based on the command velocity's output request to create a perfect 'frictionless plane'-style simulation for unit testing, system testing, R&D on higher level systems, testing behaviors without concerning yourself with localization accuracy or system dynamics, and multirobot simulations.
 
 New RViz panel for Docking
 **************************