Feat/jazzy/simulator compatibility

CreateURDF.md

@@ -139,8 +139,6 @@ As in the previous robot file, first it is included the robot body macro file an
     filename="$(find robotnik_description)/urdf/bodies/rbkairos/rbkairos_body.urdf.xacro" />
   <xacro:include
     filename="$(find robotnik_description)/urdf/wheels/mecanum_wheel/rbkairos_mecanum_wheel.urdf.xacro" />
-  <xacro:include
-    filename="$(find robotnik_description)/simulators/gazebo_ignition/rbkairos/rbkairos_control.urdf.xacro" />
 ```
 
 Then, it is defined the properties of the position of the wheels.
@@ -154,7 +152,9 @@ Then, it is defined the properties of the position of the wheels.
 
 ```
 
-And finally, the robot macro definition which includes calling the macro body (chassis + logos) and the wheels and control macros.
+And finally, the robot macro definition includes the body (chassis + logos) and
+the wheels. Simulator control is composed externally by the corresponding
+simulation package; it is not part of `robotnik_description`.
 
 ```xml
 
@@ -200,11 +200,6 @@ And finally, the robot macro definition which includes calling the macro body (c
       gazebo_ignition="${gazebo_ignition}"
       xyz="-${wheel_offset_x} -${wheel_offset_y} ${wheel_offset_z}" />
 
-    <xacro:if value="$(arg gazebo_ignition)">
-      <xacro:rbkairos_gz_ignition_control
-        namespace="${namespace}"
-        prefix="${prefix}" />
-    </xacro:if>
   </xacro:macro>
 ```
 

robots/rbtheron/rbtheron.urdf.xacro

@@ -45,7 +45,7 @@
     max_angle="2.3"
     min_angle="-2.3">
     <origin
-      xyz="0.2675 -0.215 0.1613"
+      xyz="0.2675 -0.215 0.1683"
       rpy="0 ${-pi} ${3/4*pi}" />
   </xacro:sensor_sick_picoscan120>
   <xacro:sensor_sick_picoscan120
@@ -57,7 +57,7 @@
     max_angle="2.3"
     min_angle="-2.3">
     <origin
-      xyz="-0.2675 0.215 0.1613"
+      xyz="-0.2675 0.215 0.1683"
       rpy="0 ${-pi} ${-1/4*pi}" />
   </xacro:sensor_sick_picoscan120>
 

robots/rbtheron/rbtheron_plus.urdf.xacro

@@ -70,7 +70,7 @@
     max_angle="2.3"
     min_angle="-2.3">
     <origin
-      xyz="0.2675 -0.215 0.1613"
+      xyz="0.2675 -0.215 0.1683"
       rpy="0 ${-pi} ${3/4*pi}" />
   </xacro:sensor_sick_picoscan120>
   <xacro:sensor_sick_picoscan120
@@ -82,7 +82,7 @@
     max_angle="2.3"
     min_angle="-2.3">
     <origin
-      xyz="-0.2675 0.215 0.1613"
+      xyz="-0.2675 0.215 0.1683"
       rpy="0 ${-pi} ${-1/4*pi}" />
   </xacro:sensor_sick_picoscan120>
   <xacro:sensor_robosense_bpearl
@@ -115,7 +115,7 @@
     gazebo_ignition="$(arg gazebo_ignition)">
     <!-- rear camera offset_z rb_theron chassis type v3: 0.1598 v4 (default): 0.1158 -->
     <origin
-      xyz="-0.3045 0 0.1158"
+      xyz="-0.3045 0 0.1598"
       rpy="0 0 ${pi}" />
   </xacro:sensor_intel_realsense_d435>
 </robot>

simulators/gazebo_ignition/rb1/rb1_control.urdf.xacro

@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rb1_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rb1/rb1_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rb1/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>

simulators/gazebo_ignition/rbcar/rbcar_control.urdf.xacro

@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbcar_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbcar/rbcar_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbcar/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>

simulators/gazebo_ignition/rbfiqus/rbfiqus_control.urdf.xacro

@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbfiqus_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbfiqus/rbfiqus_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbfiqus/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>

simulators/gazebo_ignition/rbkairos/rbkairos_control.urdf.xacro

@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbkairos_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbkairos/rbkairos_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbkairos/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>

simulators/gazebo_ignition/rbrobout/rbrobout_control.urdf.xacro

@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbrobout_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbrobout/rbrobout_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbrobout/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>

simulators/gazebo_ignition/rbsummit/rbsummit_control.urdf.xacro

@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbsummit_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbsummit/rbsummit_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbsummit/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>

simulators/gazebo_ignition/rbsummit_steel/rbsummit_steel_control.urdf.xacro

@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbsummit_steel_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbkairos/rbkairos_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbsummit_steel/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>

simulators/gazebo_ignition/rbtheron/rbtheron_control.urdf.xacro

@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbtheron_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbtheron/rbtheron_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbtheron/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>

simulators/gazebo_ignition/rbvogui/rbvogui_control.urdf.xacro

@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbvogui_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbvogui/rbvogui_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbvogui/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>

simulators/gazebo_ignition/rbvogui_xl/rbvogui_xl_control.urdf.xacro

@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbvogui_xl_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbvogui_xl/rbvogui_xl_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbvogui_xl/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>

simulators/gazebo_ignition/rbwatcher/rbwatcher_control.urdf.xacro

@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbwatcher_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbwatcher/rbwatcher_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbwatcher/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>