Add gazebo namespaces

.github/workflows/industrial_ci.yaml

@@ -29,7 +29,7 @@ jobs:
     ros_industrial_ci:
         name: ROS Industrial CI
         runs-on: ubuntu-22.04
-        timeout-minutes: 30 # Set the job timeout to 30 minutes
+        timeout-minutes: 20
         needs:
             - black
             - spellcheck
@@ -63,6 +63,10 @@ jobs:
                   cp -r src/ros2_controllers/imu_sensor_broadcaster src/
                   rm -rf src/ros2_controllers
 
+            - name: Remove ign_ros2_control demo
+              shell: bash
+              run: rm -rf src/gazebosim/gz_ros2_control/ign_ros2_control_demos src/gazebosim/gz_ros2_control/gz_ros2_control_tests
+
             # Package micro_ros_msgs does not have industrial ci and tests does not pass.
             # For more information see https://github.com/micro-ROS/micro_ros_msgs/issues/7
             - name: Remove tests from micro_ros_msgs

.gitignore

@@ -14,6 +14,8 @@ husarion/husarion_office_gz
 gazebosim/gz_ros2_control
 diff_drive_controller
 imu_sensor_broadcaster
+micro-ROS-Agent/
+micro_ros_msgs/
 
 # pyspelling
 *.dic

.wordlist.txt

@@ -148,3 +148,5 @@ stm
 ttyUSB
 subprocess
 cbus
+unbuffered
+psutil

rosbot/rosbot_hardware.repos

@@ -6,18 +6,18 @@ repositories:
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git
-    version:  ros2
+    version: gazebo-ignition-multirobots
   rosbot_controllers:
     type: git
     url: https://github.com/husarion/rosbot_controllers
-    version: main
+    version: update-params
   # Waiting for backporting to the humble version
   # https://github.com/ros-controls/ros2_controllers/pull/726 and
   # https://github.com/ros-controls/ros2_controllers/pull/831
   ros2_controllers:
     type: git
     url: https://github.com/delihus/ros2_controllers
-    version: humble-backport
+    version: imu-sensor-broadcaster-features
   micro_ros_msgs:
     type: git
     url: https://github.com/micro-ROS/micro_ros_msgs.git

rosbot/rosbot_simulation.repos

@@ -1,10 +1,11 @@
 repositories:
   gazebosim/gz_ros2_control:
     type: git
-    url: https://github.com/ros-controls/gz_ros2_control.git
+    # Added feature with control manager name. Waiting on https://github.com/ros-controls/gz_ros2_control/pull/212
+    url: https://github.com/delihus/gz_ros2_control
     version: humble
 
   husarion/husarion_office_gz:
     type: git
     url: https://github.com/husarion/husarion_office_gz
-    version: main
+    version: add-gazebo-plugins

rosbot_bringup/launch/bringup.launch.py

@@ -62,13 +62,6 @@ def generate_launch_description():
         ),
     )
 
-    use_multirobot_system = LaunchConfiguration("use_multirobot_system")
-    declare_use_multirobot_system_arg = DeclareLaunchArgument(
-        "use_multirobot_system",
-        default_value="false",
-        description="Enable correct Ignition Gazebo configuration in URDF",
-    )
-
     controller_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
@@ -85,7 +78,6 @@ def generate_launch_description():
             "use_gpu": use_gpu,
             "simulation_engine": simulation_engine,
             "namespace": namespace,
-            "use_multirobot_system": use_multirobot_system,
         }.items(),
     )
 
@@ -110,7 +102,6 @@ def generate_launch_description():
         declare_use_sim_arg,
         declare_use_gpu_arg,
         declare_simulation_engine_arg,
-        declare_use_multirobot_system_arg,
         SetParameter(name="use_sim_time", value=use_sim),
         controller_launch,
         robot_localization_node,

rosbot_bringup/package.xml

@@ -17,7 +17,7 @@
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>rosbot_controller</exec_depend>
   <exec_depend>robot_localization</exec_depend>
-  <exec_depend>micro_ros_agent</exec_depend>
+  <!-- <exec_depend>micro_ros_agent</exec_depend> -->
 
   <test_depend>python3-pytest</test_depend>
   <test_depend>launch</test_depend>