[example_9] Switch to gz_ros2_control (ros-controls#482)

* Switch from gazebo classic to gazebo

* update docs

* Use gz_ros2_control in semi-binary builds

* rm dependency conditional

Co-authored-by: Dr. Denis <denis@stogl.de>

README.md

@@ -52,7 +52,7 @@ The following examples are part of this demo repository:
 
  *RRBot* with an exposed transmission interface.
 
-* Example 9: ["Gazebo classic simulation"](example_9)
+* Example 9: ["Gazebo simulation"](example_9)
 
  Demonstrates how to switch between simulation and hardware.
 

doc/index.rst

@@ -269,7 +269,7 @@ Examples
  Example 6: Modular robots with separate communication to each actuator <../example_6/doc/userdoc.rst>
  Example 7: Full tutorial with a 6DOF robot <../example_7/doc/userdoc.rst>
  Example 8: Using transmissions <../example_8/doc/userdoc.rst>
- Example 9: Gazebo classic <../example_9/doc/userdoc.rst>
+ Example 9: Gazebo <../example_9/doc/userdoc.rst>
  Example 10: Industrial robot with GPIO interfaces <../example_10/doc/userdoc.rst>
  Example 11: CarlikeBot <../example_11/doc/userdoc.rst>
  Example 12: Controller chaining <../example_12/doc/userdoc.rst>

example_9/bringup/launch/rrbot_gazebo_classic.launch.py → example_9/bringup/launch/rrbot_gazebo.launch.py

@@ -36,11 +36,26 @@ def generate_launch_description():
  # Initialize Arguments
  gui = LaunchConfiguration("gui")
 
+ # gazebo
  gazebo = IncludeLaunchDescription(
  PythonLaunchDescriptionSource(
- [PathJoinSubstitution([FindPackageShare("gazebo_ros"), "launch", "gazebo.launch.py"])]
+ [FindPackageShare("ros_gz_sim"), "/launch/gz_sim.launch.py"]
  ),
- launch_arguments={"verbose": "false"}.items(),
+ launch_arguments={"gz_args": " -r -v 3 empty.sdf"}.items(),
+ )
+
+ gz_spawn_entity = Node(
+ package="ros_gz_sim",
+ executable="create",
+ output="screen",
+ arguments=[
+ "-topic",
+ "/robot_description",
+ "-name",
+ "rrbot_system_position",
+ "-allow_renaming",
+ "true",
+ ],
  )
 
  # Get URDF via xacro
@@ -52,7 +67,7 @@ def generate_launch_description():
  [FindPackageShare("ros2_control_demo_example_9"), "urdf", "rrbot.urdf.xacro"]
  ),
  " ",
- "use_gazebo_classic:=true",
+ "use_gazebo:=true",
  ]
  )
  robot_description = {"robot_description": robot_description_content}
@@ -67,13 +82,6 @@ def generate_launch_description():
  parameters=[robot_description],
  )
 
- spawn_entity = Node(
- package="gazebo_ros",
- executable="spawn_entity.py",
- arguments=["-topic", "robot_description", "-entity", "rrbot_system_position"],
- output="screen",
- )
-
  joint_state_broadcaster_spawner = Node(
  package="controller_manager",
  executable="spawner",
@@ -97,7 +105,7 @@ def generate_launch_description():
  nodes = [
  gazebo,
  node_robot_state_publisher,
- spawn_entity,
+ gz_spawn_entity,
  joint_state_broadcaster_spawner,
  robot_controller_spawner,
  rviz_node,

example_9/description/gazebo/rrbot.gazebo.xacro

@@ -9,7 +9,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
 
  <!-- ros_control plugin -->
  <gazebo>
- <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+ <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
  <parameters>$(find ros2_control_demo_example_9)/config/rrbot_controllers.yaml</parameters>
  </plugin>
  </gazebo>

example_9/description/ros2_control/rrbot.ros2_control.xacro

@@ -1,14 +1,14 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
- <xacro:macro name="rrbot_ros2_control" params="name prefix use_gazebo_classic:=^|false">
+ <xacro:macro name="rrbot_ros2_control" params="name prefix use_gazebo:=^|false">
 
  <ros2_control name="${name}" type="system">
  <hardware>
- <xacro:if value="${use_gazebo_classic}">
- <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+ <xacro:if value="${use_gazebo}">
+ <plugin>gz_ros2_control/GazeboSimSystem</plugin>
  </xacro:if>
- <xacro:unless value="${use_gazebo_classic}">
+ <xacro:unless value="${use_gazebo}">
  <plugin>ros2_control_demo_example_9/RRBotSystemPositionOnlyHardware</plugin>
  <param name="example_param_hw_start_duration_sec">0</param>
  <param name="example_param_hw_stop_duration_sec">3.0</param>

example_9/description/urdf/rrbot.urdf.xacro

@@ -6,7 +6,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
 -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
  <xacro:arg name="prefix" default="" />
- <xacro:arg name="use_gazebo_classic" default="false" />
+ <xacro:arg name="use_gazebo" default="false" />
 
  <!-- Import RRBot macro -->
  <xacro:include filename="$(find ros2_control_demo_description)/rrbot/urdf/rrbot_description.urdf.xacro" />
@@ -25,9 +25,9 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
  </xacro:rrbot>
 
  <xacro:rrbot_ros2_control
- name="RRBot" prefix="$(arg prefix)" use_gazebo_classic="$(arg use_gazebo_classic)"/>
+ name="RRBot" prefix="$(arg prefix)" use_gazebo="$(arg use_gazebo)"/>
 
- <xacro:if value="$(arg use_gazebo_classic)">
+ <xacro:if value="$(arg use_gazebo)">
  <!-- Import Gazebo Classic definitions + plugin -->
  <xacro:include filename="$(find ros2_control_demo_example_9)/gazebo/rrbot.gazebo.xacro" />
  <xacro:rrbot_gazebo prefix="$(arg prefix)"/>

example_9/doc/userdoc.rst

@@ -6,34 +6,12 @@ Example 9: Simulation with RRBot
 =================================
 
 With *example_9*, we demonstrate the interaction of simulators with ros2_control. More specifically,
-Gazebo Classic is used for this purpose.
+gazebo is used for this purpose.
 
 .. note::
 
  Follow the installation instructions on :ref:`ros2_control_demos_install` how to install all dependencies,
- Gazebo Classic should be automatically installed.
-
- * If you have installed and compiled this repository locally, you can directly use the commands below.
- * If you have installed it via the provided docker image: To run the first two steps of this example (without Gazebo Classic), use the commands as described with :ref:`ros2_control_demos_install`. To run the later steps using Gazebo Classic, execute
-
- .. code::
-
- docker run -it --rm --name ros2_control_demos --net host ros2_control_demos ros2 launch ros2_control_demo_example_9 rrbot_gazebo_classic.launch.py gui:=false
-
- first. Then on your local machine you can run the Gazebo Classic client with
-
- .. code-block:: shell
-
- gzclient
-
- and/or ``rviz2`` with
-
- .. code-block:: shell
-
- rviz2 -d src/ros2_control_demos/example_9/description/rviz/rrbot.rviz
-
-
- For details on the ``gazebo_ros2_control`` plugin, see :ref:`gazebo_ros2_control`.
+ gazebo should be automatically installed. For details on the ``gz_ros2_control`` plugin, see :ref:`gz_ros2_control`.
 
 Tutorial steps
 --------------------------
@@ -55,24 +33,18 @@ Tutorial steps
 
  It uses an identical hardware interface as already discussed with *example_1*, see its docs on details on the hardware interface.
 
-3. To start *RRBot* in the simulators, open a terminal, source your ROS2-workspace and Gazebo Classic installation first, i.e., by
-
- .. code-block:: shell
-
- source /usr/share/gazebo/setup.sh
-
- Then, execute the launch file with
+3. To start *RRBot* in the simulators, open a terminal, source your ROS2-workspace first. Then, execute the launch file with
 
  .. code-block:: shell
 
- ros2 launch ros2_control_demo_example_9 rrbot_gazebo_classic.launch.py gui:=true
+ ros2 launch ros2_control_demo_example_9 rrbot_gazebo.launch.py gui:=true
 
- The launch file loads the robot description, starts Gazebo Classic, *Joint State Broadcaster* and *Forward Command Controller*.
- If you can see two orange and one yellow "box" in Gazebo Classic everything has started properly.
+ The launch file loads the robot description, starts gazebo, *Joint State Broadcaster* and *Forward Command Controller*.
+ If you can see two orange and one yellow "box" in gazebo everything has started properly.
 
- .. image:: rrbot_gazebo_classic.png
+ .. image:: rrbot_gazebo.png
  :width: 400
- :alt: Revolute-Revolute Manipulator Robot in Gazebo Classic
+ :alt: Revolute-Revolute Manipulator Robot in gazebo
 
 4. Check if the hardware interface loaded properly, by opening another terminal and executing
 
@@ -118,7 +90,7 @@ Tutorial steps
 
  ros2 launch ros2_control_demo_example_9 test_forward_position_controller.launch.py
 
- You should now see the robot moving in Gazebo Classic.
+ You should now see the robot moving in gazebo.
 
  If you echo the ``/joint_states`` or ``/dynamic_joint_states`` topics you should see the changing values,
  namely the simulated states of the robot
@@ -135,7 +107,7 @@ Files used for this demos
 - Launch files:
 
  + Hardware: `rrbot.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_9/bringup/launch/rrbot.launch.py>`__
- + Gazebo Classic: `rrbot_gazebo_classic.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_9/bringup/launch/rrbot_gazebo_classic.launch.py>`__
+ + gazebo: `rrbot_gazebo.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_9/bringup/launch/rrbot_gazebo.launch.py>`__
 
 - Controllers yaml: `rrbot_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_9/bringup/config/rrbot_controllers.yaml>`__
 - URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_9/description/urdf/rrbot.urdf.xacro>`__

example_9/package.xml

@@ -23,8 +23,8 @@
 
  <exec_depend>controller_manager</exec_depend>
  <exec_depend>forward_command_controller</exec_depend>
- <exec_depend>gazebo_ros</exec_depend>
- <exec_depend>gazebo_ros2_control</exec_depend>
+ <exec_depend>ros_gz_sim</exec_depend>
+ <exec_depend>gz_ros2_control</exec_depend>
  <exec_depend>joint_state_broadcaster</exec_depend>
  <exec_depend>joint_state_publisher_gui</exec_depend>
  <exec_depend>joint_trajectory_controller</exec_depend>

ros2_control_demos.rolling.repos

@@ -15,7 +15,7 @@ repositories:
  type: git
  url: https://github.com/ros-controls/ros2_controllers.git
  version: master
- gazebo_ros2_control:
+ gz_ros2_control:
  type: git
- url: https://github.com/ros-controls/gazebo_ros2_control.git
+ url: https://github.com/ros-controls/gz_ros2_control.git
  version: master