Add tutorial on how to a migrate ROS 2 package that uses Gazebo Classic #425

azeey · 2024-02-03T00:16:41Z

🎉 New feature

Summary

Walks the user through migrating the turtlebot3_simulations package (humble-devel branch).

TODO:

Add pictures
Fill in the camera section.

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
codecheck passed (See contributing)
All tests passed (See test coverage)
While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

migrating_gazebo_classic_ros2_packages.md

ahcorde · 2024-02-05T08:17:38Z

migrating_gazebo_classic_ros2_packages.md

+limit on the whole vehicle's linear acceleration. We can approximate the value
+by multiplying the wheel acceleration limit by the radius of the wheel. Refer to
+the
+[DiffDrive class reference](https://gazebosim.org/api/gazebo/6/classignition_1_1gazebo_1_1systems_1_1DiffDrive.html)


Tutorial is in the harmonic folder

Suggested change

[DiffDrive class reference](https://gazebosim.org/api/gazebo/6/classignition_1_1gazebo_1_1systems_1_1DiffDrive.html)

[DiffDrive class reference](https://gazebosim.org/api/sim/8/classgz_1_1sim_1_1systems_1_1DiffDrive.html)

The tutorial is actually not in the harmonic folder. I started it there, but moved it before I pushed. I forgot to remove it from the harmonic/index.yaml though.

Since this tutorial is targeting humble, I thought it would be best to link to Fortress documentation, but maybe I should link to both?

ahcorde · 2024-02-05T08:18:17Z

migrating_gazebo_classic_ros2_packages.md

+### libgazebo_ros_joint_state_publisher.so
+
+We will replace this plugin as well with
+[`JointStatePublisher`](https://gazebosim.org/api/gazebo/6/classignition_1_1gazebo_1_1systems_1_1JointStatePublisher.html).


Suggested change

[`JointStatePublisher`](https://gazebosim.org/api/gazebo/6/classignition_1_1gazebo_1_1systems_1_1JointStatePublisher.html).

[`JointStatePublisher`](https://gazebosim.org/api/sim/8/classgz_1_1sim_1_1systems_1_1JointStatePublisher.html).

migrating_gazebo_classic_ros2_packages.md

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

kscottz

This is a fantastic start and a ton of work! I think everyone is going to love it.

I tried to make most of my comments as suggestions to make things easier on you.

I have a couple of document-level comments to make:

I don't think many readers are actually going to physically work through the tutorial process, they're primarily going to read through the document and look at the steps involved. For this reason I think it is really important for us to have links to each file before and after modification so they can see the results side by side. I tried to add as many links as I could, but I may have missed some things.
The "Modify the Model" section could use a little bit more work. I didn't quite understand why the sections were titled by the library file used (e.g. libgazebo_ros_ray_sensor.so etc). I think we might want a longer explanation at the top of the file. We should probably write a stand alone document that explains the SDF upgrade process in greater detail. In particular, it is unclear to me how you know what plugin to use for each section of the SDF. Do we have a list or table somewhere that outlines all of the plugins and their mappings? I feel like that would be a great resource for people upgrading complex SDF files.

migrating_gazebo_classic_ros2_packages.md

scpeters · 2024-02-06T01:29:13Z

migrating_gazebo_classic_ros2_packages.md

+Another major difference is that `gazebo_ros_pkgs` provided a set of plugins
+that directly get loaded by Gazebo Classic and run as part of the simulation to
+provide an interface between ROS and Gazebo Classic. On the other hand, the
+primary mode `ros_gz` is used as bridge between ROS and gz-transport topics.


Suggested change

Another major difference is that `gazebo_ros_pkgs` provided a set of plugins

that directly get loaded by Gazebo Classic and run as part of the simulation to

provide an interface between ROS and Gazebo Classic. On the other hand, the

primary mode `ros_gz` is used as bridge between ROS and gz-transport topics.

Another major difference is that while [gazebo_ros_pkgs](https://github.com/ros-simulation/gazebo_ros_pkgs) provided a set of plugins

that directly get loaded by Gazebo Classic and run as part of the simulation to

provide an interface between ROS and Gazebo Classic,

[ros_gz](https://github.com/gazebosim/ros_gz) does not provide plugins but is used as bridge between ROS and gz-transport topics.

In light of gazebosim/ros_gz#490, I want to avoid saying ros_gz doesn't provide plugins.

Reworded in 5547582. What do you think?

Co-authored-by: Katherine Scott <katherineAScott@gmail.com> Signed-off-by: Addisu Z. Taddese <addisuzt@intrinsic.ai>

Co-authored-by: Steve Peters <computersthatmove@gmail.com> Co-authored-by: Katherine Scott <katherineAScott@gmail.com> Signed-off-by: Addisu Z. Taddese <addisuzt@intrinsic.ai>

Co-authored-by: Katherine Scott <katherineAScott@gmail.com> Signed-off-by: Addisu Z. Taddese <addisuzt@intrinsic.ai>

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

azeey

I think I've addressed all the feedback. I've also added the camera section and a couple of screenshots. Please take a look.

migrating_gazebo_classic_ros2_packages.md

azeey · 2024-02-08T03:57:45Z

migrating_gazebo_classic_ros2_packages.md

+`turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf`. The changes we need to
+make are mostly related to plugins and their parameters.
+
+### libgazebo_ros_imu_sensor.so


Added a few sentences to explain the steps: 298fa22

azeey · 2024-02-08T03:58:08Z

migrating_gazebo_classic_ros2_packages.md

+</link>
+```
+
+### libgazebo_ros_ray_sensor.so


Responded in previous comment.

azeey · 2024-02-08T04:00:56Z

migrating_gazebo_classic_ros2_packages.md

+so will not add any default plugins. Therefore, we have to add the additional
+plugins for IMU and Lidar sensors as well as the ones that would have been added
+by default. We will once again edit `turtlebot3_gazebo/worlds/empty_world.world`
+add the following right after `<world name="default">`.


What do you think about this:

azeey · 2024-02-08T04:01:31Z

migrating_gazebo_classic_ros2_packages.md

+
+## Bridge ROS topics
+
+The plugins in `gazebo_ros_pkgs` are Gazebo plugins that are also ROS nodes. In


Reworded in e39cabe

migrating_gazebo_classic_ros2_packages.md

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Add tutorial on how to a migrate ROS 2 package that uses Gazebo Classic

9c85b9f

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

azeey requested a review from mabelzhang as a code owner February 3, 2024 00:16

azeey requested a review from kscottz February 3, 2024 00:16

github-actions bot added the 🎵 harmonic Gazebo Harmonic label Feb 3, 2024

ahcorde requested changes Feb 5, 2024

View reviewed changes

azeey added 2 commits February 5, 2024 16:51

Remove changes to harmonic/index.yaml

6c0a311

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Address reviewer feedback

90742e1

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

kscottz requested changes Feb 5, 2024

View reviewed changes

scpeters reviewed Feb 6, 2024

View reviewed changes

azeey and others added 11 commits February 6, 2024 18:53

Add Gazebo Classic naming convention

3b7c386

Co-authored-by: Katherine Scott <katherineAScott@gmail.com> Signed-off-by: Addisu Z. Taddese <addisuzt@intrinsic.ai>

Apply suggestions from code review

bc558b9

Co-authored-by: Steve Peters <computersthatmove@gmail.com> Co-authored-by: Katherine Scott <katherineAScott@gmail.com> Signed-off-by: Addisu Z. Taddese <addisuzt@intrinsic.ai>

Add github links

21fd6dc

Co-authored-by: Katherine Scott <katherineAScott@gmail.com> Signed-off-by: Addisu Z. Taddese <addisuzt@intrinsic.ai>

Use github permalinks

aed9c0f

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Add github links to gazebo_ros_pkgs and ros_gz

5547582

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

reformat

ea1ced8

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Outline steps before listing plugins

298fa22

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

More reviewer feedback

e39cabe

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Add camera

388f1fe

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Add images

380804e

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Fix image position

4c541c1

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

azeey commented Feb 8, 2024

View reviewed changes

azeey requested review from ahcorde and kscottz February 13, 2024 18:34

kscottz approved these changes Feb 13, 2024

View reviewed changes

ahcorde approved these changes Feb 13, 2024

View reviewed changes

migrating_gazebo_classic_ros2_packages.md Outdated Show resolved Hide resolved

azeey added 2 commits February 13, 2024 22:08

Add links to Nav2 and Cartographer

9ec0798

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Add a few sentences about SLAM and Nav tutorials

5b655cf

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

azeey merged commit f5f9946 into gazebosim:master Feb 14, 2024
1 check passed

azeey deleted the classic_migration branch February 14, 2024 04:27

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Add tutorial on how to a migrate ROS 2 package that uses Gazebo Classic #425

Add tutorial on how to a migrate ROS 2 package that uses Gazebo Classic #425

azeey commented Feb 3, 2024 •

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azeey Feb 8, 2024

	[DiffDrive class reference](https://gazebosim.org/api/gazebo/6/classignition_1_1gazebo_1_1systems_1_1DiffDrive.html)
	[DiffDrive class reference](https://gazebosim.org/api/sim/8/classgz_1_1sim_1_1systems_1_1DiffDrive.html)

	[`JointStatePublisher`](https://gazebosim.org/api/gazebo/6/classignition_1_1gazebo_1_1systems_1_1JointStatePublisher.html).
	[`JointStatePublisher`](https://gazebosim.org/api/sim/8/classgz_1_1sim_1_1systems_1_1JointStatePublisher.html).


		## Bridge ROS topics

		The plugins in `gazebo_ros_pkgs` are Gazebo plugins that are also ROS nodes. In

Add tutorial on how to a migrate ROS 2 package that uses Gazebo Classic #425

Add tutorial on how to a migrate ROS 2 package that uses Gazebo Classic #425

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azeey commented Feb 3, 2024 • edited Loading

🎉 New feature

Summary

TODO:

Checklist

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azeey commented Feb 3, 2024 •

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