Migrate: Gazebo Classic -> Harmonic

[bachzz]

No description provided.

[fabid]

Since gazebo classic is now end of life, we can completely remove the support and mentions about it.

[bachzz]

Current version is ready for locobot_base model, for moving around:

ros2 launch interbotix_xslocobot_sim xslocobot_gz_sim.launch.py robot_model:=locobot_base base_type:=kobuki

I'll continue verifying the arm & gripper with moveit in locobot_wx200 model (5 DoF), then we'll be able to merge.

[bachzz]

Current version is ready for both locobot_base and locobot_wx200 models.

For controlling arm & gripper with moveit:

ros2 launch interbotix_xslocobot_moveit xslocobot_moveit.launch.py robot_model:=locobot_wx200 base_type:=kobuki hardware_type:=gz_sim

Move around with teleop_twist_keyboard:

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/locobot/diffdrive_controller/cmd_vel_unstamped

@fabid I think it's ready to merge now, after your review

[fabid]

Do you know what this was for?

[bachzz]

this is used to publish ground-truth odometry (from odom->base_footprint), I think they may use it in nav2 evaluation

[bachzz]

we can obtain green arrow with this plugin

[fabid]

any alternative in gz_sim?
if not that's ok, we can ignore

[bachzz]

@fabid yes I've already added above, you can see the plugin:

<plugin filename="libgz-sim-pose-publisher-system.so" name="gz::sim::systems::PosePublisher">

[fabid]

I think they were using mirror joints in classic, hence the missing joint. And the real hardware is similar (single joint for the gripper.
Did you try to close/open the gripper in moveit?

[bachzz]

actually in their original code, the mirror part was commented out, as you can see in this line:

interbotix_ros_rovers/interbotix_ros_xslocobots/interbotix_xslocobot_descriptions/urdf/arms/arm_control.urdf.xacro

Line 107 in 25a1513

<!-- <param name="mimic">left_finger</param>

I also tried uncommenting the mirrored joint but closing/opening gripper did not work.

So, I left commented lines as they intended (right_finger joint separated from left_finger). Then add that right_finger joint into controller, and closing/opening gripper works okay in moveit.