Update packages xml and readme

.gitignore

@@ -16,11 +16,9 @@ rosbot_hardware_interfaces/
 ros_components_description/
 rosbot_controllers/
 husarion/husarion_office_gz
-gazebosim/gz_ros2_control
 ros2_controllers/
 diff_drive_controller/
 imu_sensor_broadcaster/
-tf2_ros_py/
 
 # pyspelling
 *.dic

.pre-commit-config.yaml

@@ -71,3 +71,11 @@ repos:
       - id: doc8
         args: [--max-line-length=100, --ignore=D001]
         exclude: ^.*\/CHANGELOG\.rst/.*$
+
+  - repo: https://github.com/comkieffer/pre-commit-xmllint.git
+    rev: 1.0.0
+    hooks:
+      - id: xmllint
+        args:
+          - --schema
+          - http://download.ros.org/schema/package_format3.xsd

README.md

@@ -74,10 +74,6 @@ cp -r src/ros2_controllers/diff_drive_controller src/
 cp -r src/ros2_controllers/imu_sensor_broadcaster src/
 rm -rf src/ros2_controllers
 
-# Copy only tf2_ros_py from geometry2, waits for https://github.com/ros2/geometry2/pull/641
-cp -r src/geometry2/tf2_ros_py src/
-rm -rf src/geometry2/
-
 rosdep init
 rosdep update --rosdistro $ROS_DISTRO
 rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
@@ -109,14 +105,6 @@ cp -r src/ros2_controllers/diff_drive_controller src/
 cp -r src/ros2_controllers/imu_sensor_broadcaster src/
 rm -rf src/ros2_controllers
 
-# Copy only tf2_ros_py from geometry2, waits for https://github.com/ros2/geometry2/pull/641
-cp -r src/geometry2/tf2_ros_py src/
-rm -rf src/geometry2/
-
-# Remove ign_ros2_control demo
-rm -rf src/gazebosim/gz_ros2_control/ign_ros2_control_demos &&
-rm -rf src/gazebosim/gz_ros2_control/gz_ros2_control_tests
-
 rosdep init
 rosdep update --rosdistro $ROS_DISTRO
 rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y

rosbot_xl/package.xml

@@ -5,18 +5,20 @@
   <version>0.9.0</version>
 
   <description>Meta package that contains all packages of ROSbot XL</description>
-  <license>Apache License 2.0</license>
 
-  <author email="krzysztof.wojciechowski@husarion.com">Krzysztof Wojciechowski</author>
-  <author email="maciej.stepien@husarion.com">Maciej Stepien</author>
-  <author email="nikolas.duc@husarion.com">Nikolas Duc</author>
-  <author email="dominik.nowak@husarion.com">Dominik Nowak</author>
   <maintainer email="support@husarion.com">Husarion</maintainer>
 
+  <license>Apache License 2.0</license>
+
   <url type="website">https://husarion.com/</url>
   <url type="repository">https://github.com/husarion/rosbot_xl_ros</url>
   <url type="bugtracker">https://github.com/husarion/rosbot_xl_ros/issues</url>
 
+  <author email="krzysztof.wojciechowski@husarion.com">Krzysztof Wojciechowski</author>
+  <author email="maciej.stepien@husarion.com">Maciej Stepien</author>
+  <author email="nikolas.duc@husarion.com">Nikolas Duc</author>
+  <author email="dominik.nowak@husarion.com">Dominik Nowak</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>rosbot_xl_bringup</depend>

rosbot_xl_bringup/package.xml

@@ -6,35 +6,33 @@
   <version>0.9.0</version>
 
   <description>ROSbot XL bringup package</description>
-  <license>Apache License 2.0</license>
 
-  <author email="maciej.stepien@husarion.com">Maciej Stepien</author>
-  <author email="jakub.delicat@husarion.com">Jakub Delicat</author>
   <maintainer email="support@husarion.com">Husarion</maintainer>
 
+  <license>Apache License 2.0</license>
+
   <url type="website">https://husarion.com/</url>
   <url type="repository">https://github.com/husarion/rosbot_xl_ros</url>
   <url type="bugtracker">https://github.com/husarion/rosbot_xl_ros/issues</url>
 
-  <!-- Launch tools dependencies -->
+  <author email="maciej.stepien@husarion.com">Maciej Stepien</author>
+  <author email="jakub.delicat@husarion.com">Jakub Delicat</author>
+
   <exec_depend>ros2launch</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>ament_index_python</exec_depend>
 
-  <!-- Husarion dependencies -->
   <exec_depend>rosbot_xl_controller</exec_depend>
 
-  <!-- Launched packages dependencies -->
+
   <exec_depend>laser_filters</exec_depend>
   <exec_depend>robot_localization</exec_depend>
 
-  <!-- Launch and test dependencies -->
   <test_depend>rclpy</test_depend>
   <test_depend>python3-pytest</test_depend>
   <test_depend>launch_pytest</test_depend>
 
-  <!-- Packages used in tests  -->
   <test_depend>tf2_ros_py</test_depend>
   <test_depend>sensor_msgs</test_depend>
 

rosbot_xl_controller/launch/controller.launch.py

@@ -73,7 +73,6 @@ def launch_setup(context, *args, **kwargs):
         ],
     )
 
-    # Delay start of robot_controller after `joint_state_broadcaster`
     delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
             target_action=joint_state_broadcaster_spawner,
@@ -98,7 +97,6 @@ def launch_setup(context, *args, **kwargs):
         ],
     )
 
-    # Delay start of imu_broadcaster_spawner after `robot_controller_spawner`
     delay_imu_broadcaster_spawner_after_robot_controller_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
             target_action=robot_controller_spawner,
@@ -192,7 +190,6 @@ def generate_launch_description():
         ]
     )
 
-    # Get URDF via xacro
     robot_description_content = Command(
         [
             PathJoinSubstitution([FindExecutable(name="xacro")]),

rosbot_xl_controller/package.xml

@@ -6,43 +6,40 @@
   <version>0.9.0</version>
 
   <description>Hardware configuration for ROSbot XL</description>
-  <license>Apache License 2.0</license>
 
-  <author email="maciej.stepien@husarion.com">Maciej Stepien</author>
-  <author email="krzysztof.wojciechowski@husarion.com">Krzysztof Wojciechowski</author>
-  <author email="jakub.delicat@husarion.com">Jakub Delicat</author>
   <maintainer email="support@husarion.com">Husarion</maintainer>
 
+  <license>Apache License 2.0</license>
+
   <url type="website">https://husarion.com/</url>
   <url type="repository">https://github.com/husarion/rosbot_xl_ros</url>
   <url type="bugtracker">https://github.com/husarion/rosbot_xl_ros/issues</url>
 
-  <!-- Launch tools dependencies -->
+  <author email="maciej.stepien@husarion.com">Maciej Stepien</author>
+  <author email="krzysztof.wojciechowski@husarion.com">Krzysztof Wojciechowski</author>
+  <author email="jakub.delicat@husarion.com">Jakub Delicat</author>
+
   <exec_depend>ros2launch</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>ament_index_python</exec_depend>
 
-  <!-- Husarion dependencies -->
   <exec_depend>rosbot_xl_description</exec_depend>
   <exec_depend>ros_components_description</exec_depend>
   <exec_depend>rosbot_hardware_interfaces</exec_depend>
   <exec_depend>mecanum_drive_controller</exec_depend>
 
-  <!-- Launched packages dependencies -->
   <exec_depend>xacro</exec_depend>
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>imu_sensor_broadcaster</exec_depend>
   <exec_depend>diff_drive_controller</exec_depend>
 
-  <!-- Launch and test dependencies -->
   <test_depend>rclpy</test_depend>
   <test_depend>python3-pytest</test_depend>
   <test_depend>launch_pytest</test_depend>
 
-  <!-- Packages used in tests  -->
   <test_depend>sensor_msgs</test_depend>
   <test_depend>nav_msgs</test_depend>
 

rosbot_xl_description/package.xml

@@ -6,20 +6,21 @@
   <version>0.9.0</version>
 
   <description>The rosbot_xl_description package</description>
-  <license>Apache License 2.0</license>
 
-  <author email="krzysztof.wojciechowski@husarion.com">Krzysztof Wojciechowski</author>
-  <author email="maciej.stepien@husarion.com">Maciej Stepien</author>
-  <author email="jakub.delicat@husarion.com">Jakub Delicat</author>
   <maintainer email="support@husarion.com">Husarion</maintainer>
 
+  <license>Apache License 2.0</license>
+
   <url type="website">https://husarion.com/</url>
   <url type="repository">https://github.com/husarion/rosbot_xl_ros</url>
   <url type="bugtracker">https://github.com/husarion/rosbot_xl_ros/issues</url>
 
+  <author email="krzysztof.wojciechowski@husarion.com">Krzysztof Wojciechowski</author>
+  <author email="maciej.stepien@husarion.com">Maciej Stepien</author>
+  <author email="jakub.delicat@husarion.com">Jakub Delicat</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <!-- Husarion dependencies -->
   <exec_depend>ros_components_description</exec_depend>
 
   <export>

rosbot_xl_gazebo/launch/spawn.launch.py

@@ -245,7 +245,7 @@ def generate_launch_description():
         namespace=namespace,
     )
 
-    ign_bridge = Node(
+    ign_clock_bridge = Node(
         package="ros_gz_bridge",
         executable="parameter_bridge",
         name="ros_gz_bridge",
@@ -289,8 +289,7 @@ def generate_launch_description():
             # Sets use_sim_time for all nodes started below
             # (doesn't work for nodes started from ignition gazebo)
             SetParameter(name="use_sim_time", value=True),
-            ign_bridge,
-            # ign_camera_bridge,
+            ign_clock_bridge,
             gz_spawn_entity,
             bringup_launch,
             OpaqueFunction(function=launch_gz_bridge),

rosbot_xl_gazebo/package.xml

@@ -6,28 +6,27 @@
   <version>0.9.0</version>
 
   <description>Gazebo Ignition simulation for ROSbot XL</description>
-  <license>Apache License 2.0</license>
 
-  <author email="maciej.stepien@husarion.com">Maciej Stępień</author>
-  <author email="krzysztof.wojciechowski@husarion.com">Krzysztof Wojciechowski</author>
-  <author email="jakub.delicat@husarion.com">Jakub Delicat</author>
   <maintainer email="support@husarion.com">Husarion</maintainer>
 
+  <license>Apache License 2.0</license>
+
   <url type="website">https://husarion.com/</url>
   <url type="repository">https://github.com/husarion/rosbot_xl_ros</url>
   <url type="bugtracker">https://github.com/husarion/rosbot_xl_ros/issues</url>
 
-  <!-- Launch tools dependencies -->
+  <author email="maciej.stepien@husarion.com">Maciej Stępień</author>
+  <author email="krzysztof.wojciechowski@husarion.com">Krzysztof Wojciechowski</author>
+  <author email="jakub.delicat@husarion.com">Jakub Delicat</author>
+
   <exec_depend>ros2launch</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>ament_index_python</exec_depend>
 
-  <!-- Husarion dependencies -->
   <exec_depend>rosbot_xl_bringup</exec_depend>
   <exec_depend>husarion_office_gz</exec_depend>
 
-  <!-- Launched packages dependencies -->
   <exec_depend>ros_gz_sim</exec_depend>
   <!-- Ignition dependency is specified in the ros_gz_sim package,
     version can chosen using GZ_VERSION (or IGNITION_VERSION) env variable,
@@ -37,13 +36,11 @@
   <exec_depend>nav2_common</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
 
-  <!-- Launch and test dependencies -->
   <test_depend>rclpy</test_depend>
   <test_depend>python3-pytest</test_depend>
   <test_depend>launch_pytest</test_depend>
   <test_depend>launch_testing</test_depend>
 
-  <!-- Packages used in tests  -->
   <test_depend>python3-psutil</test_depend>
   <test_depend>nav_msgs</test_depend>
   <test_depend>geometry_msgs</test_depend>