Adding 2023 phase2 worlds

[caguero]

Adding all the worlds used during phase 2.

How to test it?

Run Gazebo with:

ros2 launch vrx_gz competition.launch.py world:=phase2_2023_stationkeeping0

[bsb808]

I attempted to test this, but was stuck with the error from #798 when setting up the environment to run the main branch.

[caguero]

I attempted to test this, but was stuck with the error from #798 when setting up the environment to run the main branch.

It should be fixed now but keep in mind that main contains the code for running VRX with the Noble/Jazzy/Harmonic environment.

[bsb808]

I was able to get the latest in main to run with the new changes to the dockwater jazzy image.

With this feature branch, when I build with colcon build --merge-install , I get the following error...

bsb@b06b15dc54fa:~/vrx_ws$ colcon build --merge-install
Starting >>> vrx_gazebo
Starting >>> vrx_ros
--- stderr: vrx_ros                                                                 
CMake Error at CMakeLists.txt:8 (find_package):
  By not providing "Findgz-msgs9.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "gz-msgs9",
  but CMake did not find one.

  Could not find a package configuration file provided by "gz-msgs9" with any
  of the following names:

    gz-msgs9Config.cmake
    gz-msgs9-config.cmake

  Add the installation prefix of "gz-msgs9" to CMAKE_PREFIX_PATH or set
  "gz-msgs9_DIR" to a directory containing one of the above files.  If
  "gz-msgs9" provides a separate development package or SDK, be sure it has
  been installed.


gmake: *** [Makefile:308: cmake_check_build_system] Error 1
---
Failed   <<< vrx_ros [0.40s, exited with code 2]
Aborted  <<< vrx_gazebo [0.43s]

Summary: 0 packages finished [0.53s]
  1 package failed: vrx_ros
  1 package aborted: vrx_gazebo
  1 package had stderr output: vrx_ros
  3 packages not processed

Perhaps a missing package in the dockwater Dockerfile? I did a quick grep for any apt packages, but nothing obvious. I'm assuming this is something you'll recognize, but let me know if you want me to debug further.

[caguero]

I was able to get the latest in main to run with the new changes to the dockwater jazzy image.

With this feature branch, when I build with colcon build --merge-install , I get the following error...

bsb@b06b15dc54fa:~/vrx_ws$ colcon build --merge-install
Starting >>> vrx_gazebo
Starting >>> vrx_ros
--- stderr: vrx_ros                                                                 
CMake Error at CMakeLists.txt:8 (find_package):
  By not providing "Findgz-msgs9.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "gz-msgs9",
  but CMake did not find one.

  Could not find a package configuration file provided by "gz-msgs9" with any
  of the following names:

    gz-msgs9Config.cmake
    gz-msgs9-config.cmake

  Add the installation prefix of "gz-msgs9" to CMAKE_PREFIX_PATH or set
  "gz-msgs9_DIR" to a directory containing one of the above files.  If
  "gz-msgs9" provides a separate development package or SDK, be sure it has
  been installed.


gmake: *** [Makefile:308: cmake_check_build_system] Error 1
---
Failed   <<< vrx_ros [0.40s, exited with code 2]
Aborted  <<< vrx_gazebo [0.43s]

Summary: 0 packages finished [0.53s]
  1 package failed: vrx_ros
  1 package aborted: vrx_gazebo
  1 package had stderr output: vrx_ros
  3 packages not processed

Perhaps a missing package in the dockwater Dockerfile? I did a quick grep for any apt packages, but nothing obvious. I'm assuming this is something you'll recognize, but let me know if you want me to debug further.

Did you pull the latest changes from your vrx repository before compiling it?

[caguero]

CI is expected to fail until @j-rivero updates it.

[bsb808]

It looks like 16f1a4b fixed the build issue!

The test now works when using dockwater:jazzy with the branch

[bsb808]

I removed @j-herman and @crvogt as reviews. Assuming this was unintentional.

[bsb808]

Approved!