ROS 2 Jazzy への対応 (#55)

Author: KuraZuzu

.github/workflows/industrial_ci.yml

@@ -16,10 +16,12 @@ jobs:
   industrial_ci:
     strategy:
       matrix:
-        env:
-          - { ROS_DISTRO: humble, ROS_REPO: ros }
+        ROS_DISTRO: [jazzy]
+        ROS_REPO: [ros]
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
       - uses: "ros-industrial/industrial_ci@master"
-        env: ${{ matrix.env }}
+        env:
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+          ROS_REPO: ${{ matrix.ROS_REPO }}

README.md

@@ -1,27 +1,28 @@
 # raspimouse_description
 
+[![industrial_ci](https://github.com/rt-net/raspimouse_description/actions/workflows/industrial_ci.yml/badge.svg?branch=ros2)](https://github.com/rt-net/raspimouse_description/actions/workflows/industrial_ci.yml)
+
 ROS package with URDF description macro for [Raspberry Pi Mouse](https://rt-net.jp/products/raspberrypimousev3/)
 
 ![display_launch](https://rt-net.github.io/images/raspberry-pi-mouse/display_launch.png)
 
-This ROS package was separated from [rt-net/raspimouse_sim](https://github.com/rt-net/raspimouse_sim).  
+This ROS package was separated from [rt-net/raspimouse_sim](https://github.com/rt-net/raspimouse_sim).
 See details from [rt-net/raspimouse_sim#42](https://github.com/rt-net/raspimouse_sim/pull/42).
 
-The main development branch for ROS 1 is [`master`](https://github.com/rt-net/raspimouse_description/tree/master).  
+The main development branch for ROS 1 is [`master`](https://github.com/rt-net/raspimouse_description/tree/master).
 The main development branch for ROS 2 is [`ros2`](https://github.com/rt-net/raspimouse_description/tree/ros2).
 
 ## Supported ROS distributions
 
-- Melodic ([`melodic-devel`](https://github.com/rt-net/raspimouse_description/tree/melodic-devel))
-- Foxy ([`foxy-devel`](https://github.com/rt-net/raspimouse_description/tree/foxy-devel))
-- Humble ([`humble-devel`](https://github.com/rt-net/raspimouse_description/tree/humble-devel))
+- Humble ([`humble`](https://github.com/rt-net/raspimouse_description/tree/humble))
+- Jazzy ([`jazzy`](https://github.com/rt-net/raspimouse_description/tree/jazzy))
 
 ## Installation
 
 ```sh
 # Clone raspimouse_description and install dependencies
 cd ~/ros2_ws/src
-git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse_description
+git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_description
 rosdep install -r -y -i --from-paths .
 
 # Build the package
@@ -66,7 +67,7 @@ ros2 launch raspimouse_description display.launch.py use_rgb_camera:=true camera
 
 (C) 2016-2022 RT Corporation
 
-This repository is licensed under the MIT license, see [LICENSE](./LICENSE).  
+This repository is licensed under the MIT license, see [LICENSE](./LICENSE).
 Unless attributed otherwise, everything in this repository is under the MIT license.
 
 ### Acknowledgements

launch/display.launch.py

@@ -14,13 +14,12 @@
 
 
 from ament_index_python.packages import get_package_share_directory
-from raspimouse_description.robot_description_loader import RobotDescriptionLoader
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.conditions import IfCondition
-from launch_ros.actions import Node
-from launch_ros.actions import PushRosNamespace
 from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node, PushRosNamespace
+from raspimouse_description.robot_description_loader import RobotDescriptionLoader
 
 
 def generate_launch_description():

package.xml

@@ -7,10 +7,11 @@
   <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>
 
   <license>MIT</license>
-  
+
   <author email="daisuke.sato@rt-net.jp">Daisuke Sato</author>
   <author email="s.aoki@rt-net.jp">Shota Aoki</author>
   <author email="yusuke.kato@rt-net.jp">Yusuke Kato</author>
+  <author email="kurasawa@rt-net.jp">Kazushi Kurasawa</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
@@ -21,7 +22,7 @@
   <depend>urdf</depend>
   <depend>xacro</depend>
   <depend>launch</depend>
-  <depend>ign_ros2_control</depend>
+  <depend>gz_ros2_control</depend>
   <depend>realsense2_description</depend>
 
   <test_depend>ament_lint_auto</test_depend>

test/test_robot_description_loader.py

@@ -19,10 +19,13 @@
 # IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 # CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 
-from raspimouse_description.robot_description_loader import RobotDescriptionLoader
+import math
+
 from launch.launch_context import LaunchContext
 import pytest
-import math
+
+from raspimouse_description.robot_description_loader import \
+    RobotDescriptionLoader
 
 
 def exec_load(loader):
@@ -89,7 +92,7 @@ def test_use_gazebo():
     rdl.use_gazebo = 'true'
     rdl.gz_control_config_package = 'raspimouse_description'
     rdl.gz_control_config_file_path = 'test/dummy_controllers.yaml'
-    assert 'ign_ros2_control/IgnitionSystem' in exec_load(rdl)
+    assert 'gz_ros2_control/GazeboSimSystem' in exec_load(rdl)
 
 
 def test_use_rgb_camera():

urdf/raspimouse.urdf.xacro

@@ -17,7 +17,7 @@
   <xacro:arg name="camera_downward" default="false" />
   <xacro:arg name="gz_control_config_package" default="" />
   <xacro:arg name="gz_control_config_file_path" default="" />
-  
+
   <material name="black">
     <color rgba="0.2 0.2 0.2 1.0"/>
   </material>
@@ -109,7 +109,7 @@
   <xacro:if value="$(arg use_gazebo)">
     <xacro:gazebo_diffdrive_settings
       use_gazebo="$(arg use_gazebo)"
-      config_file_package="$(arg gz_control_config_package)" 
+      config_file_package="$(arg gz_control_config_package)"
       config_file_path="$(arg gz_control_config_file_path)" />
 
     <xacro:diffdrive_gazebo_ros2_control_settings

urdf/sensors/lidar.gazebo.xacro

@@ -5,7 +5,7 @@
     <gazebo reference="${sensor_link_name}">
       <sensor type="gpu_lidar" name="${sensor_link_name}_sensor">
         <pose relative_to='${sensor_link_name}'>0 0 0 0 0 0</pose>
-        <ignition_frame_id>${sensor_link_name}</ignition_frame_id>
+        <gz_frame_id>${sensor_link_name}</gz_frame_id>
         <frame_id>${sensor_link_name}</frame_id>
         <topic>scan</topic>
         <always_on>1</always_on>

urdf/sensors/lightsens.urdf.xacro

@@ -16,8 +16,8 @@
         <geometry>
           <box size="0.01 0.005 0.007" />
         </geometry>
-        <material name="Gray">
-          <color rgba="0.2 0.2 0.2 1" />
+        <material name="Red">
+          <color rgba="1.0 0.0 0.0 1" />
         </material>
       </visual>
       <inertial>

urdf/sensors/rgb_camera.xacro

@@ -32,19 +32,19 @@
             <origin xyz="0.08 0.0 0.055" rpy="0 0 0"/>
         </xacro:sensor_d435>
       </xacro:unless>
-  
+
       <xacro:if value="${use_gazebo}">
         <gazebo>
-          <plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
+          <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
             <render_engine>ogre2</render_engine>
           </plugin>
         </gazebo>
-    
+
         <gazebo reference="camera_link">
           <sensor name="camera_link" type="camera">
             <update_rate>30.0</update_rate>
             <always_on>true</always_on>
-            <ignition_frame_id>camera_link</ignition_frame_id>
+            <gz_frame_id>camera_link</gz_frame_id>
             <xacro:if value="${camera_downward}">
               <pose>0 0 0 0 ${DOWNWARD_CAMERA_ANGLE} 0</pose>
             </xacro:if>

urdf/wheel/diffdrive.gazebo.xacro

@@ -11,9 +11,9 @@
 
     <gazebo>
       <xacro:if value="${use_gazebo}">
-        <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+        <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
           <ros>
-            <remapping>diff_drive_controller/cmd_vel_unstamped:=cmd_vel</remapping>
+            <remapping>diff_drive_controller/cmd_vel:=cmd_vel</remapping>
             <remapping>diff_drive_controller/odom:=odom</remapping>
           </ros>
           <parameters>$(find ${config_file_package})/${config_file_path}</parameters>

urdf/wheel/diffdrive.gazebo_ros2_control.xacro

@@ -10,7 +10,7 @@
 
     <ros2_control name="${name_hardware}" type="system">
       <hardware>
-        <plugin>ign_ros2_control/IgnitionSystem</plugin>
+        <plugin>gz_ros2_control/GazeboSimSystem</plugin>
       </hardware>
 
       <joint name="${name_right_wheel_joint}">