Integration for Gazebo Sim 7 (Garden)

[brean]

Hey! based on the feature-ign-gazebo-branch I created a version with the latest versions of gz_ros2_control, ros_gz (ros2 branch) and gz-transport (gz-transport12 branch) that works nicely with Gazebo Sim 7 (Garden): https://github.com/brean/turtlebot3_simulations/tree/brean/feature-gz-sim_garden . You can see it in action using this docker setup: https://github.com/brean/ros2-turtlebot3-gazebo-docker It was relatively easy, most if just simple search-and-replace. I can create a merge request for it but maybe you guys want to wait until its all a bit more stable and create one yourself? With the main-branch being ~150 commits away from master it maybe also makes sense to take a deeper look into creating a clean version? Also you maybe want to merge the turtlebot3_gazebo and turtlebot3_gz ros-packages.

[ahcorde]

I made this work long time ago, but it was not merge in galactic-devel, just before merge it was retargeted to feature-ign_gazebo.

@ROBOTIS-Will why did you not merge this in galactic ? is there any issue about giving support for the "new" Gazebo ?

I'm happy to put some time on it, but if the contribution will be merge in rolling, iron or humble.

[j-rivero]

I made this work long time ago, but it was not merge in galactic-devel, just before merge it was retargeted to feature-ign_gazebo.

Different users are asking for the support in the new Gazebo. For reference, the @ahcorde PR was https://github.com/ROBOTIS-GIT/turtlebot3_simulations/pull/180.

From the Gazebo team, we are happy to collaborate to push that branch into the stable if you need any help.

[azeey]

Any progress on this? As you may know, Gazebo-classic (aka Gazebo11, see Terminology) is no longer being actively developed and will not be available on ROS Jazzy (REP 2000).