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blackcoffeerobotics / bcr_bot

A Gazebo-ROS AMR robot with differential drive, depth camera, IMU and 2D LiDAR
https://blackcoffeerobotics.com/blog/migration-from-gazebo-classic-to-ignition-with-ros-2
Apache License 2.0
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ros2 fixed namespace updated readme #3

Closed D-1shu closed 1 year ago

D-1shu commented 1 year ago

Pull Request: add xacro argument for odometry_source, joint_state values are being published in ros2 ign gazebo

Changes

  1. Added plugin ignition-gazebo-joint-state-publisher-system"
  2. Added a new xacro argument called 'odometry_source' in the bcr_bot.xacro file to specify the <odometry_source> tag for the differential drive plugin of gazebo classic. This argument can be changed using a launch argument.

File Changes

Modified File Details

  1. gazebo.launch.py remapping of joint_states to bcr_bot/joint_states and added odometry source as a launch argument.
  2. gz.launch.py remapping of all the topics in gz_ros2_bridge to match them as classic gazebo
  3. bcr_bot.xacro added new xacro property odometry_source
  4. gazebo.xacro added tag to diff_drive plugin
  5. gz.xacro added new plugin ignition-gazebo-joint-state-publisher-system"
  6. readme roslaunch can be directly copy and pasted. odomentry_source as world and encoder