Jazzy updates

[civerachb-cpr]

Description

Several fixes & changes needed for Jazzy support:

• renames ign and ignition related nodes to use gz or sim (per new nomenclature)
• updates gazebo plugin & resource environment variables to use the new GZ_* nomenclature
• adds GzSceneManager and InteractiveViewControl plugins to gui.config (needed for the visualization to render correctly & allow camera movement)
• fixes a bug where dock & undock behaviours could be preempted by e.g. reflex, causing their associated ROS actions to cancel
• updates diff_drive_controller interaction to use TwistStamped messages (per recent changes from ROS controllers)
• replace NotEqualsSubstitution(...) with IfCondition(NotEqualsSubstitution(...)) (deprecation)
• slight change to the maze world to ensure the robot's default spawn location doesn't clip into wall 12

How Has This Been Tested?

Tested on Ubuntu 24.04. Able to successfully:

• dock & undock the robot using the action servers
• control the robot using on-screen teleop controls + keyboard controls
• visualize the robot & dock in Rviz2
• drive the robot into an obstacle to trigger reflex behaviours

# To start the simulation
ros2 launch irobot_create_gz_bringup create3_gz.launch.py

Wait for the simulation to load fully (may take several seconds, depending on the specs of the machine being used), then press the orange play button to start the simulation. The fan in the depot ceiling will spin when the simulation is running. Rviz will show the robot & dock.

To undock the robot:

ros2 action send_goal /undock irobot_create_msgs/action/Undock {}

To dock the robot:

ros2 action send_goal /dock irobot_create_msgs/action/Dock {} --feedback

[alsora]

Overall looks good, thanks for the work! I'll give it a try and do a deeper review in the next days

[civerachb-cpr]

No big rush. I imagine there may be a few additional updates as I continue testing with the Turtlebot4 packages. But this should give a good base for the remaining Jazzy work.

[alsora]

I did an additional review and, besides the small comments above, everything looks good.

[civerachb-cpr]

I think I've addressed all the issues raised above.

[alsora]

@civerachb-cpr there's still a few CHANGELOG files that have been inadvertently modified. Can you please revert these changes as well?

[azeey]

Great to see this update. Just wanted to drop https://gazebosim.org/docs/latest/ros2_gz_vendor_pkgs/ in case you haven't seen it. Also, since Gazebo is now available from packages.ros.org, there's no need for the instructions that add the packages.osrfoundation.org repo.