[MSA] Port `moveit_setup_simulation`

[DLu]

The moveit_setup_simulation package is currently ignored, and does not compile.

In ROS 1, this step would attempt to modify your original URDF file to add the needed attributes for simulation and write it to config/gazebo_[ROBOT_NAME].urdf if the original location could not be modified. It would generate

• config/gazebo_controllers.yaml - Configuration of Gazebo controllers
• launch/gazebo.launch - Gazebo launch file which also launches ros_controllers and sends robot urdf to param server, then using gazebo_ros pkg the robot is spawned to Gazebo
• launch/demo_gazebo.launch - Run a demo of MoveIt with Gazebo and Rviz
• config/gazebo_[ROBOT_NAME].urdf (sometimes)

The edits made to the urdf include:

• Adding <inertial> tags to <collision> elements of <link> elements.
• Adding <transmission> tags for each <joint> element.
• Adding the <gazebo> tag (globally) and specifying <plugin> elements inside.

Which of these steps need to be done for ROS 2 Ignition Gazebo? Is it within the scope of this repo? Could it just be made into its own Setup Assistant using this framework?

[DLu]

@abake48 I made some boilerplate for generating the simulation xacro here: https://github.com/DLu/moveit2/tree/feature/sim_xacro/moveit_setup_assistant/moveit_setup_simulation

[abake48]

Thank you! I'll be spending all day tomorrow working on this so this can get released!

[DLu]

@ahcorde @chapulina Can you help us define what is needed in a URDF for simulation? Assuming it already has ros2_control tags, it looks like we need to replace the gazebo_ros_control plugin with libign_ros2_control-system.so. I'm guessing we don't need transmissions anymore?

[vatanaksoytezer]

@DLu some examples here: https://github.com/AndrejOrsula/panda_ign_moveit2/blob/master/panda_description/urdf/panda.ros2_control#L165-L167 https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver and https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/tree/ros2/ur_simulation_gazebo. You should not need transmissions anymore afaik.