[ros2] gazebo_ros_api_plugin split

[chapulina]

The gazebo_ros_api_plugin is quite large and offers a lot of functionality all at once. While porting it to ROS 2, it would be nice to take the opportunity to also break that plugin into smaller ones so that:

• Users don't need to "pay for what they don't use"
• It is easier to remove functionality which shouldn't be present (see for example https://github.com/ros-simulation/gazebo_ros_pkgs/pull/704 where a param was added to allow disabling all API at once)

See the table below for a proposal of a split based on what kind of entity (model / link / joint / etc) an API targets.

I also considered a split which takes into account whether an API provides access to ground truth that wouldn't be available in the real world, or whether it allows altering simulation with a god's hand, i.e. in a way a robot wouldn't be able to in the real world. But after marking the API below with these 2 characteristics (to the best of my knowledge), it became clear to me that they really go hand-in-hand, and maybe the most useful approach would make each API disable-able within their plugins.

Another question I have is whether the new plugins should be in gazebo_plugins instead of gazebo_ros.

API	Ground truth	God's hand	Proposed category	Comments
apply_joint_effort		✓	gazebo_ros_force_system	:heavy_check_mark: #941
clear_joint_forces		✓	gazebo_ros_force_system	:heavy_check_mark: #941
get_joint_properties			gazebo_ros_properties	:heavy_check_mark: #868 #972
set_joint_properties		✓	gazebo_ros_properties	:heavy_check_mark: #868 #972
clear_body_wrenches		✓	gazebo_ros_force_system	:heavy_check_mark: #941
apply_body_wrench		✓	gazebo_ros_force_system	:heavy_check_mark: #941
link_states	✓		gazebo_ros_state	:heavy_check_mark: #969
get_link_properties			gazebo_ros_properties	:heavy_check_mark: #868 #972
set_link_properties		✓	gazebo_ros_properties	:heavy_check_mark: #868 #972
get_link_state	✓		gazebo_ros_state	:heavy_check_mark: #839
set_link_state		✓	gazebo_ros_state	:heavy_check_mark: #839
model_states	✓		gazebo_ros_state	:heavy_check_mark: #968
get_model_state	✓		gazebo_ros_state	:heavy_check_mark: #839
set_model_state		✓	gazebo_ros_state	:heavy_check_mark: #839
set_model_configuration		✓	?	Maybe this belongs to joint?
get_model_properties	✓		gazebo_ros_properties	:heavy_check_mark: #868 #972
get_world_properties			gazebo_ros_properties	:warning: Deprecated, use get_model_list
get_physics_properties			gazebo_ros_properties	:construction: #973
set_physics_properties		✓	gazebo_ros_properties	:construction: #973
get_light_properties			gazebo_ros_properties	:heavy_check_mark: #868 #972
set_light_properties		✓	gazebo_ros_properties	:heavy_check_mark: #868 #972
spawn_sdf_model		✓	gazebo_ros_factory	:heavy_check_mark: #808
spawn_urdf_model		✓	gazebo_ros_factory	:heavy_check_mark: #808
delete_light		✓	gazebo_ros_factory	:heavy_check_mark: #808
delete_model		✓	gazebo_ros_factory	:heavy_check_mark: #808
clock			gazebo_ros_init	:heavy_check_mark: #794
pub_clock_frequency			gazebo_ros_init	:heavy_check_mark: #794
unpause_physics			gazebo_ros_init	:heavy_check_mark: #866
pause_physics			gazebo_ros_init	:heavy_check_mark: #866
reset_simulation		✓	gazebo_ros_init	:heavy_check_mark: #866
reset_world		✓	gazebo_ros_init	:heavy_check_mark: #866
enable_ros_network				:warning: Deprecated, just remove the undesired plugins

[kev-the-dev]

A couple ideas I have for the port:

• Remove the get_physics_properties and set_physics_properties services, which duplicate the functionality of the physics dynamic reconfigure in the current plugin. Replace with parameters for physics properties
• Remove get_world_properties. Replace with get_model_list (perhaps under factory?). The other attributes are sim_time (will come from clock) and rendering_enabled (currently unused)
• Have clock as a standalone plugin (perhaps the only function of the "time" category), move the unpause/pause and reset services to the "world" category. I think many users only use the clock functionality and implement everything else with their own case-specific plugins
• Combine spawn_sdf_model and spawn_urdf_model into spawn_model. The plugin already checks the type internally, so might as well keep the interface agnostic for the user
• Rename clear_body_wrench/apply_body_wrench to clear_link_wrench/apply_link_wrench to be more explicit with what this does
• Rename set_model_configuration to set_model_joint_positions

Otherwise this splitting looks good to me! It makes sense to me to just put all the plugins (including the sensors, etc) into gazebo_ros and not reintroduce gazebo_plugins.

[chapulina]

Started a migration page: ROS 2 Migration: gazebo_ros_api_plugin

[chapulina]

Migration page for spawn / delete: ROS 2 Migration: Spawn and delete

[chapulina]

I was thinking of dividing plugins into state and properties instead of by entity type (link / joint / model / world). I'm also inclined to deprecate apply/clear_body_wrench, since they duplicate gazebo_ros_force.

Thoughts, @j-rivero ?

[j-rivero]

I was thinking of dividing plugins into state and properties instead of by entity type (link / joint / model / world).

I can find more use cases for diving them into state and properties than by having them divided by type, so +1.

I'm also inclined to deprecate apply/clear_body_wrench, since they duplicate gazebo_ros_force.

I have no experience with both so can not comment anything against the removal.

[nzlz]

I would be interested in having properties migrated to ros2, in a gazebo_ros_properties plugin I guess. Please let me know if anyone is already doing this work, otherwise I can try to do it myself. Update: followed at PR https://github.com/ros-simulation/gazebo_ros_pkgs/pull/868.

[leander2189]

Regarding SetModelConfiguration service, is it already ported to ROS2?

If it isn't I might be able to do it, as I need it for my current project