Jazzy Release

[gaspatxo]

Jazzy is an LTS version and sooner or later support for it should be developed

Moveit2 is not fully there yet due to the new gz_ros2_control packages; first that should be sorted out.

This also implies a transition from Gazebo Classic to Ignition Gazebo.

[nbubis]

To support jazzy, I had to modify some files and get rid of gazebo. Here's a patch for the modifications needed:

diff --git a/xarm_controller/src/hardware/uf_robot_system_hardware.cpp b/xarm_controller/src/hardware/uf_robot_system_hardware.cpp
index 79b45da..3001c3b 100644
--- a/xarm_controller/src/hardware/uf_robot_system_hardware.cpp
+++ b/xarm_controller/src/hardware/uf_robot_system_hardware.cpp
@@ -405,11 +405,11 @@ namespace uf_robot_hardware
     void UFRobotSystemHardware::_reload_controller(void) {
         int ret = _call_request(client_list_controller_, req_list_controller_, res_list_controller_);
         if (ret == 0 && res_list_controller_->controller.size() > 0) {
-            req_switch_controller_->start_controllers.resize(res_list_controller_->controller.size());
-            req_switch_controller_->stop_controllers.resize(res_list_controller_->controller.size());
+            req_switch_controller_->activate_controllers.resize(res_list_controller_->controller.size());
+            req_switch_controller_->deactivate_controllers.resize(res_list_controller_->controller.size());
             for (uint i = 0; i < res_list_controller_->controller.size(); i++) {
-                req_switch_controller_->start_controllers[i] = res_list_controller_->controller[i].name;
-                req_switch_controller_->stop_controllers[i] = res_list_controller_->controller[i].name;
+                req_switch_controller_->activate_controllers[i] = res_list_controller_->controller[i].name;
+                req_switch_controller_->deactivate_controllers[i] = res_list_controller_->controller[i].name;
             }
             req_switch_controller_->strictness = controller_manager_msgs::srv::SwitchController::Request::BEST_EFFORT;
             _call_request(client_switch_controller_, req_switch_controller_, res_switch_controller_);
diff --git a/xarm_moveit_config/config/moveit_configs/ompl_planning.yaml b/xarm_moveit_config/config/moveit_configs/ompl_planning.yaml
index 99b4a9b..643beb2 100644
--- a/xarm_moveit_config/config/moveit_configs/ompl_planning.yaml
+++ b/xarm_moveit_config/config/moveit_configs/ompl_planning.yaml
@@ -1,10 +1,20 @@
-planning_plugin: ompl_interface/OMPLPlanner
+planning_plugin: [ompl_interface/OMPLPlanner]
 start_state_max_bounds_error: 0.1
 jiggle_fraction: 0.05
-request_adapters: >-
-    default_planner_request_adapters/AddTimeOptimalParameterization
-    default_planner_request_adapters/ResolveConstraintFrames
-    default_planner_request_adapters/FixWorkspaceBounds
-    default_planner_request_adapters/FixStartStateBounds
-    default_planner_request_adapters/FixStartStateCollision
-    default_planner_request_adapters/FixStartStatePathConstraints
\ No newline at end of file
+# request_adapters: >-
+#     default_planner_request_adapters/AddTimeOptimalParameterization
+#     default_planner_request_adapters/ResolveConstraintFrames
+#     default_planner_request_adapters/FixWorkspaceBounds
+#     default_planner_request_adapters/FixStartStateBounds
+#     default_planner_request_adapters/FixStartStateCollision
+#     default_planner_request_adapters/FixStartStatePathConstraints
+
+request_adapters:
+    - default_planning_request_adapters/ResolveConstraintFrames
+    - default_planning_request_adapters/ValidateWorkspaceBounds
+    - default_planning_request_adapters/CheckStartStateBounds
+    - default_planning_request_adapters/CheckStartStateCollision
+response_adapters:
+    - default_planning_response_adapters/AddTimeOptimalParameterization
+    - default_planning_response_adapters/ValidateSolution
+    - default_planning_response_adapters/DisplayMotionPath