Added ignition Gazebo support

turtlebot3_ignition/CMakeLists.txt

@@ -0,0 +1,33 @@
+################################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 3.5)
+project(turtlebot3_ignition)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+################################################################################
+# Find ament packages and libraries for ament and system dependencies
+################################################################################
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+install(DIRECTORY launch urdf config rviz gui worlds
+  DESTINATION share/${PROJECT_NAME}
+)
+
+add_executable(cmd_republisher src/republisher_cmd.cpp)
+ament_target_dependencies(cmd_republisher rclcpp geometry_msgs)
+
+install(TARGETS
+  cmd_republisher
+  DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

turtlebot3_ignition/config/turtlebot3_burger.yaml

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+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    diff_drive_base_controller:
+      type: diff_drive_controller/DiffDriveController
+
+    imu_sensor_broadcaster:
+      type: imu_sensor_broadcaster/IMUSensorBroadcaster
+
+imu_sensor_broadcaster:
+  ros__parameters:
+    sensor_name: imu_sensor
+    frame_id: imu
+
+
+diff_drive_base_controller:
+  ros__parameters:
+    use_sim_time: True
+    left_wheel_names: ["wheel_left_joint"]
+    right_wheel_names: ["wheel_right_joint"]
+
+    wheel_separation: 0.160
+    #wheels_per_side: 1  # actually 2, but both are controlled by 1 signal
+    wheel_radius: 0.033
+
+    wheel_separation_multiplier: 1.0
+    left_wheel_radius_multiplier: 1.0
+    right_wheel_radius_multiplier: 1.0
+
+    publish_rate: 50.0
+    odom_frame_id: odom
+    base_frame_id: base_footprint
+    pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
+    twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
+
+    open_loop: false
+    enable_odom_tf: true
+
+    cmd_vel_timeout: 100.0
+    #publish_limited_velocity: true
+    use_stamped_vel: false
+    #velocity_rolling_window_size: 10
+
+    # Velocity and acceleration limits
+    # Whenever a min_* is unspecified, default to -max_*
+    linear.x.has_velocity_limits: true
+    linear.x.has_acceleration_limits: true
+    linear.x.has_jerk_limits: false
+    linear.x.max_velocity: 1.0
+    linear.x.min_velocity: -1.0
+    linear.x.max_acceleration: 1.0
+    linear.x.max_jerk: 0.0
+    linear.x.min_jerk: 0.0
+
+    angular.z.has_velocity_limits: true
+    angular.z.has_acceleration_limits: true
+    angular.z.has_jerk_limits: false
+    angular.z.max_velocity: 1.0
+    angular.z.min_velocity: -1.0
+    angular.z.max_acceleration: 1.0
+    angular.z.min_acceleration: -1.0
+    angular.z.max_jerk: 0.0
+    angular.z.min_jerk: 0.0

turtlebot3_ignition/config/turtlebot3_waffle.yaml

@@ -0,0 +1,67 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    diff_drive_base_controller:
+      type: diff_drive_controller/DiffDriveController
+
+    imu_sensor_broadcaster:
+      type: imu_sensor_broadcaster/IMUSensorBroadcaster
+
+imu_sensor_broadcaster:
+  ros__parameters:
+    sensor_name: imu_sensor
+    frame_id: imu
+
+
+diff_drive_base_controller:
+  ros__parameters:
+    use_sim_time: True
+    left_wheel_names: ["wheel_left_joint"]
+    right_wheel_names: ["wheel_right_joint"]
+
+    wheel_separation: 0.287
+    #wheels_per_side: 1  # actually 2, but both are controlled by 1 signal
+    wheel_radius: 0.033
+
+    wheel_separation_multiplier: 1.0
+    left_wheel_radius_multiplier: 1.0
+    right_wheel_radius_multiplier: 1.0
+
+    publish_rate: 50.0
+    odom_frame_id: odom
+    base_frame_id: base_footprint
+    pose_covariance_diagonal : [0.001, 0.001, 0.0, 0.0, 0.0, 0.01]
+    twist_covariance_diagonal: [0.001, 0.0, 0.0, 0.0, 0.0, 0.01]
+
+    open_loop: false
+    enable_odom_tf: true
+
+    cmd_vel_timeout: 100.0
+    #publish_limited_velocity: true
+    use_stamped_vel: false
+    #velocity_rolling_window_size: 10
+
+    # Velocity and acceleration limits
+    # Whenever a min_* is unspecified, default to -max_*
+    linear.x.has_velocity_limits: true
+    linear.x.has_acceleration_limits: true
+    linear.x.has_jerk_limits: false
+    linear.x.max_velocity: 1.0
+    linear.x.min_velocity: -1.0
+    linear.x.max_acceleration: 1.0
+    linear.x.max_jerk: 0.0
+    linear.x.min_jerk: 0.0
+
+    angular.z.has_velocity_limits: true
+    angular.z.has_acceleration_limits: true
+    angular.z.has_jerk_limits: false
+    angular.z.max_velocity: 1.0
+    angular.z.min_velocity: -1.0
+    angular.z.max_acceleration: 1.0
+    angular.z.min_acceleration: -1.0
+    angular.z.max_jerk: 0.0
+    angular.z.min_jerk: 0.0

turtlebot3_ignition/config/turtlebot3_waffle_pi.yaml

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+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    diff_drive_base_controller:
+      type: diff_drive_controller/DiffDriveController
+
+    imu_sensor_broadcaster:
+      type: imu_sensor_broadcaster/IMUSensorBroadcaster
+
+imu_sensor_broadcaster:
+  ros__parameters:
+    sensor_name: imu_sensor
+    frame_id: imu
+
+
+diff_drive_base_controller:
+  ros__parameters:
+    use_sim_time: True
+
+    left_wheel_names: ["wheel_left_joint"]
+    right_wheel_names: ["wheel_right_joint"]
+
+    wheel_separation: 0.287
+    #wheels_per_side: 1  # actually 2, but both are controlled by 1 signal
+    wheel_radius: 0.033
+
+    wheel_separation_multiplier: 1.0
+    left_wheel_radius_multiplier: 1.0
+    right_wheel_radius_multiplier: 1.0
+
+    publish_rate: 50.0
+    odom_frame_id: odom
+    base_frame_id: base_footprint
+    pose_covariance_diagonal : [0.001, 0.001, 0.0, 0.0, 0.0, 0.01]
+    twist_covariance_diagonal: [0.001, 0.0, 0.0, 0.0, 0.0, 0.01]
+
+    open_loop: false
+    enable_odom_tf: true
+
+    cmd_vel_timeout: 100.0
+    #publish_limited_velocity: true
+    use_stamped_vel: false
+    #velocity_rolling_window_size: 10
+
+    # Velocity and acceleration limits
+    # Whenever a min_* is unspecified, default to -max_*
+    linear.x.has_velocity_limits: true
+    linear.x.has_acceleration_limits: true
+    linear.x.has_jerk_limits: false
+    linear.x.max_velocity: 1.0
+    linear.x.min_velocity: -1.0
+    linear.x.max_acceleration: 1.0
+    linear.x.max_jerk: 0.0
+    linear.x.min_jerk: 0.0
+
+    angular.z.has_velocity_limits: true
+    angular.z.has_acceleration_limits: true
+    angular.z.has_jerk_limits: false
+    angular.z.max_velocity: 1.0
+    angular.z.min_velocity: -1.0
+    angular.z.max_acceleration: 1.0
+    angular.z.min_acceleration: -1.0
+    angular.z.max_jerk: 0.0
+    angular.z.min_jerk: 0.0