Migration to Modern Gazebo - Harmonic

[jime...@gmail.com]

This is a notification that we will be migrating the simulation stack to Gazebo - Harmonic since Gazebo Classic has reached its EOL. It will still be available in gz-classic https://github.com/linorobot/linorobot2/tree/gz-classic branch but no more further development will be done related to Gazebo Classic once the the modern simulator has been migrated.

You can check out the current PR Review here: https://github.com/linorobot/linorobot2/pull/140. Feel free to test the branch.

Thank you!

[Ross Lunan]

The Docker addition  is an interesting and helpful. Was able to clone and Bulid into a colcon workspace. Do you have any suggested Docker Build and Docker Run scripts that exposes a ros workspace inside & outside the container , with GUI rviz and gz sim displays on a Ubuntu 22.04 Desktop? I am also interested in developing a further migration to jazzy, as Docker ROS 2 images are available for Intel x88-64 amd64 and arm64/aarch64 cpu such as for MAC M1 and Nvidia.

[jime...@gmail.com]

I've moved all my workflow into using this tool I developed. https://github.com/grassjelly/daisy . It converts a ROS2 workspace into a Dockerised version and comes with nice tooling like tmux and a more efficient version of VNC. These can come in handy if you're running the sim in a server (for instance. GCP instance).