Upgrade Linorobot2 to ROS2 Humble Gtazebo Harmonic pairing

[Charles de Montaigu]

Hi Juan Miguel,

I and others have been working on the upgrade of linorobot from gazebo classic to Gazebo Fortress. Now that Gazebo Harmonic and ros_gzharmonic are out and available in Debian packages we would like to open a PR to merge our code base with yours.

Since we are on a long term LTS pairing, I think it is ok to open a PR against the default humble branch.

Please advise if you have comments,

Thanks,

Charles

[jime...@gmail.com]

Hey Charles,

Would love the review the PR. Just a quick check does your PR have the following ported?

- Sensors (https://github.com/linorobot/linorobot2/tree/humble-sim/linorobot2_description/urdf/sensors):

a. Laser

b. Depth

c. Imu

d. Odometry

- Controllers (https://github.com/linorobot/linorobot2/tree/humble-sim/linorobot2_description/urdf/controllers):

a. Differential Drive

b. Omni Drive

c. Skid Steer

- Robot Properties (https://github.com/linorobot/linorobot2/tree/humble-sim/linorobot2_description/urdf/robots):

Btw, the links I've included have been ported, but never been synced to the recent changes added.

Would you love to continue this discussion here: https://github.com/linorobot/linorobot2/pulls

Thank you!

[Charles de Montaigu]

Cool,

We have Diff drive Teleop working with odom using ekf. For now we have simple playground for fortress & empty for harmonic based on your humble-sim branch. Looking for a simple SDF to validate nav2 mapping/ slam on harmonic. Will have a touch up on doc for migration before PR into humble-sim

We will look @ the other controllers but I think it's à good starting point for the new year !

Charles

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