Port to Humble.

diff --git a/twil_2dnav/CMakeLists.txt b/twil_2dnav/CMakeLists.txt
index 750afd8..809c232 100644 (file)
--- a/twil_2dnav/CMakeLists.txt
+++ b/twil_2dnav/CMakeLists.txt
@@ -11,7 +11,7 @@ find_package(twil_bringup REQUIRED)
 find_package(twil_description REQUIRED)
 find_package(navigation2 REQUIRED)
 
-install(DIRECTORY config launch rviz
+install(DIRECTORY config launch
        DESTINATION share/${PROJECT_NAME}
 )
 

diff --git a/twil_2dnav/rviz/twil_2dnav.rviz b/twil_2dnav/config/twil_2dnav.rviz
similarity index 100%
rename from twil_2dnav/rviz/twil_2dnav.rviz
rename to twil_2dnav/config/twil_2dnav.rviz

diff --git a/twil_2dnav/launch/gazebo.launch.xml b/twil_2dnav/launch/gazebo.launch.xml
index 40f88e2..804f362 100644 (file)
--- a/twil_2dnav/launch/gazebo.launch.xml
+++ b/twil_2dnav/launch/gazebo.launch.xml
@@ -46,7 +46,7 @@
                <arg name="controller" value="$(var controller)"/>
        </include>
 
-       <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share twil_2dnav)/rviz/twil_2dnav.rviz">
+       <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share twil_2dnav)/config/twil_2dnav.rviz">
                <param name="use_sim_time" value="$(var use_sim_time)"/>
        </node>
 

diff --git a/twil_2dnav/launch/nav2_navigator.launch.xml b/twil_2dnav/launch/nav2_navigator.launch.xml
index 571bea1..bbed5f4 100644 (file)
--- a/twil_2dnav/launch/nav2_navigator.launch.xml
+++ b/twil_2dnav/launch/nav2_navigator.launch.xml
@@ -30,7 +30,7 @@
                <param name="yaml_filename" value="$(var map)"/>
        </node>
 
-       <node pkg="tf2_ros" exec="static_transform_publisher" name="odom_frame_publisher" args="0 0 0 0 0 0 1 map odom"/>
+       <node pkg="tf2_ros" exec="static_transform_publisher" name="odom_frame_publisher" args="--frame-id map --child-frame-id odom"/>
 
        <node pkg="nav2_controller" exec="controller_server" name="controller_server">
                <param name="use_sim_time" value="$(var use_sim_time)"/>
@@ -44,13 +44,14 @@
                <param from="$(find-pkg-share twil_2dnav)/config/planner_params.yaml"/>
        </node>
 
+       <!--
        <node pkg="nav2_recoveries" exec="recoveries_server" name="recoveries_server">
                <param name="use_sim_time" value="$(var use_sim_time)"/>
                <param from="$(find-pkg-share twil_2dnav)/config/recoveries_params.yaml"/>
                <param name="robot_base_frame" value="twil_origin"/>
                <remap from="cmd_vel" to="$(var controller)/command"/>
        </node>
-
+       -->
        <node pkg="nav2_bt_navigator" exec="bt_navigator" name="bt_navigator">
                <param name="use_sim_time" value="$(var use_sim_time)"/>
                <param from="$(find-pkg-share twil_2dnav)/config/bt_navigator_params.yaml"/>

diff --git a/twil_bringup/config/dynamics_linearizing_controller.yaml b/twil_bringup/config/dynamics_linearizing_controller.yaml
index 45776c7..6fa5662 100644 (file)
--- a/twil_bringup/config/dynamics_linearizing_controller.yaml
+++ b/twil_bringup/config/dynamics_linearizing_controller.yaml
@@ -1,6 +1,6 @@
 # Watch-out: The indentation here is relevant to the semantic!
 
-/joint_state_broadcaster:
+joint_state_broadcaster:
   ros__parameters:
     extra_joints:
       - caster_wheel_joint
@@ -9,7 +9,7 @@
       - front_caster_base_joint
       - tower_joint
 
-/dynamics_linearizing_controller:
+dynamics_linearizing_controller:
   ros__parameters:
     joints:
       - left_wheel_joint

diff --git a/twil_bringup/config/joint_effort_controller.yaml b/twil_bringup/config/joint_effort_controller.yaml
index 5674062..a27a7ec 100644 (file)
--- a/twil_bringup/config/joint_effort_controller.yaml
+++ b/twil_bringup/config/joint_effort_controller.yaml
@@ -1,4 +1,4 @@
-/joint_state_broadcaster:
+joint_state_broadcaster:
         ros__parameters:
                 extra_joints:
                         - caster_wheel_joint
@@ -7,12 +7,12 @@
                         - front_caster_base_joint
                         - tower_joint
 
-/left_wheel_joint_effort_controller:
+left_wheel_joint_effort_controller:
         ros__parameters:
                 joints: [left_wheel_joint]
                 interface_name: effort
 
-/right_wheel_joint_effort_controller:
+right_wheel_joint_effort_controller:
         ros__parameters:
                 joints: [right_wheel_joint]
                 interface_name: effort

diff --git a/twil_bringup/config/joint_velocity_controller.yaml b/twil_bringup/config/joint_velocity_controller.yaml
index 721414c..43f0748 100644 (file)
--- a/twil_bringup/config/joint_velocity_controller.yaml
+++ b/twil_bringup/config/joint_velocity_controller.yaml
@@ -1,4 +1,4 @@
-/joint_state_broadcaster:
+joint_state_broadcaster:
         ros__parameters:
                 extra_joints:
                         - caster_wheel_joint
@@ -7,13 +7,13 @@
                         - front_caster_base_joint
                         - tower_joint
 
-/left_wheel_joint_velocity_controller:
+left_wheel_joint_velocity_controller:
         ros__parameters:
                 joint: left_wheel_joint
                 pid: {p: 0.0, i: 0.0, d: 0.0}
                 interface_name: effort
 
-/right_wheel_joint_velocity_controller:
+right_wheel_joint_velocity_controller:
         ros__parameters:
                 joint: right_wheel_joint
                 pid: {p: 0.0, i: 0.0, d: 0.0}

diff --git a/twil_bringup/config/nonsmooth_backstep_controller.yaml b/twil_bringup/config/nonsmooth_backstep_controller.yaml
index ed92ab9..83aef65 100644 (file)
--- a/twil_bringup/config/nonsmooth_backstep_controller.yaml
+++ b/twil_bringup/config/nonsmooth_backstep_controller.yaml
@@ -1,6 +1,6 @@
 # Watch-out: The indentation here is relevant to the semantic!
 
-/joint_state_broadcaster:
+joint_state_broadcaster:
   ros__parameters:
     extra_joints:
       - caster_wheel_joint
@@ -9,7 +9,7 @@
       - front_caster_base_joint
       - tower_joint
 
-/nonsmooth_backstep_controller:
+nonsmooth_backstep_controller:
   ros__parameters:
     joints:
       - left_wheel_joint

diff --git a/twil_bringup/config/nonsmooth_backstep_controller_step.yaml b/twil_bringup/config/nonsmooth_backstep_controller_step.yaml
index 66652e9..1e745e9 100644 (file)
--- a/twil_bringup/config/nonsmooth_backstep_controller_step.yaml
+++ b/twil_bringup/config/nonsmooth_backstep_controller_step.yaml
@@ -1,6 +1,6 @@
 # Watch-out: The indentation here is relevant to the semantic!
 
-/joint_state_broadcaster:
+joint_state_broadcaster:
   ros__parameters:
     extra_joints:
       - caster_wheel_joint
@@ -9,7 +9,7 @@
       - front_caster_base_joint
       - tower_joint
 
-/nonsmooth_backstep_controller:
+nonsmooth_backstep_controller:
   ros__parameters:
     joints:
       - left_wheel_joint

diff --git a/twil_bringup/config/odometry_publisher.yaml b/twil_bringup/config/odometry_publisher.yaml
index 528a971..4c7708f 100644 (file)
--- a/twil_bringup/config/odometry_publisher.yaml
+++ b/twil_bringup/config/odometry_publisher.yaml
@@ -1,6 +1,6 @@
 # Watch-out: The indentation here is relevant to the semantic!
 
-/odometry_publisher:
+odometry_publisher:
   ros__parameters:
     wheel_separation: 0.322
     wheel_radius: [0.075, 0.075]

diff --git a/twil_bringup/config/twist_mrac_linearizing_controller.yaml b/twil_bringup/config/twist_mrac_linearizing_controller.yaml
index 21380d5..acfedd0 100644 (file)
--- a/twil_bringup/config/twist_mrac_linearizing_controller.yaml
+++ b/twil_bringup/config/twist_mrac_linearizing_controller.yaml
@@ -1,6 +1,6 @@
 # Watch-out: The indentation here is relevant to the semantic!
 
-/joint_state_broadcaster:
+joint_state_broadcaster:
   ros__parameters:
     extra_joints:
       - caster_wheel_joint
@@ -9,7 +9,7 @@
       - front_caster_base_joint
       - tower_joint
 
-/twist_mrac_linearizing_controller:
+twist_mrac_linearizing_controller:
   ros__parameters:
     joints:
       - left_wheel_joint

diff --git a/twil_bringup/launch/gazebo8.launch.xml b/twil_bringup/launch/gazebo8.launch.xml
index 1d2cbe4..fa3a592 100644 (file)
--- a/twil_bringup/launch/gazebo8.launch.xml
+++ b/twil_bringup/launch/gazebo8.launch.xml
@@ -56,9 +56,10 @@
                <remap from="command" to="/$(var controller)/command" />
        </node>
 
-       <node pkg="tf2_ros" exec="static_transform_publisher" name="odom_frame_publisher" args="0 0 0 0 0 0 1 map odom" />
+       <node pkg="tf2_ros" exec="static_transform_publisher" name="odom_frame_publisher" args="--frame-id map --child-frame-id odom"/>
 
        <include file="$(find-pkg-share twil_description)/launch/display.launch.xml">
                <arg name="use_sim_time" value="$(var use_sim_time)"/>
+               <arg name="gui" value="false"/>
        </include>
 </launch>

diff --git a/twil_description/CMakeLists.txt b/twil_description/CMakeLists.txt
index 7505676..1ed370c 100644 (file)
--- a/twil_description/CMakeLists.txt
+++ b/twil_description/CMakeLists.txt
@@ -8,7 +8,7 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 
-install(DIRECTORY config launch meshes rviz xacro
+install(DIRECTORY config launch meshes xacro
        DESTINATION share/${PROJECT_NAME}
 )
 

diff --git a/twil_description/rviz/display.rviz b/twil_description/config/display.rviz
similarity index 100%
rename from twil_description/rviz/display.rviz
rename to twil_description/config/display.rviz

diff --git a/twil_description/launch/display.launch.xml b/twil_description/launch/display.launch.xml
index 18e59ae..1e0a142 100644 (file)
--- a/twil_description/launch/display.launch.xml
+++ b/twil_description/launch/display.launch.xml
@@ -21,17 +21,17 @@
 
 <launch>
        <arg name="wam" default="false"/>
-       <arg name="use_gui" default="false"/>
+       <arg name="gui" default="false"/>
        <arg name="d435" default="false"/>
        <arg name="use_sim_time" default="false"/>
 
-       <node pkg="tf2_ros" exec="static_transform_publisher" name="twil_origin_publisher" args="0 0 0 0 0 0 1 map twil_origin" />
-       <node if="$(var use_gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui" />
+       <node pkg="tf2_ros" exec="static_transform_publisher" name="twil_origin_publisher" args="--frame-id map --child-frame-id twil_origin" />
+       <node if="$(var gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui" />
        <include file="$(find-pkg-share twil_description)/launch/twil.launch.xml">
                <arg name="wam" value="$(var wam)" />
                <arg name="d435" value="$(var d435)" />
        </include>
-       <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share twil_description)/rviz/display.rviz">
+       <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share twil_description)/config/display.rviz">
                <param name="use_sim_time" value='$(var use_sim_time)'/>
        </node>
 </launch>