From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Thu, 16 Mar 2023 19:10:39 +0000 (-0300)
Subject: Add support for ros2_control in Gazebo Ignition.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=f51082f7c7c335ac283423794ce4dd219f1915cd;p=ufrgs_wam.git

Add support for ros2_control in Gazebo Ignition.
---

diff --git a/bhand_bringup/launch/ignition.launch.xml b/bhand_bringup/launch/ignition.launch.xml
new file mode 100644
index 0000000..a88bf87
--- /dev/null
+++ b/bhand_bringup/launch/ignition.launch.xml
@@ -0,0 +1,40 @@
+<!--******************************************************************************
+	                    Barret Hand Bringup
+	                     Ignition Launch File
+          Copyright (C) 2023 Walter Fetter Lages <w.fetter@ieee.org>
+
+        This program is free software: you can redistribute it and/or modify
+        it under the terms of the GNU General Public License as published by
+        the Free Software Foundation, either version 3 of the License, or
+        (at your option) any later version.
+
+        This program is distributed in the hope that it will be useful, but
+        WITHOUT ANY WARRANTY; without even the implied warranty of
+        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+        Geneal Public License for more details.
+
+        You should have received a copy of the GNU General Public License
+        along with this program.  If not, see
+        <http://www.gnu.org/licenses/>.
+        
+*******************************************************************************-->
+
+<launch>
+	<arg name="pause" default="true"/>
+	<arg name="gui" default="true"/>
+	<arg name="use_sim_time" default="true"/>
+
+	<arg name="controller" default="bhand_controller"/>
+	<arg name="config" default="$(find-pkg-share bhand_bringup)/config/$(var controller).yaml"/>
+	
+	<include file="$(find-pkg-share bhand_description)/launch/ignition.launch.xml" >
+		<arg name="pause" value="$(var pause)"/>
+		<arg name="gui" value="$(var gui)"/>
+		<arg name="use_sim_time" value="$(var use_sim_time)"/>
+	</include>
+
+	<include file="$(find-pkg-share bhand_bringup)/launch/$(var controller).launch.xml" >
+		<arg name="config" value="$(var config)"/>
+		<arg name="use_sim_time" value="$(var use_sim_time)"/>
+	</include>
+</launch>
diff --git a/bhand_description/launch/bhand.launch.xml b/bhand_description/launch/bhand.launch.xml
index 631d77d..91c96aa 100644
--- a/bhand_description/launch/bhand.launch.xml
+++ b/bhand_description/launch/bhand.launch.xml
@@ -1,9 +1,10 @@
 <launch>
 	<arg name="world" default="false"/>
 	<arg name="use_sim_time" default="false"/>
+	<arg name="ignition" default="false"/>
 
 	<node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
-		<param name="robot_description" value="$(command 'xacro $(find-pkg-share bhand_description)/xacro/bhand.urdf.xacro world:=$(var world)')" type="str"/>
+		<param name="robot_description" value="$(command 'xacro $(find-pkg-share bhand_description)/xacro/bhand.urdf.xacro world:=$(var world) ignition:=$(var ignition)')" type="str"/>
 		<param name="use_sim_time" value="$(var use_sim_time)"/>
 	</node>
 </launch>
diff --git a/bhand_description/launch/ignition.launch.xml b/bhand_description/launch/ignition.launch.xml
index 1776afb..3621bd1 100644
--- a/bhand_description/launch/ignition.launch.xml
+++ b/bhand_description/launch/ignition.launch.xml
@@ -1,7 +1,7 @@
 <!--******************************************************************************
 	                    Bhand  Description
-	                  Gazebo Ignitio Launch File
-          Copyright (C) 2022 Walter Fetter Lages <w.fetter@ieee.org>
+	                 Gazebo Ignition Launch File
+          Copyright (C) 2022, 2023 Walter Fetter Lages <w.fetter@ieee.org>
 
         This program is free software: you can redistribute it and/or modify
         it under the terms of the GNU General Public License as published by
@@ -25,24 +25,25 @@
 	<arg name="use_sim_time" default="true"/>
 	<arg name="world" default="true"/>
 
-	<arg unless="$(var pause)" name="ign_pause" default="-r"/>
-	<arg if="$(var pause)" name="ign_pause" default=""/>
+	<arg unless="$(var pause)" name="gz_pause" default="-r"/>
+	<arg if="$(var pause)" name="gz_pause" default=""/>
 	
-	<arg unless="$(var gui)" name="ign_gui" default="-s"/>
-	<arg if="$(var gui)" name="ign_gui" default=""/>
+	<arg unless="$(var gui)" name="gz_gui" default="-s"/>
+	<arg if="$(var gui)" name="gz_gui" default=""/>
 
-	<include file="$(find-pkg-share ros_ign_gazebo)/launch/ign_gazebo.launch.py">
-		<arg name="ign_args" value="$(var ign_pause) $(var ign_gui) empty.sdf"/>
+	<include file="$(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py">
+		<arg name="gz_args" value="$(var gz_pause) $(var gz_gui) empty.sdf"/>
 	</include>
 	
 	<include file="$(find-pkg-share bhand_description)/launch/bhand.launch.xml">
 		<arg name="world" value="$(var world)"/>
 		<arg name="use_sim_time" value="$(var use_sim_time)"/>
+		<arg name="ignition" value="true"/>
 	</include>
 
-	<node name="bhand_spawner" pkg="ros_ign_gazebo" exec="create" args="-topic robot_description -name bhand"/>
+	<node name="bhand_spawner" pkg="ros_gz_sim" exec="create" args="-topic robot_description -name bhand"/>
 
-	<node name="clock_bridge" pkg="ros_ign_bridge" exec="parameter_bridge" args="/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock">
+	<node name="clock_bridge" pkg="ros_gz_bridge" exec="parameter_bridge" args="/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock">
 		<param name="use_sim_time" value="$(var use_sim_time)"/>
 	</node>
 </launch>
diff --git a/bhand_description/xacro/bhand.urdf.xacro b/bhand_description/xacro/bhand.urdf.xacro
index 47f8a80..5b40b37 100644
--- a/bhand_description/xacro/bhand.urdf.xacro
+++ b/bhand_description/xacro/bhand.urdf.xacro
@@ -1,13 +1,14 @@
 <?xml version="1.0"?>
 <robot name="bhand" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:arg name="world" default="false" />
+  <xacro:arg name="world" default="false"/>
+  <xacro:arg name="ignition" default="false"/>
 
-  <xacro:property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="M_PI" value="3.1415926535897931"/>
   
-  <xacro:include filename="$(find bhand_description)/xacro/bhand_base.urdf.xacro" />
-  <xacro:include filename="$(find bhand_description)/xacro/bhand_link1.urdf.xacro" />
-  <xacro:include filename="$(find bhand_description)/xacro/bhand_link2.urdf.xacro" />
-  <xacro:include filename="$(find bhand_description)/xacro/bhand_link3.urdf.xacro" />
+  <xacro:include filename="$(find bhand_description)/xacro/bhand_base.urdf.xacro"/>
+  <xacro:include filename="$(find bhand_description)/xacro/bhand_link1.urdf.xacro"/>
+  <xacro:include filename="$(find bhand_description)/xacro/bhand_link2.urdf.xacro"/>
+  <xacro:include filename="$(find bhand_description)/xacro/bhand_link3.urdf.xacro"/>
 
   <link name="bhand_origin"/>
 
@@ -30,12 +31,12 @@
 				<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
 			</inertial>
 		</inertial_attr>
-		<origin xyz="-0.02475 0.0 ${0.1325-0.06}" rpy="0.0 0.0 0.0" /> 
-		<limit effort="30.0" velocity="1.5" lower="0" upper="${M_PI}" />
+		<origin xyz="-0.02475 0.0 ${0.1325-0.06}" rpy="0.0 0.0 0.0"/> 
+		<limit effort="30.0" velocity="1.5" lower="0" upper="${M_PI}"/>
 		<mimic_attr/>
   </xacro:bhand_link1>
 
-  <xacro:bhand_transmission joint="spread" />
+  <xacro:bhand_transmission joint="spread"/>
 
   <xacro:bhand_link1 parent="base_link" link="finger1_link_1" joint="spread_mimic" type="revolute">
   		<inertial_attr>
@@ -50,14 +51,14 @@
 				<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
 			</inertial>
 		</inertial_attr>                 
-		<origin xyz="0.02475 0.0 ${0.1325-0.06}" rpy="0.0 0.0 0.0" /> 
-		<limit effort="30" velocity="1.5" lower="-${M_PI}" upper="0" />
+		<origin xyz="0.02475 0.0 ${0.1325-0.06}" rpy="0.0 0.0 0.0"/> 
+		<limit effort="30" velocity="1.5" lower="-${M_PI}" upper="0"/>
 		<mimic_attr>
-			<mimic joint="bhand_spread" multiplier="-1.0" offset="0.0" />
+			<mimic joint="bhand_spread" multiplier="-1.0" offset="0.0"/>
 		</mimic_attr>
   </xacro:bhand_link1>
 
-  <xacro:bhand_transmission joint="spread_mimic" />
+  <xacro:bhand_transmission joint="spread_mimic"/>
 
   <xacro:bhand_link1 parent="base_link" link="finger3_link_1" joint="finger3_joint_1" type="fixed">
     		<inertial_attr>
@@ -75,105 +76,35 @@
 			</inertial>
 		</inertial_attr>
     		<!--inertial_attr/-->
-		<origin xyz="0.0 0.0 ${0.1325-0.06}" rpy="0.0 0.0 ${M_PI}" /> 
-		<limit effort="0.0" velocity="0.0" lower="0.0" upper="0.0" />
+		<origin xyz="0.0 0.0 ${0.1325-0.06}" rpy="0.0 0.0 ${M_PI}"/> 
+		<limit effort="0.0" velocity="0.0" lower="0.0" upper="0.0"/>
 		<mimic_attr/>
   </xacro:bhand_link1>
 
-  <xacro:bhand_link2 parent="finger1_link_1" link="finger1_link_2" joint="finger1_joint_2" />
-  <xacro:bhand_link2 parent="finger2_link_1" link="finger2_link_2" joint="finger2_joint_2" />
-  <xacro:bhand_link2 parent="finger3_link_1" link="finger3_link_2" joint="finger3_joint_2" />
+  <xacro:bhand_link2 parent="finger1_link_1" link="finger1_link_2" joint="finger1_joint_2"/>
+  <xacro:bhand_link2 parent="finger2_link_1" link="finger2_link_2" joint="finger2_joint_2"/>
+  <xacro:bhand_link2 parent="finger3_link_1" link="finger3_link_2" joint="finger3_joint_2"/>
 
-  <xacro:bhand_link3 parent="finger1_link_2" link="finger1_link_3" joint="finger1_joint_3" mimic_joint="finger1_joint_2" />
-  <xacro:bhand_link3 parent="finger2_link_2" link="finger2_link_3" joint="finger2_joint_3" mimic_joint="finger2_joint_2" />
-  <xacro:bhand_link3 parent="finger3_link_2" link="finger3_link_3" joint="finger3_joint_3" mimic_joint="finger3_joint_2" />
+  <xacro:bhand_link3 parent="finger1_link_2" link="finger1_link_3" joint="finger1_joint_3" mimic_joint="finger1_joint_2"/>
+  <xacro:bhand_link3 parent="finger2_link_2" link="finger2_link_3" joint="finger2_joint_3" mimic_joint="finger2_joint_2"/>
+  <xacro:bhand_link3 parent="finger3_link_2" link="finger3_link_3" joint="finger3_joint_3" mimic_joint="finger3_joint_2"/>
 
-  <xacro:if value="$(arg world)" >
+  <xacro:if value="$(arg world)">
 
-	<link name="world" />
+	<link name="world"/>
 
 	<joint name="bhand_origin_joint" type="fixed">
 		<parent link="world"/>
-		<child link="bhand_origin" />
-		<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+		<child link="bhand_origin"/>
+		<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
 	</joint>
 
   </xacro:if>
 
-	<ros2_control name="BhandSystem" type="system">
-		<hardware>
-			<plugin>gazebo_ros2_control/GazeboSystem</plugin>
-		</hardware>
-
-		<joint name="bhand_finger1_joint_2">
-			<command_interface name="position">
-				<param name="min">0.0</param>
-				<param name="max">${140 * M_PI /180}</param>
-			</command_interface>
-			<state_interface name="position"/>
-		</joint>
-		
-		<joint name="bhand_finger1_joint_3">
- 			<param name="mimic">bhand_finger1_joint_2</param>
- 			<param name="multiplier">${48 / 140}</param>
- 			<command_interface name="position"/>
-			<state_interface name="position"/>
-		</joint>
-		
-		<joint name="bhand_finger2_joint_2">
-			<command_interface name="position">
-				<param name="min">0,9</param>
-				<param name="max">${140 * M_PI /180}</param>
-			</command_interface>
-			<state_interface name="position"/>
-		</joint>
-		
-		<joint name="bhand_finger2_joint_3">
- 			<param name="mimic">bhand_finger2_joint_2</param>
- 			<param name="multiplier">${48 / 140}</param>
- 			<command_interface name="position"/>
-			<state_interface name="position"/>
-		</joint>
-
-		<joint name="bhand_finger3_joint_2">
-			<command_interface name="position">
-				<param name="min">0.0</param>
-				<param name="max">${140 * M_PI /180}</param>
-			</command_interface>
-			<state_interface name="position"/>
-		</joint>
-
-		<joint name="bhand_finger3_joint_3">
- 			<param name="mimic">bhand_finger3_joint_2</param>
- 			<param name="multiplier">${48 / 140}</param>
- 			<command_interface name="position"/>
-			<state_interface name="position"/>
-		</joint>
-		
- 		<joint name="bhand_spread">
-			<command_interface name="position">
-				<param name="min">0.0</param>
-				<param name="max">${M_PI}</param>
-			</command_interface>
-			<state_interface name="position"/>
-		</joint>
-		
- 		<joint name="bhand_spread_mimic">
- 			<param name="mimic">bhand_spread</param>
- 			<param name="multiplier">-1.0</param>
- 			<command_interface name="position"/>
-			<state_interface name="position"/>
-		</joint>
-	</ros2_control>
-
+  <xacro:include filename="ros2_control.urdf.xacro"/>
+  
   <xacro:if value="$(arg world)">
-	<gazebo>
-		<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
-			<robot_param>robot_description</robot_param>
-			<robot_param_node>robot_state_publisher</robot_param_node>
-			<parameters>$(find bhand_description)/config/controller_manager.yaml</parameters>
-		</plugin>
-	</gazebo>
+	<xacro:include filename="gazebo.urdf.xacro"/>
   </xacro:if>
 
 </robot>
diff --git a/bhand_description/xacro/gazebo.urdf.xacro b/bhand_description/xacro/gazebo.urdf.xacro
new file mode 100644
index 0000000..8696a29
--- /dev/null
+++ b/bhand_description/xacro/gazebo.urdf.xacro
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+	<xacro:arg name="ignition" default="false"/>
+	
+	<!-- Gazebo Classic -->
+	<xacro:unless value="$(arg ignition)">
+		<gazebo>
+			<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+				<robot_param>robot_description</robot_param>
+				<robot_param_node>robot_state_publisher</robot_param_node>
+				<parameters>$(find bhand_description)/config/controller_manager.yaml</parameters>
+			</plugin>
+		</gazebo>
+	</xacro:unless>
+	
+	<!-- Gazebo Ignition -->
+	<xacro:if value="$(arg ignition)">
+		<gazebo>
+			<plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+				<robot_param>robot_description</robot_param>
+				<robot_param_node>robot_state_publisher</robot_param_node>
+				<parameters>$(find bhand_description)/config/controller_manager.yaml</parameters>
+			</plugin>
+		</gazebo>
+	</xacro:if>
+</robot>
diff --git a/bhand_description/xacro/ros2_control.urdf.xacro b/bhand_description/xacro/ros2_control.urdf.xacro
new file mode 100644
index 0000000..a1b52cc
--- /dev/null
+++ b/bhand_description/xacro/ros2_control.urdf.xacro
@@ -0,0 +1,78 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+	<ros2_control name="BhandSystem" type="system">
+		<!-- Gazebo Classic -->
+		<xacro:unless value="$(arg ignition)">
+			<hardware>
+				<plugin>gazebo_ros2_control/GazeboSystem</plugin>
+			</hardware>
+	</xacro:unless>
+	<xacro:if value="$(arg ignition)">
+                <!-- Gazebo Ignition -->
+		<hardware>
+			<plugin>ign_ros2_control/IgnitionSystem</plugin>
+		</hardware>
+	</xacro:if>
+
+		<joint name="bhand_finger1_joint_2">
+			<command_interface name="position">
+				<param name="min">0.0</param>
+				<param name="max">${140 * M_PI /180}</param>
+			</command_interface>
+			<state_interface name="position"/>
+		</joint>
+		
+		<joint name="bhand_finger1_joint_3">
+ 			<param name="mimic">bhand_finger1_joint_2</param>
+ 			<param name="multiplier">${48 / 140}</param>
+ 			<command_interface name="position"/>
+			<state_interface name="position"/>
+		</joint>
+		
+		<joint name="bhand_finger2_joint_2">
+			<command_interface name="position">
+				<param name="min">0,9</param>
+				<param name="max">${140 * M_PI /180}</param>
+			</command_interface>
+			<state_interface name="position"/>
+		</joint>
+		
+		<joint name="bhand_finger2_joint_3">
+ 			<param name="mimic">bhand_finger2_joint_2</param>
+ 			<param name="multiplier">${48 / 140}</param>
+ 			<command_interface name="position"/>
+			<state_interface name="position"/>
+		</joint>
+
+		<joint name="bhand_finger3_joint_2">
+			<command_interface name="position">
+				<param name="min">0.0</param>
+				<param name="max">${140 * M_PI /180}</param>
+			</command_interface>
+			<state_interface name="position"/>
+		</joint>
+
+		<joint name="bhand_finger3_joint_3">
+ 			<param name="mimic">bhand_finger3_joint_2</param>
+ 			<param name="multiplier">${48 / 140}</param>
+ 			<command_interface name="position"/>
+			<state_interface name="position"/>
+		</joint>
+		
+ 		<joint name="bhand_spread">
+			<command_interface name="position">
+				<param name="min">0.0</param>
+				<param name="max">${M_PI}</param>
+			</command_interface>
+			<state_interface name="position"/>
+		</joint>
+		
+ 		<joint name="bhand_spread_mimic">
+ 			<param name="mimic">bhand_spread</param>
+ 			<param name="multiplier">-1.0</param>
+ 			<command_interface name="position"/>
+			<state_interface name="position"/>
+		</joint>
+	</ros2_control>
+</robot>
diff --git a/wam_bringup/config/computed_torque_controller.yaml b/wam_bringup/config/computed_torque_controller.yaml
index 0575b87..422fbb3 100644
--- a/wam_bringup/config/computed_torque_controller.yaml
+++ b/wam_bringup/config/computed_torque_controller.yaml
@@ -1,4 +1,4 @@
-/computed_torque_controller:
+computed_torque_controller:
         ros__parameters:
                 joints:
                         - wam_joint_1
diff --git a/wam_bringup/config/pid_independent_joint_controller.yaml b/wam_bringup/config/pid_independent_joint_controller.yaml
index a188c75..f143aab 100644
--- a/wam_bringup/config/pid_independent_joint_controller.yaml
+++ b/wam_bringup/config/pid_independent_joint_controller.yaml
@@ -1,4 +1,4 @@
-/pid_independent_joint_controller:
+pid_independent_joint_controller:
         ros__parameters:
                 joints:
                         - wam_joint_1
diff --git a/wam_bringup/config/pid_plus_gravity_controller.yaml b/wam_bringup/config/pid_plus_gravity_controller.yaml
index a10c775..bad0c11 100644
--- a/wam_bringup/config/pid_plus_gravity_controller.yaml
+++ b/wam_bringup/config/pid_plus_gravity_controller.yaml
@@ -1,4 +1,4 @@
-/pid_plus_gravity_controller:
+pid_plus_gravity_controller:
         ros__parameters:
                 joints:
                         - wam_joint_1
diff --git a/wam_bringup/launch/ignition.launch.xml b/wam_bringup/launch/ignition.launch.xml
new file mode 100644
index 0000000..b0dbf9d
--- /dev/null
+++ b/wam_bringup/launch/ignition.launch.xml
@@ -0,0 +1,52 @@
+<!--******************************************************************************
+	                     Barrett WAM Bringup
+	                     Ignition Launch File
+          Copyright (C) 2023 Walter Fetter Lages <w.fetter@ieee.org>
+
+        This program is free software: you can redistribute it and/or modify
+        it under the terms of the GNU General Public License as published by
+        the Free Software Foundation, either version 3 of the License, or
+        (at your option) any later version.
+
+        This program is distributed in the hope that it will be useful, but
+        WITHOUT ANY WARRANTY; without even the implied warranty of
+        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+        Geneal Public License for more details.
+
+        You should have received a copy of the GNU General Public License
+        along with this program.  If not, see
+        <http://www.gnu.org/licenses/>.
+        
+*******************************************************************************-->
+
+<launch>
+	<arg name="pause" default="true"/>
+	<arg name="gui" default="true"/>
+	<arg name="use_sim_time" default="true"/>
+	<arg name="table" default="true"/>
+	<arg name="bhand" default="true"/>
+
+	<!-- This is the default Barrett WAM Controller, used by libbarrett -->
+	<arg name="controller" default="pid_plus_gravity_controller"/>
+	<arg name="config" default="$(find-pkg-share wam_bringup)/config/$(var controller).yaml"/>
+	
+	<include file="$(find-pkg-share wam_description)/launch/ignition.launch.xml" >
+		<arg name="pause" value="$(var pause)"/>
+		<arg name="gui" value="$(var gui)"/>
+		<arg name="use_sim_time" value="$(var use_sim_time)"/>
+		<arg name="table" value="$(var table)"/>
+		<arg name="bhand" value="$(var bhand)"/>
+	</include>
+	
+	<include file="$(find-pkg-share wam_bringup)/launch/$(var controller).launch.xml" >
+		<arg name="config" value="$(var config)"/>
+		<arg name="use_sim_time" value="$(var use_sim_time)"/>
+	</include>
+
+	<group if="$(var bhand)">
+		<arg name="bhand_config" default="$(find-pkg-share bhand_bringup)/config/bhand_controller.yaml"/>
+	
+		<node name="bhand_controller_spawner" pkg="controller_manager" exec="spawner"
+			args="-t position_controllers/JointGroupPositionController -p $(var bhand_config) bhand_controller"/>
+	</group>
+</launch>
diff --git a/wam_description/launch/ignition.launch.xml b/wam_description/launch/ignition.launch.xml
index 77ab329..a59e2b9 100644
--- a/wam_description/launch/ignition.launch.xml
+++ b/wam_description/launch/ignition.launch.xml
@@ -1,7 +1,7 @@
 <!--******************************************************************************
 	                  Barrett WAM  Description
 	                  Gazebo Ignitio Launch File
-          Copyright (C) 2022 Walter Fetter Lages <w.fetter@ieee.org>
+          Copyright (C) 2022, 2023 Walter Fetter Lages <w.fetter@ieee.org>
 
         This program is free software: you can redistribute it and/or modify
         it under the terms of the GNU General Public License as published by
@@ -26,25 +26,26 @@
 	<arg name="table" default="true"/>
 	<arg name="bhand" default="true"/>
 
-	<arg unless="$(var pause)" name="ign_pause" default="-r"/>
-	<arg if="$(var pause)" name="ign_pause" default=""/>
+	<arg unless="$(var pause)" name="gz_pause" default="-r"/>
+	<arg if="$(var pause)" name="gz_pause" default=""/>
 	
-	<arg unless="$(var gui)" name="ign_gui" default="-s"/>
-	<arg if="$(var gui)" name="ign_gui" default=""/>
+	<arg unless="$(var gui)" name="gz_gui" default="-s"/>
+	<arg if="$(var gui)" name="gz_gui" default=""/>
 
-	<include file="$(find-pkg-share ros_ign_gazebo)/launch/ign_gazebo.launch.py">
-		<arg name="ign_args" value="$(var ign_pause) $(var ign_gui) empty.sdf"/>
+	<include file="$(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py">
+		<arg name="gz_args" value="$(var gz_pause) $(var gz_gui) empty.sdf"/>
 	</include>
 	
 	<include file="$(find-pkg-share wam_description)/launch/wam.launch.xml">
 		<arg name="table" value="$(var table)"/>
 		<arg name="bhand" value="$(var bhand)"/>
 		<arg name="use_sim_time" value="$(var use_sim_time)"/>
+		<arg name="ignition" value="true"/>
 	</include>
 
 	<node name="wam_spawner" pkg="ros_ign_gazebo" exec="create" args="-topic robot_description -name wam"/>
 
-	<node name="clock_bridge" pkg="ros_ign_bridge" exec="parameter_bridge" args="/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock">
+	<node name="clock_bridge" pkg="ros_gz_bridge" exec="parameter_bridge" args="/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock">
 		<param name="use_sim_time" value="$(var use_sim_time)"/>
 	</node>
 </launch>
diff --git a/wam_description/launch/wam.launch.xml b/wam_description/launch/wam.launch.xml
index 7524fa6..7d1bb12 100644
--- a/wam_description/launch/wam.launch.xml
+++ b/wam_description/launch/wam.launch.xml
@@ -3,9 +3,10 @@
 	<arg name="bhand" default="true"/>
 	<arg name="world" default="false"/>
 	<arg name="use_sim_time" default="false"/>
+	<arg name="ignition" default="false"/>
 
 	<node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
-		<param name="robot_description" value="$(command 'xacro $(find-pkg-share wam_description)/xacro/wam.urdf.xacro world:=$(var world) table:=$(var table) bhand:=$(var bhand)')" type="str"/>
+		<param name="robot_description" value="$(command 'xacro $(find-pkg-share wam_description)/xacro/wam.urdf.xacro world:=$(var world) table:=$(var table) bhand:=$(var bhand) ignition:=$(var ignition)')" type="str"/>
 		<param name="use_sim_time" value="$(var use_sim_time)"/>
 	</node>
 </launch>
diff --git a/wam_description/xacro/gazebo.urdf.xacro b/wam_description/xacro/gazebo.urdf.xacro
new file mode 100644
index 0000000..977ae84
--- /dev/null
+++ b/wam_description/xacro/gazebo.urdf.xacro
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+	<xacro:arg name="ignition" default="false"/>
+	
+	<!-- Gazebo Classic -->
+	<xacro:unless value="$(arg ignition)">
+		<gazebo>
+			<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+				<robot_param>robot_description</robot_param>
+				<robot_param_node>robot_state_publisher</robot_param_node>
+				<parameters>$(find wam_description)/config/controller_manager.yaml</parameters>
+			</plugin>
+		</gazebo>
+	</xacro:unless>
+	
+	<!-- Gazebo Ignition -->
+	<xacro:if value="$(arg ignition)">
+		<gazebo>
+			<plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+				<robot_param>robot_description</robot_param>
+				<robot_param_node>robot_state_publisher</robot_param_node>
+				<parameters>$(find wam_description)/config/controller_manager.yaml</parameters>
+			</plugin>
+		</gazebo>
+	</xacro:if>
+</robot>
diff --git a/wam_description/xacro/ros2_control.urdf.xacro b/wam_description/xacro/ros2_control.urdf.xacro
new file mode 100644
index 0000000..418100d
--- /dev/null
+++ b/wam_description/xacro/ros2_control.urdf.xacro
@@ -0,0 +1,88 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <ros2_control name="GazeboSystem" type="system">
+	<!-- Gazebo Classic -->
+	<xacro:unless value="$(arg ignition)">
+  		<hardware>
+			<plugin>gazebo_ros2_control/GazeboSystem</plugin>
+		</hardware>
+	</xacro:unless>
+	<xacro:if value="$(arg ignition)">
+                <!-- Gazebo Ignition -->
+		<hardware>
+			<plugin>ign_ros2_control/IgnitionSystem</plugin>
+		</hardware>
+	</xacro:if>
+
+	<joint name="wam_joint_1">
+		<command_interface name="effort">
+			<param name="min">${-1.8*42.00}</param>
+			<param name="max">${1.8*42.00}</param>
+		</command_interface>
+		<state_interface name="position"/>
+		<state_interface name="velocity"/>
+		<state_interface name="effort"/>
+	</joint>
+
+	<joint name="wam_joint_2">
+		<command_interface name="effort">
+			<param name="min">${-1.8*28.25}</param>
+			<param name="max">${1.8*28.25}</param>
+		</command_interface>
+		<state_interface name="position"/>
+		<state_interface name="velocity"/>
+		<state_interface name="effort"/>
+	</joint>
+
+	<joint name="wam_joint_3">
+		<command_interface name="effort">
+			<param name="min">${-1.8*28.25}</param>
+			<param name="max">${1.8*28.25}</param>
+		</command_interface>
+		<state_interface name="position"/>
+		<state_interface name="velocity"/>
+		<state_interface name="effort"/>
+	</joint>
+
+	<joint name="wam_joint_4">
+		<command_interface name="effort">
+			<param name="min">${-1.6*18.00}</param>
+			<param name="max">${1.6*18.00}</param>
+		</command_interface>
+		<state_interface name="position"/>
+		<state_interface name="velocity"/>
+		<state_interface name="effort"/>
+	</joint>
+
+	<joint name="wam_joint_5">
+		<command_interface name="effort">
+			<param name="min">${-0.6*9.48}</param>
+			<param name="max">${0.6*9.48}</param>
+		</command_interface>
+		<state_interface name="position"/>
+		<state_interface name="velocity"/>
+		<state_interface name="effort"/>
+	</joint>
+
+	<joint name="wam_joint_6">
+		<command_interface name="effort">
+			<param name="min">${-0.6*9.48}</param>
+			<param name="max">${0.6*9.48}</param>
+		</command_interface>
+		<state_interface name="position"/>
+		<state_interface name="velocity"/>
+		<state_interface name="effort"/>
+	</joint>
+
+	<joint name="wam_joint_7">
+		<command_interface name="effort">
+			<param name="min">${-0.613*14.93}</param>
+			<param name="max">${0.613*14.93}</param>
+		</command_interface>
+		<state_interface name="position"/>
+		<state_interface name="velocity"/>
+		<state_interface name="effort"/>
+	</joint>
+  </ros2_control>
+</robot>
diff --git a/wam_description/xacro/wam.urdf.xacro b/wam_description/xacro/wam.urdf.xacro
index 6730364..fb4490e 100644
--- a/wam_description/xacro/wam.urdf.xacro
+++ b/wam_description/xacro/wam.urdf.xacro
@@ -29,90 +29,9 @@
   <xacro:wam_j7 parent="wam_link_6"/>
   <xacro:wam_tool_plate parent="wam_link_7"/>
 
-  <ros2_control name="GazeboSystem" type="system">
-  	<hardware>
-		<plugin>gazebo_ros2_control/GazeboSystem</plugin>
-	</hardware>
-
-	<joint name="wam_joint_1">
-		<command_interface name="effort">
-			<param name="min">${-1.8*42.00}</param>
-			<param name="max">${1.8*42.00}</param>
-		</command_interface>
-		<state_interface name="position"/>
-		<state_interface name="velocity"/>
-		<state_interface name="effort"/>
-	</joint>
-
-	<joint name="wam_joint_2">
-		<command_interface name="effort">
-			<param name="min">${-1.8*28.25}</param>
-			<param name="max">${1.8*28.25}</param>
-		</command_interface>
-		<state_interface name="position"/>
-		<state_interface name="velocity"/>
-		<state_interface name="effort"/>
-	</joint>
-
-	<joint name="wam_joint_3">
-		<command_interface name="effort">
-			<param name="min">${-1.8*28.25}</param>
-			<param name="max">${1.8*28.25}</param>
-		</command_interface>
-		<state_interface name="position"/>
-		<state_interface name="velocity"/>
-		<state_interface name="effort"/>
-	</joint>
-
-	<joint name="wam_joint_4">
-		<command_interface name="effort">
-			<param name="min">${-1.6*18.00}</param>
-			<param name="max">${1.6*18.00}</param>
-		</command_interface>
-		<state_interface name="position"/>
-		<state_interface name="velocity"/>
-		<state_interface name="effort"/>
-	</joint>
-
-	<joint name="wam_joint_5">
-		<command_interface name="effort">
-			<param name="min">${-0.6*9.48}</param>
-			<param name="max">${0.6*9.48}</param>
-		</command_interface>
-		<state_interface name="position"/>
-		<state_interface name="velocity"/>
-		<state_interface name="effort"/>
-	</joint>
-
-	<joint name="wam_joint_6">
-		<command_interface name="effort">
-			<param name="min">${-0.6*9.48}</param>
-			<param name="max">${0.6*9.48}</param>
-		</command_interface>
-		<state_interface name="position"/>
-		<state_interface name="velocity"/>
-		<state_interface name="effort"/>
-	</joint>
-
-	<joint name="wam_joint_7">
-		<command_interface name="effort">
-			<param name="min">${-0.613*14.93}</param>
-			<param name="max">${0.613*14.93}</param>
-		</command_interface>
-		<state_interface name="position"/>
-		<state_interface name="velocity"/>
-		<state_interface name="effort"/>
-	</joint>
-  </ros2_control>
+  <xacro:include filename="ros2_control.urdf.xacro"/>
+  <xacro:include filename="gazebo.urdf.xacro"/>
   	
-	<gazebo>
-		<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
-			<robot_param>robot_description</robot_param>
-			<robot_param_node>robot_state_publisher</robot_param_node>
-			<parameters>$(find wam_description)/config/controller_manager.yaml</parameters>
-		</plugin>
-	</gazebo>
-	
   <xacro:if value="$(arg world)">
     <xacro:unless value="$(arg table)">