Fixes

docker/Dockerfile

@@ -1,10 +1,13 @@
 ARG ROS_DISTRO=humble
+ARG BUILD_TYPE=simulation
 
 FROM husarnet/ros:${ROS_DISTRO}-ros-core
 
+ARG BUILD_TYPE
+
 WORKDIR /ros2_ws
 
-ENV HUSARION_ROS_BUILD_TYPE=simulation
+ENV HUSARION_ROS_BUILD_TYPE=$BUILD_TYPE
 
 COPY .. src/rosbot_ros
 

docker/compose.hardware.yaml

@@ -10,15 +10,15 @@ services:
       context: ..
       dockerfile: docker/Dockerfile
       args:
-        HUSARION_ROS_BUILD_TYPE: hardware
+        BUILD_TYPE: hardware
     network_mode: host
     ipc: host
     restart: unless-stopped
     devices:
       - ${SERIAL_PORT:-/dev/ttyUSB0}
       - /dev/bus/usb/ # FTDI
     command: >
-      ros2 launch rosbot_bringup combined.launch.py
+      ros2 launch rosbot_bringup bringup.launch.py
         mecanum:=${MECANUM:-False}
         namespace:=${ROBOT_NAMESPACE:-rosbot}
         serial_port:=${SERIAL_PORT:-/dev/ttyUSB0}

docker/compose.simulation.yaml

@@ -24,7 +24,7 @@ services:
       context: ..
       dockerfile: docker/Dockerfile
       args:
-        HUSARION_ROS_BUILD_TYPE: simulation
+        BUILD_TYPE: simulation
     network_mode: host
     ipc: host
     <<: [ *gpu-config]

rosbot_controller/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>rosbot_controller</name>
+  <name>rosbot_gazebo</name>
   <version>0.13.2</version>
-  <description>Hardware configuration for ROSbot 2, 2R, PRO</description>
+  <description>Gazebo Ignition simulation for ROSbot 2, 2R, PRO</description>
 
   <maintainer email="[email protected]">Husarion</maintainer>
 
@@ -13,37 +13,27 @@
   <url type="repository">https://github.com/husarion/rosbot_ros</url>
   <url type="bugtracker">https://github.com/husarion/rosbot_ros/issues</url>
 
+  <author email="[email protected]">Krzysztof Wojciechowski</author>
   <author email="[email protected]">Jakub Delicat</author>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <exec_depend>launch</exec_depend>
-  <exec_depend>launch_ros</exec_depend>
-  <exec_depend>xacro</exec_depend>
-  <exec_depend>controller_manager</exec_depend>
-  <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>rosbot_description</exec_depend>
-  <exec_depend>ros_components_description</exec_depend>
-  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == hardware)">rosbot_hardware_interfaces</exec_depend>
-  <exec_depend>joint_state_broadcaster</exec_depend>
-  <exec_depend>imu_sensor_broadcaster</exec_depend>
-  <exec_depend>diff_drive_controller</exec_depend>
-  <exec_depend>mecanum_drive_controller</exec_depend>
-
-  <test_depend>python3-pytest</test_depend>
-  <test_depend>launch</test_depend>
-  <test_depend>launch_ros</test_depend>
-  <test_depend>launch_pytest</test_depend>
-  <test_depend>xacro</test_depend>
-  <test_depend>sensor_msgs</test_depend>
-  <test_depend>nav_msgs</test_depend>
-  <test_depend>rosbot_description</test_depend>
-  <test_depend>ros_components_description</test_depend>
-  <test_depend>controller_manager</test_depend>
-  <test_depend>joint_state_broadcaster</test_depend>
-  <test_depend>imu_sensor_broadcaster</test_depend>
-  <test_depend>diff_drive_controller</test_depend>
-  <test_depend>mecanum_drive_controller</test_depend>
+  <author email="[email protected]">Rafal Gorecki</author>
+
+  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">rosbot_bringup</exec_depend>
+  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">launch</exec_depend>
+  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">launch_ros</exec_depend>
+  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">husarion_gz_worlds</exec_depend>
+  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">ros_gz_sim</exec_depend>
+  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">ros_gz_bridge</exec_depend>
+  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">ign_ros2_control</exec_depend>
+  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">nav2_common</exec_depend>
+
+  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">python3-pytest</test_depend>
+  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">launch</test_depend>
+  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">launch_ros</test_depend>
+  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">launch_pytest</test_depend>
+  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">tf_transformations</test_depend>
+  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">python-transforms3d-pip</test_depend>
+  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">nav_msgs</test_depend>
+  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">geometry_msgs</test_depend>
 
   <export>
     <build_type>ament_python</build_type>