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removed mobile_base_controller namespace

Added headless launch file to mir_driver in galactic-devel

    * using NavFn planner + DWB local planner
    * added custom behavior tree for MiR
    * added robot footprint
    * adapted a few parameters
    * visualization updates in rviz

* Added mir_ready service as a workaround for lifecycle nodes (pythoN)

* add namespace for simulation and teleop

* add namespace to gazebo entity

* change to prefix only in urdfs

* enable ns for joint_state_publisher

* add namespace support to mir_navigation + ns instructions to readme

* switched namespaces to remappings in urdfs

* resolved gazeboplugin namespace errors

* fixes for namespace support driver

* added navigation config namespace examples

* minor fixes for namespace launch and adaptions in rviz configs

* fixed tf namespace bug in driver

* split up of driver launch files

* fixed params filename + added namespace args in nav launch

* enabled qos settings for ros2 topics in driver

* removed unused rviz parameter

* initial commit: added restapi state of work

* added mir_ready publisher

* added reliable QOS for mir_bridge_ready topic

* added mir_bridge_ready=false on crash/shutdown

* attribute bugfix

* added readiness polling and simplified ready publishing

* uneccesary main->publish_mir_ready_state: button checks bridge alive

* uneccesary main->publish_mir_ready_state: button checks bridge alive

* changed mir_ready pub/sub to Trigger-service

* possible bugfix

* changed response to success=True always and message=True/False

* Revert "changed response to success=True always and message=True/False"

This reverts commit f31efb8.

* added custom CheckReady srv-definition

* find bug in service

* renamed interface to match usb_pushbutton

* fixed dependency

* fixed another dependency

* Revert "Merge pull request #2 from niemsoen/mir-bridge-as-service-server"

This reverts commit cf0f5c1, reversing
changes made to 39e025e.

* Use std_srvs/Trigger as mir-ready-service Type

* changed structure to service-client communication

* fix for build error?

* wrong directory name

* added logging output

* bugfix

* better logging

* added message to response of service call

* bugfix

* added auth as parameter

* catch token not set

* bugfix response

* added check for error in setting as response to service call

* better log

* introduced parameters for hostname and auth-token

* make sure api handle is setup at launch

* better function names

* file rename

* launch of mir driver triggers launch of restapi_server

* mir_bridge creates restapi_client node

* import error in mir_bridge for MirRestAPIClient

* include test client for rest api

* add sleep for test call

* working, launch file not needed

* add client in mir_bridge.py

* trying to fix import

* Revert "trying to fix import"

This reverts commit 1a97c70.

* fix for import bug

* fix message type error

* try to fix connection refusal of rosbridge after restapi

* try to replace sleep after setTime waiting for reboot

* catch CannotSendRequest

* replace print with logger

* disable status call

* try output of get status call

* wait for restapi restart working

* make waiting for availability more elegant

* clean-up

* removed unused imports

* add potential fix

* Call mir_restapi_server in tendobot_driver

* Added api-call abstarction layer & tested api call while bridge connected (#5)

* init (#6)

Co-authored-by: Sönke Niemann <[email protected]>

* readme section: time sync in ros2 /w restapi

* remove automatic time sync call at driver start

* improved naming style in mir_restapi

* catch case of no api token set, warn user

* added more untested calls

* added waiting condition for honking

* failed try to find system time in restapi

* added client for time sync

* wait for service available

* added requested changes

Co-authored-by: relffok <[email protected]>
Co-authored-by: soenke.niemann <[email protected]>
Co-authored-by: Niemann <[email protected]>
Co-authored-by: Sönke Niemann <[email protected]>

* fix python setuptools install error

* created twist_stamper fork with fixed setuptools

Co-authored-by: Sönke Niemann <[email protected]>

Co-authored-by: Sönke Niemann <[email protected]>

This reverts commit 39d13c9.

* separated wheel parts to simplify urdf build

* Changed MiR100 mass to 78.2kg

* allow urdf to parse collision parameters for gazbeo

* cherry-picked intertia from 91952d8

* applied torsional force, updated contact collisons

* tuned wheel frictions and contacs more

* added service to execute mission

* added exec mission function

* formatting outputs