[GSOC-46] Fuel model usage and migration to ROS 2 launch files

[rakeshv24]

This PR introduces two features:

• Fuel Model Integration Examples: We've added comprehensive examples demonstrating how to utilize models from Fuel, making it easier to incorporate these models into your projects.

• ROS 2 Launch File Migration: Launch files have been updated to ROS 2, ensuring compatibility with the latest ROS version.

[woensug-choi]

gazebosim/ros_gz#492 Could you try this to get rid of this step?

[woensug-choi]

I've no experience with hooks but it seems it's another alternative
Reference: https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_sim_demos

Also... hard to ask, but with best wishes, it seems ros_gz's demo is now all in python. What do you think of working with python from this and now on? With power of chatgpt

[woensug-choi]

All other parts worked fine! Thank you so much for investigating the previous dave structure and attempt to follow how it was done 👍

[rakeshv24]

Sure thing, I'll make those changes!

[rakeshv24]

@woensug-choi, I've incorporated your comments into the commit.

[woensug-choi]

So QUICK! Amazing..! 👍

1. no need _bare_model for bare model. Will add _something as we add plugins or attachments (e.g. arms)

2. I've treid universal upload_model.launch.py and model_in_empty_world.launch at https://github.com/IOES-Lab/dave/tree/fuel-models-universal.

ros2 launch dave_demos model_in_empty_world.py model_name:='nortek_dvl500_300'
ros2 launch dave_demos model_in_empty_world.py model_name:='mossy_cinder_block'

I think you can use git merge fuel-models-universal on your PR if things look ok (please test! and make mods if necessary). I haven't modified README for demos. you may commit on top of fuel-models-universal and merge to your PR.

3. Any idea why Support <gazebo_ros> in package.xml exports gazebosim/ros_gz#492 didn't work? maybe it's not on release yet? added note on package.xml at dave_model_description

4. There was a typo error at README. cd <path-to-dave_ws>/src/dave_model_description -> cd <path-to-dave_ws>/src/dave/dave_model_description

[rakeshv24]

Awesome, thank you so for the quick and detailed review!

I like the idea of just using one universal launch file! I have merged the branch after making minor mods.

Any idea why gazebosim/ros_gz#492 didn't work? maybe it's not on release yet?

• It seems likely that the pull request isn’t included in the release yet. For now, let's use the hook and revisit this once it becomes available or if I find a way to make it work with Jazzy.

[woensug-choi]

Great! Our first PR! Thank you!!! 👍
Take pleasure to push merge button