Rename ign_ -> gz_ for gazebo dependencies, comment-out missing jazzy…

… dependencies (for now)
clearpathrobotics · Oct 21, 2024 · 6fa195e · 6fa195e
1 parent 11b9079
commit 6fa195e
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Showing 15 changed files with 16 additions and 15 deletions.
diff --git a/clearpath_control/package.xml b/clearpath_control/package.xml
@@ -18,7 +18,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <exec_depend>clearpath_mecanum_drive_controller</exec_depend>
+  <!--<exec_depend>clearpath_mecanum_drive_controller</exec_depend>-->
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>diff_drive_controller</exec_depend>
   <exec_depend>imu_filter_madgwick</exec_depend>

diff --git a/clearpath_manipulators_description/package.xml b/clearpath_manipulators_description/package.xml
@@ -18,9 +18,10 @@
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>urdf</exec_depend>
   <exec_depend>xacro</exec_depend>
-  <exec_depend>kortex_description</exec_depend>
+  <!--<exec_depend>kortex_description</exec_depend>-->
   <exec_depend>robotiq_description</exec_depend>
 
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <export>

diff --git a/clearpath_manipulators_description/urdf/arm/kinova_gen3_6dof.urdf.xacro b/clearpath_manipulators_description/urdf/arm/kinova_gen3_6dof.urdf.xacro
@@ -366,7 +366,7 @@
             <plugin>gazebo_ros2_control/GazeboSystem</plugin>
           </xacro:if>
           <xacro:if value="${sim_ignition}">
-            <plugin>ign_ros2_control/IgnitionSystem</plugin>
+            <plugin>gz_ros2_control/IgnitionSystem</plugin>
           </xacro:if>
           <xacro:if value="${sim_isaac}">
             <plugin>topic_based_ros2_control/TopicBasedSystem</plugin>

diff --git a/clearpath_manipulators_description/urdf/arm/kinova_gen3_7dof.urdf.xacro b/clearpath_manipulators_description/urdf/arm/kinova_gen3_7dof.urdf.xacro
@@ -480,7 +480,7 @@
             <plugin>gazebo_ros2_control/GazeboSystem</plugin>
           </xacro:if>
           <xacro:if value="${sim_ignition}">
-            <plugin>ign_ros2_control/IgnitionSystem</plugin>
+            <plugin>gz_ros2_control/IgnitionSystem</plugin>
           </xacro:if>
           <xacro:if value="${sim_isaac}">
             <plugin>topic_based_ros2_control/TopicBasedSystem</plugin>

diff --git a/clearpath_manipulators_description/urdf/arm/kinova_gen3_lite.urdf.xacro b/clearpath_manipulators_description/urdf/arm/kinova_gen3_lite.urdf.xacro
@@ -251,7 +251,7 @@
             <plugin>gazebo_ros2_control/GazeboSystem</plugin>
           </xacro:if>
           <xacro:if value="${sim_ignition}">
-            <plugin>ign_ros2_control/IgnitionSystem</plugin>
+            <plugin>gz_ros2_control/IgnitionSystem</plugin>
           </xacro:if>
           <xacro:if value="${sim_isaac}">
             <plugin>topic_based_ros2_control/TopicBasedSystem</plugin>

diff --git a/clearpath_manipulators_description/urdf/gripper/kinova_2f_lite.urdf.xacro b/clearpath_manipulators_description/urdf/gripper/kinova_2f_lite.urdf.xacro
@@ -203,7 +203,7 @@
               <plugin>gazebo_ros2_control/GazeboSystem</plugin>
             </xacro:if>
               <xacro:if value="${sim_ignition}">
-                  <plugin>ign_ros2_control/IgnitionSystem</plugin>
+                  <plugin>gz_ros2_control/IgnitionSystem</plugin>
               </xacro:if>
               <xacro:if value="${use_fake_hardware}">
                   <plugin>mock_components/GenericSystem</plugin>

diff --git a/clearpath_manipulators_description/urdf/gripper/robotiq_2f_140.urdf.xacro b/clearpath_manipulators_description/urdf/gripper/robotiq_2f_140.urdf.xacro
@@ -301,7 +301,7 @@
             <param name="joint_states_topic">${isaac_joint_states}</param>
           </xacro:if>
           <xacro:if value="${sim_gazebo}">
-            <plugin>ign_ros2_control/IgnitionSystem</plugin>
+            <plugin>gz_ros2_control/IgnitionSystem</plugin>
           </xacro:if>
           <xacro:if value="${use_fake_hardware}">
             <plugin>mock_components/GenericSystem</plugin>

diff --git a/clearpath_platform_description/urdf/a200/a200.urdf.xacro b/clearpath_platform_description/urdf/a200/a200.urdf.xacro
@@ -168,7 +168,7 @@
       <ros2_control name="a200_hardware" type="system">
         <hardware>
           <xacro:if value="$(arg is_sim)">
-            <plugin>ign_ros2_control/IgnitionSystem</plugin>
+            <plugin>gz_ros2_control/IgnitionSystem</plugin>
           </xacro:if>
           <xacro:unless value="$(arg is_sim)">
             <plugin>clearpath_platform/A200Hardware</plugin>

diff --git a/clearpath_platform_description/urdf/dd100/dd100.urdf.xacro b/clearpath_platform_description/urdf/dd100/dd100.urdf.xacro
@@ -218,7 +218,7 @@
       <ros2_control name="dd100_hardware" type="system">
         <hardware>
           <xacro:if value="$(arg is_sim)">
-            <plugin>ign_ros2_control/IgnitionSystem</plugin>
+            <plugin>gz_ros2_control/IgnitionSystem</plugin>
           </xacro:if>
           <xacro:unless value="$(arg is_sim)">
             <plugin>clearpath_platform/PumaHardware</plugin>

diff --git a/clearpath_platform_description/urdf/dd150/dd150.urdf.xacro b/clearpath_platform_description/urdf/dd150/dd150.urdf.xacro
@@ -206,7 +206,7 @@
       <ros2_control name="dd150_hardware" type="system">
         <hardware>
           <xacro:if value="$(arg is_sim)">
-            <plugin>ign_ros2_control/IgnitionSystem</plugin>
+            <plugin>gz_ros2_control/IgnitionSystem</plugin>
           </xacro:if>
           <xacro:unless value="$(arg is_sim)">
             <plugin>clearpath_platform/PumaHardware</plugin>

diff --git a/clearpath_platform_description/urdf/do100/do100.urdf.xacro b/clearpath_platform_description/urdf/do100/do100.urdf.xacro
@@ -188,7 +188,7 @@
     <ros2_control name="do100_hardware" type="system">
       <hardware>
         <xacro:if value="$(arg is_sim)">
-          <plugin>ign_ros2_control/IgnitionSystem</plugin>
+          <plugin>gz_ros2_control/IgnitionSystem</plugin>
         </xacro:if>
         <xacro:unless value="$(arg is_sim)">
           <plugin>clearpath_platform/PumaHardware</plugin>

diff --git a/clearpath_platform_description/urdf/generic/gazebo.urdf.xacro b/clearpath_platform_description/urdf/generic/gazebo.urdf.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:if value="$(arg is_sim)">
     <gazebo>
-      <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+      <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::IgnitionROS2ControlPlugin">
         <parameters>$(arg gazebo_controllers)</parameters>
         <ros>
           <remapping>~/odom:=platform/odom</remapping>

diff --git a/clearpath_platform_description/urdf/j100/j100.urdf.xacro b/clearpath_platform_description/urdf/j100/j100.urdf.xacro
@@ -174,7 +174,7 @@
       <ros2_control name="j100_hardware" type="system">
         <hardware>
           <xacro:if value="$(arg is_sim)">
-            <plugin>ign_ros2_control/IgnitionSystem</plugin>
+            <plugin>gz_ros2_control/IgnitionSystem</plugin>
           </xacro:if>
           <xacro:unless value="$(arg is_sim)">
             <plugin>clearpath_platform/J100Hardware</plugin>

diff --git a/clearpath_platform_description/urdf/r100/r100.urdf.xacro b/clearpath_platform_description/urdf/r100/r100.urdf.xacro
@@ -299,7 +299,7 @@
     <ros2_control name="r100_hardware" type="system">
       <hardware>
         <xacro:if value="$(arg is_sim)">
-          <plugin>ign_ros2_control/IgnitionSystem</plugin>
+          <plugin>gz_ros2_control/IgnitionSystem</plugin>
         </xacro:if>
         <xacro:unless value="$(arg is_sim)">
           <plugin>clearpath_platform/PumaHardware</plugin>

diff --git a/clearpath_platform_description/urdf/w200/w200.urdf.xacro b/clearpath_platform_description/urdf/w200/w200.urdf.xacro
@@ -191,7 +191,7 @@
       <ros2_control name="w200_hardware" type="system">
         <hardware>
           <xacro:if value="$(arg is_sim)">
-            <plugin>ign_ros2_control/IgnitionSystem</plugin>
+            <plugin>gz_ros2_control/IgnitionSystem</plugin>
           </xacro:if>
           <xacro:unless value="$(arg is_sim)">
             <plugin>clearpath_platform/W200Hardware</plugin>