husarion
diff --git a/‎.github/workflows/industrial_ci.yaml
+7-2 b/‎.github/workflows/industrial_ci.yaml
+7-2
diff --git a/‎.gitignore
+2 b/‎.gitignore
+2
diff --git a/‎.wordlist.txt
+1 b/‎.wordlist.txt
+1
diff --git a/‎README.md
+5-2 b/‎README.md
+5-2
diff --git a/‎ROS_API.md
+12-1 b/‎ROS_API.md
+12-1
diff --git a/‎rosbot/rosbot_hardware.repos
+2-2 b/‎rosbot/rosbot_hardware.repos
+2-2
diff --git a/‎rosbot/rosbot_simulation.repos
+1-1 b/‎rosbot/rosbot_simulation.repos
+1-1
diff --git a/‎rosbot_bringup/config/ekf.yaml
+1-1 b/‎rosbot_bringup/config/ekf.yaml
+1-1
diff --git a/‎rosbot_bringup/launch/bringup.launch.py
+3-12 b/‎rosbot_bringup/launch/bringup.launch.py
+3-12
diff --git a/‎rosbot_bringup/test/test_multirobot_ekf.py
+4-7 b/‎rosbot_bringup/test/test_multirobot_ekf.py
+4-7
diff --git a/‎rosbot_controller/config/diff_drive_controller.yaml
+1-1 b/‎rosbot_controller/config/diff_drive_controller.yaml
+1-1
diff --git a/‎rosbot_controller/config/mecanum_drive_controller.yaml
+3-4 b/‎rosbot_controller/config/mecanum_drive_controller.yaml
+3-4
@@ -29,7 +29,7 @@ jobs:
     ros_industrial_ci:
         name: ROS Industrial CI
         runs-on: ubuntu-22.04
-        timeout-minutes: 30 # Set the job timeout to 30 minutes
+        timeout-minutes: 30
         needs:
             - black
             - spellcheck
@@ -54,7 +54,8 @@ jobs:
               shell: bash
               run: |
                   python3 -m pip install -U vcstool
-                  vcs import src < src/rosbot/rosbot_hardware.repos && vcs import src < src/rosbot/rosbot_simulation.repos
+                  vcs import src < src/rosbot/rosbot_hardware.repos &&
+                  vcs import src < src/rosbot/rosbot_simulation.repos
 
             - name: Copy only diff_drive_controller and imu_sensor_broadcaster, waits for features from ros2-control
               shell: bash
@@ -63,6 +64,10 @@ jobs:
                   cp -r src/ros2_controllers/imu_sensor_broadcaster src/
                   rm -rf src/ros2_controllers
 
+            - name: Remove ign_ros2_control demo and tests
+              shell: bash
+              run: rm -rf src/gazebosim/gz_ros2_control/ign_ros2_control_demos src/gazebosim/gz_ros2_control/gz_ros2_control_tests
+
             # Package micro_ros_msgs does not have industrial ci and tests does not pass.
             # For more information see https://github.com/micro-ROS/micro_ros_msgs/issues/7
             - name: Remove tests from micro_ros_msgs
 
@@ -14,6 +14,8 @@ husarion/husarion_office_gz
 gazebosim/gz_ros2_control
 diff_drive_controller
 imu_sensor_broadcaster
+micro-ROS-Agent/
+micro_ros_msgs/
 
 # pyspelling
 *.dic
@@ -148,3 +148,4 @@ stm
 ttyUSB
 subprocess
 cbus
+unbuffered
@@ -62,7 +62,7 @@ rm -r src/rosbot_gazebo
 sudo rosdep init
 rosdep update --rosdistro $ROS_DISTRO
 rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
-colcon build
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
 > **Prerequisites**
@@ -100,10 +100,13 @@ vcs import src < src/rosbot/rosbot_simulation.repos
 # Build only diff_drive_controller and imu_sensor_broadcaster from ros2_controllers
 cp -r src/ros2_controllers/diff_drive_controller src && cp -r src/ros2_controllers/imu_sensor_broadcaster src && rm -rf src/ros2_controllers
 
+# Remove ign_ros2_control demo and test
+rm -rf src/gazebosim/gz_ros2_control/ign_ros2_control_demos src/gazebosim/gz_ros2_control/gz_ros2_control_tests
+
 sudo rosdep init
 rosdep update --rosdistro $ROS_DISTRO
 rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
-colcon build
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
 Running:
 
@@ -11,7 +11,7 @@ Use `bringup.launch.py` from `rosbot_bringup` to start all base functionalities
   - `/odometry/filtered` (_nav_msgs/Odometry_)
 
 
-- `controller.launch.py` from `rosbot_controller`, it loads robot model defined in `rosbot_description` as well as ros2 control [rosbot_hardware_interfaces](https://github.com/husarion/rosbot_hardware_interfaces). It also starts controllers:
+Use `controller.launch.py` from `rosbot_controller`, it loads robot model defined in `rosbot_description` as well as ros2 control [rosbot_hardware_interfaces](https://github.com/husarion/rosbot_hardware_interfaces). It also starts controllers:
   * `joint_state_broadcaster`
   * `rosbot_base_controller`
   * `imu_broadcaster`
@@ -29,5 +29,16 @@ Use `bringup.launch.py` from `rosbot_bringup` to start all base functionalities
   - `/imu_broadcaster/imu` (_sensor_msgs/Imu_)
 
 Use `simulation.launch.py` from `rosbot_gazebo` to start all base functionalities for ROSbot 2, 2 PRO, 2R in the Gazebo simulator.
+If you want to spawn multiple robots use `simulation.launch.py` with the `robots` argument e. g.:
+```bash
+ros2 launch rosbot_gazebo simulation.launch.py robots:='robot1={x: 0.0, y: -1.0}; robot2={x: 1.0, y: -1.0}; robot3={x: 2.0, y: -1.0}; robot4={x: 3.0, y: -1.0}'
+```
+
+If you want to use your own world add to the world's sdf file gazebo sensors plugins inside any `<model>` tag:
+```xml
+<plugin filename="ignition-gazebo-imu-system" name="gz::sim::systems::Imu"/>
+<plugin filename="ignition-gazebo-sensors-system" name="gz::sim::systems::Sensors"/>
+```
+
 > **Warning**
 > The distance sensors' topics types from Gazebo simulation mismatch with the real ones. The range sensors are not implemented yet in the Gazebo Ignition (for more information look [here](https://github.com/gazebosim/gz-sensors/issues/19)). The real type is [sensor_msgs/msg/Range](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg) but simulated [sensor_msgs/msg/LaserScan](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/LaserScan.msg). The first value of the `ranges` in [sensor_msgs/msg/LaserScan](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/LaserScan.msg) is the `range` field of [sensor_msgs/msg/Range](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg).
@@ -6,7 +6,7 @@ repositories:
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git
-    version:  ros2
+    version: ros2
   rosbot_controllers:
     type: git
     url: https://github.com/husarion/rosbot_controllers
@@ -17,7 +17,7 @@ repositories:
   ros2_controllers:
     type: git
     url: https://github.com/delihus/ros2_controllers
-    version: humble-backport
+    version: humble
   micro_ros_msgs:
     type: git
     url: https://github.com/micro-ROS/micro_ros_msgs.git
 
@@ -1,7 +1,7 @@
 repositories:
   gazebosim/gz_ros2_control:
     type: git
-    url: https://github.com/ros-controls/gz_ros2_control.git
+    url: https://github.com/ros-controls/gz_ros2_control
     version: humble
 
   husarion/husarion_office_gz:
 
@@ -3,7 +3,7 @@
 ## ekf config file ###
 /**/ekf_filter_node:
     ros__parameters:
-        frequency: 25.0
+        frequency: 20.0
         sensor_timeout: 0.05
         two_d_mode: true
 
 
@@ -17,14 +17,14 @@
 from ament_index_python.packages import get_package_share_directory
 from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.substitutions import EnvironmentVariable, LaunchConfiguration, PathJoinSubstitution
 
 
 def generate_launch_description():
     namespace = LaunchConfiguration("namespace")
     declare_namespace_arg = DeclareLaunchArgument(
         "namespace",
-        default_value="",
+        default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""),
         description="Namespace for all topics and tfs",
     )
 
@@ -62,13 +62,6 @@ def generate_launch_description():
         ),
     )
 
-    use_multirobot_system = LaunchConfiguration("use_multirobot_system")
-    declare_use_multirobot_system_arg = DeclareLaunchArgument(
-        "use_multirobot_system",
-        default_value="false",
-        description="Enable correct Ignition Gazebo configuration in URDF",
-    )
-
     controller_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
@@ -85,7 +78,6 @@ def generate_launch_description():
             "use_gpu": use_gpu,
             "simulation_engine": simulation_engine,
             "namespace": namespace,
-            "use_multirobot_system": use_multirobot_system,
         }.items(),
     )
 
@@ -94,10 +86,10 @@ def generate_launch_description():
     robot_localization_node = Node(
         package="robot_localization",
         executable="ekf_node",
-        name="ekf_filter_node",
         output="screen",
         parameters=[ekf_config],
         remappings=[
+            ("/diagnostics", "diagnostics"),
             ("/tf", "tf"),
             ("/tf_static", "tf_static"),
         ],
@@ -110,7 +102,6 @@ def generate_launch_description():
         declare_use_sim_arg,
         declare_use_gpu_arg,
         declare_simulation_engine_arg,
-        declare_use_multirobot_system_arg,
         SetParameter(name="use_sim_time", value=use_sim),
         controller_launch,
         robot_localization_node,
 
@@ -20,12 +20,12 @@
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription, TimerAction
+from launch.actions import IncludeLaunchDescription
 from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from test_utils import BringupTestNode
 
-robot_names = ["rosbot1", "rosbot2", "rosbot3", "rosbot4"]
+robot_names = ["robot1", "robot2", "robot3"]
 
 
 @launch_pytest.fixture
@@ -50,11 +50,8 @@ def generate_test_description():
                 "namespace": robot_names[i],
             }.items(),
         )
-        if i > 0:
-            delayed_bringup_launch = TimerAction(period=i * 10.0, actions=[bringup_launch])
-            actions.append(delayed_bringup_launch)
-        else:
-            actions.append(bringup_launch)
+
+        actions.append(bringup_launch)
 
     return LaunchDescription(actions)
 
 
@@ -1,6 +1,5 @@
 /**/controller_manager:
   ros__parameters:
-    use_sim_time: False
     update_rate: 20 # Hz
 
     joint_state_broadcaster:
@@ -13,6 +12,7 @@
 /**/imu_broadcaster:
   ros__parameters:
     tf_frame_prefix_enable: false
+    use_namespace_as_sensor_name_prefix: true
 
     sensor_name: imu
     frame_id: imu_link
 
@@ -1,6 +1,5 @@
 /**/controller_manager:
   ros__parameters:
-    use_sim_time: false
     update_rate: 20 # Hz
 
     joint_state_broadcaster:
@@ -13,6 +12,7 @@
 /**/imu_broadcaster:
   ros__parameters:
     tf_frame_prefix_enable: false
+    use_namespace_as_sensor_name_prefix: true
 
     sensor_name: imu
     frame_id: imu_link
@@ -33,9 +33,8 @@
     wheel_separation_y: 0.192
     wheel_radius: 0.047
 
-
-    wheel_separation_multiplier_x: 1.0
-    wheel_separation_multiplier_y: 1.0
+    wheel_separation_x_multiplier: 1.0
+    wheel_separation_y_multiplier: 1.0
 
     wheel_radius_multiplier: 1.0