Add Ignition Gazebo support

[chapulina]

Ignition Gazebo is the latest generation of the Gazebo simulator. This repository only supports Gazebo classic so far, and that's going to EOL in 2025. It would be nice to give users an Ignition simulation and tutorials as well, so they can start migrating before then.

Ignition Gazebo is supported on most currently supported ROS distros. See REP-003 and REP-2000.

• Melodic: No official Ignition support, but there's support compiling from source
• Noetic: Uses Igntion Citadel
• Foxy: Uses Ignition Citadel
• Galactic: Uses Ignition Edifice
• Rolling: Uses Ignition Fortress
• Humble: Will use Ignition Fortress

Open Robotics can do the work of adding a turtlebot3_ignition package or Noetic, Foxy, Galactic and Rolling. It could live alongside the existing turtlebot3_gazebo, so that can continue to be supported until Gazebo classic reaches end-of-life.

I expect turtlebot_ignition to be a thin package that uses the ros_ign_bridge to pass ROS commands directly to the simulator and read sensor data directly. It would be interesting to move the SDF models in turtlebot3_gazebo either to a common package to be reused by both simulators, or to Ignition Fuel (Gazebo 11 supports it too).

Before we open pull requests, we'd like to check if there's interest from the maintainers in accepting the contribution.

[ROBOTIS-Will]

Hi @chapulina

Thanks for the heads up.
Yes, we're willing to accept the changes that add the Ignition Gazebo in the turtlebot3_simulations package.

@ashekim
Please review and test when the PR arrives. We may also need to update our eManual.

[ahcorde]

Hi @ROBOTIS-Will and @ashekim

I created a draft PR #180 with Ignition Gazebo support. I tested it on Galactic.

Happy to get some feedback

[ROBOTIS-Will]

@ahcorde
Thanks for your contribution!
We'll merge first and test on our local machines.

[ROBOTIS-Ashe]

@ahcorde
Thanks for your contribution :)
I'll review and test it on my local machine

Thank you and have a nice day!

[TannerGilbert]

Sorry to bring up this old issue but I'm quite interested in continuing using the Turtlebot 3 simulation even now that I switched to Gazebo Harmonic. The PR by @ahcorde looks promising but the branch it was merged into doesn't exist anymore. Are there any plans to support newer versions of Gazebo for the turtlebot3_simulation or should one use Turtlebot 4 instead?

For reference currently the best option (in my opinion) for using the Turtlebot3 with Gazebo >Fortess is the fork by @azeey: https://github.com/azeey/turtlebot3_simulations/tree/new_gazebo (also see the Gazebo migration guide: https://gazebosim.org/docs/latest/migrating_gazebo_classic_ros2_packages/)