Update to Gazebo Harmonic

Signed-off-by: Francisco Martín Rico <[email protected]>

Author: fmrico

br2_tiago/launch/sim.launch.py

@@ -26,29 +26,22 @@
 def generate_launch_description():
     tiago_gazebo_dir = get_package_share_directory('tiago_gazebo')
 
-    world = LaunchConfiguration('world', default='home')
+    world = LaunchConfiguration('world', default='house')
     declare_world_cmd = DeclareLaunchArgument(
         'world',
-        default_value='home',
+        default_value='house',
         description='World name')
 
     tiago_sim_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(os.path.join(tiago_gazebo_dir, 'launch', 'tiago_gazebo.launch.py')),
         launch_arguments={
           'world_name': world,
-          'arm': 'no-arm'
+          'is_public_sim': 'True',
         }.items())
 
-    declare_use_sim_time_cmd = DeclareLaunchArgument(
-        'use_sim_time',
-        default_value='True',
-        description='Use simulation (Gazebo) clock if true')
-
     ld = LaunchDescription()
 
     ld.add_action(tiago_sim_cmd)
-
-    ld.add_action(declare_use_sim_time_cmd)
     ld.add_action(declare_world_cmd)
 
     return ld

third_parties.repos

@@ -1,47 +1,63 @@
 repositories:
-  ThirdParty/urdf_test:
+  ThirdParty/tiago_simulation:
     type: git
-    url: https://github.com/pal-robotics/urdf_test
+    url: https://github.com/Tiago-Harmonic/tiago_simulation.git
     version: humble-devel
   ThirdParty/launch_pal:
     type: git
-    url: https://github.com/pal-robotics/launch_pal.git
+    url: https://github.com/Tiago-Harmonic/launch_pal.git
     version: master
-  ThirdParty/pal_gazebo_worlds:
+  ThirdParty/br2_gazebo_worlds:
+    type: git
+    url: https://github.com/Tiago-Harmonic/br2_gazebo_worlds.git
+    version: humble-devel
+  ThirdParty/play_motion2:
     type: git
-    url: https://github.com/pal-robotics/pal_gazebo_worlds.git
+    url: https://github.com/Tiago-Harmonic/play_motion2.git
     version: humble-devel
   ThirdParty/pmb2_robot:
     type: git
-    url: https://github.com/pal-robotics/pmb2_robot.git
+    url: https://github.com/Tiago-Harmonic/pmb2_robot.git
     version: humble-devel
   ThirdParty/pmb2_navigation:
     type: git
     url: https://github.com/pal-robotics/pmb2_navigation.git
     version: humble-devel
   ThirdParty/tiago_robot:
     type: git
-    url: https://github.com/pal-robotics/tiago_robot.git
+    url: https://github.com/Tiago-Harmonic/tiago_robot.git
     version: humble-devel
   ThirdParty/tiago_navigation:
     type: git
     url: https://github.com/pal-robotics/tiago_navigation.git
     version: humble-devel
   ThirdParty/tiago_simulation:
     type: git
-    url: https://github.com/pal-robotics/tiago_simulation.git
+    url: https://github.com/Tiago-Harmonic/tiago_simulation.git
     version: humble-devel
-  ThirdParty/hey5_description:
+  ThirdParty/pal_hey5:
     type: git
-    url: https://github.com/pal-robotics/hey5_description.git
+    url: https://github.com/Tiago-Harmonic/pal_hey5.git
     version: humble-devel
   ThirdParty/pal_gripper:
     type: git
-    url: https://github.com/pal-robotics/pal_gripper.git
+    url: https://github.com/Tiago-Harmonic/pal_gripper.git
+    version: humble-devel
+  ThirdParty/pal_robotiq_gripper:
+    type: git
+    url: https://github.com/Tiago-Harmonic/pal_robotiq_gripper.git
     version: humble-devel
   ThirdParty/tiago_moveit_config:
     type: git
-    url: https://github.com/pal-robotics/tiago_moveit_config.git
+    url: https://github.com/Tiago-Harmonic/tiago_moveit_config.git
+    version: humble-devel
+  ThirdParty/tiago_omni_base:
+    type: git
+    url: https://github.com/Tiago-Harmonic/omni_base_robot.git
+    version: humble-devel
+  ThirdParty/pal_urdf_utils:
+    type: git
+    url: https://github.com/pal-robotics/pal_urdf_utils.git
     version: humble-devel
   ThirdParty/Groot:
     type: git