diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index fd8e39c3..cfc2659d 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -22,6 +22,6 @@ jobs:
- uses: ros-tooling/action-ros-ci@v0.3
id: action_ros_ci_step
with:
- package-name: andino_base andino_bringup andino_control andino_description andino_firmware andino_hardware andino_slam andino_gazebo andino_navigation
+ package-name: andino_base andino_bringup andino_control andino_description andino_firmware andino_hardware andino_slam andino_gz_classic andino_navigation
target-ros2-distro: ${{ env.ROS_DISTRO }}
import-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/README.md b/README.md
index e0ea42b1..4c11681b 100644
--- a/README.md
+++ b/README.md
@@ -28,7 +28,7 @@ _Note: For videos go to [Media](#media) section._
- :hammer_and_pick: [`andino_firmware`](./andino_firmware): Contains the code be run in the microcontroller for interfacing low level hardware with the SBC.
- :gear: [`andino_base`](./andino_base): [ROS Control hardware interface](https://control.ros.org/master/doc/ros2_control/hardware_interface/doc/writing_new_hardware_interface.html) is implemented.
- :control_knobs: [`andino_control`](./andino_control/): It launches the [`controller_manager`](https://control.ros.org/humble/doc/ros2_control/controller_manager/doc/userdoc.html) along with the [ros2 controllers](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html): [diff_drive_controller](https://control.ros.org/master/doc/ros2_controllers/diff_drive_controller/doc/userdoc.html) and the [joint_state_broadcaster](https://control.ros.org/master/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html).
-- :computer: [`andino_gazebo`](./andino_gazebo/): Gazebo simulation of the `andino` robot.
+- :computer: [`andino_gz_classic`](./andino_gz_classic/): Gazebo simulation of the `andino` robot.
- :world_map: [`andino_slam`](./andino_slam/): Provides support for SLAM with your `andino` robot.
- :compass: [`andino_navigation`](./andino_navigation/): Navigation stack based on `nav2`.
@@ -139,9 +139,9 @@ For starting `rviz2` visualization with a provided configuration.
## :computer: Simulation
-The [`andino_gazebo`](./andino_gazebo/README.MD) package provides a Gazebo simulation fo the Andino robot.
+The [`andino_gz_classic`](./andino_gz_classic/README.MD) package provides a Gazebo simulation fo the Andino robot.
-
+
## :compass: Navigation
diff --git a/andino_gazebo/CHANGELOG.rst b/andino_gazebo/CHANGELOG.rst
deleted file mode 100644
index 7e7e4e58..00000000
--- a/andino_gazebo/CHANGELOG.rst
+++ /dev/null
@@ -1,9 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package andino_gazebo
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-
-0.0.1 (2023-06-29)
-------------------
-* First andino release
-* Contributors: olmerg
diff --git a/andino_gazebo/docs/andino_gazebo.png b/andino_gazebo/docs/andino_gazebo.png
deleted file mode 100644
index 0ee4d156..00000000
Binary files a/andino_gazebo/docs/andino_gazebo.png and /dev/null differ
diff --git a/andino_gz_classic/CHANGELOG.rst b/andino_gz_classic/CHANGELOG.rst
new file mode 100644
index 00000000..a8ad0776
--- /dev/null
+++ b/andino_gz_classic/CHANGELOG.rst
@@ -0,0 +1,9 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package andino_gz_classic
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+
+0.0.1 (2023-06-29)
+------------------
+* First andino release
+* Contributors: olmerg
diff --git a/andino_gazebo/CMakeLists.txt b/andino_gz_classic/CMakeLists.txt
similarity index 96%
rename from andino_gazebo/CMakeLists.txt
rename to andino_gz_classic/CMakeLists.txt
index d5a7b4ae..2c29b216 100644
--- a/andino_gazebo/CMakeLists.txt
+++ b/andino_gz_classic/CMakeLists.txt
@@ -1,6 +1,6 @@
cmake_minimum_required(VERSION 3.8)
-project(andino_gazebo)
+project(andino_gz_classic)
# Skip if Gazebo not present
find_package(gazebo QUIET)
diff --git a/andino_gazebo/LICENSE b/andino_gz_classic/LICENSE
similarity index 100%
rename from andino_gazebo/LICENSE
rename to andino_gz_classic/LICENSE
diff --git a/andino_gazebo/README.MD b/andino_gz_classic/README.md
similarity index 85%
rename from andino_gazebo/README.MD
rename to andino_gz_classic/README.md
index d8b0196a..e4ac427e 100644
--- a/andino_gazebo/README.MD
+++ b/andino_gz_classic/README.md
@@ -1,7 +1,7 @@
# Gazebo Classic simulation for the Andino robot
-
+
## Build
@@ -38,7 +38,7 @@ This package has the next option to be executed.
```
-ros2 launch andino_gazebo andino_one_robot.launch.py initial_pose_x:=3.0
+ros2 launch andino_gz_classic andino_one_robot.launch.py initial_pose_x:=3.0
```
This launch file supports the following launch arguments:
@@ -50,12 +50,12 @@ This launch file supports the following launch arguments:
Finally, all the parameters of spawn an andino robot to put the robot in specific position are available. for more information of all the parameters of the child launch files you can write:
```
-ros2 launch andino_gazebo andino_one_robot.launch.py -s
+ros2 launch andino_gz_classic andino_one_robot.launch.py -s
```
## Andino simulation with Gazebo ros2 control plugin
```
-ros2 launch andino_gazebo andino_one_robot.launch.py use_gazebo_ros_control:=true
+ros2 launch andino_gz_classic andino_one_robot.launch.py use_gazebo_ros_control:=true
```
### Considerations
@@ -65,7 +65,7 @@ ros2 launch andino_gazebo andino_one_robot.launch.py use_gazebo_ros_control:=tru
## Spawn an Andino robot
```
-ros2 launch andino_gazebo spawn_robot.launch.py initial_pose_x:=3.0 entity:=andino robot_description_topic:=/andino/robot_description
+ros2 launch andino_gz_classic spawn_robot.launch.py initial_pose_x:=3.0 entity:=andino robot_description_topic:=/andino/robot_description
```
The parameters of this launch let to put the robot in any place of the simulation.
diff --git a/andino_gz_classic/docs/andino_gz_classic.png b/andino_gz_classic/docs/andino_gz_classic.png
new file mode 100644
index 00000000..c0426d12
Binary files /dev/null and b/andino_gz_classic/docs/andino_gz_classic.png differ
diff --git a/andino_gazebo/env-hooks/andino_gazebo.dsv.in b/andino_gz_classic/env-hooks/andino_gz_classic.dsv.in
similarity index 100%
rename from andino_gazebo/env-hooks/andino_gazebo.dsv.in
rename to andino_gz_classic/env-hooks/andino_gz_classic.dsv.in
diff --git a/andino_gazebo/env-hooks/andino_gazebo.sh.in b/andino_gz_classic/env-hooks/andino_gz_classic.sh.in
similarity index 100%
rename from andino_gazebo/env-hooks/andino_gazebo.sh.in
rename to andino_gz_classic/env-hooks/andino_gz_classic.sh.in
diff --git a/andino_gazebo/launch/andino_one_robot.launch.py b/andino_gz_classic/launch/andino_one_robot.launch.py
similarity index 94%
rename from andino_gazebo/launch/andino_one_robot.launch.py
rename to andino_gz_classic/launch/andino_one_robot.launch.py
index abecb89b..1403d5b8 100644
--- a/andino_gazebo/launch/andino_one_robot.launch.py
+++ b/andino_gz_classic/launch/andino_one_robot.launch.py
@@ -49,7 +49,7 @@ def generate_launch_description():
rviz_config_file = LaunchConfiguration('rviz_config_file')
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
- pkg_andino_gazebo = get_package_share_directory('andino_gazebo')
+ pkg_andino_gz_classic = get_package_share_directory('andino_gz_classic')
use_sim_time_argument = DeclareLaunchArgument(
'use_sim_time',
@@ -68,14 +68,14 @@ def generate_launch_description():
declare_rviz_config_file_cmd = DeclareLaunchArgument(
'rviz_config_file',
default_value=os.path.join(
- pkg_andino_gazebo, 'rviz', 'andino_gazebo.rviz'),
+ pkg_andino_gz_classic, 'rviz', 'andino_gz_classic.rviz'),
description='Full path to the RVIZ config file to use',
)
# Include andino
include_andino = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
- os.path.join(pkg_andino_gazebo, 'launch', 'spawn_robot.launch.py')
+ os.path.join(pkg_andino_gz_classic, 'launch', 'spawn_robot.launch.py')
),
)
diff --git a/andino_gazebo/launch/spawn_robot.launch.py b/andino_gz_classic/launch/spawn_robot.launch.py
similarity index 98%
rename from andino_gazebo/launch/spawn_robot.launch.py
rename to andino_gz_classic/launch/spawn_robot.launch.py
index 6d5183ac..c8cca180 100644
--- a/andino_gazebo/launch/spawn_robot.launch.py
+++ b/andino_gz_classic/launch/spawn_robot.launch.py
@@ -57,7 +57,7 @@ def get_robot_description(use_ros_control: str) -> str:
"""
doc = process_file(
os.path.join(
- get_package_share_directory('andino_gazebo'), 'urdf', 'andino.gazebo.xacro'
+ get_package_share_directory('andino_gz_classic'), 'urdf', 'andino_gz_classic.xacro'
),
mappings={
'use_gazebo_ros_control': use_ros_control,
diff --git a/andino_gazebo/package.xml b/andino_gz_classic/package.xml
similarity index 97%
rename from andino_gazebo/package.xml
rename to andino_gz_classic/package.xml
index 2c9e011e..f2e35e9e 100644
--- a/andino_gazebo/package.xml
+++ b/andino_gz_classic/package.xml
@@ -1,7 +1,7 @@
- andino_gazebo
+ andino_gz_classic
0.0.1
Launch Gazebo simulation with Andino
diff --git a/andino_gazebo/rviz/andino_gazebo.rviz b/andino_gz_classic/rviz/andino_gz_classic.rviz
similarity index 100%
rename from andino_gazebo/rviz/andino_gazebo.rviz
rename to andino_gz_classic/rviz/andino_gz_classic.rviz
diff --git a/andino_gazebo/urdf/andino.gazebo.xacro b/andino_gz_classic/urdf/andino_gz_classic.xacro
similarity index 98%
rename from andino_gazebo/urdf/andino.gazebo.xacro
rename to andino_gz_classic/urdf/andino_gz_classic.xacro
index d74620ce..42fc111a 100644
--- a/andino_gazebo/urdf/andino.gazebo.xacro
+++ b/andino_gz_classic/urdf/andino_gz_classic.xacro
@@ -164,6 +164,6 @@
-
+
diff --git a/andino_gazebo/urdf/include/andino_materials.xacro b/andino_gz_classic/urdf/include/andino_materials.xacro
similarity index 100%
rename from andino_gazebo/urdf/include/andino_materials.xacro
rename to andino_gz_classic/urdf/include/andino_materials.xacro
diff --git a/andino_gazebo/worlds/empty.world b/andino_gz_classic/worlds/empty.world
similarity index 100%
rename from andino_gazebo/worlds/empty.world
rename to andino_gz_classic/worlds/empty.world
diff --git a/andino_navigation/launch/andino_simulation_navigation.launch.py b/andino_navigation/launch/andino_simulation_navigation.launch.py
index a23c72b8..10b585fd 100644
--- a/andino_navigation/launch/andino_simulation_navigation.launch.py
+++ b/andino_navigation/launch/andino_simulation_navigation.launch.py
@@ -43,7 +43,7 @@ def generate_launch_description():
# Get the launch directory
nav2_bringup_dir = get_package_share_directory('nav2_bringup')
andino_navigation_dir = get_package_share_directory('andino_navigation')
- andino_gazebo_dir = get_package_share_directory('andino_gazebo')
+ andino_gz_classic_dir = get_package_share_directory('andino_gz_classic')
# Create the launch configuration variables
use_sim_time = LaunchConfiguration('use_sim_time')
@@ -65,7 +65,7 @@ def generate_launch_description():
# Include andino simulation
include_andino = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
- os.path.join(andino_gazebo_dir, 'launch', 'andino_one_robot.launch.py')
+ os.path.join(andino_gz_classic_dir, 'launch', 'andino_one_robot.launch.py')
),
launch_arguments={
'use_gazebo_ros_control': LaunchConfiguration(
diff --git a/andino_navigation/package.xml b/andino_navigation/package.xml
index c10be7f0..f63331cc 100644
--- a/andino_navigation/package.xml
+++ b/andino_navigation/package.xml
@@ -14,7 +14,7 @@
launch_ros
- andino_gazebo
+ andino_gz_classic
launch_ros
navigation2
nav2_bringup