Switch to Jazzy

Signed-off-by: Aarav Gupta <[email protected]>

harmonic/ros2_integration.md

@@ -7,7 +7,7 @@ simulatenously simulated by a Gazebo world.
 
 ## ros_gz_bridge
 
-[`ros_gz_bridge`](https://github.com/gazebosim/ros_gz) provides a network bridge which enables the exchange of messages between ROS 2 and [Gazebo Transport](https://github.com/gazebosim/gz-transport). Its support is limited to only certain message types. Please, check this [README](https://github.com/gazebosim/ros_gz/blob/ros2/ros_gz_bridge/README.md) to verify if your message type is supported by the bridge.
+[`ros_gz_bridge`](https://github.com/gazebosim/ros_gz) provides a network bridge which enables the exchange of messages between ROS 2 and [Gazebo Transport](https://github.com/gazebosim/gz-transport). Its support is limited to only certain message types. Please, check this [README](https://github.com/gazebosim/ros_gz/blob/jazzy/ros_gz_bridge/README.md) to verify if your message type is supported by the bridge.
 
 Example uses of the bridge can be found in [`ros_gz_sim_demos`](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_sim_demos), including demo launch files with bridging of all major actuation and sensor types.
 
@@ -29,7 +29,7 @@ The ROS message type is followed by an `@`, `[`, or `]` symbol where:
 * `[` is a bridge from Gazebo to ROS.
 * `]` is a bridge from ROS to Gazebo.
 
-Have a look at these [examples]( https://github.com/gazebosim/ros_gz/blob/ros2/ros_gz_bridge/README.md#example-1a-gazebo-transport-talker-and-ros-2-listener)
+Have a look at these [examples]( https://github.com/gazebosim/ros_gz/blob/jazzy/ros_gz_bridge/README.md#example-1a-gazebo-transport-talker-and-ros-2-listener)
 explaining how to make communication connections from ROS to Gazebo and vice versa.
 
 It is also possible to use ROS Launch with the `ros_gz_bridge` and represent the topics in yaml format to be given to the bridge at launch time.
@@ -58,7 +58,7 @@ speedup performance.
 * `direction`: It's possible to specify `GZ_TO_ROS`, `ROS_TO_GZ` and
 `BIDIRECTIONAL`.
 
-See [this example](https://github.com/gazebosim/ros_gz/blob/ros2/ros_gz_bridge/test/config/full.yaml)
+See [this example](https://github.com/gazebosim/ros_gz/blob/jazzy/ros_gz_bridge/test/config/full.yaml)
 for a valid configuration file.
 
 ## Launching the bridge using the launch files included in `ros_gz_bridge` package.
@@ -78,7 +78,7 @@ And now, the container will load your bridge with:
 ros2 launch ros_gz_bridge ros_gz_bridge.launch.py bridge_name:=ros_gz_bridge config_file:=<path_to_your_YAML_file>
 ```
 
-Check [this block](https://github.com/gazebosim/ros_gz/blob/ros2/ros_gz_bridge/launch/ros_gz_bridge.launch.py#L27-L33)
+Check [this block](https://github.com/gazebosim/ros_gz/blob/jazzy/ros_gz_bridge/launch/ros_gz_bridge.launch.py#L27-L33)
 from the source code to know all the different parameters accepted by this
 launch file.
 
@@ -203,10 +203,10 @@ A video walk-through of this tutorial is available from our YouTube channel: [Ga
 
 ## Visualize in RViz
 
-Take a step further and try out demos from [`ros_gz_sim_demos`](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_sim_demos).
+Take a step further and try out demos from [`ros_gz_sim_demos`](https://github.com/gazebosim/ros_gz/tree/jazzy/ros_gz_sim_demos).
 
-For the `sdf_parser` demo, install [`ros_gz`](https://github.com/gazebosim/ros_gz/tree/ros2) and the parser plugin `sdformat_urdf` from source in a colcon workspace.
-Read more about `sdformat_urdf` [here](https://github.com/ros/sdformat_urdf/blob/ros2/sdformat_urdf/README.md).
+For the `sdf_parser` demo, install [`ros_gz`](https://github.com/gazebosim/ros_gz/tree/jazzy) and the parser plugin `sdformat_urdf` from source in a colcon workspace.
+Read more about `sdformat_urdf` [here](https://github.com/ros/sdformat_urdf/blob/jazzy/sdformat_urdf/README.md).
 
 Run the demo launch file with the rviz launch argument set:
 

harmonic/ros2_interop.md

@@ -54,7 +54,7 @@ For publishing and controlling the robot pose, we need joint states of the robot
 
  ![jsp_gui](tutorials/ros2_integration/jsp_gui.png)
 
- See [documentation](http://docs.ros.org/en/rolling/p/joint_state_publisher_gui/) for node API.
+ See [documentation](http://docs.ros.org/en/jazzy/p/joint_state_publisher_gui/) for node API.
  This functionality is useful during initial development of the model.
  At this point we have achieved the first aim defined in [Setup](#setup). 
 
@@ -95,7 +95,7 @@ Learn more about the bridge from [ROS 2 Integration](ros2_integration).
 The main pain point of using existing simulation assets with ROS 2 tools was updating URDF files into a Gazebo-readable format. This is no longer required. If you are maintaining a URDF and an SDF file in a project, you can now drop the URDF and just use the SDF for both ROS and Gazebo.
 
 This is made possible by `sdformat_urdf`, a parser plugin library that converts an SDF file to URDF C++ DOM structures, making it understandle by the ROS 2 ecosystem.
-Although, there are some limitations of the plugin, like not all SDFormat tags are compatible. For example, if you have any sensors attached to a joint, it won't be parsed. More details [here](https://github.com/ros/sdformat_urdf/tree/ros2/sdformat_urdf).
+Although, there are some limitations of the plugin, like not all SDFormat tags are compatible. For example, if you have any sensors attached to a joint, it won't be parsed. More details [here](https://github.com/ros/sdformat_urdf/tree/jazzy/sdformat_urdf).
 
 To embed this functionality, we simply need to print the SDFormat file to the `/robot_description` ROS topic, and internally ROS will find a suitable parser, `sdformat_urdf` in this case, to read the file. This is already done while configuring the `robot_state_publisher` earlier.
 

harmonic/ros2_launch_gazebo.md

@@ -3,7 +3,7 @@
 Gazebo can be launched from a ROS 2 launch system in multiple ways:
 
 ## Using the launch files included in
-[ros_gz_sim](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_sim).
+[ros_gz_sim](https://github.com/gazebosim/ros_gz/tree/jazzy/ros_gz_sim).
 
 The package `ros_gz_sim` contains two launch files named `gz_server.launch.py`
 and `gz_sim.launch.py`. You can use them to start Gazebo server or Gazebo (server and GUI)
@@ -20,8 +20,8 @@ ros2 launch ros_gz_sim gz_server.launch.py world_sdf_file:=empty.sdf
 ```
 
 Consult the argument block of each launch file
-[here](https://github.com/gazebosim/ros_gz/blob/ros2/ros_gz_sim/launch/gz_sim.launch.py.in#L75-L96)
-and [here](https://github.com/gazebosim/ros_gz/blob/ros2/ros_gz_sim/launch/gz_server.launch.py#L27-L38)
+[here](https://github.com/gazebosim/ros_gz/blob/jazzy/ros_gz_sim/launch/gz_sim.launch.py.in#L75-L96)
+and [here](https://github.com/gazebosim/ros_gz/blob/jazzy/ros_gz_sim/launch/gz_server.launch.py#L27-L38)
 to learn about the different parameters that are accepted by each launch file.
 
 ## Using a custom launch file.

harmonic/ros2_overview.md

@@ -5,7 +5,7 @@ different types of integrations that you can achieve between Gazebo and ROS.
 
 * Use ROS to launch Gazebo: ROS prescribes a specific way to launch all
 the pieces needed in your system. There's a dedicated
-[launch mechanism](https://docs.ros.org/en/rolling/Tutorials/Intermediate/Launch/Creating-Launch-Files.html)
+[launch mechanism](https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Launch/Creating-Launch-Files.html)
 to orchestrate the launch of all your components and many tooling around it.
 Gazebo can be launched in this way.
 
@@ -26,9 +26,6 @@ Please follow the [Install Gazebo and ROS document](ros_installation)
 before starting this tutorial. A working installation of ROS 2 and Gazebo is
 required to go further.
 
-Important: Most of this functionality is only available in ROS 2 Rolling.
-We'll backport it to ROS 2 Jazzy soon.
-
 ## Composition
 
 If you inspect the parameters of the launch files mentioned in the next

harmonic/ros2_spawn_model.md

@@ -5,7 +5,6 @@ Additionally, it's possible to spawn new models at any time. To do so using ROS
 we have provided the following mechanisms:
 
 ## Spawn a model using the launch file included in `ros_gz_sim`.
-*Currently only available in Rolling.*
 
 The package `ros_gz_sim` contains a launch file named
 `ros_gz_spawn_model.launch.py`. You can use it to spawn a new model into an
@@ -15,7 +14,7 @@ existing simulation. Here's an example:
 ros2 launch ros_gz_sim ros_gz_spawn_model.launch.py world:=empty file:=$(ros2 pkg prefix --share ros_gz_sim_demos)/models/vehicle/model.sdf entity_name:=my_vehicle x:=5.0 y:=5.0 z:=0.5
 ```
 
-Check [this block](https://github.com/gazebosim/ros_gz/blob/ros2/ros_gz_sim/launch/ros_gz_spawn_model.launch.py#L26-L45)
+Check [this block](https://github.com/gazebosim/ros_gz/blob/jazzy/ros_gz_sim/launch/ros_gz_spawn_model.launch.py#L26-L45)
 from the source code to know all the different parameters accepted by this
 launch file.