Support ROS 2 Jazzy

[atinfinity]

ToDo

• mapping
• navigation
• navigation(ros2_control)
• ros2_control

URL

• https://github.com/ros-navigation/navigation2/blob/jazzy/nav2_bringup/launch/tb3_simulation_launch.py
• https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation/tree/main/nav2_minimal_tb3_sim
• https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation/blob/main/nav2_minimal_tb3_sim/urdf/gz_waffle.sdf.xacro
• https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation/blob/main/nav2_minimal_tb3_sim/worlds/tb3_empty_world.sdf.xacro

[atinfinity]

I found that there is issue in vmegarover_with_empty_world.launch.py.

[atinfinity]

ros2_control

• [diff_drive_controller] Remove non-stamped Twist option ros-controls/ros2_controllers#812
• https://mikelikesrobots.github.io/blog/jetbot-motors-pt2

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true -r /cmd_vel:=/diff_drive_controller/cmd_vel

[atinfinity]

navigation(ros2_control)

• https://docs.nav2.org/migration/Iron.html
• https://docs.nav2.org/migration/Jazzy.html
• https://discourse.ros.org/t/nav2-support-for-twiststamped-available-rolling-jazzy/35995
• Switch from Twist to TwistStamped for cmd_vel ros-navigation/navigation2#1594

enable_stamped_cmd_vel

• https://github.com/turtlebot/turtlebot4/blob/jazzy/turtlebot4_navigation/config/nav2.yaml

diffdrive_controller/cmd_vel

• https://github.com/iRobotEducation/create3_sim/blob/jazzy/irobot_create_gz/irobot_create_gz_bringup/launch/create3_ros_gz_bridge.launch.py

topic_tools

ros2 run topic_tools relay /cmd_vel /diff_drive_controller/cmd_vel

[atinfinity]

I tried to port from Gazebo Classic to Gazebo Harmonic. But, it occurs strange behavior.
In Gazebo Classic, there is no problem.
gazebosim/gz-physics#698