Update First-Time Robot Setup Guide for Modern Gazebo #618
Conversation
Signed-off-by: Aarav Gupta <[email protected]>
There was a problem hiding this comment.
First of all, a huge, huge thank you for taking this on, it really helps alot to get some support in updating documentation :-)
I'm wondering if we should possibly create new pages for the odometry, sensors (in addition to the SDF we've already discussed) and leave the current pages alone. That would let you start fresh (which would probably make this easier honestly than trying to shoe horn the changes in) and also let us on the Index page https://docs.nav2.org/setup_guides/index.html allow people to choose their adventure for GZ Classic or Modern GZ if they're still on Humble. Unfortunately Humble is supported until mid-2025, so there will still be alot of GZ Classic users around for awhile.
Basically what I'm thinking is to have 2 parallel table contents, one for GZ and another for GZ Classic. They'd both share the Transformations and URDF tutorials, but the Odometry, Sensors, and SDF would change by simulator -- and then the Footprint / Plugins would again be the same. That would also give us a recipe to work with for adding support for new simulators in the future
Then once that passes, we can just delete those changes to complete the migration. What do you think? I think that would make your life easier by being able to have more control on the flow of the guide page and code blocks instead of trying to make a 1:1 analog.
|
|
||
| We also need to install the ``gazebo_ros_pkgs`` package to simulate odometry and control the robot with ROS 2 in Gazebo: | ||
| Note that you may have described ``sam_bot`` using URDF. However, Gazebo uses `Simulation Description Format (SDF) <http://sdformat.org/>`_ to describe a robot in its simulated environment. Fortunately, Gazebo automatically translates compatible URDF files into SDF. The main requirement for the URDF to be compatible with Gazebo is to have an ``<inertia>`` element within each ``<link>`` element. This requirement is already satisfied in the URDF file of ``sam_bot``, so it can already be used in Gazebo. |
There was a problem hiding this comment.
I believe we're separating the SDF files now. I think the SDF tutorial should be before this one, so they should have one already (with basic frames?) that we're modifying to setup the odometry / diff drive controller
There was a problem hiding this comment.
This is something defined in line 90 of the old tutorial, which I slightly updated. I think since we have/will be having a URDF and SDF tutorial now, this is something that may cause confusion so I will remove it.
You are welcome! Thanks a lot for appreciating the effort.
Those ideas do sound good to me. I'm not sure what you mean by "2 parallel table contents." Could you go into a bit more detail about that/how to implement it? |
|
In the index page, we have a section called "Table of Contents" where we list those guide pages. Instead, we could have 2 separate sections, one for GZ Modern and another for GZ Classic where we link the appropriate versions of the pages. For some, they'll be the same page (URDF, Footprint), but for others they'll change (the ones you're working on). that would give us the tutorials for both up simultaneously and give you more free reign on the Modern GZ pages to break from the existing where things change more easily |
Fixes #608.