Ros package and nav2 demo (#1)

* launching the demo world
* Added new laser scan and updated launch file
* Setting up ionic_demo as its own pacakge
* Updated with gif
* Clean up and add license
* Remove unused launch file
* Add media

---------

Signed-off-by: Aaron Chong <[email protected]>
Co-authored-by: Tully Foote <[email protected]>

README.md

@@ -6,12 +6,57 @@ Ionic demo world and resources
 Usage:
 
 ```
-cd Ionic
+git clone https://github.com/gazebosim/ionic_demo
+cd ionic_demo/ionic_demo/worlds
 gz sim -v 4 ionic.sdf
 ```
 
-
 In Harmonic:
 ```
 sudo apt install ros-rolling-ros-gz
 ```
+
+# Running the navigation demo
+
+![](media/ionic-nav-demo-faster-smaller.gif)
+
+This demo requires at least [ROS 2 Jazzy](https://docs.ros.org/en/jazzy/index.html).
+
+Create a new colcon workspace, install dependencies and build the packages,
+
+```
+mkdir -p ~/ionic_ws/src
+cd ~/ionic_w/src
+git clone https://github.com/gazebosim/ionic_demo
+
+source /opt/ros/jazzy/setup.bash
+rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
+
+cd ~/ionic_ws/
+colcon build
+```
+
+Launch the demo,
+
+```
+source ~/ionic_ws/install/setup.bash
+ros2 launch ionic_demo ionic_navigation_demo_launch.py headless:=0
+```
+
+On rviz, initialize the position at the origin towards the right of the map, using the `2D Pose Estimate button`.
+
+![](media/rviz-estimate.png)
+
+Navigation commands can now be sent via the `Nav2 Goal` button.
+
+![](media/rviz-navigate.png)
+
+# Troubleshooting
+
+* If there are communication/middleware related issues while running the demos, we recommend trying again [using a different RMW implementation](https://docs.ros.org/en/jazzy/How-To-Guides/Working-with-multiple-RMW-implementations.html#specifying-rmw-implementations), for example `rmw_cyclonedds_cpp`.
+
+
+# TODOs
+
+* package descriptions
+* fleet adapter

ionic_demo/CMakeLists.txt

@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.8)
+project(ionic_demo)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY maps DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY worlds DESTINATION share/${PROJECT_NAME})
+
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

ionic_demo/hooks/ionic_demo.dsv.in

@@ -0,0 +1 @@
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/@PROJECT_NAME@/worlds/

ionic_demo/launch/ionic_navigation_demo_launch.py

@@ -0,0 +1,36 @@
+from launch_ros.substitutions import FindPackageShare
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution, TextSubstitution
+
+
+def generate_launch_description():
+
+    return LaunchDescription([
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([
+                PathJoinSubstitution([
+                    FindPackageShare('nav2_bringup'),
+                    'launch',
+                    'tb4_simulation_launch.py'
+                ])
+            ]),
+            launch_arguments={
+                'map': PathJoinSubstitution([
+                   FindPackageShare('ionic_demo'),
+                      'maps',
+                      'ionic_demo.yaml'
+                ]),
+                'world': PathJoinSubstitution([
+                   FindPackageShare('ionic_demo'),
+                      'worlds',
+                      'ionic.sdf'
+                ]),
+                'x_pose': '0.0',
+                'y_pose': '0.0',
+                'z_pose': '0.0'
+            }.items()
+        )
+    ])

ionic_demo/maps/ionic_demo.yaml

@@ -0,0 +1,7 @@
+image: ionic_demo.pgm
+mode: trinary
+resolution: 0.05
+origin: [-5.57, -3.69, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

ionic_demo/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ionic_demo</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">tullyfoote</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>nav2_bringup</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>