From 10e4fbada7d5f8beb026c1a5558330cea933ea38 Mon Sep 17 00:00:00 2001
From: Ana Huaman <ana@traclabs.com>
Date: Mon, 17 Mar 2025 09:14:25 -0500
Subject: [PATCH 1/4] Upgraded to gazebo harmonic

---
 CMakeLists.txt                                    |  5 +----
 hooks/simulation.dsv.in                           |  3 +--
 models/canadarm/urdf/SSRMS_Canadarm2.gazebo.xacro | 10 ++++------
 3 files changed, 6 insertions(+), 12 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index cd3aead..671b465 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,12 +2,9 @@ cmake_minimum_required(VERSION 3.8)
 project(simulation)
 find_package(ament_cmake REQUIRED)
 
-file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/models/curiosity_path)
-
 install(DIRECTORY
   models
-  ${CMAKE_CURRENT_BINARY_DIR}/models
-  DESTINATION share/${PROJECT_NAME}/
+  DESTINATION share/${PROJECT_NAME}
 )
 
 ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
diff --git a/hooks/simulation.dsv.in b/hooks/simulation.dsv.in
index ccc31f6..e5c7b59 100644
--- a/hooks/simulation.dsv.in
+++ b/hooks/simulation.dsv.in
@@ -1,2 +1 @@
-prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share
-prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share/simulation/models
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share
diff --git a/models/canadarm/urdf/SSRMS_Canadarm2.gazebo.xacro b/models/canadarm/urdf/SSRMS_Canadarm2.gazebo.xacro
index 8aefc68..183ac45 100644
--- a/models/canadarm/urdf/SSRMS_Canadarm2.gazebo.xacro
+++ b/models/canadarm/urdf/SSRMS_Canadarm2.gazebo.xacro
@@ -4,9 +4,9 @@
   <xacro:macro name="ssrms_canadarm2_gazebo" params="command_interface:=effort">
 
 
-  <ros2_control name="IgnitionSystem" type="system">
+  <ros2_control name="GazeboSystem" type="system">
       <hardware>
-          <plugin>ign_ros2_control/IgnitionSystem</plugin>
+          <plugin>gz_ros2_control/GazeboSimSystem</plugin>
       </hardware>
       <joint name="Base_Joint">
           <command_interface name="${command_interface}"/>
@@ -53,10 +53,8 @@
   </ros2_control>
 
   <gazebo>
-      <plugin filename="libign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
-      <robot_param>robot_description</robot_param>
-      <robot_param_node>robot_state_publisher</robot_param_node>
-      <parameters>$(find canadarm)/config/canadarm_control.yaml</parameters>
+      <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+        <parameters>$(find canadarm)/config/canadarm_control.yaml</parameters>
       </plugin>
   </gazebo>
 

From 08105ebba48bf739532341aab3080e36ffb44643 Mon Sep 17 00:00:00 2001
From: "Ana C. Huaman Quispe" <ana@traclabs.com>
Date: Tue, 18 Mar 2025 17:35:29 -0500
Subject: [PATCH 2/4] Separated the transmission data which is not currently
 used by ros2 control

---
 models/curiosity_path/urdf/arm.xacro          | 136 +++++++++---------
 .../urdf/curiosity_mars_rover.gazebo          |  12 +-
 models/curiosity_path/urdf/sensor_mast.xacro  |  77 +++++-----
 3 files changed, 111 insertions(+), 114 deletions(-)

diff --git a/models/curiosity_path/urdf/arm.xacro b/models/curiosity_path/urdf/arm.xacro
index 780cfff..7be5638 100644
--- a/models/curiosity_path/urdf/arm.xacro
+++ b/models/curiosity_path/urdf/arm.xacro
@@ -32,11 +32,10 @@
 
 	<link name='arm_01'>
 		<collision>
-			<origin xyz="0 0 0"
-					rpy="0 0 0"/>
-			<geometry>
-				<mesh filename="package://simulation/models/curiosity_path/meshes/arm_01_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
-			</geometry>
+		    <origin xyz="0 0 0" rpy="0 0 0"/>
+		    <geometry>
+		        <mesh filename="package://simulation/models/curiosity_path/meshes/arm_01_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+		    </geometry>
 		</collision>
 
 		<visual>
@@ -69,17 +68,6 @@
         <dynamics damping="0.0" friction="0.0"/>
 	</joint>
 
-    <transmission name="arm_01_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="arm_01_joint">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="arm_01Motor">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
 
   	<link name='arm_01_to_arm_02'>
 		<inertial>
@@ -137,7 +125,6 @@
 		</inertial>
 	</link>
 
-
   	<joint name="arm_02_joint" type="revolute">
 		<parent link="arm_01_to_arm_02"/>
 		<child link="arm_02"/>
@@ -147,18 +134,6 @@
         <dynamics damping="0.0" friction="0.0"/>
 	</joint>
 
-    <transmission name="arm_02_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="arm_02_joint">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="arm_02Motor">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
-
   	<link name='arm_02_to_arm_03'>
 		<inertial>
             <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -225,19 +200,6 @@
         <dynamics damping="0.0" friction="0.0"/>
 	</joint>
 
-    <transmission name="arm_03_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="arm_03_joint">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="arm_03Motor">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
-
-
   	<link name='arm_03_to_arm_04'>
 		<inertial>
             <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -267,24 +229,21 @@
 
   	<link name='arm_04'>
 		<collision>
-			<origin xyz="0 0 0"
-					rpy="0 0 0"/>
+			<origin xyz="0 0 0" rpy="0 0 0"/>
 			<geometry>
 				<mesh filename="package://simulation/models/curiosity_path/meshes/arm_04_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
-			<origin xyz="0 0 0"
-					rpy="0 0 0"/>
+			<origin xyz="0 0 0" rpy="0 0 0"/>
 			<geometry>
 				<mesh filename="package://simulation/models/curiosity_path/meshes/arm_04_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 
 		<inertial>
-			<origin xyz="0 0 0"
-					rpy="0 0 0"/>
+			<origin xyz="0 0 0" rpy="0 0 0"/>
 			<mass value="${arm_04_Mass}"/>
 			<xacro:box_inertia
 				m="${arm_04_Mass}"
@@ -304,20 +263,8 @@
         <dynamics damping="0.0" friction="0.0"/>
 	</joint>
 
-    <transmission name="arm_04_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="arm_04_joint">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="arm_04Motor">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
-
   	<link name='arm_04_to_arm_tools'>
-		<inertial>
+	<inertial>
             <origin xyz="0 0 0" rpy="0 0 0"/>
             <mass value="0.02" />
             <inertia ixx="2.61666666667e-05" ixy="0.0" ixz="0.0" iyy="2.61666666667e-05" iyz="0.0" izz="3.6e-05"/>
@@ -346,24 +293,21 @@
 
   	<link name='arm_tools'>
 		<collision>
-			<origin xyz="0 0 0"
-					rpy="0 0 0"/>
+			<origin xyz="0 0 0" rpy="0 0 0"/>
 			<geometry>
 				<mesh filename="package://simulation/models/curiosity_path/meshes/arm_tools_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
-			<origin xyz="0 0 0"
-					rpy="0 0 0"/>
+			<origin xyz="0 0 0" rpy="0 0 0"/>
 			<geometry>
 				<mesh filename="package://simulation/models/curiosity_path/meshes/arm_tools_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 
 		<inertial>
-			<origin xyz="0 0 0"
-					rpy="0 0 0"/>
+			<origin xyz="0 0 0" rpy="0 0 0"/>
 			<mass value="${arm_tools_Mass}"/>
 			<xacro:box_inertia
 				m="${arm_tools_Mass}"
@@ -373,7 +317,6 @@
 		</inertial>
 	</link>
 
-
   	<joint name="arm_tools_joint" type="continuous">
 		<parent link="arm_04_to_arm_tools"/>
 		<child link="arm_tools"/>
@@ -383,17 +326,68 @@
         <dynamics damping="0.0" friction="0.0"/>
 	</joint>
 
+  </xacro:macro>
+  
+  <!-- ros2_control transmission does NOT use this currently. This macro is not actively used -->
+  <xacro:macro name="arm_transmission" params="hw_interface:=hardware_interface/EffortJointInterface">
+
+    <transmission name="arm_01_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="arm_01_joint">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+      </joint>
+      <actuator name="arm_01Motor">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+    
+    <transmission name="arm_02_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="arm_02_joint">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+      </joint>
+      <actuator name="arm_02Motor">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+
+    <transmission name="arm_03_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="arm_03_joint">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+      </joint>
+      <actuator name="arm_03Motor">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+
+    <transmission name="arm_04_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="arm_04_joint">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+      </joint>
+      <actuator name="arm_04Motor">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+
     <transmission name="arm_tools_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="arm_tools_joint">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        <hardwareInterface>${hw_interface}</hardwareInterface>
       </joint>
       <actuator name="arm_toolsMotor">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        <hardwareInterface>${hw_interface}</hardwareInterface>
         <mechanicalReduction>1</mechanicalReduction>
       </actuator>
     </transmission>
-
   </xacro:macro>
 
 </robot>
diff --git a/models/curiosity_path/urdf/curiosity_mars_rover.gazebo b/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
index 883e8b2..9661a2e 100644
--- a/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
+++ b/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
 
-  <ros2_control name="IgnitionSystem" type="system">
+  <ros2_control name="GazeboSystem" type="system">
       <hardware>
-          <plugin>ign_ros2_control/IgnitionSystem</plugin>
+          <plugin>gz_ros2_control/GazeboSimSystem</plugin>
       </hardware>
       <!-- Arm Joints Interfaces-->
       <joint name="arm_01_joint">
@@ -132,22 +132,22 @@
   </ros2_control>
 
   <gazebo>
-      <plugin filename="libign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+      <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
           <robot_param>robot_description</robot_param>
           <robot_param_node>robot_state_publisher</robot_param_node>
           <parameters>$(find mars_rover)/config/mars_rover_control.yaml</parameters>
       </plugin>
 
-      <plugin filename="ignition-gazebo-odometry-publisher-system" name="ignition::gazebo::systems::OdometryPublisher">
+      <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
           <odom_frame>/odom</odom_frame>
           <robot_base_frame>/base_footprint</robot_base_frame>
           <odom_publish_frequency>10</odom_publish_frequency>
       </plugin>
 
-      <plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
+      <!--<plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
           <render_engine>ogre2</render_engine>
           <background_color>0.9 0.753 0.66 1</background_color>
-      </plugin>
+      </plugin>-->
   </gazebo>
 
   <gazebo reference="lidar_link">
diff --git a/models/curiosity_path/urdf/sensor_mast.xacro b/models/curiosity_path/urdf/sensor_mast.xacro
index bf041a8..a539578 100644
--- a/models/curiosity_path/urdf/sensor_mast.xacro
+++ b/models/curiosity_path/urdf/sensor_mast.xacro
@@ -69,18 +69,6 @@
         <dynamics damping="0.0" friction="0.0"/>
 	</joint>
 
-    <transmission name="mast_p_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="mast_p_joint">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="mast_pMotor">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
-
   	<link name='mast_p_to_mast_02'>
 		<inertial>
             <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -147,19 +135,6 @@
         <dynamics damping="0.0" friction="0.0"/>
 	</joint>
 
-    <transmission name="mast_02_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="mast_02_joint">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="mast_02Motor">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
-
-
 	<link name='mast_02_to_mast_cameras'>
 		<inertial>
             <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -226,18 +201,6 @@
         <dynamics damping="0.0" friction="0.0"/>
 	</joint>
 
-    <transmission name="mast_02_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="mast_cameras_joint">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="mast_02Motor">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
-
   	<material name="green">
         <color rgba="0 0.8 0 1"/>
     </material>
@@ -296,4 +259,44 @@
 
   </xacro:macro>
 
+
+  <!-- ros2_control transmission does NOT use this currently. This macro is not actively used -->
+  <xacro:macro name="mast_transmission" params="hw_interface:=hardware_interface/EffortJointInterface">
+  
+    <transmission name="mast_p_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="mast_p_joint">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+      </joint>
+      <actuator name="mast_pMotor">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+    <transmission name="mast_02_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="mast_02_joint">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+      </joint>
+      <actuator name="mast_02Motor">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+
+    <transmission name="mast_02_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="mast_cameras_joint">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+      </joint>
+      <actuator name="mast_02Motor">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+    
+</xacro:macro>
+
 </robot>

From de2afbfb400c52887160c972776fb87d0381e368 Mon Sep 17 00:00:00 2001
From: "Ana C. Huaman Quispe" <ana@traclabs.com>
Date: Wed, 19 Mar 2025 19:35:33 -0500
Subject: [PATCH 3/4] Commented out image topic for bridge

---
 models/curiosity_path/urdf/curiosity_mars_rover.gazebo | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/models/curiosity_path/urdf/curiosity_mars_rover.gazebo b/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
index 9661a2e..ac310db 100644
--- a/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
+++ b/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
@@ -144,15 +144,15 @@
           <odom_publish_frequency>10</odom_publish_frequency>
       </plugin>
 
-      <!--<plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
+      <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
           <render_engine>ogre2</render_engine>
           <background_color>0.9 0.753 0.66 1</background_color>
-      </plugin>-->
+      </plugin>
   </gazebo>
 
   <gazebo reference="lidar_link">
       <sensor name='lidar' type='gpu_lidar'>"
-          <ignition_frame_id>lidar_link</ignition_frame_id>
+          <gz_frame_id>lidar_link</gz_frame_id>
           <pose relative_to='lidar_link'>0 0 0 0 0 0</pose>
           <topic>scan</topic>
           <update_rate>10</update_rate>

From 9752e6dcb057e915a4c849cacc23976fe3fca8ef Mon Sep 17 00:00:00 2001
From: "Ana C. Huaman Quispe" <ana@traclabs.com>
Date: Wed, 26 Mar 2025 10:33:54 -0500
Subject: [PATCH 4/4] Fix a spacing issue

---
 models/curiosity_path/urdf/arm.xacro | 42 ++++++++++++++--------------
 1 file changed, 21 insertions(+), 21 deletions(-)

diff --git a/models/curiosity_path/urdf/arm.xacro b/models/curiosity_path/urdf/arm.xacro
index 7be5638..fdc1a61 100644
--- a/models/curiosity_path/urdf/arm.xacro
+++ b/models/curiosity_path/urdf/arm.xacro
@@ -32,10 +32,10 @@
 
 	<link name='arm_01'>
 		<collision>
-		    <origin xyz="0 0 0" rpy="0 0 0"/>
-		    <geometry>
-		        <mesh filename="package://simulation/models/curiosity_path/meshes/arm_01_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
-		    </geometry>
+		        <origin xyz="0 0 0" rpy="0 0 0"/>
+		        <geometry>
+		            <mesh filename="package://simulation/models/curiosity_path/meshes/arm_01_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+		        </geometry>
 		</collision>
 
 		<visual>
@@ -264,23 +264,23 @@
 	</joint>
 
   	<link name='arm_04_to_arm_tools'>
-	<inertial>
-            <origin xyz="0 0 0" rpy="0 0 0"/>
-            <mass value="0.02" />
-            <inertia ixx="2.61666666667e-05" ixy="0.0" ixz="0.0" iyy="2.61666666667e-05" iyz="0.0" izz="3.6e-05"/>
-        </inertial>
-        <collision>
-            <origin rpy="0 0 0" xyz="0 0 0"/>
-            <geometry>
-                <cylinder radius="0.02" length="0.02"/>
-            </geometry>
-        </collision>
-		<visual>
-            <origin rpy="0 0 0" xyz="0 0 0"/>
-            <geometry>
-                <cylinder radius="0.02" length="0.02"/>
-            </geometry>
-        </visual>
+	    <inertial>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <mass value="0.02" />
+                <inertia ixx="2.61666666667e-05" ixy="0.0" ixz="0.0" iyy="2.61666666667e-05" iyz="0.0" izz="3.6e-05"/>
+            </inertial>
+            <collision>
+                <origin rpy="0 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder radius="0.02" length="0.02"/>
+                </geometry>
+            </collision>
+	    <visual>
+                <origin rpy="0 0 0" xyz="0 0 0"/>
+                <geometry>
+                    <cylinder radius="0.02" length="0.02"/>
+                </geometry>
+            </visual>
 	</link>