Migrate to modern Gazebo

[azeey]

As you may know, Gazebo-classic (aka Gazebo11, see Terminology) is no longer being actively developed and will not be available on ROS Jazzy (REP 2000). I noticed that this project still uses Gazebo-classic. Are there any plans to migrate to modern Gazebo (previously known as Ignition)?

These might be helpful resources if you do plan to migrate:

• Migration guide for SDF files: https://gazebosim.org/api/sim/8/migrationsdf.html
• Migration guild for Gazebo plugins: https://gazebosim.org/api/sim/8/migrationplugins.html
• Documentation for ros_gz: https://gazebosim.org/docs/harmonic/ros2_integration.
• https://github.com/gazebosim/ros_gz_project_template and its documentation.

[DLu]

@azeey This tutorial makes heavy use of gazebo_ros/spawn_model. Can you point me toward the equivalent resource for modern Gazebo?

[azeey]

The equivalent for gazebo_ros/spawn_model is the create node in ros_gz_sim (https://github.com/gazebosim/ros_gz/blob/ros2/ros_gz_sim/README.md). Seems like it's lacking documentation :(, but here's one example.

[DLu]

Blocked by gazebosim/ros_gz#492