Provide a gazebo simulation about andino

[francocipollone]

Hey there I have some pointers on this topic.

Implementation Suggestion

URDF

• andino_description contains the description of the robot. I'd recommend not adding gazebo references within andino_description in order to make it simulator agnostic.
  For so, I'd recommend having a xacro file within andino_gazebo package that include the main xacro from andino_description and add the gazebo references that this needs.

ROS 2 control

Use https://github.com/ros-controls/gazebo_ros2_control . This package provides the "gazebo hardware interface" to be used between the diff drive controller and gazebo

Sensors

IMU isn't part of the robot or the description yet. It's ok to add the IMU to the description, however, I'd suggest doing it in two steps. First, make sure the simulation is working with what you have as it is, and then, as a second step/enhacenment we can add the IMU to the description and the correspondent IMU controller(for gazebo).

[Voldivh]

Task Description

Taking into account the initial issue description and that we have started working in doing a contribution for this issue, we have defined the following task in order to complete the feature:

• The robot model for the Andino bot is included in the simulation environment within Gazebo Classic.
• The robot should be integrated with the following sensors:
• Wheel encoders
• Camera
• Lidar
• IMU (if determined necessary, taking into account that the physical version of the Andino does not have an IMU)
• Use ROS 2 Control to move the robot's wheels.
• Generate a launch file that is able to start the Gazebo simulation with the Andino bot in a environment.

Notes

This feature should be implemented as a standalone package.

[agalbachicar]

@olmerg this ticket has been closed but I want to confirm:

• Have we decided to include the camera?
• Is ROS 2 Control finally working with the closed PR?