jazzy branch uses Gazebo Classic launch (gzserver/gzclient), incompatible with ROS 2 Jazzy

[TheCliftonCoder]

I'm working with the nav2_gps_waypoint_follower_demo package on ROS 2 Jazzy and I’ve noticed that both the main and jazzy branches launch Gazebo Classic using gzserver and gzclient.

Jazzy is only compatible with Gazebo Harmonic not Gazebo Classic.

Steps to Reproduce

• Use ROS2 Jazzy
• Clone the repo
• Checkout the Jazzy or Main branch
• Build and Source
• Run: ros2 launch nav2_gps_waypoint_follower_demo gazebo_gps_world.launch.py
• Launch fails due to missing gzserver/gzclient, which are no longer available in the ROS Jazzy environment.

[SteveMacenski]

We are aware that the tutorial for GPS is not updated to modern Gazebo, it is something that we are looking for contributors to help make possible and @stevedanomodolor is thinking about it -- would you be open to contributing a migration or helping with that? 💯

[stevedanomodolor]

@TheCliftonCoder I am currently in the process of updating the gps tutorial. I am having an issue with the localization not been consistent. Maybe it is because gazebo is not publishing the correct frames, I am not sure to be honest. I am still investigating what the problem might be. These are the branches, let me know if you are able to figure something out.

• https://github.com/stevedanomodolor/navigation2_tutorials/tree/feat/update_gps_tutorial
• https://github.com/stevedanomodolor/nav2_minimal_turtlebot_simulation/tree/feat/update_gps_tutorial

[TheCliftonCoder]

Thank you for the response but currently I'm not in a position to be able to contribute to a migration. If this changes I'll reach out.

[stevedanomodolor]

Current issue

• Slight change in gazebo gps position std dev, causes jumps in /odometry/gps cra-ros-pkg/robot_localization#931
• Apt-get not working for rolling swri-robotics/mapviz#852

[stevedanomodolor]

Should be ready now @TheCliftonCoder and @SteveMacenski

[stevedanomodolor]

ros-navigation/nav2_minimal_turtlebot_simulation#32

#115

ros-navigation/docs.nav2.org#720