Improve TIAGo for better compatibility with real robot

[ygoumaz]

Resolves #700.

Tasks:

• Add RGB-D Camera (Astra) topics
• Configure those topics to match real TIAGo names (keep backwards compatibility in webots_ros2_driver)
• Replace TIAGo_Iron by TIAGo_Lite in navigation world file.
• Update original launch file robot_launch.py to start ros2_control controllers after Webots is ready (This change should be applied to all packages, see Start ros2_control spawners when Webots simulation is ready #719).
• Duplicate world with normal TIAGo robot (default_bringup.wbt).
• New launch file robot_bringup_launch.py to start TIAGo (in the new world) with all the packages compatible with real robot (tiago_bringup package).
• New simplified ros2_control_bringup parameters file (parameters for each controller are directly taken from the tiago_bringup package).
• New URDF file tiago_bringup_webots.urdf to interface all joints with started controllers (head, torso, base, gripper, arm).
• New simplified rviz configuration file (default_bringup.rviz) to remove all navigation parts.

[stefaniapedrazzi]

All the camera related topics work fine.
But when starting the example all the rest of the topics listed in #700 are still not available, is this correct?

Is this command (from the examples page) still up-to-date?
ros2 launch webots_ros2_tiago robot_launch.py rviz:=true slam:=true

In RVIZ I see only the base but not the body nor the map.

[ygoumaz]

This command is not up-to-date anymore. I will update it once the PR is merged. To start the full configuration of the TIAGo with all related topics, you should use the following command:

ros2 launch webots_ros2_tiago robot_bringup_launch.py rviz:=true

Note that you can also ignore RViz if you don't want to start it. You also need to install tiago-bringup to start all topics:

sudo apt install ros-humble-tiago-bringup

[stefaniapedrazzi]

Thank you!

Now I see that all the topics are available and in RVIZ I can see the full robot in RVIZ.
I still don't have the map and I can no longer move teleoperating the robot as described in the old example but I will wait for the updated example description.

[ygoumaz]

As explained this morning, I have separated both examples. The robot_launch.py file is used to start the original example (featuring TIAGo Lite) with SLAM and Navigation. On the other hand, robot_bringup_launch.py is used to start the TIAGo with all the topics. Starting everything together is quite a big mess. I think it is clearer to the user if we provide two clear and simple examples and they can always adapt the launch files to add more packages if they need them.

[stefaniapedrazzi]

I will check again once the wiki has been update to see if I missed something, but as I reported previously when starting the old/original launcher, the robot visualization and the SLAM map were not displayed correctly.

[ygoumaz]

I updated the wiki page so that you can test before I merge the PR.

[stefaniapedrazzi]

Thank you!
I confirm that all the three examples (navigation, Slam Toolbox, and cartographer) works correctly also for me.

[omichel]

Thank you.

[ygoumaz]

Tests will run indefinitely until cyberbotics/webots#6113 is merged.