Humble ignition gazebo

lbr_bringup/package.xml

@@ -20,6 +20,7 @@
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>gazebo_ros</exec_depend>
   <exec_depend>gazebo_ros2_control</exec_depend>
+  <exec_depend>ign_ros_control</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>rclpy</exec_depend>
 

lbr_description/gazebo/lbr.gazebo.xacro

@@ -4,7 +4,7 @@
 
         <!-- ros_control-plugin -->
         <gazebo>
-            <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
+            <plugin name="ign_ros2_control::IgnitionROS2ControlPlugin" filename="ign_ros2_control-system">
                 <parameters>$(find lbr_hardware_interface)/config/lbr_controllers.yml</parameters>
                 <robotNamespace>/${robot_name}</robotNamespace>
             </plugin>

lbr_description/lbr_description.dsv

@@ -1 +1 @@
-prepend-non-duplicate;GAZEBO_MODEL_PATH;share
+prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share

lbr_description/lbr_description/launch_mixin.py

@@ -13,18 +13,20 @@
 
 
 class GazeboMixin:
+    # https://answers.gazebosim.org//question/28813/how-to-spawn-a-urdf-robot-into-a-ignition-gazebo-world-from-ros2/
     @staticmethod
     def include_gazebo(**kwargs) -> IncludeLaunchDescription:
         return IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
                 PathJoinSubstitution(
                     [
-                        FindPackageShare("gazebo_ros"),
+                        FindPackageShare("ros_gz_sim"),
                         "launch",
-                        "gazebo.launch.py",
+                        "gz_sim.launch.py",
                     ]
-                )
+                ),
             ),
+            launch_arguments={"gz_args": "-r empty.sdf"}.items(),
             **kwargs
         )
 
@@ -35,12 +37,12 @@ def node_spawn_entity(
         if robot_name is None:
             robot_name = LaunchConfiguration("robot_name")
         return Node(
-            package="gazebo_ros",
-            executable="spawn_entity.py",
+            package="ros_gz_sim",
+            executable="create",
             arguments=[
                 "-topic",
                 "robot_description",
-                "-entity",
+                "-name",
                 LaunchConfiguration("robot_name"),
             ],
             output="screen",

lbr_description/ros2_control/lbr.ros2_control.xacro

@@ -17,7 +17,7 @@
             <!-- define hardware including parameters, also gazebo -->
             <xacro:if value="${sim}">
                 <hardware>
-                    <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+                    <plugin>ign_ros2_control/IgnitionSystem</plugin>
                 </hardware>
             </xacro:if>
             <xacro:unless value="${sim}">