pal-robotics · v-lopez · Jan 25, 2021 · Jan 27, 2021 · Feb 19, 2021 · Mar 10, 2021
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -0,0 +1,56 @@
+# Contributing Guidelines
+Thank you for your interest in contributing to this project
+Whether it's a bug report, new feature, correction, or additional
+documentation, we greatly value feedback and contributions from our community.
+
+Please read through this document before submitting any issues or pull requests to ensure we have all the necessary
+information to effectively respond to your bug report or contribution.
+
+
+## Reporting Bugs/Feature Requests
+We welcome you to use the GitHub issue tracker to report bugs or suggest features.
+
+When filing an issue, please check existing open issues, or recently closed, issues to make sure 
+ somebody else hasn't already reported the issue.
+Please try to include as much information as you can. Details like these are incredibly useful:
+
+* A reproducible test case or series of steps
+* The version of our code being used
+* Any modifications you've made relevant to the bug
+* Anything unusual about your environment or deployment
+
+
+## Contributing via Pull Requests
+Contributions via pull requests are much appreciated.
+Before sending us a pull request, please ensure that:
+
+1. You are working against the latest source on the *master* branch.
+2. You check existing open, and recently merged, pull requests to make sure someone else hasn't addressed the problem already.
+3. You open an issue to discuss any significant work - we would hate for your time to be wasted.
+
+To send us a pull request, please:
+
+1. Fork the repository.
+2. Modify the source; please focus on the specific change you are contributing.
+    If you also reformat all the code, it will be hard for us to focus on your change.
+3. Ensure local tests pass. (`colcon test`)
+4. Commit to your fork using clear commit messages.
+5. Send a pull request, answering any default questions in the pull request interface.
+6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
+
+GitHub provides additional documentation on [forking a repository](https://help.github.com/articles/fork-a-repo/) and
+[creating a pull request](https://help.github.com/articles/creating-a-pull-request/).
+
+
+## Licensing
+Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html):
+
+~~~
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+~~~
diff --git a/LICENSE b/LICENSE
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2021, PAL Robotics S.L.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/pmb2_2dnav_gazebo/CHANGELOG.rst b/pmb2_2dnav_gazebo/CHANGELOG.rst
@@ -2,6 +2,25 @@
 Changelog for package pmb2_2dnav_gazebo
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.0.2 (2021-10-19)
+------------------
+
+3.0.1 (2021-08-13)
+------------------
+* Resolve missing dependency
+* Merge branch 'foxy_obstacle_avoidance' into 'foxy-devel'
+  default world
+  See merge request robots/pmb2_simulation!33
+* default world
+* Contributors: Noel Jimenez Garcia, Victor Lopez, victor
+
+3.0.0 (2021-07-20)
+------------------
+* Add ament and apply corrections
+* Migrate pmb2_2dnav_gazebo to ROS2
+* First gazebo launch with ROS2
+* Contributors: Victor Lopez
+
 2.0.24 (2021-01-13)
 -------------------
 * Merge branch 'mapping-rgbd' into 'erbium-devel'

diff --git a/pmb2_2dnav_gazebo/CMakeLists.txt b/pmb2_2dnav_gazebo/CMakeLists.txt
@@ -1,11 +1,16 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.4.0)
 project(pmb2_2dnav_gazebo)
 
-find_package(catkin REQUIRED)
+find_package(ament_cmake_auto REQUIRED)
 
-catkin_package()
+# PAL Robotics stricter build flags, other developers should not worry about this
+find_package(ament_cmake_pal QUIET)
 
-foreach(dir launch)
-    install(DIRECTORY ${dir}/
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
-endforeach(dir)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE launch)
diff --git a/pmb2_2dnav_gazebo/launch/localization.launch b/pmb2_2dnav_gazebo/launch/localization.launch
diff --git a/pmb2_2dnav_gazebo/launch/mapping.launch b/pmb2_2dnav_gazebo/launch/mapping.launch
diff --git a/pmb2_2dnav_gazebo/launch/navigation.launch b/pmb2_2dnav_gazebo/launch/navigation.launch
diff --git a/pmb2_2dnav_gazebo/launch/pmb2_mapping.launch b/pmb2_2dnav_gazebo/launch/pmb2_mapping.launch
diff --git a/pmb2_2dnav_gazebo/launch/pmb2_mapping_gazebo.launch.py b/pmb2_2dnav_gazebo/launch/pmb2_mapping_gazebo.launch.py
@@ -0,0 +1,34 @@
+# Copyright (c) 2021 PAL Robotics S.L.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch_pal.include_utils import include_launch_py_description
+
+
+def generate_launch_description():
+    # Create the launch description and populate
+    ld = LaunchDescription([
+        include_launch_py_description(
+            'pmb2_gazebo', ['launch', 'pmb2_gazebo.launch.py'],
+            launch_arguments={
+                'world_name': 'pal_office',
+                }.items()),
+        include_launch_py_description(
+            'pmb2_2dnav', ['launch', 'pmb2_nav_bringup.launch.py'],
+            launch_arguments={
+                'slam': 'True'
+                }.items()),
+    ])
+
+    return ld