Add ROS2 actions supported by robot to simulator about create3_sim HOT 6 CLOSED

We will be adding a wall follow action to the simulator, it won't be as sophisticated as the robot's internal implementation, but hopefully it will be sufficiently functional to be able to use it as part of a higher level application state machine.

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Those are some interesting algorithms to implement.
To be honest, I don't think we should be reinventing the wheel here given you guys have probably already implemented these three behaviors for the real robot's firmware. I'd be nice if we could somehow reuse some of that logic here.

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I don't think we want to open source those implementations. I think its important the actions are available, so that users who have them in their application workflow for the robot can use the same application on the simulator, but I don't think they have to work the same. Given that the simulator knows the dock position, a simple /dock would be to set a point offset from the dock, have the robot rotate to that point, drive forward to reach it, then rotate to the dock and drive forward till docked. /undock can just back up 0.4m and rotate 180. /wall_follow is a little harder to make a simple solution for... we can make that one lowest priority and see how much time we have for it. I think /dock and /undock are the most important to have some implementation for, as most applications will likely implement those.

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Fair enough. And yeah, mainly here I was referring to the wall follow algo.
We can figure out something for the dock/undock and leave the wf open for a future release.

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dock/undock are complete. Just wall_follow remains

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Very interesting discussion about the Gazebo Simulation requires exposing IP - something for the Gazebo/Ignition folks to think about.

At any rate - I want to add my vote for some sort of wall following even if it is not as sophisticated as the real bot implements. Nearly every bot I have ever owned has had a wall following example (Hero, RugWarriorPro, Cye to name a few). I feel wall following is a basic robot function that is educational to make folks implement, but the whole point of ROS is to think higher. If not in the simulator, please add to the examples.

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