Migration to Galactic

README.md

@@ -32,15 +32,20 @@ Before starting hands-on on coding, please check out our issue board to see if w
 # Installation #
 Plankton currently supports:
 
+- **ROS 2 Galactic** with **Gazebo 9** or **Gazebo 11** and **Ubuntu 20.04**
+
 - **ROS 2 Foxy** with **Gazebo 9** or **Gazebo 11** and **Ubuntu 20.04**
 
 - **ROS 2 Eloquent**, **Ubuntu 18.04** and **Gazebo 9**
 
-### 1. Install ROS 2 Foxy 
+### 1. Install ROS 2 Foxy or Galactic
 
-If you don’t have ROS 2 Foxy installed, follow the instructions below and prefer to install the `ros-foxy-desktop` package:
+If you don’t have ROS 2 Foxy or installed, follow the instructions below and prefer to install the `ros-foxy-desktop` package:
 <https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/>
 
+For ROS 2 Galactic the instructions for installing the `ros-galactic-desktop` package can be found here:
+<https://index.ros.org/doc/ros2/Installation/Galactic/Linux-Install-Debians/>
+
 ### 2. Install Gazebo 11
 
 If you don't have Gazebo 11 installed, open a terminal and follow the steps below:
@@ -60,9 +65,12 @@ You can write `gazebo` in a terminal to make sure that gazebo runs correctly. Wr
 
 ### 3. Install the ros packages for gazebo
 
-Write in a terminal:  
+For Foxy, write in a terminal:  
 `sudo apt install ros-foxy-gazebo-ros-pkgs`
 
+For Galactic:
+`sudo apt install ros-galactic-gazebo-ros-pkgs`
+
 >See <http://gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros> for more detailed information about gazebo and ROS 2 connection.
 
 ### 4. Build the Plankton plugin
@@ -80,8 +88,10 @@ Now, clone the Plankton repository:
 `git clone https://www.github.com/Liquid-ai/Plankton.git`
 
 At this point, you need to source 2 different files described below to configure ROS 2 and Gazebo environment variables: 
-   - For ROS 2 variables  
+   - For ROS 2 variables (for Foxy)
 `source /opt/ros/foxy/setup.bash`  
+   - For ROS 2 variables (for Galactic)
+`source /opt/ros/galactic/setup.bash`  
    - For Gazebo   
 `source /usr/share/gazebo/setup.sh`
 
@@ -97,6 +107,11 @@ Browse to the root of your workspace and check for missing dependencies:
 cd ~/ros2_ws/
 rosdep install -i --from-path src --rosdistro foxy -y
 ```
+If using Galactic, run instead:
+```
+cd ~/ros2_ws/
+rosdep install -i --from-path src --rosdistro galactic -y
+```
 
 Install Colcon, the build tool system:  
 `sudo apt install python3-colcon-common-extensions`
@@ -114,8 +129,10 @@ If everything went well, you should be able to run example cases.
 
 Note: Every time you open a new terminal, you need to source 3 different files described below to configure ROS 2 and Gazebo environment variables. Write the following each time you start a new terminal to deal with ROS 2 / Gazebo stuff, or prefer to add them at the end of your .bashrc file with `gedit ~/.bashrc`. For the latter, don’t forget to source your .bashrc to enforce the update after saving these changes, or open a fresh terminal.  
 
-   - For ROS 2 variables  
+   - For ROS 2 variables (for Foxy)
 `source /opt/ros/foxy/setup.bash`  
+   - For ROS 2 variables (for Galactic)
+`source /opt/ros/galactic/setup.bash`  
    - For your installation workspace (change the path accordingly)  
 `source $HOME/ros2_ws/install/setup.bash`  
    - For Gazebo   

uuv_gazebo_plugins/uuv_gazebo_ros_plugins/src/FinROSPlugin.cpp

@@ -119,7 +119,7 @@ void FinROSPlugin::Load(gazebo::physics::ModelPtr _parent, sdf::ElementPtr _sdf)
 
   myRosNode = gazebo_ros::Node::CreateWithArgs(_sdf->Get<std::string>("name"));// gazebo_ros::Node::Get(_sdf);
   //Change the buildtopicprefix function ("/") if creating a namespaced node here
-  RCLCPP_INFO(myRosNode->get_logger(), "[FinROSPlugin] Namespace: " + std::string(myRosNode->get_namespace()));
+  RCLCPP_INFO_STREAM(myRosNode->get_logger(), "[FinROSPlugin] Namespace: " << std::string(myRosNode->get_namespace()));
   //this->rosNode.reset(new ros::NodeHandle(""));
 
   mySubReference = myRosNode->create_subscription<

uuv_sensor_plugins/uuv_sensor_ros_plugins/include/uuv_sensor_ros_plugins/DVLROSPlugin.h

@@ -37,6 +37,7 @@
 #include <uuv_sensor_ros_plugins_msgs/msg/dvl_beam.hpp>
 
 
+#include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 
 #include <vector>

uuv_sensor_plugins/uuv_sensor_ros_plugins/include/uuv_sensor_ros_plugins/PoseGTROSPlugin.h

@@ -37,6 +37,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
+#include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 
 #include <gazebo/physics/physics.hh>