[gazebo] Resupport gazebo environment

[mqcmd196]

No description provided.

[k-okada]

humm, it seems fetch_robotics trasfer the repo to ZebraDevs, https://github.com/orgs/fetchrobotics/repositories, if there are conversation on this topic, please add that information.
if this repo is working on noetic, please add comments to ZebraDevs/fetch_gazebo#112 and also ask for the release.

[k-okada]

which launch file uses this node? https://github.com/search?q=repo%3AZebraDevs%2Ffetch_gazebo%20robot_pose_publisher&type=code

[mqcmd196]

@OldVincent
Now, I'm creating a gazebo environment for Fetch at this PR. Please try if you have time.

PR2 needs more patches...

[mqcmd196]

roslaunch jsk_fetch_startup fetch_gazebo_73b2.launch

[OldVincent]

Upstream library fetch_gazebo needs slight modification to run on Noetic. In file fetch_gazebo/fetch_gazebo/launch/include/fetch.launch.xml, line 12 $(find xacro)/xacro.py need to be replaced by $(find xacro)/xacro, then at least 'simulation.launch' can function normally; still 'playground.launch' gets stuck in loading because of waiting for responses from services: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

After install package jsk_maps from source, the room map and fetch robot can be loaded into gazebo correctly, yet the console is flooded with red errors. Most of these errors are from nodes 'tweet' and 'respeaker_node' in their failure-restarting loop.

Screenshot of partial error message from respeaker node:

Screenshot of partial error message from tweet node:

[OldVincent]

roslaunch jsk_fetch_startup fetch_gazebo_73b2.launch

Screenshot of running that launch file after minor fixes mentioned before:

[mqcmd196]

I'm really really sorry, but I made wrong branch... Please check #1912