Rolling back to gazebo fortress

Dockerfile

@@ -35,9 +35,6 @@ RUN locale-gen en_US.UTF-8
 COPY install/scripts/ros.sh /tmp/install/ros.sh
 RUN /tmp/install/ros.sh && /docker_clean.sh
 
-COPY install/scripts/gazebo.sh /tmp/install/gazebo.sh
-RUN /tmp/install/gazebo.sh && /docker_clean.sh
-
 # Create a new user named 'jazzer' with sudo privileges
 RUN useradd -m jazzer && echo "jazzer:password" | chpasswd && usermod -aG sudo jazzer
 

install/scripts/ros.sh

@@ -30,6 +30,8 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get install --no-install-recommends -y \
   ros-${ROS_VERSION}-rmw-cyclonedds-cpp \
   ros-${ROS_VERSION}-rqt-tf-tree \
   ros-${ROS_VERSION}-topic-tools \
+  ros-${ROS_DISTRO}-ros-gz \
+  ros-${ROS_VERSION}-ign-ros2-control \
   locales \
   wget \
 

workspace/src/ur_description/urdf/inc/ur_macro.xacro

@@ -334,7 +334,7 @@
     </joint>
   </xacro:macro>
   <gazebo>
-    <plugin filename="ignition-gazebo-joint-state-publisher-system"
-      name="ignition::gazebo::systems::JointStatePublisher" />
+    <plugin filename="gz-sim-joint-state-publisher-system"
+      name="gz::sim::systems::JointStatePublisher" />
   </gazebo>
 </robot>

workspace/src/ur_simulator/ur_simulator/CMakeLists.txt

@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.8)
+project(ur_simulator)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

workspace/src/ur_simulator/ur_simulator/package.xml

@@ -0,0 +1,17 @@
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ur_simulator</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="shashankmarch27@gmail.com">Witty-Wizard</maintainer>
+  <license>GPL-3.0-only</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>