RobotnikAutomation · JoelRamosBeltran · May 8, 2025
diff --git a/LICENSE b/LICENSE
diff --git a/README.md b/README.md
@@ -83,8 +83,7 @@
 <!-- ABOUT THE PROJECT -->
 ## About The Project
 
-[![Simulation View][gazebo-classic-screenshot]](https://github.com/RobotnikAutomation/robot_simulation)
-[![Simulation View][gazebo-ignition-screenshot]](https://github.com/RobotnikAutomation/robot_simulation)
+[![Simulation View][product-screenshot]](https://github.com/RobotnikAutomation/robot_simulation)
 
 This package will combine the different Robotnik packages in ROS2 to simulate the robots in the different available platforms, as Gazebo Classic, Gazebo Ignition, etc.
 
@@ -99,73 +98,26 @@ This package works with the different packages that Robotnik developed for the r
 
 ### Prerequisites
 
-#### - Gazebo Ignition 6.16.0
-#### - Gazebo Classic 11.10.2
-#### - ROS2 Humble
-
 First, be sure that you have all the [Gazebo packages](https://classic.gazebosim.org/tutorials?tut=ros2_installing) installed for ROS2.
 
-#### Install Gazebo Classic:
-
 ```sh
 sudo apt install ros-humble-gazebo-ros-pkgs
 ```
 
-#### Install Gazebo Ignition:
-
-```sh
-sudo apt install ros-humble-ros-ign
-```
-
 ### Installation
 
 Then, let's procede with the installation of the Robotnik packages.
-First, create the workspace to work with:
 
-```
-mkdir -p ~/ros2_ws/src
-cd ~/ros2_ws/src/
-```
-Then continue with the installation of packages.
+1. Init the submodules of this repository
+    ```sh
+    git submodule init && git submodule update
+    ```
 
-1. [robotnik_description](https://github.com/RobotnikAutomation/robotnik_description/tree/humble-devel)
-2. [robotnik_sensors](https://github.com/RobotnikAutomation/robotnik_sensors/tree/humble-devel)
-3. [robotnik_common](https://github.com/RobotnikAutomation/robotnik_common)
-4. [robotnik_interfaces](https://github.com/RobotnikAutomation/robotnik_interfaces)
-6. [robotnik_simulation](https://github.com/RobotnikAutomation/robotnik_simulation.git#)
+2. Install robotnik_controller dependencies
+   ```sh
+   sudo dpkg -i debs/*.deb
+   ```
 
-  ```sh
-  git clone https://github.com/RobotnikAutomation/robotnik_description.git -b humble-devel
-
-  git clone https://github.com/RobotnikAutomation/robotnik_sensors.git -b humble-devel
-
-  git clone https://github.com/RobotnikAutomation/robotnik_common.git -b humble
-
-  git clone https://github.com/RobotnikAutomation/robotnik_interfaces.git -b humble-devel
-
-  git clone https://github.com/RobotnikAutomation/robotnik_simulation.git -b humble
-
-  ```
-
-Install the [robotnik_controller](./debs/) within the debs folder:
-
-```sh
-sudo dpkg -i ./robotnik_simulation/debs/ros-humble-robotnik-controllers*.deb
-```
-
-Install dependencies:
-```sh
-cd ~/ros2_ws
-rosdep update
-rosdep install --from-paths src --ignore-src -r -y
-```
-
-Finally, compile workspace:
-```
-source /opt/ros/humble/setup.bash
-cd ~/ros2_ws && colcon build
-source install/setup.bash
-```
 
 <p align="right">(<a href="#readme-top">back to top</a>)</p>
 
@@ -202,149 +154,36 @@ ros2 launch robotnik_gazebo_classic spawn_world.launch.py world:=maze
 
 Once you have the simulation running, you can spawn the robot in the world. For that, there is a launch file that starts all the nodes.
 
-| Arguments        | Default                      | Description                                                                                    |
-|------------------|------------------------------|------------------------------------------------------------------------------------------------|
-| namespace        | robot                        | namespace that will be in the nodes and topics and differenciate one robot entity from another |
-| robot            | ''                     | robot type desired to be spawned, must be specified                                                  |
-| robot_model      | _same as robot_              | robot_model variation of the robot type. For using this argument, robot has to be fulfilled    |
-| robot_xacro_path | rbkairos/rbkairos.urdf.xacro | path to a xacro model if it is not included in the robotnik_description package                |
-| x                | 0.0                          | position x in the Gazebo world to spawn the robot                                              |
-| y                | 0.0                          | position y in the Gazebo world to spawn the robot                                              |
-| z                | 0.0                          | position z in the Gazebo world to spawn the robot                                              |
-| has_arm          | false                        | If the robot has arm or not to initilize joint_trajectory_controller                           |
-
-With the arguments described above, the launcher creates the robot that you want in Gazebo. As default, it will spawn a RBKairos robot, but you can changed it.
-
-Available robots
-
-- rbvogui
-- rbtheron
-- rbsummit
-- rbkairos
-- rbrobout
-
-Available robot_model
-
-- rbkairos_plus
-- rbrobout_plus
-- rbtheron_plus
-- rbvogui_plus
-
-Example:
-```sh
-ros2 launch robotnik_gazebo_classic spawn_robot.launch.py robot:=rbvogui
-```
-
-In case that your robot has a variation (check robots folder in robotnik_description package), you can select it by the argument **robot_model**.
-
-Example:
-```sh
-ros2 launch robotnik_gazebo_classic spawn_robot.launch.py robot:=rbkairos robot_model:=rbkairos_plus has_arm:=true
-```
-
-Then, the arguments _x_, _y_ and _z_ selects the position respect the world frame to spawn the robot.
-
-#### Control the robot
-
-All the controllers for the robots work with a Twist topic called /namespace/robotnik_base_controller/cmd_vel, the default topic is:
-
 ```sh
-/robot/robotnik_base_controller/cmd_vel
+ros2 launch robotnik_gazebo_classic spawn_robot.launch.py
 ```
-Also it can be used a Twist topic:
-```sh
-/robot/robotnik_base_controller/cmd_vel_unstamped
-```
-
-This topic will move the robot acording to the velocity demanded but it can be also controller by joint commands, using the topic:
-
-```sh
-/robot/robotnik_base_controller/cmd_joint
-```
-
-Topic type sensor_msgs/msg/JointState.
-
-
-I recommend to use teleop_twist_keyboard to control by cmd_vel:
-
-```sh
-ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/robot/robotnik_base_controller/cmd_vel_unstamped
-```
-
-### Mobile robots with manipulators
-
-There are two mobile bases with a manipulator that can be used:
-- rbkairos_plus
-- rbrobout_plus
-
-To use them launch the spawn of the robot as follows:
-
-```sh
-ros2 launch robotnik_gazebo_classic spawn_robot.launch.py robot:=rbkairos robot_model:=rbkairos_plus has_arm:=true
-```
-
-The arm has a joint_trajectory_controller configured that can be used with rqt_joint_trajectory_controller:
-
-
-```sh
-sudo apt install ros-humble-rqt-joint-trajectory-controller
-
-ros2 run rqt_joint_trajectory_controller rqt_joint_trajectory_controller --ros-args -r __ns:=/robot
-```
-
-### Gazebo Ignition
-
-#### Launch Gazebo
-
-Init the Gazebo world by launching:
-
-```sh
-ros2 launch robotnik_gazebo_ignition spawn_world.launch.py
-```
-
-
-#### Spawn Robot
-
-Once you have the simulation running, you can spawn the robot in the world. For that, there is a launch file that starts all the nodes.
-
 | Arguments        | Default                      | Description                                                                                    |
 |------------------|------------------------------|------------------------------------------------------------------------------------------------|
 | namespace        | robot                        | namespace that will be in the nodes and topics and differenciate one robot entity from another |
-| robot            | ''                     | robot type desired to be spawned, must be specified                                                  |
-| robot_model      | _same as robot_              | robot_model variation of the robot type. For using this argument, robot has to be fulfilled    |
-| robot_xacro_path | rbkairos/rbkairos.urdf.xacro | path to a xacro model if it is not included in the robotnik_description package                |
+| robot            | rbkairos                     | robot type desired to be spawned                                                               |
+| robot_model      | _value of robot argument_              | robot_model variation of the robot type. For using this argument, robot has to be fulfilled    |
+| robot_xacro_path | rbkairos/rbkairos.urdf.xacro | path to a xacro model if it is not included in the robot_description package        |
 | x                | 0.0                          | position x in the Gazebo world to spawn the robot                                              |
 | y                | 0.0                          | position y in the Gazebo world to spawn the robot                                              |
 | z                | 0.0                          | position z in the Gazebo world to spawn the robot                                              |
-| has_arm          | false                        | If the robot has arm or not to initilize joint_trajectory_controller                           |
-
-With the arguments described above, the launcher creates the robot that you want in Gazebo. As default, it will spawn a RBKairos robot, but you can changed it.
 
-Available robots
+With the arguments described above, the launcher creates the robot that you want in Gazebo. As default, it will spawn a RBKairos robot, but you can changed by:
 
 - rbvogui
 - rbtheron
 - rbsummit
 - rbkairos
-- rbrobout
-
-Available robot_model
-
-- rbkairos_plus
-- rbrobout_plus
-- rbtheron_plus
-- rbvogui_plus
 
 Example:
 ```sh
-ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbvogui
+ros2 launch robotnik_gazebo_classic spawn_robot.launch.py robot:=rbvogui
 ```
 
-In case that your robot has a variation (check [robots](robotnik_pkgs/robot_description/robots/) folder in robotnik_description package), you can select it by the argument **robot_model**.
+In case that your robot has a variation (check [robots](robotnik_pkgs/robot_description/robots/) folder in robot_description package), you can select it by the argument **robot_model**.
 
 Example:
 ```sh
-ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbkairos robot_model:=rbkairos_plus has_arm:=true
+ros2 launch robotnik_gazebo_classic spawn_robot.launch.py robot:=rbkairos robot_model:=rbkairos_ur
 ```
 
 Then, the arguments _x_, _y_ and _z_ selects the position respect the world frame to spawn the robot.
@@ -356,47 +195,20 @@ All the controllers for the robots work with a Twist topic called /namespace/rob
 ```sh
 /robot/robotnik_base_controller/cmd_vel
 ```
-Also it can be used a Twist topic:
-```sh
-/robot/robotnik_base_controller/cmd_vel_unstamped
-```
 
-This topic will move the robot acording to the velocity demanded but it can be also controller by joint commands, using the topic:
+This topic will move the robot acsording to the velocity demanded but it can be also controller by joint commands, using the topic:
 
 ```sh
-/robot/robotnik_base_controller/cmd_joint
+/robot/robotnik_base_controller/joint_control_command
 ```
 
-Topic type sensor_msgs/msg/JointState.
-
+This topic is from type sensor_msgs/msg/JointState.
 
 I recommend to use teleop_twist_keyboard to control by cmd_vel:
 
 ```sh
-ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/robot/robotnik_base_controller/cmd_vel -p stamped:=true
-```
-
-### Mobile robots with manipulators
-
-There are two mobile bases with a manipulator that can be used:
-- rbkairos_plus
-- rbrobout_plus
-
-To use them launch the spawn of the robot as follows:
-
-```sh
-ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbkairos robot_model:=rbkairos_plus has_arm:=true
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-arg cmd_vel:=/robot/robotnik_base_controller/cmd_vel
 ```
-
-The arm has a joint_trajectory_controller configured that can be used with rqt_joint_trajectory_controller:
-
-
-```sh
-sudo apt install ros-humble-rqt-joint-trajectory-controller
-
-ros2 run rqt_joint_trajectory_controller rqt_joint_trajectory_controller --ros-args -r __ns:=/robot
-```
-
 #### Enjoy!
 
 ![rbvogui_gif](img/RBVogui_Docking.gif)
@@ -407,15 +219,15 @@ ros2 run rqt_joint_trajectory_controller rqt_joint_trajectory_controller --ros-a
 <!-- CUSTOMIZATION -->
 ## Custom Simulation
 
-In case that the robot model that you want to simulate is not in robotnik_description package, or the world, or you want to use a different controller, you will have to create your own simulaiton files.
+In case that the robot model that you want to simulate is not in robot_description package, or the world, or you want to use a different controller, you will have to create your own simulaiton files.
 
 This will guide you to create your custom simulation.
 
 ### Custom Robot Model
 
 1. First, create your own package for the project.
-2. In this package, create your URDF file. You can base in the [template file](robotnik_pkgs/robotnik_description/robots/robot_template.urdf.xacro) that are in robotnik_description package.
-3. In the README of [robotnik_description](robotnik_pkgs/robotnik_description/README.md) there is a brief descripiton on how to create a robot.
+2. In this package, create your URDF file. You can base in the [template file](robotnik_pkgs/robot_description/robots/robot_template.urdf.xacro) that are in robot_description package.
+3. In the README of [robot_description](robotnik_pkgs/robot_description/README.md) there is a brief descripiton on how to create a robot.
 4. On this file you can modify and add all the sensors, arms and any other component.
 5. Then, launch the spawn_robot with the argument _robot_xacro_path_.
 
@@ -432,7 +244,7 @@ To launch a custom file, you can use the _world_path_ argument that it's in the
 ## Roadmap
 
 - [x] Add Gazebo Classic
-- [x] Add Gazebo Ignition
+- [ ] Add Gazebo Ignition
 - [ ] Add more worlds
 - [ ] Add multi robot support
 
@@ -497,5 +309,4 @@ Project Link: [https://github.com/RobotnikAutomation](https://github.com/Robotni
 [license-url]: https://github.com/RobotnikAutomation/robot_simulation/blob/master/LICENSE.txt
 [linkedin-shield]: https://img.shields.io/badge/-LinkedIn-black.svg?style=for-the-badge&logo=linkedin&colorB=555
 [linkedin-url]: https://www.linkedin.com/company/robotnik-automation/
-[gazebo-classic-screenshot]: img/simulation_view.png
-[gazebo-ignition-screenshot]: img/simulation_view_ignition.png
+[product-screenshot]: img/simulation_view.png
diff --git a/debs/ros-humble-robotnik-controller_0.0.0-20250131.153235-local_amd64.deb b/debs/ros-humble-robotnik-controller_0.0.0-20250131.153235-local_amd64.deb
diff --git a/debs/ros-humble-robotnik-controllers_0.0.0-20250407.104325-b0a866a_amd64.deb b/debs/ros-humble-robotnik-controllers_0.0.0-20250407.104325-b0a866a_amd64.deb
diff --git a/debs/ros-humble-robotnik-interfaces_2.2.0-20241219.115354-5c44131_amd64.deb b/debs/ros-humble-robotnik-interfaces_2.2.0-20241219.115354-5c44131_amd64.deb
diff --git a/debs/ros-humble-robotnik-safety-msgs_2.2.0-20241219.115432-5c44131_amd64.deb b/debs/ros-humble-robotnik-safety-msgs_2.2.0-20241219.115432-5c44131_amd64.deb
diff --git a/img/simulation_view_ignition.png b/img/simulation_view_ignition.png