Merge branch 'main' of https://github.com/aerostack2/aerostack2.githu…

…b.io

docs/_00_getting_started/binary_install.rst

@@ -4,4 +4,12 @@
 Binary Install
 ==============
 
-Comming soon, only on ROS 2 Humble.
+Currently, we only support binary installation on ROS2 Humble. We are working on binary installation for other ROS2 distributions.
+To install all aerostack2 packages, run the following command:
+
+.. code-block:: bash
+
+    sudo apt install ros-humble-aerostack2 ros-humble-as2-gazebo-assets ros-humble-as2-platform-gazebo
+
+
+You can also install only the packages you need. The available packages can be checked at `ROS Index <https://index.ros.org/search/?term=aerostack2&section=pkgs>`__.

docs/_01_aerostack2_concepts/motion_controller/index.rst

@@ -62,7 +62,7 @@ Also, the frame of each command is specified in the header of the message, allow
 
 .. _as2_concepts_motion_controller_control_modes_output:
 
-Outpu Control Modes
+Output Control Modes
 ===================
 
 Aerostack2 Motion Controller supports the following ouput control modes:

docs/_02_examples/crazyflie/project_crazyflie/index.rst

@@ -4,8 +4,8 @@
 Simple Crazyflie Example
 ========================
 
-This project contains the simulated version, which uses :ref:`Gazebo Platform <aerial_platform_ignition_gazebo>`, and 
-the real version, which uses :ref:`Crazyflie Platform <aerial_platform_crazyflie>`. You can install them following the instructions in :ref:`Gazebo Platform installation section <aerial_platform_ignition_gazebo_installation>` and :ref:`Crazyflie Platform installation section <aerial_platform_crazyflie_installation>`.
+This project contains the simulated version, which uses :ref:`Gazebo Platform <aerial_platform_gazebo>`, and 
+the real version, which uses :ref:`Crazyflie Platform <aerial_platform_crazyflie>`. You can install them following the instructions in :ref:`Gazebo Platform installation section <aerial_platform_gazebo_installation>` and :ref:`Crazyflie Platform installation section <aerial_platform_crazyflie_installation>`.
 
 
 To install this project, please clone the repository:
@@ -60,11 +60,11 @@ This will open a simulation for a single drone alongside the Aerostack2 componen
 
 A window like the following image should open.
 
-.. figure:: images/single_drone_ign.png
+.. figure:: images/single_drone_gz.png
    :scale: 50
    :class: with-shadow
 
-   Ignition Gazebo simulator
+   Gazebo simulator
 
 It will also open a keyboard teleoperation (argument ``-t``), which you can use to teleoperate the drone with the :ref:`aerostack2 keyboard teleoperation user interface <user_interfaces_keyboard_teleoperation>`.
 
@@ -111,11 +111,11 @@ This will open a simulation for a swarm (argument ``-m``) of 3 drones alongside
 
 A window like the following image should open.
 
-.. figure:: images/swarm_ign.png
+.. figure:: images/swarm_gz.png
    :scale: 50
    :class: with-shadow
 
-   Ignition Gazebo simulator
+   Gazebo simulator
 
 It will also open a keyboard teleoperation (argument ``-t``), which you can use to teleoperate the swarm with the :ref:`aerostack2 keyboard teleoperation user interface <user_interfaces_keyboard_teleoperation>`.
 

docs/_02_examples/crazyflie/project_crazyflie_gates/index.rst

@@ -4,8 +4,8 @@
 Crazyflie Gates Example
 ========================
 
-This project contains the simulated version, which uses :ref:`Gazebo Platform <aerial_platform_ignition_gazebo>`, and 
-the real version, which uses :ref:`Crazyflie Platform <aerial_platform_crazyflie>`. You can install them following the instructions in :ref:`Gazebo Platform installation section <aerial_platform_ignition_gazebo_installation>` and :ref:`Crazyflie Platform installation section <aerial_platform_crazyflie_installation>`.
+This project contains the simulated version, which uses :ref:`Gazebo Platform <aerial_platform_gazebo>`, and 
+the real version, which uses :ref:`Crazyflie Platform <aerial_platform_crazyflie>`. You can install them following the instructions in :ref:`Gazebo Platform installation section <aerial_platform_gazebo_installation>` and :ref:`Crazyflie Platform installation section <aerial_platform_crazyflie_installation>`.
 
 
 To install this project, please clone the repository:
@@ -65,7 +65,7 @@ A window like the following image should open.
    :scale: 50
    :class: with-shadow
 
-   Ignition Gazebo simulator
+   Gazebo simulator
 
 It will also open a keyboard teleoperation (argument ``-t``), which you can use to teleoperate the drone with the :ref:`aerostack2 keyboard teleoperation user interface <user_interfaces_keyboard_teleoperation>`.
 
@@ -118,7 +118,7 @@ A window like the following image should open.
    :scale: 50
    :class: with-shadow
 
-   Ignition Gazebo simulator
+   Gazebo simulator
 
 It will also open a keyboard teleoperation (argument ``-t``), which you can use to teleoperate the swarm with the :ref:`aerostack2 keyboard teleoperation user interface <user_interfaces_keyboard_teleoperation>`.
 

docs/_02_examples/gazebo/index.rst

@@ -4,10 +4,10 @@
 Gazebo Simulator
 ================
 
-These examples use the :ref:`Ignition Gazebo Platform <aerial_platform_ignition_gazebo>`. 
-You can install it following the instructions in :ref:`installation section <aerial_platform_ignition_gazebo>`.
+These examples use the :ref:`Gazebo Platform <aerial_platform_gazebo>`. 
+You can install it following the instructions in :ref:`installation section <aerial_platform_gazebo>`.
 
-.. figure:: resources/single_drone_ign.png
+.. figure:: resources/single_drone_gz.png
    :scale: 50
    :class: with-shadow
 

docs/_02_examples/gazebo/project_gazebo/index.rst

@@ -47,11 +47,11 @@ This will open a simulation for a single drone alongside the Aerostack2 componen
 
 A window like the following image should open.
 
-.. figure:: images/single_drone_ign.png
+.. figure:: images/single_drone_gz.png
    :scale: 50
    :class: with-shadow
 
-   Ignition Gazebo simulator
+   Gazebo simulator
 
 It will also open a keyboard teleoperation (argument ``-t``), which you can use to teleoperate the drone with the :ref:`aerostack2 keyboard teleoperation user interface <user_interfaces_keyboard_teleoperation>`.
 
@@ -132,11 +132,11 @@ This will open a simulation for a swarm of drones (argument ``-m``) alongside th
 
 A window like the following image should open.
 
-.. figure:: images/swarm_ign.png
+.. figure:: images/swarm_gz.png
    :scale: 50
    :class: with-shadow
 
-   Ignition Gazebo simulator
+   Gazebo simulator
 
 It will also open a keyboard teleoperation (argument ``-t``), which you can use to teleoperate the swarm with the :ref:`aerostack2 keyboard teleoperation user interface <user_interfaces_keyboard_teleoperation>`.
 

docs/_03_aerial_platforms/_crazyflie/index.rst

@@ -83,7 +83,7 @@ Control Modes
 
 These are supported control modes:
 
-.. list-table:: Control Modes Ignition Gazebo Platform
+.. list-table:: Control Modes Gazebo Platform
    :widths: 50 50 50
    :header-rows: 1
 
@@ -109,7 +109,7 @@ Sensors
 
 These are supported sensors:
 
-.. list-table:: Sensors Ignition Gazebo Platform
+.. list-table:: Sensors Gazebo Platform
    :widths: 50 50 50
    :header-rows: 1
 
@@ -150,7 +150,7 @@ This configuration file's path shall serve as an input to the platform launch pa
 
 Aerostack2 Crazyflie platform provides a launch file, which parameters are:
 
-.. list-table:: Ignition Gazebo Platform Parameters
+.. list-table:: Gazebo Platform Parameters
    :widths: 50 50 50
    :header-rows: 1
 

docs/_03_aerial_platforms/_gazebo_simulation/index.rst

@@ -1,43 +1,43 @@
-.. _aerial_platform_ignition_gazebo:
+.. _aerial_platform_gazebo:
 
-===============
-Ignition Gazebo
-===============
+======
+Gazebo
+======
 
 .. contents:: Table of Contents
    :depth: 3
    :local:
 
 
 
-.. _aerial_platform_ignition_gazebo_introduction:
+.. _aerial_platform_gazebo_introduction:
 
 ------------
 Introduction
 ------------
 
-For simulation purposes with `Ignition Gazebo simulator <https://gazebosim.org/api/gazebo>`__ , Aerostack2 provides with a platform that serves as an entry point for aerial robotics simulated in this environment.
+For simulation purposes with `Gazebo simulator <https://gazebosim.org/api/gazebo>`__ , Aerostack2 provides with a platform that serves as an entry point for aerial robotics simulated in this environment.
 
 
 
-.. _aerial_platform_ignition_gazebo_installation:
+.. _aerial_platform_gazebo_installation:
 
 ------------
 Installation
 ------------
 
 
 
-.. _aerial_platform_ignition_gazebo_installation_prerequisites:
+.. _aerial_platform_gazebo_installation_prerequisites:
 
 Prerequisites
 =============
 
-Ignition Gazebo in Fortress version is required. For installation instructions, follow the `Ignition Gazebo Fortress installation guide <https://gazebosim.org/docs/fortress/install_ubuntu>`__.
+Gazebo in Fortress version is required. For installation instructions, follow the `Gazebo Fortress installation guide <https://gazebosim.org/docs/fortress/install_ubuntu>`__.
 
 
 
-.. _aerial_platform_ignition_gazebo_installation_package:
+.. _aerial_platform_gazebo_installation_package:
 
 Install platform package
 ========================
@@ -46,15 +46,15 @@ Install platform package
 
 .. code-block:: bash
 
-   sudo apt install ros-humble-as2-platform-ign-gazebo
+   sudo apt install ros-humble-as2-platform-gazebo
 
 .. warning:: This package is not available for binary installation yet. Cooming soon.
 
 * For source installation, clone Aerostack2 repository into your workspace and build it. See it in :ref:`Aerostack2 installation guide <getting_started_ubuntu_installation_source>`.
 
 
 
-.. _aerial_platform_ignition_gazebo_installation_assets:
+.. _aerial_platform_gazebo_installation_assets:
 
 Install simulation assets
 =========================
@@ -63,33 +63,33 @@ Install simulation assets
 
 .. code-block:: bash
 
-   sudo apt install ros-humble-as2-ign-gazebo-assets
+   sudo apt install ros-humble-as2-gazebo-assets
 
 .. warning:: This package is not available for binary installation yet. Cooming soon.
 
 * For source installation, clone Aerostack2 repository into your workspace and build it. See it in :ref:`Aerostack2 installation guide <getting_started_ubuntu_installation_source>`.
 
 
 
-.. _aerial_platform_ignition_gazebo_as2_common_interface:
+.. _aerial_platform_gazebo_as2_common_interface:
 
 ---------------------------
 Aerostack2 Common Interface
 ---------------------------
 
 For more details about platform control modes and sensors, see :ref:`Aerostack2 Aerial Platform Concepts <as2_concepts_aerial_platform>`.
-For more details, about bridge between Ignition Gazebo and ROS, see the :ref:`Aerostack2 Ignition Gazebo ROS Bridge <aerial_platform_ignition_gazebo_ros_gz_bridge>`.
+For more details, about bridge between Gazebo and ROS, see the :ref:`Aerostack2 Gazebo ROS Bridge <aerial_platform_gazebo_ros_gz_bridge>`.
 
 
 
-.. _aerial_platform_ignition_gazebo_as2_common_interface_control_modes:
+.. _aerial_platform_gazebo_as2_common_interface_control_modes:
 
 Control Modes
 =============
 
 These are supported control modes:
 
-.. list-table:: Control Modes Ignition Gazebo Platform
+.. list-table:: Control Modes Gazebo Platform
    :widths: 50 50 50
    :header-rows: 1
 
@@ -105,14 +105,14 @@ These are supported control modes:
 
 
 
-.. _aerial_platform_ignition_gazebo_as2_common_interface_sensors:
+.. _aerial_platform_gazebo_as2_common_interface_sensors:
 
 Sensors
 =======
 
 These are supported sensors:
 
-.. list-table:: Sensors Ignition Gazebo Platform
+.. list-table:: Sensors Gazebo Platform
    :widths: 50 50 50
    :header-rows: 1
 
@@ -185,7 +185,7 @@ Gimbal state is published in the following topics:
    * - sensor_measurements/{model_name}/attitude
      - geometry_msgs/msg/QuaternionStamped
 
-.. _aerial_platform_ignition_gazebo_config_simulation:
+.. _aerial_platform_gazebo_config_simulation:
 
 -----------------
 Config Simulation
@@ -261,19 +261,19 @@ Each element of the ``payload`` is defined by:
 
 If a drone ``payload`` contains a gimbal, a gimbal should contain a payload which must containt a sensor.
 
-New models, sensors and worlds are defined in the ``as2_ignition_assets`` package. For more information on how to create new assets, go to the `Ignition Fortress tutorial page <https://gazebosim.org/docs/fortress/tutorials>`_.
+New models, sensors and worlds are defined in the ``as2_gazebo_assets`` package. For more information on how to create new assets, go to the `Gazebo Fortress tutorial page <https://gazebosim.org/docs/fortress/tutorials>`_.
 
 
 
-.. _aerial_platform_ignition_gazebo_platform_launch:
+.. _aerial_platform_gazebo_platform_launch:
 
 ---------------
 Platform Launch
 ---------------
 
-Aerostack2 Ignition Gazebo platform provides a launch file, which parameters are:
+Aerostack2 Gazebo platform provides a launch file, which parameters are:
 
-.. list-table:: Ignition Gazebo Platform Parameters
+.. list-table:: Gazebo Platform Parameters
    :widths: 50 50 50
    :header-rows: 1
 
@@ -303,10 +303,10 @@ Example of launch command:
 
 .. code-block:: bash
 
-  ros2 launch as2_platform_ign_gazebo ign_gazebo_launch.py namespace:=drone_sim_0 config_file:=world_json_path
+  ros2 launch as2_platform_gazebo platform_gazebo_launch.py namespace:=drone_sim_0 config_file:=world_json_path
 
 For launch the simulation, run the following command:
 
 .. code-block:: bash
 
-  ros2 launch as2_ign_gazebo_assets launch_simulation.py config_file:=world_json_path
+  ros2 launch as2_gazebo_assets launch_simulation.py config_file:=world_json_path