Simulation merge with dev

code/SIMULATION_SMALL_HOUSE.md

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+# Manipulator in `small_house` Gazebo world
+
+This workspace now contains two pieces wired together:
+
+- `small_house`: a small ROS 2 resource package that installs the Gazebo world and all `model://...` assets.
+- `manipulator_description`: the robot description and launch files that spawn the manipulator into that world.
+
+## Build
+
+From the workspace root:
+
+```bash
+colcon build --packages-select small_house manipulator_description --symlink-install
+source install/setup.bash
+```
+
+If dependencies such as `ur_description`, `ur_simulation_gz`, `ros_gz_sim`, `gz_ros2_control`, `mia_hand_description`, or `controller_manager` are missing, install/source those first or build the complete workspace:
+
+```bash
+colcon build --symlink-install
+source install/setup.bash
+```
+
+## Start Gazebo with apartment + manipulator
+
+```bash
+ros2 launch manipulator_description manipulator.house.sim.launch.py
+```
+
+Useful arguments:
+
+```bash
+ros2 launch manipulator_description manipulator.house.sim.launch.py ur_type:=ur5e launch_rviz:=true
+ros2 launch manipulator_description manipulator.house.sim.launch.py ur_type:=ur10e
+ros2 launch manipulator_description manipulator.house.sim.launch.py gazebo_gui:=false
+```
+
+## Start full stack with MoveIt/RViz
+
+```bash
+ros2 launch manipulator_description manipulator.house.full.sim.launch.py
+```
+
+## What changed
+
+1. `small_house` was converted into an installable ROS 2 package by adding `package.xml` and `CMakeLists.txt`.
+2. `small_house/worlds/small_house.world` was added as installed world path.
+3. The old TurtleBot include was removed from the world, because the manipulator launch spawns the robot instead.
+4. `manipulator.house.sim.launch.py` sets `GZ_SIM_RESOURCE_PATH` and `IGN_GAZEBO_RESOURCE_PATH` so Gazebo can resolve all `model://aws_...` assets.
+5. `manipulator.full.sim.launch.py` now forwards `world_file` and `gazebo_gui` to the lower Gazebo launch.

code/arlab_movement/launch/ranger_nav2.launch.py

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+"""Minimal Nav2 launch for the simulated Ranger Air mobile manipulator.
+
+It expects:
+  - /odom and odom -> ranger_base_link from Gazebo OdometryPublisher
+  - /scan from the simulated lidar
+  - map -> odom from SLAM Toolbox or AMCL
+  - /cmd_vel is bridged to Gazebo
+"""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch_ros.actions import LoadComposableNodes, Node, PushROSNamespace, SetParameter
+from launch_ros.descriptions import ComposableNode, ParameterFile
+from nav2_common.launch import RewrittenYaml
+
+
+def generate_launch_description():
+    bringup_dir = get_package_share_directory("arlab_movement")
+
+    namespace = LaunchConfiguration("namespace")
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    autostart = LaunchConfiguration("autostart")
+    params_file = LaunchConfiguration("params_file")
+    use_composition = LaunchConfiguration("use_composition")
+    container_name = LaunchConfiguration("container_name")
+    container_name_full = (namespace, "/", container_name)
+    use_respawn = LaunchConfiguration("use_respawn")
+    log_level = LaunchConfiguration("log_level")
+
+    lifecycle_nodes = [
+        "controller_server",
+        "smoother_server",
+        "planner_server",
+        "behavior_server",
+        "velocity_smoother",
+        "bt_navigator",
+        "waypoint_follower",
+    ]
+
+    remappings = [("/tf", "tf"), ("/tf_static", "tf_static")]
+    configured_params = ParameterFile(
+        RewrittenYaml(
+            source_file=params_file,
+            root_key=namespace,
+            param_rewrites={"autostart": autostart},
+            convert_types=True,
+        ),
+        allow_substs=True,
+    )
+
+    stdout_linebuf_envvar = SetEnvironmentVariable("RCUTILS_LOGGING_BUFFERED_STREAM", "1")
+
+    declare_namespace_cmd = DeclareLaunchArgument("namespace", default_value="", description="Top-level namespace")
+    declare_use_sim_time_cmd = DeclareLaunchArgument("use_sim_time", default_value="true", description="Use Gazebo sim time")
+    declare_params_file_cmd = DeclareLaunchArgument(
+        "params_file",
+        default_value=os.path.join(bringup_dir, "params", "ranger_nav2_params.yaml"),
+        description="Full path to the Nav2 parameters file",
+    )
+    declare_autostart_cmd = DeclareLaunchArgument("autostart", default_value="true", description="Autostart Nav2")
+    declare_use_composition_cmd = DeclareLaunchArgument("use_composition", default_value="False")
+    declare_container_name_cmd = DeclareLaunchArgument("container_name", default_value="nav2_container")
+    declare_use_respawn_cmd = DeclareLaunchArgument("use_respawn", default_value="False")
+    declare_log_level_cmd = DeclareLaunchArgument("log_level", default_value="info")
+
+    load_nodes = GroupAction(
+        condition=IfCondition(PythonExpression(["not ", use_composition])),
+        actions=[
+            PushROSNamespace(namespace),
+            SetParameter("use_sim_time", use_sim_time),
+            Node(
+                package="nav2_controller",
+                executable="controller_server",
+                name="controller_server",
+                output="screen",
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=["--ros-args", "--log-level", log_level],
+                remappings=remappings + [("cmd_vel", "cmd_vel_nav")],
+            ),
+            Node(
+                package="nav2_smoother",
+                executable="smoother_server",
+                name="smoother_server",
+                output="screen",
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=["--ros-args", "--log-level", log_level],
+                remappings=remappings,
+            ),
+            Node(
+                package="nav2_planner",
+                executable="planner_server",
+                name="planner_server",
+                output="screen",
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=["--ros-args", "--log-level", log_level],
+                remappings=remappings,
+            ),
+            Node(
+                package="nav2_behaviors",
+                executable="behavior_server",
+                name="behavior_server",
+                output="screen",
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=["--ros-args", "--log-level", log_level],
+                remappings=remappings + [("cmd_vel", "cmd_vel_nav")],
+            ),
+            Node(
+                package="nav2_bt_navigator",
+                executable="bt_navigator",
+                name="bt_navigator",
+                output="screen",
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=["--ros-args", "--log-level", log_level],
+                remappings=remappings,
+            ),
+            Node(
+                package="nav2_waypoint_follower",
+                executable="waypoint_follower",
+                name="waypoint_follower",
+                output="screen",
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=["--ros-args", "--log-level", log_level],
+                remappings=remappings,
+            ),
+            Node(
+                package="nav2_velocity_smoother",
+                executable="velocity_smoother",
+                name="velocity_smoother",
+                output="screen",
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=["--ros-args", "--log-level", log_level],
+                remappings=remappings + [("cmd_vel", "cmd_vel_nav"), ("cmd_vel_smoothed", "cmd_vel")],
+            ),
+            Node(
+                package="nav2_lifecycle_manager",
+                executable="lifecycle_manager",
+                name="lifecycle_manager_navigation",
+                output="screen",
+                arguments=["--ros-args", "--log-level", log_level],
+                parameters=[{"use_sim_time": use_sim_time}, {"autostart": autostart}, {"node_names": lifecycle_nodes}],
+            ),
+        ],
+    )
+
+    load_composable_nodes = GroupAction(
+        condition=IfCondition(use_composition),
+        actions=[
+            PushROSNamespace(namespace),
+            SetParameter("use_sim_time", use_sim_time),
+            LoadComposableNodes(
+                target_container=container_name_full,
+                composable_node_descriptions=[
+                    ComposableNode(
+                        package="nav2_controller",
+                        plugin="nav2_controller::ControllerServer",
+                        name="controller_server",
+                        parameters=[configured_params],
+                        remappings=remappings + [("cmd_vel", "cmd_vel_nav")],
+                    ),
+                    ComposableNode(
+                        package="nav2_smoother",
+                        plugin="nav2_smoother::SmootherServer",
+                        name="smoother_server",
+                        parameters=[configured_params],
+                        remappings=remappings,
+                    ),
+                    ComposableNode(
+                        package="nav2_planner",
+                        plugin="nav2_planner::PlannerServer",
+                        name="planner_server",
+                        parameters=[configured_params],
+                        remappings=remappings,
+                    ),
+                    ComposableNode(
+                        package="nav2_behaviors",
+                        plugin="behavior_server::BehaviorServer",
+                        name="behavior_server",
+                        parameters=[configured_params],
+                        remappings=remappings + [("cmd_vel", "cmd_vel_nav")],
+                    ),
+                    ComposableNode(
+                        package="nav2_bt_navigator",
+                        plugin="nav2_bt_navigator::BtNavigator",
+                        name="bt_navigator",
+                        parameters=[configured_params],
+                        remappings=remappings,
+                    ),
+                    ComposableNode(
+                        package="nav2_waypoint_follower",
+                        plugin="nav2_waypoint_follower::WaypointFollower",
+                        name="waypoint_follower",
+                        parameters=[configured_params],
+                        remappings=remappings,
+                    ),
+                    ComposableNode(
+                        package="nav2_velocity_smoother",
+                        plugin="nav2_velocity_smoother::VelocitySmoother",
+                        name="velocity_smoother",
+                        parameters=[configured_params],
+                        remappings=remappings + [("cmd_vel", "cmd_vel_nav"), ("cmd_vel_smoothed", "cmd_vel")],
+                    ),
+                    ComposableNode(
+                        package="nav2_lifecycle_manager",
+                        plugin="nav2_lifecycle_manager::LifecycleManager",
+                        name="lifecycle_manager_navigation",
+                        parameters=[{"use_sim_time": use_sim_time, "autostart": autostart, "node_names": lifecycle_nodes}],
+                    ),
+                ],
+            ),
+        ],
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(stdout_linebuf_envvar)
+    ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_use_sim_time_cmd)
+    ld.add_action(declare_params_file_cmd)
+    ld.add_action(declare_autostart_cmd)
+    ld.add_action(declare_use_composition_cmd)
+    ld.add_action(declare_container_name_cmd)
+    ld.add_action(declare_use_respawn_cmd)
+    ld.add_action(declare_log_level_cmd)
+    ld.add_action(load_nodes)
+    ld.add_action(load_composable_nodes)
+    return ld