RobotnikAutomation · jlgalanRB · May 13, 2026 · May 13, 2026 · May 19, 2026 · May 19, 2026
diff --git a/Dockerfile b/Dockerfile
diff --git a/common/robotnik_simulation_bringup/config/rviz_nav.rviz b/common/robotnik_simulation_bringup/config/rviz_nav.rviz
@@ -29,9 +29,12 @@ Panels:
     Name: Time
     SyncMode: 0
     SyncSource: front laser
-  - Class: rviz_plugin_tutorials/Teleop
+  - Class: teleop_panel/Teleop
+    Enabled: false
+    MaxAngular: 1
+    MaxLinear: 1
     Name: Teleop
-    Topic: robotnik_base_control/cmd_vel_unstamped
+    Topic: /robot/robotnik_base_control/cmd_vel_unstamped
   - Class: nav2_rviz_plugins/Navigation 2
     Name: Navigation 2
 Visualization Manager:

diff --git a/common/robotnik_simulation_bringup/package.xml b/common/robotnik_simulation_bringup/package.xml
@@ -12,7 +12,12 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>pointcloud_to_laserscan</exec_depend>
+  <exec_depend>robotnik_description</exec_depend>
+  <exec_depend>robotnik_gazebo_ignition</exec_depend>
+  <exec_depend>robotnik_simulation_localization</exec_depend>
+  <exec_depend>robotnik_simulation_navigation</exec_depend>
   <exec_depend>robotnik_simulation_moveit</exec_depend>
+  <exec_depend>rviz2</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/common/robotnik_simulation_localization/package.xml b/common/robotnik_simulation_localization/package.xml
@@ -11,7 +11,9 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <exec_depend>navigation2</exec_depend>
+  <exec_depend>nav2_amcl</exec_depend>
+  <exec_depend>nav2_lifecycle_manager</exec_depend>
+  <exec_depend>nav2_map_server</exec_depend>
   <exec_depend>slam_toolbox</exec_depend>
 
   <export>

diff --git a/common/robotnik_simulation_moveit/package.xml b/common/robotnik_simulation_moveit/package.xml
@@ -11,9 +11,12 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <exec_depend>moveit_configs_utils</exec_depend>
   <exec_depend>moveit_ros_move_group</exec_depend>
-  <exec_depend>rviz2</exec_depend>
   <exec_depend>robotnik_description</exec_depend>
+  <exec_depend>robotnik_gazebo_ignition</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>xacro</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/common/robotnik_simulation_navigation/package.xml b/common/robotnik_simulation_navigation/package.xml
@@ -11,7 +11,14 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <exec_depend>navigation2</exec_depend>
+  <exec_depend>nav2_behaviors</exec_depend>
+  <exec_depend>nav2_bt_navigator</exec_depend>
+  <exec_depend>nav2_controller</exec_depend>
+  <exec_depend>nav2_lifecycle_manager</exec_depend>
+  <exec_depend>nav2_planner</exec_depend>
+  <exec_depend>nav2_route</exec_depend>
+  <exec_depend>nav2_smoother</exec_depend>
+  <exec_depend>nav2_waypoint_follower</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/dependencies/repos/common.repo.yml → ...pos/robotnik_simulation.jazzy-devel.repos b/dependencies/repos/common.repo.yml → ...pos/robotnik_simulation.jazzy-devel.repos
@@ -25,43 +25,32 @@
 # EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 ---
 repositories:
-  src/robotnik_simulation:
+  # Robotnik repositories
+  robotnik/robotnik_simulation:
     type: git
     url: https://github.com/RobotnikAutomation/robotnik_simulation.git
     version: jazzy-devel
-  src/robotnik_description:
+  robotnik/robotnik_description:
     type: git
     url: https://github.com/RobotnikAutomation/robotnik_description.git
     version: jazzy-devel
-  src/robotnik_sensors:
+  robotnik/robotnik_sensors:
     type: git
     url: https://github.com/RobotnikAutomation/robotnik_sensors.git
     version: jazzy-devel
-  src/robotnik_common:
+  robotnik/robotnik_common:
     type: git
     url: https://github.com/RobotnikAutomation/robotnik_common.git
     version: jazzy-devel
-  src/robotnik_interfaces:
+  robotnik/robotnik_interfaces:
     type: git
     url: https://github.com/RobotnikAutomation/robotnik_interfaces.git
     version: jazzy-devel
-  src/robotnik_moveit_configs:
+  robotnik/robotnik_moveit_configs:
     type: git
     url: https://github.com/RobotnikAutomation/robotnik_moveit_configs.git
     version: jazzy-devel
-  src/ros-control/gz_ros2_control:
+  robotnik/robotnik_teleop_panel:
     type: git
-    url: https://github.com/ros-controls/gz_ros2_control.git
-    version: 1.2.15
-  src/ros-visualization/visualization_tutorials:
-    type: git
-    url: https://github.com/ros-visualization/visualization_tutorials.git
-    version: b43b3f6a867b1d799af3edba673c56d37178e847  # ros2
-  src/Universal_Robots_ROS2_Description:
-    type: git
-    url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
-    version: jazzy
-  src/Universal_Robots_ROS2_GZ_Simulation:
-    type: git
-    url: https://github.com/UniversalRobots/Universal_Robots_ROS2_GZ_Simulation.git
-    version: ros2
+    url: https://github.com/RobotnikAutomation/teleop_panel.git
+    version: ros2-devel
diff --git a/dependencies/repos/robotnik_simulation.jazzy.repos b/dependencies/repos/robotnik_simulation.jazzy.repos
@@ -0,0 +1,56 @@
+# Copyright (c) 2023, Robotnik Automation S.L.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#     * Redistributions of source code must retain the above copyright
+#       notice, this list of conditions and the following disclaimer.
+#     * Redistributions in binary form must reproduce the above copyright
+#       notice, this list of conditions and the following disclaimer in the
+#       documentation and/or other materials provided with the distribution.
+#     * Neither the name of the Robotnik Automation S.L.L. nor the
+#       names of its contributors may be used to endorse or promote products
+#       derived from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+# THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Robotnik Automation S.L.L.
+# BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
+# OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+# OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+# OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+# EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+---
+repositories:
+  # Robotnik repositories
+  robotnik/robotnik_simulation:
+    type: git
+    url: https://github.com/RobotnikAutomation/robotnik_simulation.git
+    version: jazzy-devel
+  robotnik/robotnik_description:
+    type: git
+    url: https://github.com/RobotnikAutomation/robotnik_description.git
+    version: 73d11c7c1f9d45ea051c6733e8726434df8d0056
+  robotnik/robotnik_sensors:
+    type: git
+    url: https://github.com/RobotnikAutomation/robotnik_sensors.git
+    version: afe6cc3b933c82f5733373f25fdbf00cf0846fa8
+  robotnik/robotnik_common:
+    type: git
+    url: https://github.com/RobotnikAutomation/robotnik_common.git
+    version: 0153704842c35f115da65c7404d6ce6392f9c817
+  robotnik/robotnik_interfaces:
+    type: git
+    url: https://github.com/RobotnikAutomation/robotnik_interfaces.git
+    version: ee903abca2ede1872b4cfa264b435f4a11e7f081
+  robotnik/robotnik_moveit_configs:
+    type: git
+    url: https://github.com/RobotnikAutomation/robotnik_moveit_configs.git
+    version: 1715e13499ede32922ab31695cb624c881aa8deb
+  robotnik/robotnik_teleop_panel:
+    type: git
+    url: https://github.com/RobotnikAutomation/teleop_panel.git
+    version: d9c7d0f7d37857b83330e0104cf1dc545af8b3e4
diff --git a/dependencies/requirements/base/packages.txt b/dependencies/requirements/base/packages.txt
@@ -1,25 +1,14 @@
+gz-harmonic
 libgz-sim8-dev
-ros-jazzy-ros-gz-sim
-ros-jazzy-ros-gz
-ros-jazzy-controller-manager
-ros-jazzy-gz-ros2-control
-ros-jazzy-joint-state-broadcaster
-ros-jazzy-teleop-twist-keyboard
-ros-jazzy-joint-trajectory-controller
-ros-jazzy-rqt-joint-trajectory-controller
-ros-jazzy-joint-state-publisher
-ros-jazzy-joint-state-publisher-gui
-ros-jazzy-plotjuggler-ros
-ros-jazzy-moveit*
-ros-jazzy-chomp-motion-planner*
-ros-jazzy-kdl*
-ros-jazzy-joint-trajectory-controller*
-ros-jazzy-ompl*
-ros-jazzy-pick-ik*
-ros-jazzy-pilz-industrial-motion-planner*
-ros-jazzy-trac-ik*
-ros-jazzy-stomp*
-ros-jazzy-spacenav*
-ros-jazzy-warehouse-ros-sqlite*
-ros-jazzy-ros2-control
-ros-jazzy-moveit-configs-utils
+ros-${ROS_DISTRO}-navigation2
+ros-${ROS_DISTRO}-chomp-motion-planner*
+ros-${ROS_DISTRO}-kdl*
+ros-${ROS_DISTRO}-ompl*
+ros-${ROS_DISTRO}-pick-ik*
+ros-${ROS_DISTRO}-pilz-industrial-motion-planner*
+ros-${ROS_DISTRO}-spacenav*
+ros-${ROS_DISTRO}-stomp*
+ros-${ROS_DISTRO}-trac-ik*
+ros-${ROS_DISTRO}-ur-description
+ros-${ROS_DISTRO}-ur-simulation-gz
+ros-${ROS_DISTRO}-warehouse-ros-sqlite*
diff --git a/dependencies/requirements/builder/packages.txt b/dependencies/requirements/builder/packages.txt
@@ -1,4 +1,19 @@
-build-essential
+curl
+dbus-x11
 git
-python3-vcstool
+gosu
+gnupg
+libegl1
+libgl1
+libgl1-mesa-dri
+libxext6
+libxi6
+libxkbcommon-x11-0
+libxrender1
+libxtst6
+lsb-release
 python3-colcon-common-extensions
+python3-rosdep
+python3-vcstool
+sudo
+xauth