Complete Port to modern Gazebo List

[SteveMacenski]

• TB4/TB3 working from binaries. Update: releases made nav2_minimal_turtlebot_simulation: 1.0.0-1 in 'jazzy/distribution.yaml' [bloom] ros/rosdistro#41511 nav2_minimal_turtlebot_simulation: 1.0.0-1 in 'rolling/distribution.yaml' [bloom] ros/rosdistro#41510 waiting to see if they turn over and get to us in binary format
• Basic bringup Initial support to the new Gazebo #3634
• Simple commander demos Upgrading simple commander to use new gazebo simulation environment, gazebo harmonic, and new relavent poses #4417
• Unique / cloned multirobot launch Update: Nav2/launch file done. Simulations though don't seem to be remapping Remove Nav2 Bringup Multi-Robot Options #4421 simply removed for the time being to unblock the release since these are primarily for demonstration purposes rather than mission critical. Hopefully someone that cares about this feature can take it on!
• System tests

[SteveMacenski]

Some starting attempts for multirobot - could use some help probably

• https://github.com/ros-navigation/navigation2/tree/multirobot <-- contains minor fixes for Nav2. Overall the Nav2 parts of this haven't changed since Iron, so I don't think there's anything further to address here. The issues are with respect to GZ data / topics / TF.
• https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation/tree/multirobot <-- contains the GZ bridge, SDF, and most of the files that probably need updates to make this work

I'm seeing the GZ topics get namespaced for the bridge, but not getting any data through GZ to the bridge so SDF isn't bring namespaced (?). Also, the namespace parameter doesn't appear to be being applied to the ros topic entries of the bridge (?). Seems to be some gaps here that need addressing which are blocking release (or very possibly my understanding of them)

Perhaps some remaps would do the job on the ROS / bridge side? What about GZ data flow and SDF? Perhaps there too or something I missed?

[SteveMacenski]

#4455 supersedes for remaining item