ROS2 -> ROS 2

.github/workflows/actions.yml

@@ -38,7 +38,7 @@ jobs:
         # Always publish test results even when there are failures.
         if: ${{ always() }}
 
-  # Testing with ROS2
+  # Testing with ROS 2
   ros2-test:
     strategy:
       matrix:

README.md

@@ -3,7 +3,7 @@
 [![Pyrobosim Tests](https://github.com/sea-bass/pyrobosim/actions/workflows/actions.yml/badge.svg?branch=main)](https://github.com/sea-bass/pyrobosim/actions/workflows/actions.yml)
 [![Documentation Status](https://readthedocs.org/projects/pyrobosim/badge/?version=latest)](https://pyrobosim.readthedocs.io/en/latest/?badge=latest)
 
-ROS2 enabled 2D mobile robot simulator for behavior prototyping.
+ROS 2 enabled 2D mobile robot simulator for behavior prototyping.
 
 By Sebastian Castro, 2022
 

docker/run_docker.bash

@@ -1,6 +1,6 @@
 # Run docker container
 #
-# To get a specific ROS2 distro, specify the ROS_DISTRO environment variable as follows:
+# To get a specific ROS 2 distro, specify the ROS_DISTRO environment variable as follows:
 #   ROS_DISTRO=humble ./run_docker.bash
 #
 # To run a specific command, you can enter additional arguments:

docs/source/index.rst

@@ -3,7 +3,7 @@
 pyrobosim
 =========
 
-pyrobosim is a ROS2 enabled 2D mobile robot simulator for behavior prototyping.
+pyrobosim is a ROS 2 enabled 2D mobile robot simulator for behavior prototyping.
 
 .. raw:: html
 

docs/source/setup.rst

@@ -3,13 +3,13 @@ Setup
 
 This package is being tested with:
 
-* Python 3.8 in Ubuntu 20.04, optionally with ROS2 Foxy
-* Python 3.10 in Ubuntu 22.04, optionally with ROS2 Humble
+* Python 3.8 in Ubuntu 20.04, optionally with ROS 2 Foxy
+* Python 3.10 in Ubuntu 22.04, optionally with ROS 2 Humble
 
 Local Setup
 -----------
 
-If using ROS2, clone this repo in a valid `colcon workspace <https://docs.ros.org/en/foxy/Tutorials/Workspace/Creating-A-Workspace.html>`_.
+If using ROS 2, clone this repo in a valid `colcon workspace <https://docs.ros.org/en/humble/Tutorials/Workspace/Creating-A-Workspace.html>`_.
 Otherwise, if running standalone, clone it wherever you would like.
 
 To set up your Python virtual environment, configure and run
@@ -41,7 +41,7 @@ As documented in the above script, I recommend making a bash function in your ``
        source /path/to/pyrobosim/setup/source_pyrobosim.bash
     }
 
-If you plan to use ROS2, you can similarly create a bash function like this:
+If you plan to use ROS 2, you can similarly create a bash function like this:
 
 ::
 
@@ -53,9 +53,9 @@ If you plan to use ROS2, you can similarly create a bash function like this:
 Docker Setup
 ------------
 
-We also provide Docker images compatible with ROS2 Foxy and Humble releases.
+We also provide Docker images compatible with ROS 2 releases.
 
-If you already have sourced ROS2 in your system (e.g., ``source /opt/ros/humble/setup.bash``),
+If you already have sourced ROS 2 in your system (e.g., ``source /opt/ros/humble/setup.bash``),
 then you should have a ``ROS_DISTRO`` environment variable set. Otherwise,
 
 ::

docs/source/usage/basic_usage.rst

@@ -30,8 +30,8 @@ click the **Navigate** button. Once at the destination, click **Pick**.
 
 |
 
-With ROS2
----------
+With ROS 2
+----------
 
 First, build and setup the ``colcon`` workspace (or use one of our provided Docker containers).
 
@@ -41,7 +41,7 @@ First, build and setup the ``colcon`` workspace (or use one of our provided Dock
     . install/local_setup.bash
 
 
-You can run a ROS2 enabled demo and interact with the GUI:
+You can run a ROS 2 enabled demo and interact with the GUI:
 
 ::
 
@@ -64,12 +64,12 @@ Or, you can run both of these nodes together using a provided launch file:
     ros2 launch pyrobosim_ros demo_commands.launch.py mode:=action
 
 
-The first command will start a world as a ROS2 node, and the second one will publish a plan (or set of actions) to the node.
+The first command will start a world as a ROS 2 node, and the second one will publish a plan (or set of actions) to the node.
 
 .. image:: ../media/pyrobosim_demo_ros.png
     :align: center
     :width: 600px
-    :alt: Basic ROS2 demo.
+    :alt: Basic ROS 2 demo.
 
 |
 

docs/source/usage/index.rst

@@ -1,6 +1,6 @@
 Usage
 =====
-This package works with or without ROS2, and with or without a 
+This package works with or without ROS 2, and with or without a 
 PyQt5 based GUI for visualization.
 
 Refer to the following pages for different types of usage guides.

docs/source/usage/multirobot.rst

@@ -27,8 +27,8 @@ Or you can use a sample multirobot world file:
 
 |
 
-With ROS2
----------
+With ROS 2
+----------
 
 First, build and setup the ``colcon`` workspace (or use one of our provided Docker containers).
 
@@ -38,7 +38,7 @@ First, build and setup the ``colcon`` workspace (or use one of our provided Dock
     . install/local_setup.bash
 
 
-You can run a ROS2 enabled multirobot demo and interact with the GUI:
+You can run a ROS 2 enabled multirobot demo and interact with the GUI:
 
 ::
 
@@ -62,6 +62,6 @@ The output should look as follows:
 .. image:: ../media/pyrobosim_demo_multirobot_plan.png
     :align: center
     :width: 720px
-    :alt: pyrobosim multirobot demo with ROS2 executing multiple plans.
+    :alt: pyrobosim multirobot demo with ROS 2 executing multiple plans.
 
 |

docs/source/usage/tamp.rst

@@ -14,7 +14,7 @@ If you did not already install PDDLStream, ensure you do so with this script, th
 
 Examples
 --------
-Regardless of running PDDLStream standalone or using ROS2, we have included a set of examples
+Regardless of running PDDLStream standalone or using ROS 2, we have included a set of examples
 that gradually build up from simple, purely discrete planning, to a more complex integrated TAMP
 demo with continuous action parameters.
 
@@ -44,8 +44,8 @@ You can try running a sample script as follows
 
 |
 
-With ROS2
----------
+With ROS 2
+----------
 
 First, build and setup the ``colcon`` workspace (or use one of our provided Docker containers).
 
@@ -56,7 +56,7 @@ First, build and setup the ``colcon`` workspace (or use one of our provided Dock
     . install/local_setup.bash
 
 
-With ROS2, the idea is to separate out functionality into different *nodes*.
+With ROS 2, the idea is to separate out functionality into different *nodes*.
 
 To start a world and then a planner with a hard-coded goal specification:
 
@@ -85,6 +85,6 @@ The output should look as follows:
 .. image:: ../media/pddlstream_demo_ros.png
     :align: center
     :width: 720px
-    :alt: PDDLStream demo with ROS2.
+    :alt: PDDLStream demo with ROS 2.
 
 |

pyrobosim/examples/demo.py

@@ -117,5 +117,5 @@ def parse_args():
     else:
         w = create_world_from_yaml(args.world_file)        
 
-    # Start the program either as ROS2 node or standalone.
+    # Start the program either as ROS node or standalone.
     start_gui(w, sys.argv)

pyrobosim/pyrobosim/__init__.py

@@ -1 +1 @@
-""" ROS2 enabled 2D mobile robot simulator for behavior prototyping. """
+""" ROS 2 enabled 2D mobile robot simulator for behavior prototyping. """

pyrobosim/pyrobosim/core/__init__.py

@@ -3,6 +3,6 @@
 This module contains all the tools for world representation
 (e.g. robots, rooms, locations, objects).
 
-Additionally, tools for interfacing with ROS2, importing from
+Additionally, tools for interfacing with ROS 2, importing from
 YAML files, and exporting Gazebo worlds and occupancy grids reside here.
 """

pyrobosim/pyrobosim/core/ros_interface.py

@@ -13,11 +13,11 @@
 
 
 class WorldROSWrapper(Node):
-    """ ROS2 wrapper node for pyrobosim worlds. """
+    """ ROS 2 wrapper node for pyrobosim worlds. """
     def __init__(self, world=None, name="pyrobosim",
                  num_threads=os.cpu_count(), state_pub_rate=0.1):
         """
-        Creates a ROS2 world wrapper node.
+        Creates a ROS 2 world wrapper node.
 
         Given a node name (default is ``"pyrobosim"``), this node will:
             * Subscribe to single actions on the ``pyrobosim/commanded_action`` topic.

pyrobosim/pyrobosim/utils/general.py

@@ -17,7 +17,7 @@ def get_data_folder():
     :rtype: str
     """
     try:
-        # If running as a ROS2 node, get the data folder from the package share directory.
+        # If running as a ROS 2 node, get the data folder from the package share directory.
         from ament_index_python.packages import get_package_share_directory
         data_folder = os.path.join(
             get_package_share_directory("pyrobosim"), "data")

pyrobosim/setup.py

@@ -32,7 +32,7 @@ def get_files_in_folder(directory):
     url="https://github.com/sea-bass/pyrobosim",
     author="Sebastian Castro",
     author_email="sebas.a.castro@gmail.com",
-    description="ROS2 enabled 2D mobile robot simulator for behavior prototyping.",
+    description="ROS 2 enabled 2D mobile robot simulator for behavior prototyping.",
     license="BSD",
     install_requires=install_requires,
     packages=find_packages(),

pyrobosim_ros/examples/demo_pddl_planner.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 """
-Test script showing how to use a PDDLStream planner as a ROS2 node.
+Test script showing how to use a PDDLStream planner as a ROS 2 node.
 """
 
 import os

pyrobosim_ros/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
   <name>pyrobosim_ros</name>
   <version>0.0.0</version>
-  <description>ROS2 wrapper around pyrobosim.</description>
+  <description>ROS 2 wrapper around pyrobosim.</description>
   <maintainer email="sebas.a.castro@gmail.com">Sebastian Castro</maintainer>
   <license>BSD</license>