ros-melodic-heron-gazebo (0.3.0-1stretch) stretch; urgency=high

  * Add the UUV worlds dependency
  * Rename "heron_sim" to "spawn_heron" for compatibility with the new simulation environments
  * Tidy up the lake world a little, set the camera position so the initial view is a little nicer
  * Add a second world, a lake with some islands (also copied from UUV Worlds so we can modify as-necessary for a surface-only vehicle)
  * Add a copy of the world to make future modifications easier. Fix the initial camera position so that it puts the robot in-frame instead of starting underwater somewhere.
  * Add all the scripts to the cmake file
  * Remove the .py from the node scripts & update the launch file accordingly
  * Use the new (not-deprecated) MagneticField messages for the imu filter, add a simple node to translate from the old Vector3Stamped to MagneticField messges
  * Disable the mag data in the simulation; the imu filter is timing out waiting for data, which is disabling the heron_control node, making the robot permanently immobile.  See RPSW-474.
  * fixed location of worlds in launch file and readme
  * Param tuning and constant thruster control being activated in simulation
  * Added missing run dependencies
  * Initialized twist_translate's zero message properly and ensured no issues with callbacks in nav_vel
  * Fixed namespace functionality to allow empty namespaces
  * Added custom spawning to heron_world.launch
  * Fixed localization when heron has nonzero initial yaw
  * New config file for simulation heron_controller params
  * Fixed name+email in copyright notices
  * Added NWU->ENU swapping here because it was removed from heron_control
  * Fixed interactive marker's vel scaling and created new PID file for simulation
  * Added translator for Vec3 to Twist for navsat/vel
  * Changed covariance limits because simulated sensors are better than the actual sensors
  * Removed mag_interpreter.py from CMakeLists.txt
  * Fixed twist_translate.py to scale and publish Twist msgs
  * Added script to convert navsat/vel from NED to ENU
  * Fixed RViz interactive markers control
  * Removed mag_interpreter.py because Gazebo's magnetometer is now used
  * Prevented z, roll, and pitch of spawn location to be changed
  * Added copyright notices to launch and script files
  * Initial commit
  * Contributors: Chris Iverach-Brereton, Guy Stoppi, Nirzvi1, Shreya Subramaniam

 -- Mike Purvis <mpurvis@clearpathrobotics.com>  Thu, 17 Sep 2020 04:00:00 -0000


