ros_gz documentation updates (gazebosim#508)

* Documentation updates including updated bridge parameters, links to other ros_gz tutorials and note about the functionality only available in Rolling.

Signed-off-by: Carlos Agüero <[email protected]>

Author: caguero

harmonic/ros2_integration.md

@@ -80,15 +80,15 @@ within this tag. Here's an example:
 
 ```xml
 <launch>
-  <arg name="name" default="ros_gz_bridge" />
-  <arg name="config_file" default="" />
+  <arg name="bridge_name" />
+  <arg name="config_file" />
   <arg name="container_name" default="ros_gz_container" />
   <arg name="namespace" default="" />
   <arg name="use_composition" default="True" />
   <arg name="use_respawn" default="False" />
   <arg name="log_level" default="info" />
-  <ros_gz_bridge 
-    name="$(var name)"
+  <ros_gz_bridge
+    bridge_name="$(var bridge_name)"
     config_file="$(var config_file)"
     container_name="$(var container_name)"
     namespace="$(var namespace)"
@@ -97,11 +97,12 @@ within this tag. Here's an example:
     log_level="$(var log_level)">
   </ros_gz_bridge>
 </launch>
+
 ```
 
 In this case the `<ros_gz_bridge>` parameters are read from the command line.
 That's an option but not strictly necessary as you could decide to hardcode some
-of the values.
+of the values or not even use all the parameters.
 
 ## Publish key strokes to ROS
 

harmonic/ros2_launch_gazebo.md

@@ -49,7 +49,7 @@ within this tag. Here's an example for launching Gazebo server:
 
 In this case the `<gz_server>` parameters are read from the command line. That's
 an option but not strictly necessary as you could decide to hardcode some of the
-values.
+values or not even use all the parameters.
 
 ### Python
 Python launch files provide more low-level customization and logic compared to XML launch files. 

harmonic/ros2_overview.md

@@ -26,6 +26,9 @@ Please follow the [Install Gazebo and ROS document](ros_installation)
 before starting this tutorial. A working installation of ROS 2 and Gazebo is
 required to go further.
 
+Important: Most of this functionality is only available in ROS 2 Rolling.
+We'll backport it to ROS 2 Jazzy soon.
+
 ## Composition
 
 If you inspect the parameters of the launch files mentioned in the next
@@ -41,3 +44,13 @@ launched with the `container_node_name` parameter matching the container name
 including Gazebo and the bridge.
 
 You can learn more about ROS composition in [this tutorial](https://docs.ros.org/en/galactic/Tutorials/Intermediate/Composition.html).
+
+## What's next?
+
+Here are the next follow-up tutorials that you can check to learn more about
+Gazebo/ROS integration.
+
+* [How to launch Gazebo from ROS 2](ros2_launch_gazebo).
+* [How to use ROS 2 to interact with Gazebo](ros2_integration).
+* [Example of using ROS 2 to load a model and interact with it in Gazebo](ros2_interop).
+* [How to spawn a Gazebo model from ROS 2](ros2_spawn_model).

harmonic/ros2_spawn_model.md

@@ -30,9 +30,9 @@ within this tag. Here's an example:
 <launch>
   <arg name="world" default="" />
   <arg name="file" default="" />
-  <arg name="xml_string" default="" />
+  <arg name="model_string" default="" />
   <arg name="topic" default="" />
-  <arg name="name" default="" />
+  <arg name="entity_name" default="" />
   <arg name="allow_renaming" default="False" />
   <arg name="x" default="" />
   <arg name="y" default="" />
@@ -43,9 +43,9 @@ within this tag. Here's an example:
   <gz_spawn_model 
     world="$(var world)"
     file="$(var file)"
-    xml_string="$(var xml_string)"
+    model_string="$(var model_string)"
     topic="$(var topic)"
-    name="$(var name)"
+    entity_name="$(var entity_name)"
     allow_renaming="$(var allow_renaming)"
     x="$(var x)"
     y="$(var y)"
@@ -59,4 +59,4 @@ within this tag. Here's an example:
 
 In this case the `<gz_spawn_model>` parameters are read from the command line.
 That's an option but not strictly necessary as you could decide to hardcode some
-of the values.
+of the values or not even use all of the parameters.