Rename mecanum pkg dependency (#641)

* Rename mecanum pkg dependenciy

* Update docs

* Update ROS_API.md

Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com>

---------

Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com>

Author: rafal-gorecki

ROS_API.md

@@ -34,7 +34,7 @@ Below is information about the physical robot API. For the simulation, topics an
 | --- | --- | ------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | ✅   | ❌   | `battery_driver`          | Publishes battery state read from ADC unit. <br/> [*panther_batter/battery_driver_node*](./husarion_ugv_battery/include/husarion_ugv_battery/battery_driver_node.hpp)                                                                                                                                                                                                                                                                                                                                                                 |
 | ✅   | ✅   | `controller_manager`      | The Controller Manager performs two main functions. First, it manages controllers and their required interfaces, handling tasks like loading, activating, deactivating, and unloading. Second, it interacts with hardware components, ensuring access to their interfaces. This node manages the: `imu_broadcaster`, `joint_state_broadcaster`, `drive_controller`. <br/> *[controller_manager/controller_manager](https://github.com/ros-controls/ros2_control/blob/master/controller_manager)*                                      |
-| ✅   | ✅   | `drive_controller`        | Manages mobile robots with a differential or mecanum drive depending on the configuration. It converts velocity commands for the robot body into wheel commands for the base. It also calculates odometry from hardware feedback and shares it. <br/> *[diff_drive_controller/diff_drive_controller](https://github.com/ros-controls/ros2_controllers/tree/master/diff_drive_controller) or [mecanum_drive_controller/mecanum_drive_controller](https://github.com/husarion/husarion_controllers/tree/main/mecanum_drive_controller)* |
+| ✅   | ✅   | `drive_controller`        | Manages mobile robots with a differential or mecanum drive depending on the configuration. It converts velocity commands for the robot body into wheel commands for the base. It also calculates odometry from hardware feedback and shares it. <br/> *[diff_drive_controller/diff_drive_controller](https://github.com/ros-controls/ros2_controllers/tree/master/diff_drive_controller) or [husarion_mecanum_drive_controller/husarion_mecanum_drive_controller](https://github.com/husarion/husarion_controllers/tree/jazzy/husarion_mecanum_drive_controller)* |
 | ✅   | ✅   | `ekf_filter`              | The Extended Kalman Filter node is designed to fuse odometry data from various sources, including wheel encoders, IMU, and GPS. <br/> *[robot_localization/ekf_filter](https://github.com/cra-ros-pkg/robot_localization)*                                                                                                                                                                                                                                                                                                            |
 | ✅   | ❌   | `gps`                     | Node responsible for parsing NMEA strings and publishing standard ROS NavSat message types. <br/> *[nmea_navsat_driver/nmea_navsat_driver](https://github.com/ros-drivers/nmea_navsat_driver/tree/ros2/src/libnmea_navsat_driver)*                                                                                                                                                                                                                                                                                                    |
 | ❌   | ✅   | `gz_bridge`               | Convert and transmit data between ROS and Gazebo <br/> *[ros_gz_bridge/parameter_bridge](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_bridge)*                                                                                                                                                                                                                                                                                                                                                                                |

husarion_ugv/hardware_deps.repos

@@ -10,7 +10,7 @@ repositories:
   husarion_controllers:
     type: git
     url: https://github.com/husarion/husarion_controllers
-    version: 9916ab4e087930b3ff947efec321ab9f8df531c5
+    version: 2b2b37a1579ae3968693a368ca7a7aaa351a41f4
   husarion_components_description:
     type: git
     url: https://github.com/husarion/husarion_components_description.git

husarion_ugv/simulation_deps.repos

@@ -10,7 +10,7 @@ repositories:
   husarion_controllers:
     type: git
     url: https://github.com/husarion/husarion_controllers
-    version: 9916ab4e087930b3ff947efec321ab9f8df531c5
+    version: 2b2b37a1579ae3968693a368ca7a7aaa351a41f4
   husarion_gz_worlds:
     type: git
     url: https://github.com/husarion/husarion_gz_worlds.git

husarion_ugv_controller/CONFIGURATION.md

@@ -2,7 +2,7 @@
 
 ## Changing Velocity Smoothing Parameters
 
-The default drive controller is based on [diff_drive_controller](https://control.ros.org/master/doc/ros2_controllers/diff_drive_controller/doc/userdoc.html) from [ros2 control](https://control.ros.org/master/index.html) or [mecanum_drive_controller](https://github.com/husarion/husarion_controllers/tree/main/mecanum_drive_controller). This controller can be customized, among others: by modifying the robot's dynamic parameters (e.g. smooth the speed or limit the robot's speed and acceleration). Its parameters can be found in the [husarion_ugv_controller](https://github.com/husarion/husarion_ugv_ros/tree/ros2-devel/husarion_ugv_controller/config). By default, these values correspond to the upper limits of the robot's velocities and accelerations.
+The default drive controller is based on [diff_drive_controller](https://control.ros.org/master/doc/ros2_controllers/diff_drive_controller/doc/userdoc.html) from [ros2 control](https://control.ros.org/master/index.html) or [husarion_mecanum_drive_controller](https://github.com/husarion/husarion_controllers/tree/jazzy/husarion_mecanum_drive_controller). This controller can be customized, among others: by modifying the robot's dynamic parameters (e.g. smooth the speed or limit the robot's speed and acceleration). Its parameters can be found in the [husarion_ugv_controller](https://github.com/husarion/husarion_ugv_ros/tree/ros2-devel/husarion_ugv_controller/config). By default, these values correspond to the upper limits of the robot's velocities and accelerations.
 
 ## Changing Wheel Type
 

husarion_ugv_controller/config/WH02_controller.yaml

@@ -6,7 +6,7 @@
       joint_state_broadcaster:
         type: joint_state_broadcaster/JointStateBroadcaster
       drive_controller:
-        type: mecanum_drive_controller/MecanumDriveController
+        type: husarion_mecanum_drive_controller/MecanumDriveController
       imu_broadcaster:
         type: imu_sensor_broadcaster/IMUSensorBroadcaster
       twist_mux_controller:

husarion_ugv_controller/package.xml

@@ -18,14 +18,14 @@
 
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>diff_drive_controller</exec_depend>
+  <exec_depend>husarion_mecanum_drive_controller</exec_depend>
   <exec_depend>husarion_ugv_description</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == hardware">husarion_ugv_hardware_interfaces</exec_depend>
   <exec_depend>husarion_ugv_utils</exec_depend>
   <exec_depend>imu_sensor_broadcaster</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
-  <exec_depend>mecanum_drive_controller</exec_depend>
   <exec_depend>nav2_common</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>twist_mux_controller</exec_depend>