Created Gazebo Simulation for Scout Mini (with Nav2 capabilities)

[InfinityJuice]

PR Summary

This PR adds a full Scout Mini Gazebo + Nav2 simulation workflow and updates the robot model, navigation configs, maps, and task runners needed to exercise autonomous navigation in simulation.

Major Changes

• Adds a Gazebo launch path for Scout Mini with scoutmini_description/launch/gazebo_mini.launch.py.
• Adds selectable simulation worlds: default_warehouse, warehouse, empty, and tb3_sandbox.
• Vendors new world/map assets, including warehouse and TurtleBot-style sandbox maps.
• Updates the Scout Mini URDF/Xacro with local mesh assets, corrected base_footprint relationship, wheel orientation/axis updates, Gazebo ros2_control integration, and simulated IMU, lidar, ZED-style RGB camera, and Insta360-style RGB camera outputs.
• Adds Gazebo bridge, diff drive, and SLAM config files.
• Adds nav2_sim.yaml for simulation-specific Nav2 behavior using /scan, /ground_truth/odom, AMCL, Navfn, DWB, costmaps, velocity smoothing, and waypoint following.
• Expands simulation_2d.launch.py into a full bringup that launches Gazebo, spawns the robot, starts Nav2, and optionally sends route or single-pose goals.
• Updates navigation.launch.py to support simulation use cases, optional hardware odometry launch, map YAML rewriting, RViz launch, and optional route loop execution.
• Adds nav_to_pose_runner.py for sending a single NavigateToPose goal from launch parameters.
• Improves route_loop_runner.py with initial map_name parameter support, retry/timeout handling for waypoint resolution, waypoint JSON fallback when the waypoint service is unavailable, and cleaner shutdown behavior.
• Adds scoutmini_nav2/README.md with build, launch, RViz, and Nav2 health-check instructions.

How To Run

cd /ros2_ws
colcon build --packages-select scoutmini_description scoutmini_nav2 scoutmini_tasks map_tools
source install/setup.bash
ros2 launch scoutmini_nav2 simulation_2d.launch.py

Optional single goal:

ros2 launch scoutmini_nav2 simulation_2d.launch.py use_goal:=true goal_x:=2.0 goal_y:=0.0 goal_yaw:=0.0

Notes

• The default simulation uses the vendored warehouse world and map_tools/maps/warehouse/warehouse.yaml.
• Gazebo may need internet access the first time it loads Fuel-hosted warehouse assets.
• All commits on this PR branch are signed.

[InfinityJuice]

Had to sign all my commits because merging rule. That's why all the commits date to today at the same time and force pushed.

[nhat-m-le]

First round of review with some questions/comments/suggestions. Take a look at all of them first before deciding what to do next and address the questions.

[nhat-m-le]

refer to comment in scout_mini.xacro about this file

[nhat-m-le]

I know that I initially put this file here but it might be better in a scoutmini_sim package together with the worlds folders from scoutmini_description.

[InfinityJuice]

One thing that happened when trying to load the zed2 camera mesh for me was that it couldn't find the supposed path of the mesh.

Fix: go to zed-ros2-wrapper/zed_wrapper/urdf/zed_macro.urdf.xacro

Change instances of "$(find zed_msgs)" to "$(find zed_description)"

If this is the same for you, you might want to update the zed-ros2-wrapper repo

lgtm now

[nhat-m-le]

lgtm

[nhat-m-le]

One thing that happened when trying to load the zed2 camera mesh for me was that it couldn't find the supposed path of the mesh.

Fix: go to zed-ros2-wrapper/zed_wrapper/urdf/zed_macro.urdf.xacro

Change instances of "$(find zed_msgs)" to "$(find zed_description)"

If this is the same for you, you might want to update the zed-ros2-wrapper repo

I think this can be solved with sudo apt install ros-humble-zed-msgs