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Correct the ROS and Fortress bridge #430

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Correct the ROS and Fortress bridge #430

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Correct the ROS and Fortress bridge
Mohammadreza-Beygifard Feb 14, 2024
c6f196c
Update fortress/ros2_integration.md
Mohammadreza-Beygifard Mar 28, 2024
39da592
Merge branch 'master' into correct_ros_fortress_bridge
Mohammadreza-Beygifard Mar 28, 2024
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10 changes: 5 additions & 5 deletions fortress/ros2_integration.md
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Expand Up @@ -4,9 +4,9 @@ In this tutorial we will learn how to Integrate ROS 2 with Ignition. We will est
communication between them. This can help in many aspects; we can receive data or commands
from ROS and apply it to Ignition and vice versa.

## ros_ign_bridge
## ros_gz_bridge

`ros_ign_bridge` provides a network bridge which enables the exchange of messages between ROS 2 and Ignition Transport. Its support is limited to only certain message types. Please, check this [README](https://github.com/ignitionrobotics/ros_ign/blob/ros2/ros_gz_bridge/README.md) to verify if your message type is supported by the bridge.
`ros_gz_bridge` provides a network bridge which enables the exchange of messages between ROS 2 and Ignition Transport. Its support is limited to only certain message types. Please, check this [README](https://github.com/gazebosim/ros_gz/blob/ros2/ros_gz_bridge/README.md) to verify if your message type is supported by the bridge.

Example uses of the bridge can be found in [`ros_gz_sim_demos`](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_sim_demos), including demo launch files with bridging of all major actuation and sensor types.

Expand All @@ -23,10 +23,10 @@ We can initialize a bidirectional bridge so we can have ROS as the publisher and
For example:

```
ros2 run ros_ign_bridge parameter_bridge /scan@sensor_msgs/msg/[email protected]
ros2 run ros_gz_bridge parameter_bridge /TOPIC@ROS_MSG@IGN_MSG
```

The `ros2 run ros_ign_bridge parameter_bridge` command simply runs the `parameter_bridge` code from the `ros_ign_bridge` package. Then, we specify our topic `/TOPIC` over which the messages will be sent. The first `@` symbol delimits the topic name from the message types. Following the first `@` symbol is the ROS message type.
The `ros2 run ros_gz_bridge parameter_bridge` command simply runs the `parameter_bridge` code from the `ros_gz_bridge` package. Then, we specify our topic `/TOPIC` over which the messages will be sent. The first `@` symbol delimits the topic name from the message types. Following the first `@` symbol is the ROS message type.

The ROS message type is followed by an `@`, `[`, or `]` symbol where:

Expand Down Expand Up @@ -59,7 +59,7 @@ at which the `Key Publisher` plugin sends messages and also the type
of the messages as follows:

```
ros2 run ros_ign_bridge parameter_bridge /keyboard/keypress@std_msgs/msg/[email protected]
ros2 run ros_gz_bridge parameter_bridge /keyboard/keypress@std_msgs/msg/[email protected]
```

We started a bridge on `/keyboard/keypress` topic with message of type `Int32`.
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