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| <!-- TODO: Make this a metapackage, see | ||
| https://github.com/ros2/ros2/issues/408 --> | ||
| <name>ros_gz</name> | ||
| <version>0.244.13</version> | ||
| <version>0.244.14</version> | ||
| <description>Meta-package containing interfaces for using ROS 2 with <a href="https://gazebosim.org">Gazebo</a> simulation.</description> | ||
| <maintainer email="[email protected]">Louise Poubel</maintainer> | ||
| <license>Apache 2.0</license> | ||
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| Changelog for package ros_gz_bridge | ||
| ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
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| 0.244.14 (2024-04-08) | ||
| --------------------- | ||
| * Added conversion for Detection3D and Detection3DArray (`#523 <https://github.com/gazebosim/ros_gz/issues/523>`_) (`#526 <https://github.com/gazebosim/ros_gz/issues/526>`_) | ||
| Co-authored-by: wittenator <[email protected]> | ||
| * Add ROS namespaces to GZ topics (`#512 <https://github.com/gazebosim/ros_gz/issues/512>`_) | ||
| Co-authored-by: Alejandro Hernández Cordero <[email protected]> | ||
| * Correctly export ros_gz_bridge for downstream targets (`#503 <https://github.com/gazebosim/ros_gz/issues/503>`_) (`#506 <https://github.com/gazebosim/ros_gz/issues/506>`_) | ||
| * Add a virtual destructor to suppress compiler warning (`#502 <https://github.com/gazebosim/ros_gz/issues/502>`_) (`#505 <https://github.com/gazebosim/ros_gz/issues/505>`_) | ||
| Co-authored-by: Michael Carroll <[email protected]> | ||
| * Add option to change material color from ROS. (`#486 <https://github.com/gazebosim/ros_gz/issues/486>`_) | ||
| * Message and bridge for MaterialColor. | ||
| This allows bridging MaterialColor from ROS to GZ and is | ||
| important for allowing simulation users to create status lights. | ||
| --------- | ||
| Co-authored-by: Alejandro Hernández Cordero <[email protected]> | ||
| Co-authored-by: Addisu Z. Taddese <[email protected]> | ||
| Co-authored-by: Addisu Z. Taddese <[email protected]> | ||
| * Contributors: Alejandro Hernández Cordero, Benjamin Perseghetti, Krzysztof Wojciechowski, Michael Carroll | ||
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| 0.244.13 (2024-01-23) | ||
| --------------------- | ||
| * backport pr 374 (`#489 <https://github.com/gazebosim/ros_gz/issues/489>`_) | ||
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@@ -5,64 +5,66 @@ between ROS and Gazebo Transport. | |
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| The following message types can be bridged for topics: | ||
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| | ROS type | Gazebo type | | ||
| |---------------------------------------------|:--------------------------------------:| | ||
| | builtin_interfaces/msg/Time | ignition::msgs::Time | | ||
| | std_msgs/msg/Bool | ignition::msgs::Boolean | | ||
| | std_msgs/msg/ColorRGBA | ignition::msgs::Color | | ||
| | std_msgs/msg/Empty | ignition::msgs::Empty | | ||
| | std_msgs/msg/Float32 | ignition::msgs::Float | | ||
| | std_msgs/msg/Float64 | ignition::msgs::Double | | ||
| | std_msgs/msg/Header | ignition::msgs::Header | | ||
| | std_msgs/msg/Int32 | ignition::msgs::Int32 | | ||
| | std_msgs/msg/UInt32 | ignition::msgs::UInt32 | | ||
| | std_msgs/msg/String | ignition::msgs::StringMsg | | ||
| | geometry_msgs/msg/Wrench | ignition::msgs::Wrench | | ||
| | geometry_msgs/msg/WrenchStamped | ignition::msgs::Wrench | | ||
| | geometry_msgs/msg/Quaternion | ignition::msgs::Quaternion | | ||
| | geometry_msgs/msg/Vector3 | ignition::msgs::Vector3d | | ||
| | geometry_msgs/msg/Point | ignition::msgs::Vector3d | | ||
| | geometry_msgs/msg/Pose | ignition::msgs::Pose | | ||
| | geometry_msgs/msg/PoseArray | ignition::msgs::Pose_V | | ||
| | geometry_msgs/msg/PoseWithCovariance | ignition::msgs::PoseWithCovariance | | ||
| | geometry_msgs/msg/PoseStamped | ignition::msgs::Pose | | ||
| | geometry_msgs/msg/Transform | ignition::msgs::Pose | | ||
| | geometry_msgs/msg/TransformStamped | ignition::msgs::Pose | | ||
| | geometry_msgs/msg/Twist | ignition::msgs::Twist | | ||
| | geometry_msgs/msg/TwistStamped | ignition::msgs::Twist | | ||
| | geometry_msgs/msg/TwistWithCovariance | ignition::msgs::TwistWithCovariance | | ||
| | geometry_msgs/msg/TwistWithCovarianceStamped| ignition::msgs::TwistWithCovariance | | ||
| | nav_msgs/msg/Odometry | ignition::msgs::Odometry | | ||
| | nav_msgs/msg/Odometry | ignition::msgs::OdometryWithCovariance | | ||
| | rcl_interfaces/msg/ParameterValue | ignition::msgs::Any | | ||
| | ros_gz_interfaces/msg/Altimeter | ignition::msgs::Altimeter | | ||
| | ros_gz_interfaces/msg/Contact | ignition::msgs::Contact | | ||
| | ros_gz_interfaces/msg/Contacts | ignition::msgs::Contacts | | ||
| | ros_gz_interfaces/msg/Dataframe | ignition::msgs::Dataframe | | ||
| | ros_gz_interfaces/msg/Entity | ignition::msgs::Entity | | ||
| | ros_gz_interfaces/msg/Float32Array | ignition::msgs::Float_V | | ||
| | ros_gz_interfaces/msg/GuiCamera | ignition::msgs::GUICamera | | ||
| | ros_gz_interfaces/msg/JointWrench | ignition::msgs::JointWrench | | ||
| | ros_gz_interfaces/msg/Light | ignition::msgs::Light | | ||
| | ros_gz_interfaces/msg/SensorNoise | ignition::msgs::SensorNoise | | ||
| | ros_gz_interfaces/msg/StringVec | ignition::msgs::StringMsg_V | | ||
| | ros_gz_interfaces/msg/TrackVisual | ignition::msgs::TrackVisual | | ||
| | ros_gz_interfaces/msg/VideoRecord | ignition::msgs::VideoRecord | | ||
| | ros_gz_interfaces/msg/WorldControl | ignition::msgs::WorldControl | | ||
| | rosgraph_msgs/msg/Clock | ignition::msgs::Clock | | ||
| | sensor_msgs/msg/BatteryState | ignition::msgs::BatteryState | | ||
| | sensor_msgs/msg/CameraInfo | ignition::msgs::CameraInfo | | ||
| | sensor_msgs/msg/FluidPressure | ignition::msgs::FluidPressure | | ||
| | sensor_msgs/msg/Imu | ignition::msgs::IMU | | ||
| | sensor_msgs/msg/Image | ignition::msgs::Image | | ||
| | sensor_msgs/msg/JointState | ignition::msgs::Model | | ||
| | sensor_msgs/msg/Joy | ignition::msgs::Joy | | ||
| | sensor_msgs/msg/LaserScan | ignition::msgs::LaserScan | | ||
| | sensor_msgs/msg/MagneticField | ignition::msgs::Magnetometer | | ||
| | sensor_msgs/msg/NavSatFix | ignition::msgs::NavSat | | ||
| | sensor_msgs/msg/PointCloud2 | ignition::msgs::PointCloudPacked | | ||
| | tf2_msgs/msg/TFMessage | ignition::msgs::Pose_V | | ||
| | trajectory_msgs/msg/JointTrajectory | ignition::msgs::JointTrajectory | | ||
| | ROS type | Gazebo type | | ||
| |---------------------------------------------|:-------------------------------------------:| | ||
| | builtin_interfaces/msg/Time | ignition::msgs::Time | | ||
| | std_msgs/msg/Bool | ignition::msgs::Boolean | | ||
| | std_msgs/msg/ColorRGBA | ignition::msgs::Color | | ||
| | std_msgs/msg/Empty | ignition::msgs::Empty | | ||
| | std_msgs/msg/Float32 | ignition::msgs::Float | | ||
| | std_msgs/msg/Float64 | ignition::msgs::Double | | ||
| | std_msgs/msg/Header | ignition::msgs::Header | | ||
| | std_msgs/msg/Int32 | ignition::msgs::Int32 | | ||
| | std_msgs/msg/UInt32 | ignition::msgs::UInt32 | | ||
| | std_msgs/msg/String | ignition::msgs::StringMsg | | ||
| | geometry_msgs/msg/Wrench | ignition::msgs::Wrench | | ||
| | geometry_msgs/msg/WrenchStamped | ignition::msgs::Wrench | | ||
| | geometry_msgs/msg/Quaternion | ignition::msgs::Quaternion | | ||
| | geometry_msgs/msg/Vector3 | ignition::msgs::Vector3d | | ||
| | geometry_msgs/msg/Point | ignition::msgs::Vector3d | | ||
| | geometry_msgs/msg/Pose | ignition::msgs::Pose | | ||
| | geometry_msgs/msg/PoseArray | ignition::msgs::Pose_V | | ||
| | geometry_msgs/msg/PoseWithCovariance | ignition::msgs::PoseWithCovariance | | ||
| | geometry_msgs/msg/PoseStamped | ignition::msgs::Pose | | ||
| | geometry_msgs/msg/Transform | ignition::msgs::Pose | | ||
| | geometry_msgs/msg/TransformStamped | ignition::msgs::Pose | | ||
| | geometry_msgs/msg/Twist | ignition::msgs::Twist | | ||
| | geometry_msgs/msg/TwistStamped | ignition::msgs::Twist | | ||
| | geometry_msgs/msg/TwistWithCovariance | ignition::msgs::TwistWithCovariance | | ||
| | geometry_msgs/msg/TwistWithCovarianceStamped| ignition::msgs::TwistWithCovariance | | ||
| | nav_msgs/msg/Odometry | ignition::msgs::Odometry | | ||
| | nav_msgs/msg/Odometry | ignition::msgs::OdometryWithCovariance | | ||
| | rcl_interfaces/msg/ParameterValue | ignition::msgs::Any | | ||
| | ros_gz_interfaces/msg/Altimeter | ignition::msgs::Altimeter | | ||
| | ros_gz_interfaces/msg/Contact | ignition::msgs::Contact | | ||
| | ros_gz_interfaces/msg/Contacts | ignition::msgs::Contacts | | ||
| | ros_gz_interfaces/msg/Dataframe | ignition::msgs::Dataframe | | ||
| | ros_gz_interfaces/msg/Entity | ignition::msgs::Entity | | ||
| | ros_gz_interfaces/msg/Float32Array | ignition::msgs::Float_V | | ||
| | ros_gz_interfaces/msg/GuiCamera | ignition::msgs::GUICamera | | ||
| | ros_gz_interfaces/msg/JointWrench | ignition::msgs::JointWrench | | ||
| | ros_gz_interfaces/msg/Light | ignition::msgs::Light | | ||
| | ros_gz_interfaces/msg/SensorNoise | ignition::msgs::SensorNoise | | ||
| | ros_gz_interfaces/msg/StringVec | ignition::msgs::StringMsg_V | | ||
| | ros_gz_interfaces/msg/TrackVisual | ignition::msgs::TrackVisual | | ||
| | ros_gz_interfaces/msg/VideoRecord | ignition::msgs::VideoRecord | | ||
| | ros_gz_interfaces/msg/WorldControl | ignition::msgs::WorldControl | | ||
| | rosgraph_msgs/msg/Clock | ignition::msgs::Clock | | ||
| | sensor_msgs/msg/BatteryState | ignition::msgs::BatteryState | | ||
| | sensor_msgs/msg/CameraInfo | ignition::msgs::CameraInfo | | ||
| | sensor_msgs/msg/FluidPressure | ignition::msgs::FluidPressure | | ||
| | sensor_msgs/msg/Imu | ignition::msgs::IMU | | ||
| | sensor_msgs/msg/Image | ignition::msgs::Image | | ||
| | sensor_msgs/msg/JointState | ignition::msgs::Model | | ||
| | sensor_msgs/msg/Joy | ignition::msgs::Joy | | ||
| | sensor_msgs/msg/LaserScan | ignition::msgs::LaserScan | | ||
| | sensor_msgs/msg/MagneticField | ignition::msgs::Magnetometer | | ||
| | sensor_msgs/msg/NavSatFix | ignition::msgs::NavSat | | ||
| | sensor_msgs/msg/PointCloud2 | ignition::msgs::PointCloudPacked | | ||
| | tf2_msgs/msg/TFMessage | ignition::msgs::Pose_V | | ||
| | trajectory_msgs/msg/JointTrajectory | ignition::msgs::JointTrajectory | | ||
| | vision_msgs/msg/Detection3D | ignition::msgs::AnnotatedOriented3DBox | | ||
| | vision_msgs/msg/Detection3DArray | ignition::msgs::AnnotatedOriented3DBox_V | | ||
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| And the following for services: | ||
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@@ -86,7 +88,7 @@ Now we start the ROS listener. | |
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| ``` | ||
| # Shell B: | ||
| . /opt/ros/galactic/setup.bash | ||
| . /opt/ros/humble/setup.bash | ||
| ros2 topic echo /chatter | ||
| ``` | ||
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@@ -118,7 +120,7 @@ Now we start the ROS talker. | |
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| ``` | ||
| # Shell C: | ||
| . /opt/ros/galactic/setup.bash | ||
| . /opt/ros/humble/setup.bash | ||
| ros2 topic pub /chatter std_msgs/msg/String "data: 'Hi'" --once | ||
| ``` | ||
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@@ -156,7 +158,7 @@ Now we start the ROS GUI: | |
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| ``` | ||
| # Shell C: | ||
| . /opt/ros/galactic/setup.bash | ||
| . /opt/ros/humble/setup.bash | ||
| ros2 run rqt_image_view rqt_image_view /rgbd_camera/image | ||
| ``` | ||
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@@ -274,9 +276,43 @@ To run the bridge node with the above configuration: | |
| ros2 run ros_gz_bridge parameter_bridge --ros-args -p config_file:=$WORKSPACE/ros_gz/ros_gz_bridge/test/config/full.yaml | ||
| ``` | ||
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| ## Example 6: Using ROS namespace with the Bridge | ||
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| When spawning multiple robots inside the same ROS environment, it is convenient to use namespaces to avoid overlapping topic names. | ||
| There are three main types of namespaces: relative, global (`/`) and private (`~/`). For more information, refer to ROS documentation. | ||
| Namespaces are applied to Gazebo topic both when specified as `topic_name` as well as `gz_topic_name`. | ||
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| By default, the Bridge will not apply ROS namespace on the Gazebo topics. To enable this feature, use parameter `expand_gz_topic_names`. | ||
| Let's test our topic with namespace: | ||
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| ```bash | ||
| # Shell A: | ||
| . ~/bridge_ws/install/setup.bash | ||
| ros2 run ros_gz_bridge parameter_bridge chatter@std_msgs/msg/[email protected] \ | ||
| --ros-args -p expand_gz_topic_names:=true -r __ns:=/demo | ||
| ``` | ||
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| Now we start the Gazebo Transport listener. | ||
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| ```bash | ||
| # Shell B: | ||
| ign topic -e -t /demo/chatter | ||
| ``` | ||
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| Now we start the ROS talker. | ||
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| ```bash | ||
| # Shell C: | ||
| . /opt/ros/humble/setup.bash | ||
| ros2 topic pub /demo/chatter std_msgs/msg/String "data: 'Hi from inside of a namespace'" --once | ||
| ``` | ||
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| By changing `chatter` to `/chatter` or `~/chatter` you can obtain different results. | ||
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| ## API | ||
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| ROS 2 Parameters: | ||
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| * `subscription_heartbeat` - Period at which the node checks for new subscribers for lazy bridges. | ||
| * `config_file` - YAML file to be loaded as the bridge configuration | ||
| * `expand_gz_topic_names` - Enable or disable ROS namespace applied on GZ topics. | ||
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