From d25478428f4db76bd92ebfc7f99e2ead09161c15 Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Mon, 23 Sep 2024 11:57:02 -0500 Subject: [PATCH] Add ros_gz improvements Signed-off-by: Addisu Z. Taddese --- highlights.md | 39 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 39 insertions(+) diff --git a/highlights.md b/highlights.md index a749feb..9831040 100644 --- a/highlights.md +++ b/highlights.md @@ -105,6 +105,45 @@ ``` +- Gazebo/ROS Vendor Packages + +Gazebo libraries and simulator are now available directly from +packages.ros.org via vendor packages. The packages are built in the ROS +buildfarm and as part of their build process, fetch the sources of the +underlying Gazebo library and build it. In addition, the vendor packages +provide CMake shims that make it possible to use CMake targets without +version numbers. See the documentation for full details. + +- Improved ros_gz Launch Files + +ROS launch files used to start Gazebo, spawn models in simulation, and +start the ros_gz bridge are now much simpler and more idiomatic. New XML +and YAML elements are available to simplify the creation of launch files. +As an example, here's how you can start gzserver and the bridge from an +XML file: + +```xml + + + + +``` + +- Improved ros_gz_bridge performance + +A new parameter use_composition is also available all the new launch +files to leverage the ability to launch composable nodes. This feature +allows us to run Gazebo, the ros_gz_bridge, and other potential ROS +composable nodes within the same process. This improves performance by +avoiding message serialization and network transport between Gazebo and +ROS. + + +- Gazebo Transport Improvements: + + - The command line tool used for making service requests has been + improved such that many of the arguments are no longer needed. + ## Bug Fixes ## Breaking Changes