Merge branch 'ros2' into shutdown_explicitly

README.md

@@ -14,9 +14,9 @@ Iron | Garden | [humble](https://github.com/gazebosim/ros_gz/tree/iron) | only f
 Iron | Harmonic | [humble](https://github.com/gazebosim/ros_gz/tree/iron) | only from source
 Jazzy | Garden | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source [^2]
 Jazzy | Harmonic | [jazzy](https://github.com/gazebosim/ros_gz/tree/jazzy) | https://packages.ros.org
-Rolling | Fortress | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | https://packages.ros.org
 Rolling | Garden | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source [^2]
 Rolling | Harmonic | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source
+Rolling | Ionic | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | https://packages.ros.org
 
 [^1]: Binaries for these pairings are provided from the packages.osrfoundation.org repository. Refer to https://gazebosim.org/docs/latest/ros_installation for installation instructions.
 [^2]: Note that the Gazebo version on this row has reached end-of-life.

ros_gz_sim_demos/README.md

@@ -52,11 +52,11 @@ Using the image bridge (unidirectional, uses [image_transport](http://wiki.ros.o
 
 Using the regular bridge:
 
-    ros2 launch ros_gz_sim_demos camera.launch.py
+    ros2 launch ros_gz_sim_demos camera.launch.xml
 
 To use a camera that only publishes information when triggered:
 
-    ros2 launch ros_gz_sim_demos triggered_camera.launch.py
+    ros2 launch ros_gz_sim_demos triggered_camera.launch.xml
 
 Trigger the camera:
 
@@ -68,9 +68,9 @@ Trigger the camera:
 
 Send commands to a differential drive vehicle and listen to its odometry.
 
-    ros2 launch ros_gz_sim_demos diff_drive.launch.py
+    ros2 launch ros_gz_sim_demos diff_drive.launch.xml
 
-Then unpause and send a command
+Then send a command
 
     ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"
 
@@ -114,7 +114,7 @@ GPU lidar data can be obtained as:
 
 Using the bridge:
 
-    ros2 launch ros_gz_sim_demos gpu_lidar_bridge.launch.py
+    ros2 launch ros_gz_sim_demos gpu_lidar_bridge.launch.xml
 
 *TODO*: Blocked by `ros_gz_point_cloud` [issue](https://github.com/gazebosim/ros_gz/issues/40).
 
@@ -171,7 +171,7 @@ Using the image bridge (unidirectional, uses [image_transport](http://wiki.ros.o
 
 Using the regular bridge:
 
-    ros2 launch ros_gz_sim_demos rgbd_camera_bridge.launch.py
+    ros2 launch ros_gz_sim_demos rgbd_camera_bridge.launch.xml
 
 *TODO*: Blocked by `ros_gz_point_cloud` [issue](https://github.com/gazebosim/ros_gz/issues/40).
 

ros_gz_sim_demos/config/camera.yaml

@@ -0,0 +1,12 @@
+# Camera bridge configuration.
+- topic_name: "/camera"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- topic_name: "/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  lazy: true
+  direction: GZ_TO_ROS

ros_gz_sim_demos/config/diff_drive.yaml

@@ -0,0 +1,36 @@
+# Diff drive configuration.
+- topic_name: "/model/vehicle_blue/cmd_vel"
+  ros_type_name: "geometry_msgs/msg/Twist"
+  gz_type_name: "gz.msgs.Twist"
+  lazy: true
+  direction: ROS_TO_GZ
+
+- topic_name: "/model/vehicle_blue/odometry"
+  ros_type_name: "nav_msgs/msg/Odometry"
+  gz_type_name: "gz.msgs.Odometry"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- topic_name: "/model/vehicle_green/cmd_vel"
+  ros_type_name: "geometry_msgs/msg/Twist"
+  gz_type_name: "gz.msgs.Twist"
+  lazy: true
+  direction: ROS_TO_GZ
+
+- topic_name: "/model/vehicle_green/odometry"
+  ros_type_name: "nav_msgs/msg/Odometry"
+  gz_type_name: "gz.msgs.Odometry"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/tf"
+  gz_topic_name: "/model/vehicle_green/tf"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/tf"
+  gz_topic_name: "/model/vehicle_blue/tf"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS

ros_gz_sim_demos/config/gpu_lidar.yaml

@@ -0,0 +1,12 @@
+# GPU lidar configuration.
+- topic_name: "/lidar"
+  ros_type_name: "sensor_msgs/msg/LaserScan"
+  gz_type_name: "gz.msgs.LaserScan"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- topic_name: "/lidar/points"
+  ros_type_name: "sensor_msgs/msg/PointCloud2"
+  gz_type_name: "gz.msgs.PointCloudPacked"
+  lazy: true
+  direction: GZ_TO_ROS

ros_gz_sim_demos/config/rgbd_camera_bridge.yaml

@@ -0,0 +1,38 @@
+# rgbd_camera_bridge configuration.
+- ros_topic_name: "/camera/image"
+  gz_topic_name: "/camera"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/camera/camera_info"
+  gz_topic_name: "/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- topic_name: "/rgbd_camera/image"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- topic_name: "/rgbd_camera/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- topic_name: "/rgbd_camera/depth_image"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- topic_name: "/rgbd_camera/points"
+  ros_type_name: "sensor_msgs/msg/PointCloud2"
+  gz_type_name: "gz.msgs.PointCloudPacked"
+  lazy: true
+  direction: GZ_TO_ROS

ros_gz_sim_demos/config/triggered_camera.yaml

@@ -0,0 +1,18 @@
+# triggered_cammera configuration.
+- topic_name: "/camera"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- topic_name: "/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- topic_name: "/camera/trigger"
+  ros_type_name: "std_msgs/msg/Bool"
+  gz_type_name: "gz.msgs.Boolean"
+  lazy: true
+  direction: ROS_TO_GZ

ros_gz_sim_demos/launch/camera.launch.xml

@@ -0,0 +1,13 @@
+<launch>
+  <gz_server
+    world_sdf_file="camera_sensor.sdf"
+    use_composition="True"
+    create_own_container="True" />
+  <ros_gz_bridge
+    bridge_name="ros_gz_bridge"
+    config_file="$(find-pkg-share ros_gz_sim_demos)/config/camera.yaml"
+    use_composition="True" />
+  <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/camera.rviz" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id camera_link  --child-frame-id camera/link/camera --roll 1.570796327 --yaw 1.570796327" />
+  <executable cmd="gz sim -g" />
+</launch>

ros_gz_sim_demos/launch/diff_drive.launch.xml

@@ -0,0 +1,17 @@
+<launch>
+  <gz_server
+    world_sdf_file="diff_drive.sdf"
+    use_composition="True"
+    create_own_container="True" />
+  <ros_gz_bridge
+    bridge_name="ros_gz_bridge"
+    config_file="$(find-pkg-share ros_gz_sim_demos)/config/diff_drive.yaml"
+    use_composition="True">
+    <param name="qos_overrides./model/vehicle_blue.subscriber.reliability" value='reliable'></param>
+    <param name="qos_overrides./model/vehicle_green.subscriber.reliability" value='reliable'></param>
+  </ros_gz_bridge>
+  <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/diff_drive.rviz" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id world  --child-frame-id vehicle_green/odom --y -2" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id world  --child-frame-id vehicle_blue/odom --y 2" />
+  <executable cmd="gz sim -g" />
+</launch>