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Merge branch 'ros2' into caguero/triggered_camera_demo_v2
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,6 @@ | ||
| # Magnetometer configuration. | ||
| - topic_name: "/magnetometer" | ||
| ros_type_name: "sensor_msgs/msg/MagneticField" | ||
| gz_type_name: "gz.msgs.Magnetometer" | ||
| lazy: true | ||
| direction: GZ_TO_ROS |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| # tf_bridge configuration. | ||
| - ros_topic_name: "/joint_states" | ||
| gz_topic_name: "/world/default/model/double_pendulum_with_base0/joint_state" | ||
| ros_type_name: "sensor_msgs/msg/JointState" | ||
| gz_type_name: "gz.msgs.Model" | ||
| lazy: true | ||
| direction: GZ_TO_ROS | ||
|
|
||
| - ros_topic_name: "/tf" | ||
| gz_topic_name: "/model/double_pendulum_with_base0/pose" | ||
| ros_type_name: "tf2_msgs/msg/TFMessage" | ||
| gz_type_name: "gz.msgs.Pose_V" | ||
| lazy: true | ||
| direction: GZ_TO_ROS |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| <launch> | ||
| <gz_server | ||
| world_sdf_file="sensors.sdf" | ||
| use_composition="True" | ||
| create_own_container="True" /> | ||
| <ros_gz_bridge | ||
| bridge_name="ros_gz_bridge" | ||
| config_file="$(find-pkg-share ros_gz_sim_demos)/config/magnetometer.yaml" | ||
| use_composition="True" /> | ||
| <node pkg="rqt_topic" exec="rqt_topic" args="-t" /> | ||
| <executable cmd="gz sim -g" /> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| <launch> | ||
| <gz_server | ||
| world_sdf_file="$(find-pkg-share ros_gz_sim_demos)/models/double_pendulum_model.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/tf_bridge.yaml" | ||
| use_composition="True" /> | ||
| <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/tf_bridge.rviz" /> | ||
| <executable cmd="gz sim -g" /> | ||
| </launch> |