Merge branch 'ros2' into caguero/camera_demo_v2

gazebosim · Dec 13, 2024 · 8308b89 · 8308b89
2 parents 1606ae4 + 4b57d24
commit 8308b89
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diff --git a/ros_gz_sim_demos/README.md b/ros_gz_sim_demos/README.md
@@ -134,7 +134,12 @@ Publishes magnetic field readings.
 
 Publishes satellite navigation readings, only available in Fortress on.
 
+GNSS information can be obtained as:
+
+    # sensor_msgs/msg/NavSatFix
     ros2 launch ros_gz_sim_demos navsat.launch.xml
+    # gps_msgs/msg/GPSFix
+    ros2 launch ros_gz_sim_demos navsat_gpsfix.launch.xml
 
 ![](images/navsat_demo.png)
 

diff --git a/ros_gz_sim_demos/config/navsat_gpsfix.yaml b/ros_gz_sim_demos/config/navsat_gpsfix.yaml
@@ -0,0 +1,6 @@
+# Navsat_gpsfix configuration.
+- topic_name: "/navsat"
+  ros_type_name: "gps_msgs/msg/GPSFix"
+  gz_type_name: "gz.msgs.NavSat"
+  lazy: true
+  direction: GZ_TO_ROS
diff --git a/ros_gz_sim_demos/launch/navsat_gpsfix.launch.py b/ros_gz_sim_demos/launch/navsat_gpsfix.launch.py
diff --git a/ros_gz_sim_demos/launch/navsat_gpsfix.launch.xml b/ros_gz_sim_demos/launch/navsat_gpsfix.launch.xml
@@ -0,0 +1,12 @@
+<launch>
+  <gz_server
+    world_sdf_file="spherical_coordinates.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/navsat_gpsfix.yaml"
+    use_composition="True" />
+  <node pkg="rqt_topic" exec="rqt_topic" args="-t" />
+  <executable cmd="gz sim -g" />
+</launch>