Merge branch 'ros2' into caguero/camera_demo_v2

ros_gz_sim_demos/README.md

@@ -116,7 +116,7 @@ Using Gazebo Sim plugin:
 
 Publishes IMU readings.
 
-    ros2 launch ros_gz_sim_demos imu.launch.py
+    ros2 launch ros_gz_sim_demos imu.launch.xml
 
 ![](images/imu_demo.png)
 
@@ -126,7 +126,7 @@ Publishes IMU readings.
 
 Publishes magnetic field readings.
 
-    ros2 launch ros_gz_sim_demos magnetometer.launch.py
+    ros2 launch ros_gz_sim_demos magnetometer.launch.xml
 
 ![](images/magnetometer_demo.png)
 
@@ -208,6 +208,6 @@ and transforms of a robot in rviz.
 
 To try the demo launch:
 
-    ros2 launch ros_gz_sim_demos tf_bridge.launch.py
+    ros2 launch ros_gz_sim_demos tf_bridge.launch.xml
 
 ![](images/tf_bridge.gif)

ros_gz_sim_demos/config/imu.yaml

@@ -0,0 +1,6 @@
+# IMU configuration.
+- topic_name: "/imu"
+  ros_type_name: "sensor_msgs/msg/Imu"
+  gz_type_name: "gz.msgs.IMU"
+  lazy: true
+  direction: GZ_TO_ROS

ros_gz_sim_demos/config/magnetometer.yaml

@@ -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

ros_gz_sim_demos/config/tf_bridge.yaml

@@ -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

ros_gz_sim_demos/launch/imu.launch.xml

@@ -0,0 +1,13 @@
+<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/imu.yaml"
+    use_composition="True" />
+  <node pkg="rqt_topic" exec="rqt_topic" args="-t" />
+  <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/imu.rviz" />
+  <executable cmd="gz sim -g" />
+</launch>

ros_gz_sim_demos/launch/magnetometer.launch.xml

@@ -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>

ros_gz_sim_demos/launch/tf_bridge.launch.xml

@@ -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>

ros_gz_sim_demos/package.xml

@@ -22,6 +22,7 @@
   <exec_depend>rqt_image_view</exec_depend>
   <exec_depend>rqt_plot</exec_depend>
   <exec_depend>rqt_topic</exec_depend>
+  <exec_depend>rviz_imu_plugin</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>sdformat_urdf</exec_depend>
   <exec_depend>xacro</exec_depend>