Merge branch 'ros2' into shutdown_explicitly

README.md

@@ -3,27 +3,26 @@
 ROS 2 version | Gazebo version | Branch | Binaries hosted at
 -- | -- | -- | --
 Foxy | Citadel | [foxy](https://github.com/gazebosim/ros_gz/tree/foxy) | https://packages.ros.org
-Foxy | Edifice | [foxy](https://github.com/gazebosim/ros_gz/tree/foxy) | only from source
-Galactic | Edifice | [galactic](https://github.com/gazebosim/ros_gz/tree/galactic) | https://packages.ros.org
+Foxy | Edifice | [foxy](https://github.com/gazebosim/ros_gz/tree/foxy) | only from source [^2]
+Galactic | Edifice | [galactic](https://github.com/gazebosim/ros_gz/tree/galactic) | https://packages.ros.org [^2]
 Galactic | Fortress | [galactic](https://github.com/gazebosim/ros_gz/tree/galactic) | only from source
 Humble | Fortress | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | https://packages.ros.org
-Humble | Garden | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | [gazebo packages](https://gazebosim.org/docs/latest/ros_installation#gazebo-garden-with-ros-2-humble-iron-or-rolling-use-with-caution-)[^1]
+Humble | Garden | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | [gazebo packages](https://gazebosim.org/docs/latest/ros_installation#gazebo-garden-with-ros-2-humble-iron-or-rolling-use-with-caution-)[^1] [^2]
 Humble | Harmonic | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | [gazebo packages](https://gazebosim.org/docs/harmonic/ros_installation#-gazebo-harmonic-with-ros-2-humble-iron-or-rolling-use-with-caution-)[^1]
 Iron | Fortress | [humble](https://github.com/gazebosim/ros_gz/tree/iron) | https://packages.ros.org
-Iron | Garden | [humble](https://github.com/gazebosim/ros_gz/tree/iron) | only from source
+Iron | Garden | [humble](https://github.com/gazebosim/ros_gz/tree/iron) | only from source [^2]
 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
+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
+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
 
-[^1]: Binaries for these pairings are provided from a the packages.osrfoundation.org repository. Refer to https://gazebosim.org/docs/latest/ros_installation for installation instructions.
+[^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.
 
 For information on ROS(1) and Gazebo compatibility, refer to the [noetic branch README](https://github.com/gazebosim/ros_gz/tree/noetic)
 
-> Please [ticket an issue](https://github.com/gazebosim/ros_gz/issues/) if you'd like support to be added for some combination.
-
 [Details about the renaming process](README_RENAME.md) from `ign` to `gz` .
 
 **Note**: The `ros_ign` prefixed packages are shim packages that redirect to their `ros_gz` counterpart.
@@ -86,7 +85,7 @@ Be sure you've installed
 
 #### Gazebo
 
-Install either [Fortress, Garden, or Harmonic](https://gazebosim.org/docs).
+Install either [Fortress, Harmonic or Ionic](https://gazebosim.org/docs).
 
 Set the `GZ_VERSION` environment variable to the Gazebo version you'd
 like to compile against. For example:
@@ -97,7 +96,7 @@ like to compile against. For example:
 
 #### Compile ros_gz
 
-The following steps are for Linux and OSX.
+The following steps are for Linux and macOS.
 
 1. Create a colcon workspace:
 

ros_gz/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ros_gz
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-10-31)
+------------------
+
 2.1.1 (2024-10-14)
 ------------------
 

ros_gz/package.xml

@@ -4,7 +4,7 @@
   <!-- TODO: Make this a metapackage, see
        https://github.com/ros2/ros2/issues/408 -->
   <name>ros_gz</name>
-  <version>2.1.1</version>
+  <version>2.1.2</version>
   <description>Meta-package containing interfaces for using ROS 2 with <a href="https://gazebosim.org">Gazebo</a> simulation.</description>
   <maintainer email="[email protected]">Aditya Pande</maintainer>
   <maintainer email="[email protected]">Alejandro Hernandez</maintainer>

ros_gz_bridge/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ros_gz_bridge
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-10-31)
+------------------
+
 2.1.1 (2024-10-14)
 ------------------
 * Extra parameter to start a container (`#616 <https://github.com/gazebosim/ros_gz/issues/616>`_)

ros_gz_bridge/launch/ros_gz_bridge.launch

@@ -7,6 +7,7 @@
   <arg name="use_composition" default="False" />
   <arg name="use_respawn" default="False" />
   <arg name="log_level" default="info" />
+  <arg name="bridge_params" default="" />
   <ros_gz_bridge
     bridge_name="$(var bridge_name)"
     config_file="$(var config_file)"
@@ -15,6 +16,7 @@
     namespace="$(var namespace)"
     use_composition="$(var use_composition)"
     use_respawn="$(var use_respawn)"
-    log_level="$(var log_level)">
+    log_level="$(var log_level)"
+    bridge_params="$(var bridge_params)">
   </ros_gz_bridge>
 </launch>

ros_gz_bridge/launch/ros_gz_bridge.launch.py

@@ -15,24 +15,13 @@
 """Launch ros_gz bridge in a component container."""
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, GroupAction
-from launch.conditions import IfCondition
-from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes, Node
-from launch_ros.descriptions import ComposableNode
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from ros_gz_bridge.actions import RosGzBridge
 
 
 def generate_launch_description():
 
-    bridge_name = LaunchConfiguration('bridge_name')
-    config_file = LaunchConfiguration('config_file')
-    container_name = LaunchConfiguration('container_name')
-    create_own_container = LaunchConfiguration('create_own_container')
-    namespace = LaunchConfiguration('namespace')
-    use_composition = LaunchConfiguration('use_composition')
-    use_respawn = LaunchConfiguration('use_respawn')
-    log_level = LaunchConfiguration('log_level')
-
     declare_bridge_name_cmd = DeclareLaunchArgument(
         'bridge_name', description='Name of ros_gz_bridge node'
     )
@@ -74,57 +63,20 @@ def generate_launch_description():
         'log_level', default_value='info', description='log level'
     )
 
-    load_nodes = GroupAction(
-        condition=IfCondition(PythonExpression(['not ', use_composition])),
-        actions=[
-            Node(
-                package='ros_gz_bridge',
-                executable='bridge_node',
-                name=bridge_name,
-                namespace=namespace,
-                output='screen',
-                respawn=use_respawn,
-                respawn_delay=2.0,
-                parameters=[{'config_file': config_file}],
-                arguments=['--ros-args', '--log-level', log_level],
-            ),
-        ],
-    )
-
-    load_composable_nodes_with_container = ComposableNodeContainer(
-        condition=IfCondition(
-            PythonExpression([use_composition, ' and ', create_own_container])),
-        name=LaunchConfiguration('container_name'),
-        namespace='',
-        package='rclcpp_components',
-        executable='component_container',
-        composable_node_descriptions=[
-            ComposableNode(
-                package='ros_gz_bridge',
-                plugin='ros_gz_bridge::RosGzBridge',
-                name=bridge_name,
-                namespace=namespace,
-                parameters=[{'config_file': config_file}],
-                extra_arguments=[{'use_intra_process_comms': True}],
-            ),
-        ],
-        output='screen',
+    declare_bridge_params_cmd = DeclareLaunchArgument(
+        'bridge_params', default_value='', description='Extra parameters to pass to the bridge.'
     )
 
-    load_composable_nodes_without_container = LoadComposableNodes(
-        condition=IfCondition(
-            PythonExpression([use_composition, ' and not ', create_own_container])),
-        target_container=container_name,
-        composable_node_descriptions=[
-            ComposableNode(
-                package='ros_gz_bridge',
-                plugin='ros_gz_bridge::RosGzBridge',
-                name=bridge_name,
-                namespace=namespace,
-                parameters=[{'config_file': config_file}],
-                extra_arguments=[{'use_intra_process_comms': True}],
-            ),
-        ],
+    ros_gz_bridge_action = RosGzBridge(
+        bridge_name=LaunchConfiguration('bridge_name'),
+        config_file=LaunchConfiguration('config_file'),
+        container_name=LaunchConfiguration('container_name'),
+        create_own_container=LaunchConfiguration('create_own_container'),
+        namespace=LaunchConfiguration('namespace'),
+        use_composition=LaunchConfiguration('use_composition'),
+        use_respawn=LaunchConfiguration('use_respawn'),
+        log_level=LaunchConfiguration('log_level'),
+        bridge_params=LaunchConfiguration('bridge_params')
     )
 
     # Create the launch description and populate
@@ -139,9 +91,7 @@ def generate_launch_description():
     ld.add_action(declare_use_composition_cmd)
     ld.add_action(declare_use_respawn_cmd)
     ld.add_action(declare_log_level_cmd)
-    # Add the actions to launch all of the bridge nodes
-    ld.add_action(load_nodes)
-    ld.add_action(load_composable_nodes_with_container)
-    ld.add_action(load_composable_nodes_without_container)
-
+    ld.add_action(declare_bridge_params_cmd)
+    # Add the ros_gz_bridge action
+    ld.add_action(ros_gz_bridge_action)
     return ld

ros_gz_bridge/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ros_gz_bridge</name>
-  <version>2.1.1</version>
+  <version>2.1.2</version>
   <description>Bridge communication between ROS and Gazebo Transport</description>
   <maintainer email="[email protected]">Aditya Pande</maintainer>
   <maintainer email="[email protected]">Alejandro Hernandez</maintainer>