Merge pull request #571 from azeey/jazzy_to_ros2

Merge jazzy ➡️  ros2

README.md

@@ -7,17 +7,19 @@ Foxy | Edifice | [foxy](https://github.com/gazebosim/ros_gz/tree/foxy) | only fr
 Galactic | Edifice | [galactic](https://github.com/gazebosim/ros_gz/tree/galactic) | https://packages.ros.org
 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) | only from source
-Iron | Fortress | [iron](https://github.com/gazebosim/ros_gz/tree/iron) | https://packages.ros.org
-Iron | Garden | [iron](https://github.com/gazebosim/ros_gz/tree/iron) | only from source
-Iron | Harmonic | [iron](https://github.com/gazebosim/ros_gz/tree/iron) | only from source
-Jazzy* | Fortress | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | only from source
+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 | 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 | 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* | Harmonic | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | 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 | 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.
+
 * ROS 2 Jazzy Jalisco is slated for release on May 23rd, 2024. [Full ROS 2 release information is available in REP-2000.]
 
 For information on ROS(1) and Gazebo compatibility, refer to the [noetic branch README](https://github.com/gazebosim/ros_gz/tree/noetic)
@@ -91,7 +93,7 @@ Install either [Edifice, Fortress, or Garden](https://gazebosim.org/docs).
 Set the `GZ_VERSION` environment variable to the Gazebo version you'd
 like to compile against. For example:
 
-    export GZ_VERSION=edifice
+    export GZ_VERSION=edifice # IMPORTANT: Replace with correct version
 
 > You only need to set this variable when compiling, not when running.
 

ros_gz_bridge/ros_gz_bridge/__init__.py

@@ -47,15 +47,15 @@ def ign_string(self):
         return f'ignition.msgs.{self.gz_message_name}'
 
     def ign_type(self):
-        # Return GZ type of a message (eg ignition::msgs::Bool)
-        return f'ignition::msgs::{self.gz_message_name}'
+        # Return GZ type of a message (eg gz::msgs::Bool)
+        return f'gz::msgs::{self.gz_message_name}'
 
     def gz_string(self):
         # Return GZ string version of a message (eg ignition.msgs.Bool)
         return f'gz.msgs.{self.gz_message_name}'
 
     def gz_type(self):
-        # Return GZ type of a message (eg ignition::msgs::Bool)
+        # Return GZ type of a message (eg gz::msgs::Bool)
         return f'gz::msgs::{self.gz_message_name}'
 
     def unique(self):

ros_gz_bridge/src/convert/gps_msgs.cpp

@@ -55,7 +55,7 @@ convert_gz_to_ros(
   ros_msg.track = atan2(gz_msg.velocity_north(), gz_msg.velocity_east());
   ros_msg.climb = gz_msg.velocity_up();
 
-  // position_covariance is not supported in Ignition::Msgs::NavSat.
+  // position_covariance is not supported in gz::msgs::NavSat.
   ros_msg.position_covariance_type = gps_msgs::msg::GPSFix::COVARIANCE_TYPE_UNKNOWN;
   ros_msg.status.status = gps_msgs::msg::GPSStatus::STATUS_GBAS_FIX;
 }

ros_gz_bridge/src/convert/sensor_msgs.cpp

@@ -518,7 +518,7 @@ convert_gz_to_ros(
   ros_msg.longitude = gz_msg.longitude_deg();
   ros_msg.altitude = gz_msg.altitude();
 
-  // position_covariance is not supported in Ignition::Msgs::NavSat.
+  // position_covariance is not supported in gz::msgs::NavSat.
   ros_msg.position_covariance_type = sensor_msgs::msg::NavSatFix::COVARIANCE_TYPE_UNKNOWN;
   ros_msg.status.status = sensor_msgs::msg::NavSatStatus::STATUS_FIX;
 }

ros_gz_bridge/test/utils/gz_test_msg.cpp

@@ -288,7 +288,9 @@ void compareTestMsg(const std::shared_ptr<gz::msgs::SensorNoise> & _msg)
   gz::msgs::SensorNoise expected_msg;
   createTestMsg(expected_msg);
 
-  EXPECT_EQ(expected_msg.type(), gz::msgs::SensorNoise_Type::SensorNoise_Type_GAUSSIAN_QUANTIZED);
+  EXPECT_EQ(
+    expected_msg.type(),
+    gz::msgs::SensorNoise_Type::SensorNoise_Type_GAUSSIAN_QUANTIZED);
   EXPECT_EQ(expected_msg.mean(), _msg->mean());
   EXPECT_EQ(expected_msg.stddev(), _msg->stddev());
   EXPECT_EQ(expected_msg.bias_mean(), _msg->bias_mean());

ros_gz_image/test/publishers/gz_publisher.cpp

@@ -45,7 +45,7 @@ int main(int /*argc*/, char **/*argv*/)
   gz::transport::Node node;
 
   // gz::msgs::Image.
-  auto image_pub = node.Advertise<ignition::msgs::Image>("image");
+  auto image_pub = node.Advertise<gz::msgs::Image>("image");
   gz::msgs::Image image_msg;
   ros_gz_image::testing::createTestMsg(image_msg);
 

ros_gz_image/test/test_utils.h

@@ -25,7 +25,7 @@
 #include <chrono>
 #include <string>
 #include <thread>
-#include <ignition/msgs.hh>
+#include <gz/msgs.hh>
 
 namespace ros_gz_image
 {
@@ -142,7 +142,7 @@ namespace testing
 
   /// \brief Create a message used for testing.
   /// \param[out] _msg The message populated.
-  void createTestMsg(ignition::msgs::Header &_msg)
+  void createTestMsg(gz::msgs::Header &_msg)
   {
     auto seq_entry = _msg.add_data();
     seq_entry->set_key("seq");
@@ -156,9 +156,9 @@ namespace testing
 
   /// \brief Compare a message with the populated for testing.
   /// \param[in] _msg The message to compare.
-  void compareTestMsg(const ignition::msgs::Header &_msg)
+  void compareTestMsg(const gz::msgs::Header &_msg)
   {
-    ignition::msgs::Header expected_msg;
+    gz::msgs::Header expected_msg;
     createTestMsg(expected_msg);
 
     EXPECT_EQ(expected_msg.stamp().sec(),    _msg.stamp().sec());
@@ -183,24 +183,24 @@ namespace testing
 
   /// \brief Create a message used for testing.
   /// \param[out] _msg The message populated.
-  void createTestMsg(ignition::msgs::Image &_msg)
+  void createTestMsg(gz::msgs::Image &_msg)
   {
-    ignition::msgs::Header header_msg;
+    gz::msgs::Header header_msg;
     createTestMsg(header_msg);
 
     _msg.mutable_header()->CopyFrom(header_msg);
     _msg.set_width(320);
     _msg.set_height(240);
-    _msg.set_pixel_format_type(ignition::msgs::PixelFormatType::RGB_INT8);
+    _msg.set_pixel_format_type(gz::msgs::PixelFormatType::RGB_INT8);
     _msg.set_step(_msg.width() * 3);
     _msg.set_data(std::string(_msg.height() * _msg.step(), '1'));
   }
 
   /// \brief Compare a message with the populated for testing.
   /// \param[in] _msg The message to compare.
-  void compareTestMsg(const ignition::msgs::Image &_msg)
+  void compareTestMsg(const gz::msgs::Image &_msg)
   {
-    ignition::msgs::Image expected_msg;
+    gz::msgs::Image expected_msg;
     createTestMsg(expected_msg);
 
     compareTestMsg(_msg.header());