diff --git a/.github/workflows/ros2-ci.yml b/.github/workflows/ros2-ci.yml index aa092b737..1732131e1 100644 --- a/.github/workflows/ros2-ci.yml +++ b/.github/workflows/ros2-ci.yml @@ -10,9 +10,6 @@ jobs: fail-fast: false matrix: include: - - docker-image: "ubuntu:22.04" - gz-version: "garden" - ros-distro: "iron" - docker-image: "ubuntu:22.04" gz-version: "garden" ros-distro: "rolling" @@ -23,15 +20,16 @@ jobs: image: ${{ matrix.docker-image }} steps: - name: Checkout - uses: actions/checkout@v2 + uses: actions/checkout@v4 - name: Build and Test run: .github/workflows/build-and-test.sh env: DOCKER_IMAGE: ${{ matrix.docker-image }} GZ_VERSION: ${{ matrix.gz-version }} ROS_DISTRO: ${{ matrix.ros-distro }} + ROSDISTRO_INDEX_URL: https://raw.githubusercontent.com/ros/rosdistro/rolling/2024-02-28/index-v4.yaml # Temporarily pin rosdep to fix rolling on Jammy - name: Build sdformat_urdf from source - uses: actions/checkout@v2 + uses: actions/checkout@v4 if: ${{ matrix.gz-version }} == "garden" with: repository: ros/sdformat_urdf diff --git a/README.md b/README.md index 6affa43d4..8346b53bb 100644 --- a/README.md +++ b/README.md @@ -18,7 +18,7 @@ Rolling | Fortress | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | 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 -* ROS 2 Jazzy Jalisco is slated for release on May 23rd, 2024. [Full ROS 2 release information is available in REP-2000.] +* 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) diff --git a/README_RENAME.md b/README_RENAME.md index 17007f4e2..92ba754f2 100644 --- a/README_RENAME.md +++ b/README_RENAME.md @@ -7,7 +7,7 @@ This allows users to do either of these and get equivalent behavior: ```bash ros2 run ros_gz parameter_bridge [...] -ros2 run ros_ign parameter_bridge [...] # Will emit deprecation warning +ros2 run ros_gz parameter_bridge [...] # Will emit deprecation warning ``` Additionally, installed files like launch files, message interfaces etc. are **duplicated** versions of the ones in `ros_gz` (but renamed as appropriate), and point to `ros_gz` dependencies as well (e.g. launch files pointing to `ros_gz` nodes.) diff --git a/ros_gz_bridge/README.md b/ros_gz_bridge/README.md index 7a9114602..dee6bdd87 100644 --- a/ros_gz_bridge/README.md +++ b/ros_gz_bridge/README.md @@ -110,7 +110,7 @@ Now we start the Gazebo Transport talker. ``` # Shell C: -ign topic -t /chatter -m gz.msgs.StringMsg -p 'data:"Hello"' +gz topic -t /chatter -m gz.msgs.StringMsg -p 'data:"Hello"' ``` ## Example 1b: ROS 2 talker and Gazebo Transport listener @@ -127,7 +127,7 @@ Now we start the Gazebo Transport listener. ``` # Shell B: -ign topic -e -t /chatter +gz topic -e -t /chatter ``` Now we start the ROS talker. @@ -148,14 +148,14 @@ First we start Gazebo Sim (don't forget to hit play, or Gazebo Sim won't generat ``` # Shell A: -ign gazebo sensors_demo.sdf +gz sim sensors_demo.sdf ``` Let's see the topic where camera images are published. ``` # Shell B: -ign topic -l | grep image +gz topic -l | grep image /rgbd_camera/depth_image /rgbd_camera/image ``` @@ -206,15 +206,15 @@ On terminal B, we start a ROS 2 listener: And terminal C, publish an Gazebo message: -`ign topic -t /chatter -m gz.msgs.StringMsg -p 'data:"Hello"'` +`gz topic -t /chatter -m gz.msgs.StringMsg -p 'data:"Hello"'` At this point, you should see the ROS 2 listener echoing the message. Now let's try the other way around, ROS 2 -> Gazebo. -On terminal D, start an Igntion listener: +On terminal D, start an Gazebo listener: -`ign topic -e -t /chatter` +`gz topic -e -t /chatter` And on terminal E, publish a ROS 2 message: @@ -232,7 +232,7 @@ On terminal A, start the service bridge: On terminal B, start Gazebo, it will be paused by default: -`ign gazebo shapes.sdf` +`gz sim shapes.sdf` On terminal C, make a ROS request to unpause simulation: @@ -262,19 +262,19 @@ bridge may be specified: gz_type_name: "gz.msgs.StringMsg" # Set just GZ topic name, applies to both -- gz_topic_name: "chatter_ign" +- gz_topic_name: "chatter_gz" ros_type_name: "std_msgs/msg/String" gz_type_name: "gz.msgs.StringMsg" # Set each topic name explicitly - ros_topic_name: "chatter_both_ros" - gz_topic_name: "chatter_both_ign" + gz_topic_name: "chatter_both_gz" ros_type_name: "std_msgs/msg/String" gz_type_name: "gz.msgs.StringMsg" # Full set of configurations - ros_topic_name: "ros_chatter" - gz_topic_name: "ign_chatter" + gz_topic_name: "gz_chatter" ros_type_name: "std_msgs/msg/String" gz_type_name: "gz.msgs.StringMsg" subscriber_queue: 5 # Default 10 diff --git a/ros_gz_image/README.md b/ros_gz_image/README.md index 99db4da13..a6c9c5e51 100644 --- a/ros_gz_image/README.md +++ b/ros_gz_image/README.md @@ -1,7 +1,7 @@ # Image utilities for using ROS and Gazebo Transport This package provides a unidirectional bridge for images from Gazebo to ROS. -The bridge subscribes to Gazebo image messages (`ignition::msgs::Image`) +The bridge subscribes to Gazebo image messages (`gz::msgs::Image`) and republishes them to ROS using [image_transport](http://wiki.ros.org/image_transport). For compressed images, install diff --git a/ros_gz_point_cloud/examples/depth_camera.sdf b/ros_gz_point_cloud/examples/depth_camera.sdf index 574d0ce44..85beba43f 100644 --- a/ros_gz_point_cloud/examples/depth_camera.sdf +++ b/ros_gz_point_cloud/examples/depth_camera.sdf @@ -15,7 +15,7 @@ 3. Load the example world, unpaused: - ign gazebo -r examples/depth_camera.sdf + gz sim -r examples/depth_camera.sdf 4. Launch RViz to visualize the point cloud: diff --git a/ros_gz_point_cloud/examples/gpu_lidar.sdf b/ros_gz_point_cloud/examples/gpu_lidar.sdf index 7bd3a7354..3feed57a4 100644 --- a/ros_gz_point_cloud/examples/gpu_lidar.sdf +++ b/ros_gz_point_cloud/examples/gpu_lidar.sdf @@ -15,7 +15,7 @@ 3. Load this world, unpaused: - ign gazebo -r examples/gpu_lidar.sdf + gz sim -r examples/gpu_lidar.sdf 4. Launch RViz to visualize the point cloud: diff --git a/ros_gz_point_cloud/examples/rgbd_camera.sdf b/ros_gz_point_cloud/examples/rgbd_camera.sdf index 64a77b6a9..235cb2255 100644 --- a/ros_gz_point_cloud/examples/rgbd_camera.sdf +++ b/ros_gz_point_cloud/examples/rgbd_camera.sdf @@ -16,7 +16,7 @@ 3. Load the example world, unpaused: - ign gazebo -r examples/rgbd_camera.sdf + gz sim -r examples/rgbd_camera.sdf 4. Launch RViz to visualize the point cloud: diff --git a/ros_gz_sim/README.md b/ros_gz_sim/README.md index c4561a5da..227d53a4b 100644 --- a/ros_gz_sim/README.md +++ b/ros_gz_sim/README.md @@ -29,7 +29,7 @@ ros2 launch ros_gz_sim gz_sim.launch.py then spawn a model: ``` -ros2 run ros_gz_sim create -world default -file 'https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Gazebo' +ros2 run ros_gz_sim create -world default -file 'https://fuel.gazebosim.org/1.0/openrobotics/models/Gazebo' ``` See more options with: