Add SpawnEntity, DeleteEntity, & SetEntityPose Support

[retinfai]

🎉 New feature

Closes #363

Summary

Add support for SpawnEntity, DeleteEntity, & SetEntityPose services
Add support for EntityFactory

Test it

Spin up a parameter bridge for the service you are testing, and make a ros2 service call to it

Example for SpawnEntity

gz sim empty.sdf
ros2 run ros_gz_bridge parameter_bridge /world/empty/create@ros_gz_interfaces/srv/SpawnEntity
ros2 service call /world/empty/create ros_gz_interfaces/srv/SpawnEntity "{entity_factory: {name: "cool_sdf", sdf_filename: 'path/to/sdf'}}"

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[azeey]

@retinfai Did you mean to close this PR?

[retinfai]

I wasn't sure whether I had to have all the things checked off before opening the PR? Or can it be open, while I complete all the tasks

[azeey]

You can mark it as a draft PR if you're still working on it. Reviewers might give you initial feedback.

[retinfai]

Perfect, thanks

[jpvr20]

Is there any updates on this?

[azeey]

Is there any updates on this?

Not that I know if. It would be great to get this PR moving again.

[retinfai]

Is there any updates on this?

Functionally everything in this PR works. I've been using it in my projects fine. Just haven't had time to go back and follow the process properly. Will try to move things along

[jpvr20]

@retinfai
I tried using the SetEntityPose service, but I'm not getting any response. any ideas? Using Gazebo Garden and Ros2 humble

ros2 run ros_gz_bridge parameter_bridge /world/bluerov2_heavy_underwater/set_pose@ros_gz_interfaces/srv/SetEntityPose

ros2 service call /world/bluerov2_heavy_underwater/set_pose ros_gz_interfaces/srv/SetEntityPose "{entity: {id: 8, name: "rgbd_camera2", type: 6}, pose: {position: {x: 0.2, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}"

It prints this, but no response after this,

requester: making request: ros_gz_interfaces.srv.SetEntityPose_Request(entity=ros_gz_interfaces.msg.Entity(id=8, name='rgbd_camera2', type=6), pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=0.2, y=0.0, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.0, w=1.0)))

[retinfai]

It prints this, but no response after this,
I guess it doesn't all work haha. Haven't tried the services on sensors, there could be a gap

@retinfai I tried using the SetEntityPose service, but I'm not getting any response. any ideas? Using Gazebo Garden and Ros2 humble

ros2 run ros_gz_bridge parameter_bridge /world/bluerov2_heavy_underwater/set_pose@ros_gz_interfaces/srv/SetEntityPose

ros2 service call /world/bluerov2_heavy_underwater/set_pose ros_gz_interfaces/srv/SetEntityPose "{entity: {id: 8, name: "rgbd_camera2", type: 6}, pose: {position: {x: 0.2, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}"

It prints this, but no response after this,

requester: making request: ros_gz_interfaces.srv.SetEntityPose_Request(entity=ros_gz_interfaces.msg.Entity(id=8, name='rgbd_camera2', type=6), pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=0.2, y=0.0, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.0, w=1.0)))

Hmm, not quite sure. Everything looks fine; haven't tried services on things other than a model, so i guess it isn't all working haha. Can you verify that you get the correct expected behaviour calling the service from the gazebo side? gz service ....

[jpvr20]

@retinfai There was some problem in my package. The model is moving fine using the service.

Edit
The sensors doesn't work and the behavior is not same using gazebo service. It changes values of world pose cmd instead of pose. gazebo service doesn't do anything. Not sure if I'm using it right

[k12onoss]

Hi, is there any ETA as to when this will be merged?

[k12onoss]

@retinfai
I tried to run the SpawnEntity service, but it doesn't seem to work.
ros2 run ros_gz_bridge parameter_bridge /world/drone_world/create@ros_gz_interfaces/srv/SpawnEntity
Running the above command doesn't produce any response and even running ros2 service list shows nothing. (Which I've verified by trying to call the service from ROS).
P.S.: Calling the service from Gazebo side has no issues and works as expected.

[elmeripk]

@k12onoss Any solutions for this? I am trying to do the same but get the following response and the service is not displayed when calling ros2 service list. The WorldControl that has been available for a while works fine. I get the following, SpawnEntity}, gz request type {}, gz request type {}, gz reply type name {} in the terminal when trying to execute the command ros2 run ros_gz_bridge parameter_bridge /world/empty/create@ros_gz_interfaces/srv/SpawnEntity ros_gz_interfaces/srv/

[k12onoss]

@elmeripk apologies for late a reply.

Yes, I eventually got it working.
In your case, it seems you haven't sourced the workspace where you have cloned this package. I get the same output as you when I try to call the SpawnEntity service using the released version of ros_gz_bridge. But with this PR, it works as expected.

[Trana]

I tested the create/remove/set_pose services on Jazzy and Harmonic and the changes in this PR worked fine for me.

[johnreb20]

@retinfai
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
ros_gz_image: Cannot locate rosdep definition for [gz_transport_vendor]
ros_gz_sim_demos: Cannot locate rosdep definition for [gz_sim_vendor]
ros_gz_sim: Cannot locate rosdep definition for [gz_transport_vendor]
ros_gz_bridge: Cannot locate rosdep definition for [gz_transport_vendor]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully

getting this issues.Please can you help?

[SugerSenpai]

When will this get merged? Still the same error as

@retinfai I tried to run the SpawnEntity service, but it doesn't seem to work. ros2 run ros_gz_bridge parameter_bridge /world/drone_world/create@ros_gz_interfaces/srv/SpawnEntity Running the above command doesn't produce any response and even running ros2 service list shows nothing. (Which I've verified by trying to call the service from ROS). P.S.: Calling the service from Gazebo side has no issues and works as expected.

[asaj]

Also looking for this feature..

[azeey]

For everyone's awareness, it is already possible to spawn models from ROS 2 using the create executable. See https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_sim#spawn-entities

For DeleteEntity, #629 will be a viable alternative once it's merged.

[SugerSenpai]

That's what I am currently using, but the service would be cleaner imo