Bridge as a gz sim system [rolling] #511

caguero · 2024-03-15T14:48:17Z

🎉 New feature

Summary

This PR runs the ROS<->Gz bridge as a gz sim system. It's targeting ROS 2 rolling. I'll create a separate PR with some updates that we discussed offline.

Test it

ros2 launch ros_gz_sim_demos ros_gz.launch.py

Verify the output to confirm that two topics are bridged:

[ruby $(which ign) gazebo-1] [INFO] [1708634732.070359776] [ros_gz_bridge]: Creating ROS->GZ Bridge: [ros_chatter (std_msgs/msg/String) -> gz_chatter (ignition.msgs.StringMsg)] (Lazy 1)
[ruby $(which ign) gazebo-1] [INFO] [1708634732.071384449] [ros_gz_bridge]: Creating GZ->ROS Bridge: [gz_chatter (ignition.msgs.StringMsg) -> ros_chatter (std_msgs/msg/String)] (Lazy 0)

Then, you should see a ROS topic /ros_chatter:

caguero@cold:~/ros_gz_ws$ ros2 topic list
/parameter_events
/ros_chatter
/rosout

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

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caguero · 2024-03-15T15:23:38Z

@ahcorde , do you know if these tests are supposed to compile? It seems a problem sourcing setup.bash in rolling.

ros_gz_sim/include/ros_gz_sim/ros_gz_bridge_system.hpp

ahcorde

@azeey or @mjcarroll do you mind to take a look too ?

ahcorde · 2024-03-22T08:46:57Z

ros_gz_sim/src/ros_gz_bridge_system.cpp

+  }
+
+  if (!_sdf->HasElement("config_file")) {
+    std::cerr << "No <config_file> found. Plugin disabled." << std::endl;


as this is a Gazebo plugin, should we use here gzerr ? remove <iostream> header too

Changed in 78067c4.

azeey · 2024-03-29T19:02:26Z

ros_gz_bridge/src/bridge_config.cpp

@@ -173,31 +174,30 @@ std::vector<BridgeConfig> readFromYaml(std::istream & in)
 std::vector<BridgeConfig> readFromYamlFile(const std::string & filename)
 {
  std::vector<BridgeConfig> ret;
-  std::ifstream in(filename);
+  resource_retriever::Retriever r;


nit: single letter variable names violate our style guide. Can you use a more descriptive variable?

Renamed in 13f4008

ros_gz_bridge/include/ros_gz_bridge/ros_gz_bridge.hpp

ros_gz_bridge/test/bridge_config.cpp

azeey · 2024-03-29T19:10:50Z

ros_gz_sim/include/ros_gz_sim/ros_gz_bridge_system.hpp

This file does not need to be installed. It can live in ros_gz_sim/src.

Moved in 13f4008

azeey · 2024-03-29T19:20:36Z

ros_gz_sim/src/ros_gz_bridge_system.cpp

+  this->dataPtr->exec =
+    std::make_shared<rclcpp::executors::MultiThreadedExecutor>();


The documentation on Multi-Threaded Executors seems to indicate we need to use callback groups to take advantage of parallelism. @mjcarroll Can you confirm?

azeey · 2024-03-29T19:22:32Z

Can you also fix DCO?

* Update README to include harmonic Signed-off-by: Luca Della Vedova <[email protected]> * Remove humble-harmonic combination Signed-off-by: Luca Della Vedova <[email protected]> --------- Signed-off-by: Luca Della Vedova <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Also Added a note pointing to REP-2000 for additional details. --------- Signed-off-by: Katherine Scott <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Signed-off-by: Michael Carroll <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Signed-off-by: Carlos Agüero <[email protected]>

Signed-off-by: Carlos Agüero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Signed-off-by: Carlos Agüero <[email protected]>

Signed-off-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Pins rosdep to a known good version based on https://wiki.ros.org/SnapshotRepository --------- Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Signed-off-by: Carlos Agüero <[email protected]>

caguero · 2024-03-29T22:54:49Z

Can you also fix DCO?

Fixed

azeey · 2024-05-28T13:03:00Z

@caguero Do we want to close this one now that the composable nodes PRs are merged?

caguero mentioned this pull request Mar 15, 2024

Bridge as a gz sim system #501

Closed

9 tasks

caguero marked this pull request as ready for review March 15, 2024 15:06

caguero requested a review from ahcorde as a code owner March 15, 2024 15:06

caguero changed the title ~~Bridge as a gz sim system~~ Bridge as a gz sim system [rolling] Mar 15, 2024

ahcorde requested changes Mar 18, 2024

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ros_gz_sim/include/ros_gz_sim/ros_gz_bridge_system.hpp Outdated Show resolved Hide resolved

ahcorde approved these changes Mar 20, 2024

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ahcorde requested changes Mar 22, 2024

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ahcorde approved these changes Mar 25, 2024

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azeey self-requested a review March 25, 2024 18:30

azeey reviewed Mar 29, 2024

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luca-della-vedova and others added 17 commits March 29, 2024 23:21

Add tip about non-parallel builds to README (#477)

15019e8

Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Additional tip for limiting number of cpus (#480)

8d4b48b

Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Undeprecate use of commandline flags (#491)

178f5bb

Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Add a virtual destructor to suppress compiler warning (#502)

4a078e0

Signed-off-by: Michael Carroll <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Correctly export ros_gz_bridge for downstream targets (#503)

69b00ef

Signed-off-by: Michael Carroll <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Feedback updates.

023edca

Signed-off-by: Carlos Agüero <[email protected]>

Adding files.

8f9e452

Signed-off-by: Carlos Agüero <[email protected]>

Includes

c2eb072

Signed-off-by: Carlos Agüero <[email protected]>

Use resource_retriever in the bridge (#515)

7850342

Signed-off-by: Carlos Agüero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Tweak

53ef851

Signed-off-by: Carlos Agüero <[email protected]>

ign to gz (#519)

139f655

Signed-off-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Remove iron CI from rolling (#518)

70d50df

Signed-off-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Keep rolling on Jammy and apply a temporary fix for rosdep (#522)

022d4c6

Pins rosdep to a known good version based on https://wiki.ros.org/SnapshotRepository --------- Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Carlos Agüero <[email protected]>

Tweaks

13f4008

Signed-off-by: Carlos Agüero <[email protected]>

ifdef

7d9b91d

Signed-off-by: Carlos Agüero <[email protected]>

caguero force-pushed the caguero/ros2_gz_system branch from 1069252 to 7d9b91d Compare March 29, 2024 22:31

Merge

63ceaed

Signed-off-by: Carlos Agüero <[email protected]>

azeey mentioned this pull request Apr 24, 2024

Prepare for 1.0.0 Release #495

Merged

7 tasks

caguero closed this May 28, 2024

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Bridge as a gz sim system [rolling] #511

Bridge as a gz sim system [rolling] #511

caguero commented Mar 15, 2024

caguero commented Mar 15, 2024

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ahcorde Mar 22, 2024

caguero Mar 22, 2024

azeey Mar 29, 2024

caguero Mar 29, 2024

azeey Mar 29, 2024

caguero Mar 29, 2024

azeey Mar 29, 2024

azeey commented Mar 29, 2024

caguero commented Mar 29, 2024

azeey commented May 28, 2024

		this->dataPtr->exec =
		std::make_shared<rclcpp::executors::MultiThreadedExecutor>();

Bridge as a gz sim system [rolling] #511

Bridge as a gz sim system [rolling] #511

Conversation

caguero commented Mar 15, 2024

🎉 New feature

Summary

Test it

Checklist

caguero commented Mar 15, 2024

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