Bridge as a gz sim system [rolling] #511
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@ahcorde , do you know if these tests are supposed to compile? It seems a problem sourcing |
caguero
changed the title
ahcorde
requested changes
Mar 18, 2024
ahcorde
approved these changes
Mar 20, 2024
ahcorde
requested changes
Mar 22, 2024
| } | ||
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| if (!_sdf->HasElement("config_file")) { | ||
| std::cerr << "No <config_file> found. Plugin disabled." << std::endl; |
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as this is a Gazebo plugin, should we use here gzerr ? remove <iostream> header too
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Changed in 78067c4.
ahcorde
approved these changes
Mar 25, 2024
azeey
reviewed
Mar 29, 2024
ros_gz_bridge/src/bridge_config.cpp
Outdated
| @@ -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; | |||
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nit: single letter variable names violate our style guide. Can you use a more descriptive variable?
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This file does not need to be installed. It can live in ros_gz_sim/src.
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| this->dataPtr->exec = | ||
| std::make_shared<rclcpp::executors::MultiThreadedExecutor>(); |
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The documentation on Multi-Threaded Executors seems to indicate we need to use callback groups to take advantage of parallelism. @mjcarroll Can you confirm?
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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]>
Signed-off-by: Addisu Z. Taddese <[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: 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]>
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]>
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]>
Signed-off-by: Carlos Agüero <[email protected]>
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Signed-off-by: Carlos Agüero <[email protected]>
Fixed |
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@caguero Do we want to close this one now that the composable nodes PRs are merged? |
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🎉 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
Verify the output to confirm that two topics are bridged:
Then, you should see a ROS topic
/ros_chatter:Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.