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ign to gz #519

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Mar 25, 2024
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ign to gz #519

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ign to gz
ahcorde Mar 25, 2024
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ahcorde Mar 25, 2024
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -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)

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2 changes: 1 addition & 1 deletion README_RENAME.md
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Expand Up @@ -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
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maybe this got caught by a find replace?

```

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.)
22 changes: 11 additions & 11 deletions ros_gz_bridge/README.md
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Expand Up @@ -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
Expand All @@ -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.
Expand All @@ -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 gazebo sensors_demo.sdf
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```

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
```
Expand Down Expand Up @@ -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:

Expand All @@ -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 gazebo shapes.sdf`
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On terminal C, make a ROS request to unpause simulation:

Expand Down Expand Up @@ -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
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2 changes: 1 addition & 1 deletion ros_gz_image/README.md
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@@ -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
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2 changes: 1 addition & 1 deletion ros_gz_sim/README.md
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Expand Up @@ -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:
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