From 4ef948aa46919be88033bb88e9d54fefcc04b012 Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Tue, 10 Dec 2024 15:01:15 -0600 Subject: [PATCH 1/2] Improve parameter handling for RosGzBridge Signed-off-by: Addisu Z. Taddese (cherry picked from commit 819c943dbd040b2d78555eb135ddefa334828d6a) --- .../ros_gz_bridge/actions/ros_gz_bridge.py | 46 +++++++------------ 1 file changed, 17 insertions(+), 29 deletions(-) diff --git a/ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py b/ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py index bd931698..ee28a2f4 100644 --- a/ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py +++ b/ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py @@ -14,16 +14,18 @@ """Module for the ros_gz bridge action.""" -from typing import Dict, List, Optional, Union +from typing import cast, Dict, List, Optional, Union from launch.action import Action from launch.frontend import Entity, expose_action, Parser from launch.launch_context import LaunchContext from launch.some_substitutions_type import SomeSubstitutionsType from launch.substitutions import TextSubstitution +from launch.utilities import ensure_argument_type from launch.utilities.type_utils import normalize_typed_substitution, perform_typed_substitution from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes, Node from launch_ros.descriptions import ComposableNode +from launch_ros.parameters_type import SomeParameters @expose_action('ros_gz_bridge') @@ -41,7 +43,7 @@ def __init__( use_composition: Union[bool, SomeSubstitutionsType] = False, use_respawn: Union[bool, SomeSubstitutionsType] = False, log_level: SomeSubstitutionsType = 'info', - bridge_params: SomeSubstitutionsType = '', + bridge_params: Optional[SomeParameters] = None, **kwargs ) -> None: """ @@ -89,7 +91,13 @@ def __init__( self.__use_respawn = normalize_typed_substitution(use_respawn, bool) self.__log_level = log_level - self.__bridge_params = bridge_params + self.__bridge_params = [{'config_file': self.__config_file}] + if bridge_params is not None: + # This handling of bridge_params was copied from launch_ros/actions/node.py + ensure_argument_type(bridge_params, (list), 'bridge_params', 'RosGzBridge') + # All elements in the list are paths to files with parameters (or substitutions that + # evaluate to paths), or dictionaries of parameters (fields can be substitutions). + self.__bridge_params.extend(cast(list, bridge_params)) @classmethod def parse(cls, entity: Entity, parser: Parser): @@ -128,9 +136,7 @@ def parse(cls, entity: Entity, parser: Parser): 'log_level', data_type=str, optional=True) - bridge_params = entity.get_attr( - 'bridge_params', data_type=str, - optional=True) + parameters = entity.get_attr('param', data_type=List[Entity], optional=True) if isinstance(bridge_name, str): bridge_name = parser.parse_substitution(bridge_name) @@ -165,31 +171,13 @@ def parse(cls, entity: Entity, parser: Parser): log_level = parser.parse_substitution(log_level) kwargs['log_level'] = log_level - if isinstance(bridge_params, str): - bridge_params = parser.parse_substitution(bridge_params) - kwargs['bridge_params'] = bridge_params + if parameters is not None: + kwargs['bridge_params'] = Node.parse_nested_parameters(parameters, parser) return cls, kwargs def execute(self, context: LaunchContext) -> Optional[List[Action]]: """Execute the action.""" - if hasattr(self.__bridge_params, 'perform'): - string_bridge_params = self.__bridge_params.perform(context) - elif isinstance(self.__bridge_params, list): - if hasattr(self.__bridge_params[0], 'perform'): - string_bridge_params = self.__bridge_params[0].perform(context) - else: - string_bridge_params = str(self.__bridge_params) - # Remove unnecessary symbols - simplified_bridge_params = string_bridge_params.translate( - {ord(i): None for i in '{} "\''} - ) - # Parse to dictionary - parsed_bridge_params = {} - if simplified_bridge_params: - bridge_params_pairs = simplified_bridge_params.split(',') - parsed_bridge_params = dict(pair.split(':') for pair in bridge_params_pairs) - use_composition_eval = perform_typed_substitution( context, self.__use_composition, bool ) @@ -209,7 +197,7 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]: output='screen', respawn=perform_typed_substitution(context, self.__use_respawn, bool), respawn_delay=2.0, - parameters=[{'config_file': self.__config_file, **parsed_bridge_params}], + parameters=self.__bridge_params, arguments=['--ros-args', '--log-level', self.__log_level], )) @@ -226,7 +214,7 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]: plugin='ros_gz_bridge::RosGzBridge', name=self.__bridge_name, namespace=self.__namespace, - parameters=[{'config_file': self.__config_file, **parsed_bridge_params}], + parameters=self.__bridge_params, extra_arguments=[{'use_intra_process_comms': True}], ), ], @@ -243,7 +231,7 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]: plugin='ros_gz_bridge::RosGzBridge', name=self.__bridge_name, namespace=self.__namespace, - parameters=[{'config_file': self.__config_file, **parsed_bridge_params}], + parameters=self.__bridge_params, extra_arguments=[{'use_intra_process_comms': True}], ), ], From af676f6e058f36688093104bdadb4b851d1305a1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Wed, 11 Dec 2024 10:05:18 +0100 Subject: [PATCH 2/2] Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling (cherry picked from commit 705ee56bbf084c88a4bc7f8d07915c107a7f0589) # Conflicts: # .github/workflows/ros2-ci.yml # README.md # ros_gz/CHANGELOG.rst # ros_gz/package.xml # ros_gz_bridge/CHANGELOG.rst # ros_gz_bridge/package.xml # ros_gz_image/CHANGELOG.rst # ros_gz_image/package.xml # ros_gz_interfaces/CHANGELOG.rst # ros_gz_interfaces/package.xml # ros_gz_sim/CHANGELOG.rst # ros_gz_sim/package.xml # ros_gz_sim_demos/CHANGELOG.rst # ros_gz_sim_demos/package.xml # test_ros_gz_bridge/CHANGELOG.rst # test_ros_gz_bridge/package.xml --- .github/workflows/ros2-ci.yml | 4 ++ README.md | 51 +++++++++++++++++++++++ ros_gz/CHANGELOG.rst | 19 +++++++++ ros_gz/package.xml | 4 ++ ros_gz_bridge/CHANGELOG.rst | 66 ++++++++++++++++++++++++++++++ ros_gz_bridge/package.xml | 4 ++ ros_gz_image/CHANGELOG.rst | 23 +++++++++++ ros_gz_image/package.xml | 4 ++ ros_gz_interfaces/CHANGELOG.rst | 33 +++++++++++++++ ros_gz_interfaces/package.xml | 4 ++ ros_gz_sim/CHANGELOG.rst | 69 ++++++++++++++++++++++++++++++++ ros_gz_sim/package.xml | 4 ++ ros_gz_sim_demos/CHANGELOG.rst | 19 +++++++++ ros_gz_sim_demos/package.xml | 4 ++ test_ros_gz_bridge/CHANGELOG.rst | 19 +++++++++ test_ros_gz_bridge/package.xml | 4 ++ 16 files changed, 331 insertions(+) diff --git a/.github/workflows/ros2-ci.yml b/.github/workflows/ros2-ci.yml index 44819470..36d26838 100644 --- a/.github/workflows/ros2-ci.yml +++ b/.github/workflows/ros2-ci.yml @@ -12,7 +12,11 @@ jobs: include: - docker-image: "ubuntu:24.04" gz-version: "harmonic" +<<<<<<< HEAD ros-distro: "jazzy" +======= + ros-distro: "rolling" +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) container: image: ${{ matrix.docker-image }} steps: diff --git a/README.md b/README.md index 48fb930a..da64d063 100644 --- a/README.md +++ b/README.md @@ -3,6 +3,7 @@ ROS 2 version | Gazebo version | Branch | Binaries hosted at -- | -- | -- | -- Foxy | Citadel | [foxy](https://github.com/gazebosim/ros_gz/tree/foxy) | https://packages.ros.org +<<<<<<< HEAD Foxy | Edifice | [foxy](https://github.com/gazebosim/ros_gz/tree/foxy) | only from source Galactic | Edifice | [galactic](https://github.com/gazebosim/ros_gz/tree/galactic) | https://packages.ros.org Galactic | Fortress | [galactic](https://github.com/gazebosim/ros_gz/tree/galactic) | only from source @@ -24,6 +25,28 @@ For information on ROS(1) and Gazebo compatibility, refer to the [noetic branch > Please [ticket an issue](https://github.com/gazebosim/ros_gz/issues/) if you'd like support to be added for some combination. +======= +Foxy | Edifice | [foxy](https://github.com/gazebosim/ros_gz/tree/foxy) | only from source [^2] +Galactic | Edifice | [galactic](https://github.com/gazebosim/ros_gz/tree/galactic) | https://packages.ros.org [^2] +Galactic | Fortress | [galactic](https://github.com/gazebosim/ros_gz/tree/galactic) | only from source +Humble | Fortress | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | https://packages.ros.org +Humble | Garden | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | [gazebo packages](https://gazebosim.org/docs/latest/ros_installation#gazebo-garden-with-ros-2-humble-iron-or-rolling-use-with-caution-)[^1] [^2] +Humble | Harmonic | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | [gazebo packages](https://gazebosim.org/docs/harmonic/ros_installation#-gazebo-harmonic-with-ros-2-humble-iron-or-rolling-use-with-caution-)[^1] +Iron | Fortress | [humble](https://github.com/gazebosim/ros_gz/tree/iron) | https://packages.ros.org +Iron | Garden | [humble](https://github.com/gazebosim/ros_gz/tree/iron) | only from source [^2] +Iron | Harmonic | [humble](https://github.com/gazebosim/ros_gz/tree/iron) | only from source +Jazzy | Garden | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source [^2] +Jazzy | Harmonic | [jazzy](https://github.com/gazebosim/ros_gz/tree/jazzy) | https://packages.ros.org +Rolling | Fortress | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | https://packages.ros.org +Rolling | Garden | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source [^2] +Rolling | Harmonic | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source + +[^1]: Binaries for these pairings are provided from the packages.osrfoundation.org repository. Refer to https://gazebosim.org/docs/latest/ros_installation for installation instructions. +[^2]: Note that the Gazebo version on this row has reached end-of-life. + +For information on ROS(1) and Gazebo compatibility, refer to the [noetic branch README](https://github.com/gazebosim/ros_gz/tree/noetic) + +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) [Details about the renaming process](README_RENAME.md) from `ign` to `gz` . **Note**: The `ros_ign` prefixed packages are shim packages that redirect to their `ros_gz` counterpart. @@ -59,7 +82,11 @@ This repository holds packages that provide integration between ## Install +<<<<<<< HEAD This branch supports ROS Jazzy. See above for other ROS versions. +======= +This branch supports ROS Rolling. See above for other ROS versions. +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) ### Binaries @@ -74,19 +101,31 @@ They are hosted at https://packages.ros.org. 1. Install `ros_gz` +<<<<<<< HEAD sudo apt install ros-jazzy-ros-gz +======= + sudo apt install ros-rolling-ros-gz +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) ### From source #### ROS Be sure you've installed +<<<<<<< HEAD [ROS Jazzy](https://docs.ros.org/en/jazzy/Installation.html) +======= +[ROS Rolling](https://docs.ros.org/en/rolling/index.html) +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) (at least ROS-Base). More ROS dependencies will be installed below. #### Gazebo +<<<<<<< HEAD Install either [Garden or Harmonic](https://gazebosim.org/docs). +======= +Install either [Fortress, Harmonic or Ionic](https://gazebosim.org/docs). +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) Set the `GZ_VERSION` environment variable to the Gazebo version you'd like to compile against. For example: @@ -97,7 +136,11 @@ like to compile against. For example: #### Compile ros_gz +<<<<<<< HEAD The following steps are for Linux and OSX. +======= +The following steps are for Linux and macOS. +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) 1. Create a colcon workspace: @@ -107,14 +150,22 @@ The following steps are for Linux and OSX. cd ~/ws/src # Download needed software +<<<<<<< HEAD git clone https://github.com/gazebosim/ros_gz.git -b jazzy +======= + git clone https://github.com/gazebosim/ros_gz.git -b ros2 +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) ``` 1. Install dependencies (this may also install Gazebo): ``` cd ~/ws +<<<<<<< HEAD rosdep install -r --from-paths src -i -y --rosdistro jazzy +======= + rosdep install -r --from-paths src -i -y --rosdistro rolling +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) ``` > If `rosdep` fails to install Gazebo libraries and you have not installed them before, please follow [Gazebo installation instructions](https://gazebosim.org/docs/latest/install). diff --git a/ros_gz/CHANGELOG.rst b/ros_gz/CHANGELOG.rst index cc02dbeb..6339c06c 100644 --- a/ros_gz/CHANGELOG.rst +++ b/ros_gz/CHANGELOG.rst @@ -2,6 +2,7 @@ Changelog for package ros_gz ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +<<<<<<< HEAD 1.0.7 (2024-11-08) ------------------ @@ -18,6 +19,24 @@ Changelog for package ros_gz ------------------ 1.0.2 (2024-07-03) +======= +2.1.2 (2024-10-31) +------------------ + +2.1.1 (2024-10-14) +------------------ + +2.1.0 (2024-09-12) +------------------ + +2.0.1 (2024-08-29) +------------------ + +2.0.0 (2024-07-22) +------------------ + +1.0.1 (2024-07-03) +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) ------------------ * Prepare for 1.0.0 Release (`#495 `_) * 0.244.14 diff --git a/ros_gz/package.xml b/ros_gz/package.xml index ce9b5ff5..f7d72fc0 100644 --- a/ros_gz/package.xml +++ b/ros_gz/package.xml @@ -4,7 +4,11 @@ ros_gz +<<<<<<< HEAD 1.0.7 +======= + 2.1.2 +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) Meta-package containing interfaces for using ROS 2 with Gazebo simulation. Aditya Pande Alejandro Hernandez diff --git a/ros_gz_bridge/CHANGELOG.rst b/ros_gz_bridge/CHANGELOG.rst index b47e530b..89c9ddca 100644 --- a/ros_gz_bridge/CHANGELOG.rst +++ b/ros_gz_bridge/CHANGELOG.rst @@ -2,6 +2,7 @@ Changelog for package ros_gz_bridge ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +<<<<<<< HEAD 1.0.7 (2024-11-08) ------------------ @@ -50,6 +51,48 @@ Changelog for package ros_gz_bridge 1.0.2 (2024-07-03) ------------------ +======= +2.1.2 (2024-10-31) +------------------ + +2.1.1 (2024-10-14) +------------------ +* Extra parameter to start a container (`#616 `_) +* adds deadline and liveliness QoSPolicyKinds to qos_overriding_options (`#609 `_) + Co-authored-by: nora +* Contributors: Carlos Agüero, norakon + +2.1.0 (2024-09-12) +------------------ +* Remove default_value for required arguments (`#602 `_) + * Remove default_value for config_file +* Fix errors with name of bridge not being given (`#600 `_) + * Add argument bridge_name to fix errors +* Use optional parameters in actions (`#601 `_) +* Contributors: Amronos, Carlos Agüero + +2.0.1 (2024-08-29) +------------------ +* Stamp all outgoing headers with the wall time if parameter override_timestamps_with_wall_time is set to true (`#562 `_) +* Contributors: Rein Appeldoorn + +2.0.0 (2024-07-22) +------------------ +* Making use_composition true by default (`#578 `_) +* Contributors: Addisu Z. Taddese + +1.0.1 (2024-07-03) +------------------ +* Add support for gz.msgs.EntityWrench (base branch: ros2) (`#573 `_) +* Merge pull request `#571 `_ from azeey/jazzy_to_ros2 + Merge jazzy ➡️ ros2 +* Merge branch 'ros2' into jazzy_to_ros2 +* Use memcpy instead of std::copy when bridging images (`#565 `_) + While testing ros <-> gz communication using the bridge I noticed that the bridge was talking quite a bit of time copying images from Gazebo to ROS. I found that the std::copy operation that we're doing is substantially slower than the memcpy alternative. I think that in principle this shouldn't happen but the numbers are quite clear. Perhaps std::copy is doing something that doesn't use cache effectively + --------- + Co-authored-by: Jose Luis Rivero +* Merge jazzy into ros2 +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) * Merge pull request `#569 `_ from azeey/iron_to_jazzy Merge iron ➡️ jazzy * Merge iron into jazzy @@ -62,6 +105,25 @@ Changelog for package ros_gz_bridge * Merge pull request `#564 `_ from azeey/humble_to_iron Humble ➡️ Iron * Merge humble -> iron +<<<<<<< HEAD +======= +* Use `ignoreLocalMessages` in the bridge (`#559 `_) + * Ignore local messages +* Update launch files with name parameter (`#556 `_) + * Name is required. +* Ensure the same container is used for the bridge and gz_server (`#553 `_) + This also adds a required `name` parameter for the bridge so that + multiple different bridges can be created without name collision +* Launch ros_gz_bridge from xml (`#550 `_) + * Add gzserver with ability to load an SDF file or string +* Launch gzserver and the bridge as composable nodes (`#528 `_) + * Add gzserver with ability to load an SDF file or string +* Add option to change material color from ROS. (`#521 `_) + Forward port of `#486 `_. + * Message and bridge for MaterialColor. + This allows bridging MaterialColor from ROS to GZ and is + important for allowing simulation users to create status lights. +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) * populate imu covariances when converting (`#375 `_) (`#540 `_) Co-authored-by: El Jawad Alaa * Prepare for 1.0.0 Release (`#495 `_) @@ -151,7 +213,11 @@ Changelog for package ros_gz_bridge * Update CMakeLists and package.xml for garden * Complete garden gz renaming * Drop fortress CI +<<<<<<< HEAD * Contributors: Addisu Z. Taddese, Aditya Pande, Alejandro Hernández Cordero, Arjun K Haridas, Benjamin Perseghetti, El Jawad Alaa, Jose Luis Rivero, Krzysztof Wojciechowski, Michael Carroll, Rousseau Vincent, Yadu, ahcorde, wittenator, ymd-stella +======= +* Contributors: Addisu Z. Taddese, Aditya Pande, Alejandro Hernández Cordero, Arjun K Haridas, Benjamin Perseghetti, Carlos Agüero, El Jawad Alaa, Jose Luis Rivero, Krzysztof Wojciechowski, Michael Carroll, Rousseau Vincent, Victor T. Noppeney, Yadu, ahcorde, wittenator, ymd-stella +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) 1.0.0 (2024-04-24) ------------------ diff --git a/ros_gz_bridge/package.xml b/ros_gz_bridge/package.xml index b04e59bc..8bb5699d 100644 --- a/ros_gz_bridge/package.xml +++ b/ros_gz_bridge/package.xml @@ -2,7 +2,11 @@ ros_gz_bridge +<<<<<<< HEAD 1.0.7 +======= + 2.1.2 +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) Bridge communication between ROS and Gazebo Transport Aditya Pande Alejandro Hernandez diff --git a/ros_gz_image/CHANGELOG.rst b/ros_gz_image/CHANGELOG.rst index 3906f3b9..5c65f666 100644 --- a/ros_gz_image/CHANGELOG.rst +++ b/ros_gz_image/CHANGELOG.rst @@ -2,6 +2,7 @@ Changelog for package ros1_ign_image ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +<<<<<<< HEAD 1.0.7 (2024-11-08) ------------------ @@ -19,6 +20,28 @@ Changelog for package ros1_ign_image 1.0.2 (2024-07-03) ------------------ +======= +2.1.2 (2024-10-31) +------------------ + +2.1.1 (2024-10-14) +------------------ + +2.1.0 (2024-09-12) +------------------ + +2.0.1 (2024-08-29) +------------------ + +2.0.0 (2024-07-22) +------------------ + +1.0.1 (2024-07-03) +------------------ +* Merge pull request `#571 `_ from azeey/jazzy_to_ros2 + Merge jazzy ➡️ ros2 +* Merge jazzy into ros2 +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) * Merge pull request `#569 `_ from azeey/iron_to_jazzy Merge iron ➡️ jazzy * Merge iron into jazzy diff --git a/ros_gz_image/package.xml b/ros_gz_image/package.xml index e17e8346..ef05354c 100644 --- a/ros_gz_image/package.xml +++ b/ros_gz_image/package.xml @@ -1,6 +1,10 @@ ros_gz_image +<<<<<<< HEAD 1.0.7 +======= + 2.1.2 +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) Image utilities for Gazebo simulation with ROS. Apache 2.0 Aditya Pande diff --git a/ros_gz_interfaces/CHANGELOG.rst b/ros_gz_interfaces/CHANGELOG.rst index 07ef6c81..7b793e44 100644 --- a/ros_gz_interfaces/CHANGELOG.rst +++ b/ros_gz_interfaces/CHANGELOG.rst @@ -2,6 +2,7 @@ Changelog for package ros_gz_interfaces ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +<<<<<<< HEAD 1.0.7 (2024-11-08) ------------------ @@ -23,12 +24,40 @@ Changelog for package ros_gz_interfaces 1.0.2 (2024-07-03) ------------------ +======= +2.1.2 (2024-10-31) +------------------ + +2.1.1 (2024-10-14) +------------------ + +2.1.0 (2024-09-12) +------------------ + +2.0.1 (2024-08-29) +------------------ + +2.0.0 (2024-07-22) +------------------ + +1.0.1 (2024-07-03) +------------------ +* Add support for gz.msgs.EntityWrench (base branch: ros2) (`#573 `_) +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) * Add option to change material color from ROS. (`#521 `_) Forward port of `#486 `_. * Message and bridge for MaterialColor. This allows bridging MaterialColor from ROS to GZ and is important for allowing simulation users to create status lights. (cherry picked from commit 78dc4823121f085594e6028a93f1e571eb04f58b) +<<<<<<< HEAD +======= +* Add option to change material color from ROS. (`#521 `_) + Forward port of `#486 `_. + * Message and bridge for MaterialColor. + This allows bridging MaterialColor from ROS to GZ and is + important for allowing simulation users to create status lights. +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) * Prepare for 1.0.0 Release (`#495 `_) * 0.244.14 * Changelog @@ -60,7 +89,11 @@ Changelog for package ros_gz_interfaces * humble to ros2 (`#311 `_) Co-authored-by: Michael Carroll * Merge remote-tracking branch 'origin/humble' into ahcorde/humble_to_ros2 +<<<<<<< HEAD * Contributors: Addisu Z. Taddese, Aditya Pande, Alejandro Hernández Cordero, Benjamin Perseghetti, Jose Luis Rivero, Michael Carroll, ahcorde +======= +* Contributors: Addisu Z. Taddese, Aditya Pande, Alejandro Hernández Cordero, Benjamin Perseghetti, Jose Luis Rivero, Michael Carroll, Victor T. Noppeney, ahcorde +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) 1.0.0 (2024-04-24) ------------------ diff --git a/ros_gz_interfaces/package.xml b/ros_gz_interfaces/package.xml index 9297df15..3b5e501a 100644 --- a/ros_gz_interfaces/package.xml +++ b/ros_gz_interfaces/package.xml @@ -1,6 +1,10 @@ ros_gz_interfaces +<<<<<<< HEAD 1.0.7 +======= + 2.1.2 +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) Message and service data structures for interacting with Gazebo from ROS2. Apache 2.0 Louise Poubel diff --git a/ros_gz_sim/CHANGELOG.rst b/ros_gz_sim/CHANGELOG.rst index a02a63c6..87a42e9a 100644 --- a/ros_gz_sim/CHANGELOG.rst +++ b/ros_gz_sim/CHANGELOG.rst @@ -2,9 +2,24 @@ Changelog for package ros_gz_sim ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +<<<<<<< HEAD 1.0.7 (2024-11-08) ------------------ * Bugfix: `if "false"` is always `True` (`#617 `_) (`#640 `_) +======= +2.1.2 (2024-10-31) +------------------ +* Create ros_gz_spawn_model.launch (`#604 `_) + Co-authored-by: Alejandro Hernández Cordero +* Add create_own_container argument to ros_gz_spawn_model.launch.py (`#622 `_) +* Fix ros_gz_sim.launch.py when create_own_container is enabled. (`#620 `_) +* Contributors: Aarav Gupta, Amronos, Carlos Agüero + +2.1.1 (2024-10-14) +------------------ +* Extra parameter to start a container (`#616 `_) +* Bugfix: `if "false"` is always `True` (`#617 `_) +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) There is an issue in this launch file when passing the string 'false' as an argument. In Python, non-empty strings are always evaluated as True, regardless of their content. This means that even if you pass 'false', @@ -16,6 +31,7 @@ Changelog for package ros_gz_sim To temporarily work around this issue, you can launch gz_sim_launch.py with the on_exit_shutdown argument set to an empty string. This prevents the erroneous shutdown sequence and avoids the associated exception. +<<<<<<< HEAD (cherry picked from commit 1e30af0105058d68c8f1c98f37904505f613cf97) Co-authored-by: Ignacio Vizzo * Contributors: mergify[bot] @@ -64,6 +80,40 @@ Changelog for package ros_gz_sim 1.0.2 (2024-07-03) ------------------ +======= +* Name gazebo sim node (`#611 `_) +* Contributors: Carlos Agüero, Ignacio Vizzo, Nabeel Sherazi + +2.1.0 (2024-09-12) +------------------ +* Change world_string to model_string in gz_spawn_model files (`#606 `_) + * Change world_string to model_string + Also changed description from XML string to XML(SDF) string +* Use model string in ros_gz_spawn_model.launch.py (`#605 `_) +* Remove default_value for required arguments (`#602 `_) + * Remove default_value for config_file +* Fix errors with name of bridge not being given (`#600 `_) + * Add argument bridge_name to fix errors +* Restore launch file (`#603 `_) +* Use optional parameters in actions (`#601 `_) +* Contributors: Amronos, Carlos Agüero + +2.0.1 (2024-08-29) +------------------ +* Wait for create service to be available. (`#588 `_) +* Contributors: Sebastian Kasperski + +2.0.0 (2024-07-22) +------------------ +* Making use_composition true by default (`#578 `_) +* Contributors: Addisu Z. Taddese + +1.0.1 (2024-07-03) +------------------ +* Merge pull request `#571 `_ from azeey/jazzy_to_ros2 + Merge jazzy ➡️ ros2 +* Merge jazzy into ros2 +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) * Merge pull request `#569 `_ from azeey/iron_to_jazzy Merge iron ➡️ jazzy * Merge remote-tracking branch 'origin/jazzy' into iron_to_jazzy @@ -76,6 +126,21 @@ Changelog for package ros_gz_sim * Merge pull request `#564 `_ from azeey/humble_to_iron Humble ➡️ Iron * Merge humble -> iron +<<<<<<< HEAD +======= +* Update launch files with name parameter (`#556 `_) + * Name is required. +* Launch gz_spawn_model from xml (`#551 `_) + Spawn models from XML. + Co-authored-by: Addisu Z. Taddese +* Launch ros_gz_bridge from xml (`#550 `_) + * Add gzserver with ability to load an SDF file or string +* Launch gzserver and the bridge as composable nodes (`#528 `_) + * Add gzserver with ability to load an SDF file or string +* Add a ROS node that runs Gazebo (`#500 `_) + * Add gzserver with ability to load an SDF file or string + --------- +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) * Prepare for 1.0.0 Release (`#495 `_) * Use gz_vendor packages (`#531 `_) * 0.244.14 @@ -129,7 +194,11 @@ Changelog for package ros_gz_sim * Update CMakeLists and package.xml for garden * Complete garden gz renaming * Drop fortress CI +<<<<<<< HEAD * Contributors: Addisu Z. Taddese, Aditya Pande, Alejandro Hernández Cordero, Ayush Singh, Jose Luis Rivero, Michael Carroll, ahcorde, andermi, jmackay2, mergify[bot] +======= +* Contributors: Addisu Z. Taddese, Aditya Pande, Alejandro Hernández Cordero, Ayush Singh, Carlos Agüero, Jose Luis Rivero, Michael Carroll, ahcorde, andermi, jmackay2, mergify[bot] +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) 1.0.0 (2024-04-24) ------------------ diff --git a/ros_gz_sim/package.xml b/ros_gz_sim/package.xml index 37452f3a..3997b562 100644 --- a/ros_gz_sim/package.xml +++ b/ros_gz_sim/package.xml @@ -2,7 +2,11 @@ ros_gz_sim +<<<<<<< HEAD 1.0.7 +======= + 2.1.2 +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) Tools for using Gazebo Sim simulation with ROS. Alejandro Hernandez Aditya Pande diff --git a/ros_gz_sim_demos/CHANGELOG.rst b/ros_gz_sim_demos/CHANGELOG.rst index e8d27014..e078ffa9 100644 --- a/ros_gz_sim_demos/CHANGELOG.rst +++ b/ros_gz_sim_demos/CHANGELOG.rst @@ -2,6 +2,7 @@ Changelog for package ros1_gz_sim_demos ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +<<<<<<< HEAD 1.0.7 (2024-11-08) ------------------ @@ -18,6 +19,24 @@ Changelog for package ros1_gz_sim_demos ------------------ 1.0.2 (2024-07-03) +======= +2.1.2 (2024-10-31) +------------------ + +2.1.1 (2024-10-14) +------------------ + +2.1.0 (2024-09-12) +------------------ + +2.0.1 (2024-08-29) +------------------ + +2.0.0 (2024-07-22) +------------------ + +1.0.1 (2024-07-03) +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) ------------------ * Prepare for 1.0.0 Release (`#495 `_) * Use gz_vendor packages (`#531 `_) diff --git a/ros_gz_sim_demos/package.xml b/ros_gz_sim_demos/package.xml index d04eddb4..1859ab42 100644 --- a/ros_gz_sim_demos/package.xml +++ b/ros_gz_sim_demos/package.xml @@ -1,6 +1,10 @@ ros_gz_sim_demos +<<<<<<< HEAD 1.0.7 +======= + 2.1.2 +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) Demos using Gazebo Sim simulation with ROS. Apache 2.0 Aditya Pande diff --git a/test_ros_gz_bridge/CHANGELOG.rst b/test_ros_gz_bridge/CHANGELOG.rst index 27e517da..d6d888d4 100644 --- a/test_ros_gz_bridge/CHANGELOG.rst +++ b/test_ros_gz_bridge/CHANGELOG.rst @@ -2,6 +2,7 @@ Changelog for package test_ros_gz_bridge ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +<<<<<<< HEAD 1.0.7 (2024-11-08) ------------------ @@ -18,6 +19,24 @@ Changelog for package test_ros_gz_bridge ------------------ 1.0.2 (2024-07-03) +======= +2.1.2 (2024-10-31) +------------------ + +2.1.1 (2024-10-14) +------------------ + +2.1.0 (2024-09-12) +------------------ + +2.0.1 (2024-08-29) +------------------ + +2.0.0 (2024-07-22) +------------------ + +1.0.1 (2024-07-03) +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) ------------------ * Prepare for 1.0.0 Release (`#495 `_) * 0.244.14 diff --git a/test_ros_gz_bridge/package.xml b/test_ros_gz_bridge/package.xml index e309d650..13d63361 100644 --- a/test_ros_gz_bridge/package.xml +++ b/test_ros_gz_bridge/package.xml @@ -2,7 +2,11 @@ test_ros_gz_bridge +<<<<<<< HEAD 1.0.7 +======= + 2.1.2 +>>>>>>> 705ee56 (Merge remote-tracking branch 'origin/ros2' into improve_parameter_handling) Bridge communication between ROS and Gazebo Transport Aditya Pande Alejandro Hernandez