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Merge humble -> iron
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Signed-off-by: Addisu Z. Taddese <[email protected]>
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@azeey
azeey committed Jun 21, 2024
2 parents 9377674 + a348c07 commit 6abafad
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -8,7 +8,7 @@ Galactic | Edifice | [galactic](https://github.com/gazebosim/ros_gz/tree/galacti
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]
Humble | Harmonic | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | only from source
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
Iron | Harmonic | [humble](https://github.com/gazebosim/ros_gz/tree/iron) | only from source
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123 changes: 61 additions & 62 deletions ros_gz_bridge/README.md
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Expand Up @@ -5,68 +5,67 @@ between ROS and Gazebo Transport.

The following message types can be bridged for topics:

| ROS type | Gazebo type |
|--------------------------------------|:-------------------------------------------:|
| builtin_interfaces/msg/Time | ignition::msgs::Time |
| std_msgs/msg/Bool | ignition::msgs::Boolean |
| std_msgs/msg/ColorRGBA | ignition::msgs::Color |
| std_msgs/msg/Empty | ignition::msgs::Empty |
| std_msgs/msg/Float32 | ignition::msgs::Float |
| std_msgs/msg/Float64 | ignition::msgs::Double |
| std_msgs/msg/Header | ignition::msgs::Header |
| std_msgs/msg/Int32 | ignition::msgs::Int32 |
| std_msgs/msg/UInt32 | ignition::msgs::UInt32 |
| std_msgs/msg/String | ignition::msgs::StringMsg |
| geometry_msgs/msg/Wrench | ignition::msgs::Wrench |
| geometry_msgs/msg/WrenchStamped | ignition::msgs::Wrench |
| geometry_msgs/msg/Quaternion | ignition::msgs::Quaternion |
| geometry_msgs/msg/Vector3 | ignition::msgs::Vector3d |
| geometry_msgs/msg/Point | ignition::msgs::Vector3d |
| geometry_msgs/msg/Pose | ignition::msgs::Pose |
| geometry_msgs/msg/PoseArray | ignition::msgs::Pose_V |
| geometry_msgs/msg/PoseWithCovariance | ignition::msgs::PoseWithCovariance |
| geometry_msgs/msg/PoseStamped | ignition::msgs::Pose |
| geometry_msgs/msg/Transform | ignition::msgs::Pose |
| geometry_msgs/msg/TransformStamped | ignition::msgs::Pose |
| geometry_msgs/msg/Twist | ignition::msgs::Twist |
| geometry_msgs/msg/TwistStamped | ignition::msgs::Twist |
| geometry_msgs/msg/TwistWithCovariance| ignition::msgs::TwistWithCovariance |
| gps_msgs/GPSFix | ignition::msgs::NavSat |
| nav_msgs/msg/Odometry | ignition::msgs::Odometry |
| nav_msgs/msg/Odometry | ignition::msgs::OdometryWithCovariance |
| rcl_interfaces/msg/ParameterValue | ignition::msgs::Any |
| ros_gz_interfaces/msg/Altimeter | ignition::msgs::Altimeter |
| ros_gz_interfaces/msg/Contact | ignition::msgs::Contact |
| ros_gz_interfaces/msg/Contacts | ignition::msgs::Contacts |
| ros_gz_interfaces/msg/Dataframe | ignition::msgs::Dataframe |
| ros_gz_interfaces/msg/Entity | ignition::msgs::Entity |
| ros_gz_interfaces/msg/Float32Array | ignition::msgs::Float_V |
| ros_gz_interfaces/msg/GuiCamera | ignition::msgs::GUICamera |
| ros_gz_interfaces/msg/JointWrench | ignition::msgs::JointWrench |
| ros_gz_interfaces/msg/Light | ignition::msgs::Light |
| ros_gz_interfaces/msg/SensorNoise | ignition::msgs::SensorNoise |
| ros_gz_interfaces/msg/StringVec | ignition::msgs::StringMsg_V |
| ros_gz_interfaces/msg/TrackVisual | ignition::msgs::TrackVisual |
| ros_gz_interfaces/msg/VideoRecord | ignition::msgs::VideoRecord |
| ros_gz_interfaces/msg/WorldControl | ignition::msgs::WorldControl |
| rosgraph_msgs/msg/Clock | ignition::msgs::Clock |
| sensor_msgs/msg/BatteryState | ignition::msgs::BatteryState |
| sensor_msgs/msg/CameraInfo | ignition::msgs::CameraInfo |
| sensor_msgs/msg/FluidPressure | ignition::msgs::FluidPressure |
| sensor_msgs/msg/Imu | ignition::msgs::IMU |
| sensor_msgs/msg/Image | ignition::msgs::Image |
| sensor_msgs/msg/JointState | ignition::msgs::Model |
| sensor_msgs/msg/Joy | ignition::msgs::Joy |
| sensor_msgs/msg/LaserScan | ignition::msgs::LaserScan |
| sensor_msgs/msg/MagneticField | ignition::msgs::Magnetometer |
| sensor_msgs/msg/NavSatFix | ignition::msgs::NavSat |
| sensor_msgs/msg/PointCloud2 | ignition::msgs::PointCloudPacked |
| tf2_msgs/msg/TFMessage | ignition::msgs::Pose_V |
| trajectory_msgs/msg/JointTrajectory | ignition::msgs::JointTrajectory |
| vision_msgs/msg/Detection2D | ignition::msgs::AnnotatedAxisAligned2DBox |
| vision_msgs/msg/Detection2DArray | ignition::msgs::AnnotatedAxisAligned2DBox_V |
| vision_msgs/msg/Detection3D | ignition::msgs::AnnotatedOriented3DBox |
| vision_msgs/msg/Detection3DArray | ignition::msgs::AnnotatedOriented3DBox_V |
| ROS type | Gazebo type |
|---------------------------------------------|:-------------------------------------------:|
| builtin_interfaces/msg/Time | ignition::msgs::Time |
| std_msgs/msg/Bool | ignition::msgs::Boolean |
| std_msgs/msg/ColorRGBA | ignition::msgs::Color |
| std_msgs/msg/Empty | ignition::msgs::Empty |
| std_msgs/msg/Float32 | ignition::msgs::Float |
| std_msgs/msg/Float64 | ignition::msgs::Double |
| std_msgs/msg/Header | ignition::msgs::Header |
| std_msgs/msg/Int32 | ignition::msgs::Int32 |
| std_msgs/msg/UInt32 | ignition::msgs::UInt32 |
| std_msgs/msg/String | ignition::msgs::StringMsg |
| geometry_msgs/msg/Wrench | ignition::msgs::Wrench |
| geometry_msgs/msg/WrenchStamped | ignition::msgs::Wrench |
| geometry_msgs/msg/Quaternion | ignition::msgs::Quaternion |
| geometry_msgs/msg/Vector3 | ignition::msgs::Vector3d |
| geometry_msgs/msg/Point | ignition::msgs::Vector3d |
| geometry_msgs/msg/Pose | ignition::msgs::Pose |
| geometry_msgs/msg/PoseArray | ignition::msgs::Pose_V |
| geometry_msgs/msg/PoseWithCovariance | ignition::msgs::PoseWithCovariance |
| geometry_msgs/msg/PoseStamped | ignition::msgs::Pose |
| geometry_msgs/msg/Transform | ignition::msgs::Pose |
| geometry_msgs/msg/TransformStamped | ignition::msgs::Pose |
| geometry_msgs/msg/Twist | ignition::msgs::Twist |
| geometry_msgs/msg/TwistStamped | ignition::msgs::Twist |
| geometry_msgs/msg/TwistWithCovariance | ignition::msgs::TwistWithCovariance |
| geometry_msgs/msg/TwistWithCovarianceStamped| ignition::msgs::TwistWithCovariance |
| gps_msgs/GPSFix | ignition::msgs::NavSat |
| nav_msgs/msg/Odometry | ignition::msgs::Odometry |
| nav_msgs/msg/Odometry | ignition::msgs::OdometryWithCovariance |
| rcl_interfaces/msg/ParameterValue | ignition::msgs::Any |
| ros_gz_interfaces/msg/Altimeter | ignition::msgs::Altimeter |
| ros_gz_interfaces/msg/Contact | ignition::msgs::Contact |
| ros_gz_interfaces/msg/Contacts | ignition::msgs::Contacts |
| ros_gz_interfaces/msg/Dataframe | ignition::msgs::Dataframe |
| ros_gz_interfaces/msg/Entity | ignition::msgs::Entity |
| ros_gz_interfaces/msg/Float32Array | ignition::msgs::Float_V |
| ros_gz_interfaces/msg/GuiCamera | ignition::msgs::GUICamera |
| ros_gz_interfaces/msg/JointWrench | ignition::msgs::JointWrench |
| ros_gz_interfaces/msg/Light | ignition::msgs::Light |
| ros_gz_interfaces/msg/SensorNoise | ignition::msgs::SensorNoise |
| ros_gz_interfaces/msg/StringVec | ignition::msgs::StringMsg_V |
| ros_gz_interfaces/msg/TrackVisual | ignition::msgs::TrackVisual |
| ros_gz_interfaces/msg/VideoRecord | ignition::msgs::VideoRecord |
| ros_gz_interfaces/msg/WorldControl | ignition::msgs::WorldControl |
| rosgraph_msgs/msg/Clock | ignition::msgs::Clock |
| sensor_msgs/msg/BatteryState | ignition::msgs::BatteryState |
| sensor_msgs/msg/CameraInfo | ignition::msgs::CameraInfo |
| sensor_msgs/msg/FluidPressure | ignition::msgs::FluidPressure |
| sensor_msgs/msg/Imu | ignition::msgs::IMU |
| sensor_msgs/msg/Image | ignition::msgs::Image |
| sensor_msgs/msg/JointState | ignition::msgs::Model |
| sensor_msgs/msg/Joy | ignition::msgs::Joy |
| sensor_msgs/msg/LaserScan | ignition::msgs::LaserScan |
| sensor_msgs/msg/MagneticField | ignition::msgs::Magnetometer |
| sensor_msgs/msg/NavSatFix | ignition::msgs::NavSat |
| sensor_msgs/msg/PointCloud2 | ignition::msgs::PointCloudPacked |
| tf2_msgs/msg/TFMessage | ignition::msgs::Pose_V |
| trajectory_msgs/msg/JointTrajectory | ignition::msgs::JointTrajectory |
| vision_msgs/msg/Detection3D | ignition::msgs::AnnotatedOriented3DBox |
| vision_msgs/msg/Detection3DArray | ignition::msgs::AnnotatedOriented3DBox_V |

And the following for services:

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13 changes: 13 additions & 0 deletions ros_gz_bridge/include/ros_gz_bridge/convert/geometry_msgs.hpp
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Expand Up @@ -36,6 +36,7 @@
#include <geometry_msgs/msg/twist.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <geometry_msgs/msg/twist_with_covariance.hpp>
#include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
#include <geometry_msgs/msg/wrench.hpp>
#include <geometry_msgs/msg/wrench_stamped.hpp>

Expand Down Expand Up @@ -189,6 +190,18 @@ convert_gz_to_ros(
const gz::msgs::TwistWithCovariance & gz_msg,
geometry_msgs::msg::TwistWithCovariance & ros_msg);

template<>
void
convert_ros_to_gz(
const geometry_msgs::msg::TwistWithCovarianceStamped & ros_msg,
gz::msgs::TwistWithCovariance & gz_msg);

template<>
void
convert_gz_to_ros(
const gz::msgs::TwistWithCovariance & gz_msg,
geometry_msgs::msg::TwistWithCovarianceStamped & ros_msg);

template<>
void
convert_ros_to_gz(
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1 change: 1 addition & 0 deletions ros_gz_bridge/ros_gz_bridge/mappings.py
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Expand Up @@ -42,6 +42,7 @@
Mapping('Twist', 'Twist'),
Mapping('TwistStamped', 'Twist'),
Mapping('TwistWithCovariance', 'TwistWithCovariance'),
Mapping('TwistWithCovarianceStamped', 'TwistWithCovariance'),
Mapping('Wrench', 'Wrench'),
Mapping('WrenchStamped', 'Wrench'),
Mapping('Vector3', 'Vector3d'),
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20 changes: 20 additions & 0 deletions ros_gz_bridge/src/convert/geometry_msgs.cpp
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Expand Up @@ -306,6 +306,26 @@ convert_gz_to_ros(
}
}

template<>
void
convert_ros_to_gz(
const geometry_msgs::msg::TwistWithCovarianceStamped & ros_msg,
gz::msgs::TwistWithCovariance & gz_msg)
{
convert_ros_to_gz(ros_msg.header, (*gz_msg.mutable_twist()->mutable_header()));
convert_ros_to_gz(ros_msg.twist, gz_msg);
}

template<>
void
convert_gz_to_ros(
const gz::msgs::TwistWithCovariance & gz_msg,
geometry_msgs::msg::TwistWithCovarianceStamped & ros_msg)
{
convert_gz_to_ros(gz_msg.twist().header(), ros_msg.header);
convert_gz_to_ros(gz_msg, ros_msg.twist);
}

template<>
void
convert_ros_to_gz(
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3 changes: 3 additions & 0 deletions ros_gz_bridge/test/utils/gz_test_msg.cpp
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Expand Up @@ -433,12 +433,15 @@ void createTestMsg(gz::msgs::TwistWithCovariance & _msg)
{
gz::msgs::Vector3d linear_msg;
gz::msgs::Vector3d angular_msg;
gz::msgs::Header header_msg;

createTestMsg(linear_msg);
createTestMsg(angular_msg);
createTestMsg(header_msg);

_msg.mutable_twist()->mutable_linear()->CopyFrom(linear_msg);
_msg.mutable_twist()->mutable_angular()->CopyFrom(angular_msg);
_msg.mutable_twist()->mutable_header()->CopyFrom(header_msg);
for (int i = 0; i < 36; i++) {
_msg.mutable_covariance()->add_data(i);
}
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12 changes: 12 additions & 0 deletions ros_gz_bridge/test/utils/ros_test_msg.cpp
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Expand Up @@ -484,6 +484,18 @@ void compareTestMsg(const std::shared_ptr<geometry_msgs::msg::TwistWithCovarianc
}
}

void createTestMsg(geometry_msgs::msg::TwistWithCovarianceStamped & _msg)
{
createTestMsg(_msg.header);
createTestMsg(_msg.twist);
}

void compareTestMsg(const std::shared_ptr<geometry_msgs::msg::TwistWithCovarianceStamped> & _msg)
{
compareTestMsg(std::make_shared<geometry_msgs::msg::TwistWithCovariance>(_msg->twist));
compareTestMsg(std::make_shared<std_msgs::msg::Header>(_msg->header));
}

void createTestMsg(geometry_msgs::msg::Wrench & _msg)
{
createTestMsg(_msg.force);
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9 changes: 9 additions & 0 deletions ros_gz_bridge/test/utils/ros_test_msg.hpp
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Expand Up @@ -40,6 +40,7 @@
#include <geometry_msgs/msg/twist.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <geometry_msgs/msg/twist_with_covariance.hpp>
#include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
#include <geometry_msgs/msg/quaternion.hpp>
#include <geometry_msgs/msg/vector3.hpp>
#include <geometry_msgs/msg/wrench.hpp>
Expand Down Expand Up @@ -319,6 +320,14 @@ void createTestMsg(geometry_msgs::msg::TwistWithCovariance & _msg);
/// \param[in] _msg The message to compare.
void compareTestMsg(const std::shared_ptr<geometry_msgs::msg::TwistWithCovariance> & _msg);

/// \brief Create a message used for testing.
/// \param[out] _msg The message populated.
void createTestMsg(geometry_msgs::msg::TwistWithCovarianceStamped & _msg);

/// \brief Compare a message with the populated for testing.
/// \param[in] _msg The message to compare
void compareTestMsg(const std::shared_ptr<geometry_msgs::msg::TwistWithCovarianceStamped> & _msg);

/// \brief Create a message used for testing.
/// \param[out] _msg The message populated.
void createTestMsg(geometry_msgs::msg::Wrench & _msg);
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74 changes: 74 additions & 0 deletions ros_gz_sim/README.md
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Expand Up @@ -37,3 +37,77 @@ See more options with:
```
ros2 run ros_gz_sim create --helpshort
```

### Using `<gazebo_ros>` to export model paths in `package.xml`

The `<gazebo_ros>` tag inside the `<export>` tag of a `package.xml` file can be
used to add paths to `GZ_SIM_RESOURCE_PATH` and `GZ_SIM_SYSTEM_PLUGIN_PATH`,
which are environment variables used to configure Gazebo search paths for
resources (e.g. SDFormat files, meshes, etc) and plugins respectively.

The values in the attributes `gazebo_model_path` and `gazebo_media_path` are
appended to `GZ_SIM_RESOURCE_PATH`. The value of `plugin_path` is appended to
`GZ_SIM_SYSTEM_PLUGIN_PATH`. See the
[Finding resources](https://gazebosim.org/api/sim/8/resources.html) tutorial to
learn more about these environment variables.

The keyword `${prefix}` can be used when setting these values and it will be
expanded to the package's share path (i.e., the value of
`ros2 pkg prefix --share <package name>`)

```xml
<export>
<gazebo_ros gazebo_model_path="${prefix}/models"/>
<gazebo_ros gazebo_media_path="${prefix}/media"/>
<gazebo_ros plugin_path="${prefix}/plugins"/>
</export>

```

Thus the required directory needs to be installed from `CMakeLists.txt`

```cmake
install(DIRECTORY models
DESTINATION share/${PROJECT_NAME})
```

In order to reference the models in a ROS package unambiguously, it is
recommended to set the value of `gazebo_model_path` to be the parent
of the `prefix`.

```xml
<export>
<gazebo_ros gazebo_model_path="${prefix}/../"/>
</export>

```

Consider an example where we have a ROS package called `my_awesome_pkg`
and it contains an SDFormat model cool `cool_robot`:

```bash
my_awesome_pkg
├── models
│   └── cool_robot
│   ├── model.config
│   └── model.sdf
└── package.xml
```

With `gazebo_model_path="${prefix}/../` set up, we can
reference the `cool_robot` model in a world file using the package name
in the `uri`:

```xml
<sdf version="1.6">
<world name="default">
<include>
<uri>package://my_awesome_pkg/models/cool_robot</uri>
</include>
</world>
</sdf>
```

However, if we set `gazebo_model_path=${prefix}/models`, we would
need to reference `cool_robot` as `package://cool_robot`, which
might have a name conflict with other models in the system.
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