Merge branch 'gz_sim_ros_node_composition' into launch_gz

Signed-off-by: Carlos Agüero <[email protected]>
gazebosim · May 15, 2024 · 7bcbd32 · 7bcbd32
2 parents 53c024a + 6a73faa
commit 7bcbd32
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Showing 2 changed files with 6 additions and 7 deletions.
diff --git a/ros_gz_sim/CMakeLists.txt b/ros_gz_sim/CMakeLists.txt
@@ -27,7 +27,6 @@ find_package(gz-msgs REQUIRED)
 find_package(gz_sim_vendor REQUIRED)
 find_package(gz-sim REQUIRED)
 # Needed in launch/gz_sim.launch.py.in
-set(GZ_SIM_VER ${gz-sim_VERSION_MAJOR})
 
 gz_find_package(gflags
     REQUIRED
@@ -69,7 +68,7 @@ ament_target_dependencies(gzserver_component
   std_msgs
 )
 target_link_libraries(gzserver_component
-  ${GZ_TARGET_PREFIX}-sim${GZ_SIM_VER}::core
+  gz-sim::core
 )
 ament_target_dependencies(gzserver_component std_msgs)
 rclcpp_components_register_node(

diff --git a/ros_gz_sim/launch/ros_gz_sim.launch.py b/ros_gz_sim/launch/ros_gz_sim.launch.py
@@ -28,7 +28,7 @@ def generate_launch_description():
     namespace = LaunchConfiguration('namespace')
     use_composition = LaunchConfiguration('use_composition')
     use_respawn = LaunchConfiguration('use_respawn')
-    log_level = LaunchConfiguration('log_level')
+    bridge_log_level = LaunchConfiguration('bridge_log_level')
 
     world_sdf_file = LaunchConfiguration('world_sdf_file')
     world_sdf_string = LaunchConfiguration('world_sdf_string')
@@ -57,8 +57,8 @@ def generate_launch_description():
         description='Whether to respawn if a node crashes. Applied when composition is disabled.',
     )
 
-    declare_log_level_cmd = DeclareLaunchArgument(
-        'log_level', default_value='info', description='log level'
+    declare_bridge_log_level_cmd = DeclareLaunchArgument(
+        'bridge_log_level', default_value='info', description='Bridge log level'
     )
 
     declare_world_sdf_file_cmd = DeclareLaunchArgument(
@@ -81,7 +81,7 @@ def generate_launch_description():
                           ('namespace', namespace),
                           ('use_composition', use_composition),
                           ('use_respawn', use_respawn),
-                          ('log_level', log_level)])
+                          ('bridge_log_level', bridge_log_level)])
 
     gzserver_description = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -101,7 +101,7 @@ def generate_launch_description():
     ld.add_action(declare_namespace_cmd)
     ld.add_action(declare_use_composition_cmd)
     ld.add_action(declare_use_respawn_cmd)
-    ld.add_action(declare_log_level_cmd)
+    ld.add_action(declare_bridge_log_level_cmd)
     ld.add_action(declare_world_sdf_file_cmd)
     ld.add_action(declare_world_sdf_string_cmd)
     # Add the actions to launch all of the bridge + gzserver nodes