Backport Some Changes from ros2 to jazzy #607

Amronos · 2024-09-12T15:51:40Z

🦟 Bug fix

A cleaner version of #599.

Fixes #589.

Summary

I have backported changes made in ros2 to jazzy. Changelogs and version numbers have not been backported.

Checklist

Signed all commits for DCO
Added tests
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
codecheck passed (See contributing)
All tests passed (See test coverage)
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Amronos · 2024-09-17T10:14:38Z

@ahcorde can this be merged?

caguero · 2024-09-17T19:50:51Z

@ahcorde can this be merged?

Thanks @Amronos ! While I'm testing it, could you fix DCO please?

Amronos · 2024-09-18T03:22:21Z

~~Looks like I messed up during the rebase, I am sorry! I am trying to revert this.~~ Reverted.

Forward port of gazebosim#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. Signed-off-by: Benjamin Perseghetti <[email protected]>

* Add gzserver with ability to load an SDF file or string --------- Signed-off-by: Addisu Z. Taddese <[email protected]>

* Add gzserver with ability to load an SDF file or string Signed-off-by: Addisu Z. Taddese <[email protected]>

Spawn models from XML. Signed-off-by: Carlos Agüero <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>

…osim#553) This also adds a required `name` parameter for the bridge so that multiple different bridges can be created without name collision Signed-off-by: Addisu Z. Taddese <[email protected]>

* Name is required. Signed-off-by: Carlos Agüero <[email protected]>

* Ignore local messages Signed-off-by: Carlos Agüero <[email protected]>

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 --------- Signed-off-by: Carlos Agüero <[email protected]> Signed-off-by: Carlos Agüero <[email protected]> Co-authored-by: Jose Luis Rivero <[email protected]>

Signed-off-by: Victor T. N. <[email protected]>

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

Signed-off-by: Addisu Z. Taddese <[email protected]>

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

…imestamps_with_wall_time is set to true (gazebosim#562) Signed-off-by: Rein Appeldoorn <[email protected]>

Signed-off-by: Sebastian Kasperski <[email protected]>

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

Signed-off-by: Aarav Gupta <[email protected]>

Signed-off-by: Carlos Agüero <[email protected]>

* Add argument bridge_name to fix errors Signed-off-by: Aarav Gupta <[email protected]>

* Remove default_value for config_file Signed-off-by: Aarav Gupta <[email protected]>

Signed-off-by: Carlos Agüero <[email protected]>

…m#606) * Change world_string to model_string Also changed description from XML string to XML(SDF) string Signed-off-by: Aarav Gupta <[email protected]>

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

Signed-off-by: Nabeel Sherazi <[email protected]> (cherry picked from commit 64b8acd) Co-authored-by: Nabeel Sherazi <[email protected]>

…gazebosim#609) (gazebosim#613) Signed-off-by: nora <[email protected]> Co-authored-by: nora <[email protected]> (cherry picked from commit 2d4a1a8) Co-authored-by: norakon <[email protected]>

Amronos · 2024-09-18T08:34:37Z

Does the rebase I did just now look ok and is the DCO also fixed now? The changelogs and version numbers got a bit messed up, I will commit a bit later to fix that.

Signed-off-by: Aarav Gupta <[email protected]>

caguero · 2024-09-18T13:14:38Z

Does the rebase I did just now look ok and is the DCO also fixed now? The changelogs and version numbers got a bit messed up, I will commit a bit later to fix that.

I still see DCO not passing. Are you following https://github.com/gazebosim/ros_gz/pull/607/checks?check_run_id=30308693405?

Amronos · 2024-09-18T13:54:36Z

Are you following https://github.com/gazebosim/ros_gz/pull/607/checks?check_run_id=30308693405?

Yes, I am not the author of the commits that are causing DCO to fail, and so I don't think I am supposed to run a full sign-off using git rebase HEAD~33 --sign-off.

Amronos requested a review from ahcorde as a code owner September 12, 2024 15:51

Amronos mentioned this pull request Sep 17, 2024

Switch to Jazzy for Harmonic gazebosim/docs#518

Merged

8 tasks

Amronos force-pushed the ros2-jazzy-backport branch from c0d5782 to 1c3ed8b Compare September 18, 2024 03:17

Amronos force-pushed the ros2-jazzy-backport branch from 34c28bf to c0d5782 Compare September 18, 2024 03:37

bperseghetti and others added 23 commits September 18, 2024 08:12

Add a ROS node that runs Gazebo (gazebosim#500)

eff21c5

* Add gzserver with ability to load an SDF file or string --------- Signed-off-by: Addisu Z. Taddese <[email protected]>

Launch gzserver and the bridge as composable nodes (gazebosim#528)

17ba241

* Add gzserver with ability to load an SDF file or string Signed-off-by: Addisu Z. Taddese <[email protected]>

Launch ros_gz_bridge from xml (gazebosim#550)

afa159d

* Add gzserver with ability to load an SDF file or string Signed-off-by: Addisu Z. Taddese <[email protected]>

Launch gz_spawn_model from xml (gazebosim#551)

146adfd

Spawn models from XML. Signed-off-by: Carlos Agüero <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>

Ensure the same container is used for the bridge and gz_server (gazeb…

3f5b70f

…osim#553) This also adds a required `name` parameter for the bridge so that multiple different bridges can be created without name collision Signed-off-by: Addisu Z. Taddese <[email protected]>

Update launch files with name parameter (gazebosim#556)

17a1469

* Name is required. Signed-off-by: Carlos Agüero <[email protected]>

Use ignoreLocalMessages in the bridge (gazebosim#559)

bee1ee5

* Ignore local messages Signed-off-by: Carlos Agüero <[email protected]>

Add support for gz.msgs.EntityWrench (base branch: ros2) (gazebosim#573)

9b44894

Signed-off-by: Victor T. N. <[email protected]>

Changelog

9b7aa80

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

1.0.1

3becbb4

Making use_composition true by default (gazebosim#578)

a0d288c

Signed-off-by: Addisu Z. Taddese <[email protected]>

Changelog

c452cbb

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

2.0.0

d1e851f

Stamp all outgoing headers with the wall time if parameter override_t…

f21c707

…imestamps_with_wall_time is set to true (gazebosim#562) Signed-off-by: Rein Appeldoorn <[email protected]>

Wait for create service to be available. (gazebosim#588)

76202f7

Signed-off-by: Sebastian Kasperski <[email protected]>

Changelog

cbb7176

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

2.0.1

6f563b2

Update README.md for Jazzy (gazebosim#593)

bb9f978

Signed-off-by: Aarav Gupta <[email protected]>

Use optional parameters in actions (gazebosim#601)

19bced2

Signed-off-by: Carlos Agüero <[email protected]>

Restore launch file (gazebosim#603)

3b145f3

Signed-off-by: Carlos Agüero <[email protected]>

Fix errors with name of bridge not being given (gazebosim#600)

e006ffb

* Add argument bridge_name to fix errors Signed-off-by: Aarav Gupta <[email protected]>

Amronos and others added 7 commits September 18, 2024 08:26

Remove default_value for required arguments (gazebosim#602)

40a2f6a

* Remove default_value for config_file Signed-off-by: Aarav Gupta <[email protected]>

Use model string in ros_gz_spawn_model.launch.py (gazebosim#605)

c8fb8ba

Signed-off-by: Carlos Agüero <[email protected]>

Change world_string to model_string in gz_spawn_model files (gazebosi…

325c5c6

…m#606) * Change world_string to model_string Also changed description from XML string to XML(SDF) string Signed-off-by: Aarav Gupta <[email protected]>

Changelog

a33c17a

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

2.1.0

b8729d6

Name gazebo sim node (gazebosim#611) (gazebosim#612)

ba2c481

Signed-off-by: Nabeel Sherazi <[email protected]> (cherry picked from commit 64b8acd) Co-authored-by: Nabeel Sherazi <[email protected]>

adds deadline and liveliness QoSPolicyKinds to qos_overriding_options (…

2edcf86

…gazebosim#609) (gazebosim#613) Signed-off-by: nora <[email protected]> Co-authored-by: nora <[email protected]> (cherry picked from commit 2d4a1a8) Co-authored-by: norakon <[email protected]>

Amronos force-pushed the ros2-jazzy-backport branch from c0d5782 to 2edcf86 Compare September 18, 2024 08:30

Merge branch 'jazzy' into ros2-jazzy-backport

186c419

Amronos marked this pull request as draft September 18, 2024 08:41

Amronos added 2 commits September 18, 2024 10:00

Fix changelogs and versions

3a8f8b8

Signed-off-by: Aarav Gupta <[email protected]>

Fix changelogs and versions for test_ros_gz_bridge

83cfeb0

Signed-off-by: Aarav Gupta <[email protected]>

Amronos marked this pull request as ready for review September 18, 2024 10:03

caguero approved these changes Sep 18, 2024

View reviewed changes

caguero merged commit 62f2525 into gazebosim:jazzy Sep 18, 2024
4 checks passed

Amronos deleted the ros2-jazzy-backport branch September 18, 2024 14:15

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Backport Some Changes from ros2 to jazzy #607

Backport Some Changes from ros2 to jazzy #607

Amronos commented Sep 12, 2024 •

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Backport Some Changes from ros2 to jazzy #607

Backport Some Changes from ros2 to jazzy #607

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Amronos commented Sep 12, 2024 • edited Loading

🦟 Bug fix

Summary

Checklist

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