Package Summary

Tags No category tags.
Version 0.244.3
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ignitionrobotics/ros_ign.git
VCS Type git
VCS Version humble_garden
Last Updated 2022-09-13
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Bridge communication between ROS and Gazebo Transport

Additional Links

No additional links.

Maintainers

  • Louise Poubel

Authors

  • Shivesh Khaitan

Bridge communication between ROS and Gazebo

This package provides a network bridge which enables the exchange of messages 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/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/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/TwistWithCovariance ignition::msgs::TwistWithCovariance
mav_msgs/msg/Actuators (TODO) ignition::msgs::Actuators (TODO)
nav_msgs/msg/Odometry ignition::msgs::Odometry
nav_msgs/msg/Odometry ignition::msgs::OdometryWithCovariance
ros_gz_interfaces/msg/Contact ignition::msgs::Contact
ros_gz_interfaces/msg/Contacts ignition::msgs::Contacts
ros_gz_interfaces/msg/Entity ignition::msgs::Entity
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/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/LaserScan ignition::msgs::LaserScan
sensor_msgs/msg/MagneticField ignition::msgs::Magnetometer
sensor_msgs/msg/PointCloud2 ignition::msgs::PointCloudPacked
tf2_msgs/msg/TFMessage ignition::msgs::Pose_V
trajectory_msgs/msg/JointTrajectory ignition::msgs::JointTrajectory

And the following for services:

ROS type Gazebo request Gazebo response
ros_gz_interfaces/srv/ControlWorld ignition.msgs.WorldControl ignition.msgs.Boolean

Run ros2 run ros_gz_bridge parameter_bridge -h for instructions.

Example 1a: Gazebo Transport talker and ROS 2 listener

Start the parameter bridge which will watch the specified topics.

# Shell A:
. ~/bridge_ws/install/setup.bash
ros2 run ros_gz_bridge parameter_bridge /chatter@std_msgs/msg/String@ignition.msgs.StringMsg

Now we start the ROS listener.

# Shell B:
. /opt/ros/galactic/setup.bash
ros2 topic echo /chatter

Now we start the Gazebo Transport talker.

# Shell C:
ign topic -t /chatter -m ignition.msgs.StringMsg -p 'data:"Hello"'

Example 1b: ROS 2 talker and Gazebo Transport listener

Start the parameter bridge which will watch the specified topics.

# Shell A:
. ~/bridge_ws/install/setup.bash
ros2 run ros_gz_bridge parameter_bridge /chatter@std_msgs/msg/String@ignition.msgs.StringMsg

Now we start the Gazebo Transport listener.

# Shell B:
ign topic -e -t /chatter

Now we start the ROS talker.

# Shell C:
. /opt/ros/galactic/setup.bash
ros2 topic pub /chatter std_msgs/msg/String "data: 'Hi'" --once

Example 2: Run the bridge and exchange images

In this example, we're going to generate Gazebo Transport images using Gazebo Sim, that will be converted into ROS images, and visualized with rqt_image_viewer.

First we start Gazebo Sim (don't forget to hit play, or Gazebo Sim won't generate any images).

# Shell A:
ign gazebo sensors_demo.sdf

Let's see the topic where camera images are published.

# Shell B:
ign topic -l | grep image
/rgbd_camera/depth_image
/rgbd_camera/image

Then we start the parameter bridge with the previous topic.

# Shell B:
. ~/bridge_ws/install/setup.bash
ros2 run ros_gz_bridge parameter_bridge /rgbd_camera/image@sensor_msgs/msg/Image@ignition.msgs.Image

Now we start the ROS GUI:

# Shell C:
. /opt/ros/galactic/setup.bash
ros2 run rqt_image_view rqt_image_view /rgbd_camera/image

You should see the current images in rqt_image_view which are coming from Gazebo (published as Gazebo Msgs over Gazebo Transport).

The screenshot shows all the shell windows and their expected content (it was taken using ROS 2 Galactic and Gazebo Fortress):

Gazebo Transport images and ROS rqt

Example 3: Static bridge

In this example, we're going to run an executable that starts a bidirectional bridge for a specific topic and message type. We'll use the static_bridge executable that is installed with the bridge.

The example's code can be found under ros_gz_bridge/src/static_bridge.cpp. In the code, it's possible to see how the bridge is hardcoded to bridge string messages published on the /chatter topic.

Let's give it a try, starting with Gazebo -> ROS 2.

On terminal A, start the bridge:

ros2 run ros_gz_bridge static_bridge

On terminal B, we start a ROS 2 listener:

ros2 topic echo /chatter std_msgs/msg/String

And terminal C, publish an Gazebo message:

ign topic -t /chatter -m ignition.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:

ign topic -e -t /chatter

And on terminal E, publish a ROS 2 message:

ros2 topic pub /chatter std_msgs/msg/String 'data: "Hello"' -1

You should see the Gazebo listener echoing the message.

Example 4: Service bridge

It's possible to make ROS service requests into Gazebo. Let's try unpausing the simulation.

On terminal A, start the service bridge:

ros2 run ros_gz_bridge parameter_bridge /world/shapes/control@ros_gz_interfaces/srv/ControlWorld

On terminal B, start Gazebo, it will be paused by default:

ign gazebo shapes.sdf

On terminal C, make a ROS request to unpause simulation:

ros2 service call /world/<world_name>/control ros_gz_interfaces/srv/ControlWorld "{world_control: {pause: false}}"

CHANGELOG

Changelog for package ros_gz_bridge

0.244.3 (2022-05-19)

  • Feature: set QoS options to override durability (#250) Co-authored-by: Louise Poubel <louise@openrobotics.org>
  • [ros2] README updates (service bridge, Gazebo rename) (#252)
  • Fix linter tests (#251) Co-authored-by: Louise Poubel <louise@openrobotics.org>
  • Adds pose and twist with covariance messages bridging (#222)
    • Added pose, twist and odometry with covariance messages bridging
  • Contributors: Aditya Pande, Daisuke Nishimatsu, Louise Poubel

0.244.2 (2022-04-25)

  • Support bridging services (#211)
  • Added reminder to hit play to receive images. (#237)
  • Updated ign topic commnds on README (#221)
  • Add conversions for ros_gz_interfaces/WorldControl and builtin_interfaces/Time (#216)
  • [ros_gz_interfaces] Add GuiCamera, StringVec, TrackVisual, VideoRecord (#214)
  • Break apart ros_subscriber test translation unit (#212)
  • Bring ros2 branch up-to-date with Rolling (#213)
  • Add missing dependency on rclcpp (#209)
  • Separate galactic branch from ros2 branch (#201)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ros_gz_bridge at answers.ros.org

No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.244.6
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ignitionrobotics/ros_ign.git
VCS Type git
VCS Version ros2
Last Updated 2022-09-23
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Bridge communication between ROS and Gazebo Transport

Additional Links

No additional links.

Maintainers

  • Louise Poubel

Authors

  • Shivesh Khaitan

Bridge communication between ROS and Gazebo

This package provides a network bridge which enables the exchange of messages 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/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/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/TwistWithCovariance ignition::msgs::TwistWithCovariance
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/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/GuiCamera ignition::msgs::GUICamera
ros_gz_interfaces/msg/JointWrench ignition::msgs::JointWrench
ros_gz_interfaces/msg/Light ignition::msgs::Light
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/LaserScan ignition::msgs::LaserScan
sensor_msgs/msg/MagneticField ignition::msgs::Magnetometer
sensor_msgs/msg/NavSatFixed 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

And the following for services:

ROS type Gazebo request Gazebo response
ros_gz_interfaces/srv/ControlWorld ignition.msgs.WorldControl ignition.msgs.Boolean

Run ros2 run ros_gz_bridge parameter_bridge -h for instructions.

Example 1a: Gazebo Transport talker and ROS 2 listener

Start the parameter bridge which will watch the specified topics.

# Shell A:
. ~/bridge_ws/install/setup.bash
ros2 run ros_gz_bridge parameter_bridge /chatter@std_msgs/msg/String@ignition.msgs.StringMsg

Now we start the ROS listener.

# Shell B:
. /opt/ros/galactic/setup.bash
ros2 topic echo /chatter

Now we start the Gazebo Transport talker.

# Shell C:
ign topic -t /chatter -m ignition.msgs.StringMsg -p 'data:"Hello"'

Example 1b: ROS 2 talker and Gazebo Transport listener

Start the parameter bridge which will watch the specified topics.

# Shell A:
. ~/bridge_ws/install/setup.bash
ros2 run ros_gz_bridge parameter_bridge /chatter@std_msgs/msg/String@ignition.msgs.StringMsg

Now we start the Gazebo Transport listener.

# Shell B:
ign topic -e -t /chatter

Now we start the ROS talker.

# Shell C:
. /opt/ros/galactic/setup.bash
ros2 topic pub /chatter std_msgs/msg/String "data: 'Hi'" --once

Example 2: Run the bridge and exchange images

In this example, we're going to generate Gazebo Transport images using Gazebo Sim, that will be converted into ROS images, and visualized with rqt_image_viewer.

First we start Gazebo Sim (don't forget to hit play, or Gazebo Sim won't generate any images).

# Shell A:
ign gazebo sensors_demo.sdf

Let's see the topic where camera images are published.

# Shell B:
ign topic -l | grep image
/rgbd_camera/depth_image
/rgbd_camera/image

Then we start the parameter bridge with the previous topic.

# Shell B:
. ~/bridge_ws/install/setup.bash
ros2 run ros_gz_bridge parameter_bridge /rgbd_camera/image@sensor_msgs/msg/Image@ignition.msgs.Image

Now we start the ROS GUI:

# Shell C:
. /opt/ros/galactic/setup.bash
ros2 run rqt_image_view rqt_image_view /rgbd_camera/image

You should see the current images in rqt_image_view which are coming from Gazebo (published as Gazebo Msgs over Gazebo Transport).

The screenshot shows all the shell windows and their expected content (it was taken using ROS 2 Galactic and Gazebo Fortress):

Gazebo Transport images and ROS rqt

Example 3: Static bridge

In this example, we're going to run an executable that starts a bidirectional bridge for a specific topic and message type. We'll use the static_bridge executable that is installed with the bridge.

The example's code can be found under ros_gz_bridge/src/static_bridge.cpp. In the code, it's possible to see how the bridge is hardcoded to bridge string messages published on the /chatter topic.

Let's give it a try, starting with Gazebo -> ROS 2.

On terminal A, start the bridge:

ros2 run ros_gz_bridge static_bridge

On terminal B, we start a ROS 2 listener:

ros2 topic echo /chatter std_msgs/msg/String

And terminal C, publish an Gazebo message:

ign topic -t /chatter -m ignition.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:

ign topic -e -t /chatter

And on terminal E, publish a ROS 2 message:

ros2 topic pub /chatter std_msgs/msg/String 'data: "Hello"' -1

You should see the Gazebo listener echoing the message.

Example 4: Service bridge

It's possible to make ROS service requests into Gazebo. Let's try unpausing the simulation.

On terminal A, start the service bridge:

ros2 run ros_gz_bridge parameter_bridge /world/shapes/control@ros_gz_interfaces/srv/ControlWorld

On terminal B, start Gazebo, it will be paused by default:

ign gazebo shapes.sdf

On terminal C, make a ROS request to unpause simulation:

ros2 service call /world/<world_name>/control ros_gz_interfaces/srv/ControlWorld "{world_control: {pause: false}}"

Example 5: Configuring the Bridge via YAML

When configuring many topics, it is easier to use a file-based configuration in a markup language. In this case, the ros_gz bridge supports using a YAML file to configure the various parameters.

The configuration file must be a YAML array of maps. An example configuration for 5 bridges is below, showing the various ways that a bridge may be specified:

 # Set just topic name, applies to both
- topic_name: "chatter"
  ros_type_name: "std_msgs/msg/String"
  ign_type_name: "ignition.msgs.StringMsg"

# Set just ROS topic name, applies to both
- ros_topic_name: "chatter_ros"
  ros_type_name: "std_msgs/msg/String"
  ign_type_name: "ignition.msgs.StringMsg"

# Set just IGN topic name, applies to both
- ign_topic_name: "chatter_ign"
  ros_type_name: "std_msgs/msg/String"
  ign_type_name: "ignition.msgs.StringMsg"

# Set each topic name explicitly
- ros_topic_name: "chatter_both_ros"
  ign_topic_name: "chatter_both_ign"
  ros_type_name: "std_msgs/msg/String"
  ign_type_name: "ignition.msgs.StringMsg"

# Full set of configurations
- ros_topic_name: "ros_chatter"
  ign_topic_name: "ign_chatter"
  ros_type_name: "std_msgs/msg/String"
  ign_type_name: "ignition.msgs.StringMsg"
  subscriber_queue: 5       # Default 10
  publisher_queue: 6        # Default 10
  lazy: true                # Default "false"
  direction: BIDIRECTIONAL  # Default "BIDIRECTIONAL" - Bridge both directions
                            # "IGN_TO_ROS" - Bridge Ignition topic to ROS
                            # "ROS_TO_IGN" - Bridge ROS topic to Ignition

To run the bridge node with the above configuration:

ros2 run ros_gz_bridge bridge_node --ros-args -p config_file:=$WORKSPACE/ros_gz/ros_gz_bridge/test/config/full.yaml

API

ROS 2 Parameters:

  • subscription_heartbeat - Period at which the node checks for new subscribers for lazy bridges.
  • config_file - YAML file to be loaded as the bridge configuration
CHANGELOG

Changelog for package ros_gz_bridge

0.244.6 (2022-09-14)

0.244.5 (2022-09-12)

  • Fix missing msgs include and packages.xml deps (#292)
    • Fix missing msgs include and packages.xml deps
    • Add additional conditions to support gz sim invocation
    • Fix cpplint
  • Add missing GZ_VERSION ticktocks (#289)
  • Support ros_ign migration (#282) Clean up shared libraries, and tick-tock RosGzPointCloud Tick-tock launch args Hard-tock ign_ in sources Migrate ign, ign_, IGN_ for sources, launch, and test files Migrate IGN_XXX_VER, IGN_T, header guards Migrate launchfile, launchfile args, and test source references Migrate ros_ign_XXX and gz_gazebo -> gz_sim Migrate ros_ign_XXX project names Migrate Ign, ign-, IGN_DEPS, ign-gazebo Migrate ignitionrobotics, ignitionrobotics/ros_ign, osrf/ros_ign Migrate ignition-version, IGNITION_VERSION, Ignition <LIB>, ros_ign_ci
  • Move packages and files to gz (#282)
  • Contributors: methylDragon

0.244.3 (2022-05-19)

  • Feature: set QoS options to override durability (#250) Co-authored-by: Louise Poubel <louise@openrobotics.org>
  • [ros2] README updates (service bridge, Gazebo rename) (#252)
  • Fix linter tests (#251) Co-authored-by: Louise Poubel <louise@openrobotics.org>
  • Adds pose and twist with covariance messages bridging (#222)
    • Added pose, twist and odometry with covariance messages bridging
  • Contributors: Aditya Pande, Daisuke Nishimatsu, Louise Poubel

0.244.2 (2022-04-25)

  • Support bridging services (#211)
  • Added reminder to hit play to receive images. (#237)
  • Updated ign topic commnds on README (#221)
  • Add conversions for ros_gz_interfaces/WorldControl and builtin_interfaces/Time (#216)
  • [ros_gz_interfaces] Add GuiCamera, StringVec, TrackVisual, VideoRecord (#214)
  • Break apart ros_subscriber test translation unit (#212)
  • Bring ros2 branch up-to-date with Rolling (#213)
  • Add missing dependency on rclcpp (#209)
  • Separate galactic branch from ros2 branch (#201)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ros_gz_bridge at answers.ros.org

No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
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No version for distro crystal. Known supported distros are highlighted in the buttons above.
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