Package Summary

Tags No category tags.
Version 0.111.2
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ignitionrobotics/ros_ign.git
VCS Type git
VCS Version noetic
Last Updated 2023-03-08
Dev Status DEVELOPED
CI status
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 Ignition Transport

Additional Links

No additional links.

Maintainers

  • Carlos Agüero

Authors

No additional authors.

Bridge communication between ROS and Ignition Transport

This package provides a network bridge which enables the exchange of messages between ROS and Ignition Transport.

The bridge is currently implemented in C++. At this point there's no support for service calls. Its support is limited to only the following message types:

ROS type Ignition Transport type
std_msgs/Bool ignition::msgs::Boolean
std_msgs/ColorRGBA ignition::msgs::Color
std_msgs/Empty ignition::msgs::Empty
std_msgs/Int32 ignition::msgs::Int32
std_msgs/Float32 ignition::msgs::Float
std_msgs/Float64 ignition::msgs::Double
std_msgs/Header ignition::msgs::Header
std_msgs/String ignition::msgs::StringMsg
geometry_msgs/Quaternion ignition::msgs::Quaternion
geometry_msgs/Vector3 ignition::msgs::Vector3d
geometry_msgs/Point ignition::msgs::Vector3d
geometry_msgs/Pose ignition::msgs::Pose
geometry_msgs/PoseArray ignition::msgs::Pose_V
geometry_msgs/PoseStamped ignition::msgs::Pose
geometry_msgs/Transform ignition::msgs::Pose
geometry_msgs/TransformStamped ignition::msgs::Pose
geometry_msgs/Twist ignition::msgs::Twist
mav_msgs/Actuators (not on Noetic) ignition::msgs::Actuators
nav_msgs/OccupancyGrid ignition::msgs::OccupancyGrid
nav_msgs/Odometry ignition::msgs::Odometry
rosgraph_msgs/Clock ignition::msgs::Clock
sensor_msgs/BatteryState ignition::msgs::BatteryState
sensor_msgs/CameraInfo ignition::msgs::CameraInfo
sensor_msgs/FluidPressure ignition::msgs::FluidPressure
sensor_msgs/Imu ignition::msgs::IMU
sensor_msgs/Image ignition::msgs::Image
sensor_msgs/JointState ignition::msgs::Model
sensor_msgs/LaserScan ignition::msgs::LaserScan
sensor_msgs/MagneticField ignition::msgs::Magnetometer
sensor_msgs/NavSatFix ignition::msgs::NavSat
sensor_msgs/PointCloud2 ignition::msgs::PointCloudPacked
tf_msgs/TFMessage ignition::msgs::Pose_V
visualization_msgs/Marker ignition::msgs::Marker
visualization_msgs/MarkerArray ignition::msgs::Marker_V

Run rosmaster & rosrun ros_ign_bridge parameter_bridge -h for instructions.

Example 1a: Ignition Transport talker and ROS listener

First we start a ROS roscore:

# Shell A:
. /opt/ros/noetic/setup.bash
roscore

Then we start the parameter bridge which will watch the specified topics.

# Shell B:
. ~/bridge_ws/install/setup.bash
rosrun ros_ign_bridge parameter_bridge /chatter@std_msgs/String@ignition.msgs.StringMsg

Now we start the ROS listener.

# Shell C:
. /opt/ros/noetic/setup.bash
rostopic echo /chatter

Now we start the Ignition Transport talker.

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

Example 1b: ROS talker and Ignition Transport listener

First we start a ROS roscore:

# Shell A:
. /opt/ros/noetic/setup.bash
roscore

Then we start the parameter bridge which will watch the specified topics.

# Shell B:
. ~/bridge_ws/install/setup.bash
rosrun ros_ign_bridge parameter_bridge /chatter@std_msgs/String@ignition.msgs.StringMsg

Now we start the Ignition Transport listener.

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

Now we start the ROS talker.

# Shell D:
. /opt/ros/noetic/setup.bash
rostopic pub /chatter std_msgs/String "data: 'Hi'" --once

Example 2: Run the bridge and exchange images

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

First we start a ROS roscore:

# Shell A:
. /opt/ros/noetic/setup.bash
roscore

Then we start Gazebo.

# Shell B:
gazebo

Once Gazebo is running, click on the Insert tab, and then, insert a Camera object into the scene. Now, let's see the topic where the camera images are published.

# Shell C:
ign topic -l | grep image
/default/camera/link/camera/image

Then we start the parameter bridge with the previous topic.

# Shell D:
. ~/bridge_ws/install/setup.bash
rosrun ros_ign_bridge parameter_bridge /default/camera/link/camera/image@sensor_msgs/Image@ignition.msgs.Image

Now we start the ROS GUI:

# Shell E:
. /opt/ros/noetic/setup.bash
rqt_image_view /default/camera/link/camera/image

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

The screenshot shows all the shell windows and their expected content (it was taken using ROS Kinetic):

Ignition Transport images and ROS rqt

CHANGELOG

Changelog for package ros_ign_bridge

0.111.2 (2021-12-30)

  • [noetic]

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ros_ign_bridge at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 0.233.4
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 galactic
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 Ignition Transport

Additional Links

No additional links.

Maintainers

  • Louise Poubel

Authors

  • Shivesh Khaitan

Bridge communication between ROS and Ignition Transport

This package provides a network bridge which enables the exchange of messages between ROS and Ignition Transport.

The bridge is currently implemented in C++. At this point there's no support for service calls. Its support is limited to only the following message types:

ROS type Ignition Transport type
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/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
mav_msgs/msg/Actuators (TODO) ignition::msgs::Actuators (TODO)
nav_msgs/msg/Odometry ignition::msgs::Odometry
rcl_interfaces/msg/ParameterValue ignition::msgs::Any
ros_ign_interfaces/msg/Contact ignition::msgs::Contact
ros_ign_interfaces/msg/Contacts ignition::msgs::Contacts
ros_ign_interfaces/msg/Dataframe ignition::msgs::Dataframe
ros_ign_interfaces/msg/Entity ignition::msgs::Entity
ros_ign_interfaces/msg/GuiCamera ignition::msgs::GUICamera
ros_ign_interfaces/msg/JointWrench ignition::msgs::JointWrench
ros_ign_interfaces/msg/Light ignition::msgs::Light
ros_ign_interfaces/msg/ParamVec ignition::msgs::Param
ros_ign_interfaces/msg/ParamVec ignition::msgs::Param_V
ros_ign_interfaces/msg/StringVec ignition::msgs::StringMsg_V
ros_ign_interfaces/msg/TrackVisual ignition::msgs::TrackVisual
ros_ign_interfaces/msg/VideoRecord ignition::msgs::VideoRecord
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/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

Run ros2 run ros_ign_bridge parameter_bridge -h for instructions.

Example 1a: Ignition 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_ign_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 Ignition Transport talker.

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

Example 1b: ROS 2 talker and Ignition Transport listener

Start the parameter bridge which will watch the specified topics.

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

Now we start the Ignition 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 Ignition Transport images using Ignition Gazebo, that will be converted into ROS images, and visualized with rqt_image_viewer.

First we start Ignition Gazebo.

# 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_ign_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 Ignition Msgs over Ignition Transport).

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

Ignition 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_ign_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 Ignition -> ROS 2.

On terminal A, start the bridge:

ros2 run ros_ign_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 Ignition message:

ign topic pub -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 -> Ignition.

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 Ignition listener echoing the message.

Example 4: 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_ign 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_ign_bridge bridge_node --ros-args -p config_file:=$WORKSPACE/ros_ign/ros_ign_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_ign_bridge

0.233.4 (2022-02-07)

  • [galactic] backport test memory usage improvements (#215)

    • Improve modularity of ign/ros publisher tests (#194)
    • Break apart ros_subscriber test translation unit (#212)

    - Fix deprecated parameter declaration Co-authored-by: Louise Poubel <louise@openrobotics.org>

  • Contributors: Michael Carroll

0.233.3 (2021-12-30)

  • Separate galactic branch from ros2 branch (#201)
  • [ros2]

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_ign_bridge at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 0.221.2
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 foxy
Last Updated 2023-06-08
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 Ignition Transport

Additional Links

No additional links.

Maintainers

  • Alejandro Hernandez Cordero

Authors

  • Shivesh Khaitan
  • Louise Poubel

Bridge communication between ROS and Ignition Transport

This package provides a network bridge which enables the exchange of messages between ROS and Ignition Transport.

The bridge is currently implemented in C++. At this point there's no support for service calls. Its support is limited to only the following message types:

ROS type Ignition Transport type
std_msgs/msg/Bool ignition::msgs::Boolean
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/String ignition::msgs::StringMsg
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/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
mav_msgs/msg/Actuators (TODO) ignition::msgs::Actuators (TODO)
nav_msgs/msg/Odometry ignition::msgs::Odometry
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

Run ros2 run ros_ign_bridge parameter_bridge -h for instructions.

Example 1a: Ignition 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_ign_bridge parameter_bridge /chatter@std_msgs/msg/String@ignition.msgs.StringMsg

Now we start the ROS listener.

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

Now we start the Ignition Transport talker.

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

Example 1b: ROS 2 talker and Ignition Transport listener

Start the parameter bridge which will watch the specified topics.

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

Now we start the Ignition Transport listener.

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

Now we start the ROS talker.

# Shell C:
. /opt/ros/foxy/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 Ignition Transport images using Ignition Gazebo, that will be converted into ROS images, and visualized with rqt_image_viewer.

First we start Ignition Gazebo.

# 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_ign_bridge parameter_bridge /rgbd_camera/image@sensor_msgs/msg/Image@ignition.msgs.Image

Now we start the ROS GUI:

# Shell C:
. /opt/ros/foxy/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 Ignition Msgs over Ignition Transport).

The screenshot shows all the shell windows and their expected content (it was taken using ROS 2 Foxy and Ignition Edifice):

Ignition 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_ign_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 Ignition -> ROS 2.

On terminal A, start the bridge:

ros2 run ros_ign_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 Ignition message:

ign topic pub -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 -> Ignition.

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 Ignition listener echoing the message.

CHANGELOG

Changelog for package ros_ign_bridge

0.221.2 (2021-07-20)

  • Ignore local publications for ROS 2 subscriber (#146)
    • Note: Does not work with all rmw implementations (e.g.: FastRTPS)
  • [ros2] Update documentation for installation instructions and bridge examples (#142)
  • [foxy] Edifice support (#140)
  • [ros2] Add JointTrajectory message conversion (#121) Conversion between
    • ignition::msgs::JointTrajectory
    • trajectory_msgs::msg::JointTrajectory
  • Add TFMessage / Pose_V and Float64 / Double conversions (#117) Addresses issue #116
  • updated prereq & branch name (#113)
  • [ros2] Update releases (#108)
  • Updated README.md (#104)
  • Add support for Dome (#103)
  • Contributors: Alejandro Hern

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_ign_bridge at Robotics Stack Exchange