ROS + Ignition Gazebo

This package contains things that make it convenient to integrate ROS with Ignition, such as:

• Launch files
• ROS-enabled executables

Run Ignition Gazebo

There’s a convenient launch file, try for example:

ros2 launch ros_ign_gazebo ign_gazebo.launch.py ign_args:="shapes.sdf"

Spawn entities

The create executable can be used to spawn SDF or URDF entities from:

• A file on disk or from Ignition Fuel
• A ROS parameter

For example, start Ignition Gazebo:

ros2 launch ros_ign_gazebo ign_gazebo.launch.py

then spawn a model:

ros2 run ros_ign_gazebo create -world default -file 'https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Gazebo'

See more options with:

ros2 run ros_ign_gazebo create --helpshort

Changelog for package ros_ign_gazebo

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] 🏁 Dome EOL (#199)
• Contributors: Louise Poubel

0.233.2 (2021-07-20)

• [ros2] Update version docs, add Galactic and Fortress (#164)
• Contributors: Louise Poubel

0.233.1 (2021-04-16)

• Default to Edifice for Rolling (#150)
• Edifice support (#140) Co-authored-by: Alejandro Hernández <<ahcorde@gmail.com>>
• Add topic flag to create robot (#128) Now it is possible to run ros_ign_gazebo create specifying a topic as source of the robot description Add a launch file starting a ignition gazebo world and spawn a sphere in it. Additionally a rviz2 interface is loaded to show that also Rviz can load the robot description The newly created demo introduce a dependency on the robot_state_publisher package
• Add default value for plugin path in launch script (#125)
• Fix overwriting of plugin path in launch script (#122)
  • IGN_GAZEBO_SYSTEM_PLUGIN_PATH was overwritten by LD_LIBRARY_PATH
  • Now it is instead extended by LD_LIBRARY_PATH
  • This allows use of ign_gazebo.launch.py with custom gazebo plugins
• Changed for loading xml from ROS param(#119) (#120)
• ros_ign_gazebo exec depend on ign-gazebo (#110)
• Update releases (#108)
• Add support for Dome (#103)
• Contributors: Andrej Orsula, Louise Poubel, Luca Della Vedova, Valerio Magnago, chama1176

0.221.1 (2020-08-19)

• Add pkg-config as a buildtool dependency (#102)
• Contributors: Louise Poubel

0.221.0 (2020-07-23)

• [ros2] Fixed CI - Added Foxy (#89) Co-authored-by: Louise Poubel <<louise@openrobotics.org>>
• Added ros_ign_gazebo for ros2 (#80) Co-authored-by: Louise Poubel <<louise@openrobotics.org>>
• Update Dashing docs (#62)
• Contributors: Alejandro Hernández Cordero, Louise Poubel, chapulina