ROS + Ignition Gazebo demos

ROS + Ignition Gazebo demos

This package contains demos showing how to use Ignition Gazebo with ROS.

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"

Air pressure

Publishes fluid pressure readings.

ros2 launch ros_ign_gazebo_demos air_pressure.launch.py

Camera

Publishes RGB camera image and info.

Images can be exposed to ROS through ros_ign_bridge or ros_ign_image.

Using the image bridge (unidirectional, uses image_transport):

ros2 launch ros_ign_gazebo_demos image_bridge.launch.py

Using the regular bridge:

ros2 launch ros_ign_gazebo_demos camera.launch.py

Diff drive

Send commands to a differential drive vehicle and listen to its odometry.

ros2 launch ros_ign_gazebo_demos diff_drive.launch.py

Then unpause and send a command

ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"

Depth camera

Depth camera data can be obtained as:

sensor_msgs/msg/Image, through ros_ign_bridge or ros_ign_image
sensor_msgs/msg/PointCloud2, through ros_ign_point_cloud

Using the image bridge (unidirectional, uses image_transport):

ros2 launch ros_ign_gazebo_demos image_bridge.launch.py image_topic:=/depth_camera

TODO: Blocked by ros_ign_point_cloud issue.

Using Ignition Gazebo plugin:

ros2 launch ros_ign_gazebo_demos depth_camera.launch.py

GPU lidar

GPU lidar data can be obtained as:

sensor_msgs/msg/LaserScan, through the ros_ign_bridge
sensor_msgs/msg/PointCloud2, through the ros_ign_bridge or ros_ign_point_cloud

Using the bridge:

ros2 launch ros_ign_gazebo_demos gpu_lidar_bridge.launch.py

TODO: Blocked by ros_ign_point_cloud issue.

Using Ignition Gazebo plugin:

ros2 launch ros_ign_gazebo_demos gpu_lidar.launch.py

IMU

Publishes IMU readings.

ros2 launch ros_ign_gazebo_demos imu.launch.py

TODO: IMU display missing for RViz2

Magnetometer

Publishes magnetic field readings.

ros2 launch ros_ign_gazebo_demos magnetometer.launch.py

RGBD camera

RGBD camera data can be obtained as:

sensor_msgs/msg/Image, through ros_ign_bridge or ros_ign_image
sensor_msgs/msg/PointCloud2, through ros_ign_bridge or ros_ign_point_cloud

Using the image bridge (unidirectional, uses image_transport):

# RGB image
ros2 launch ros_ign_gazebo_demos image_bridge.launch.py image_topic:=/rgbd_camera/image
# Depth image
ros2 launch ros_ign_gazebo_demos image_bridge.launch.py image_topic:=/rgbd_camera/depth_image

Using the regular bridge:

ros2 launch ros_ign_gazebo_demos rgbd_camera_bridge.launch.py

TODO: Blocked by ros_ign_point_cloud issue.

Using Ignition Gazebo plugin:

ros2 launch ros_ign_gazebo_demos rgbd_camera.launch.py

Battery

Get the current state of a battery.

ros2 launch ros_ign_gazebo_demos battery.launch.py

Then send a command so the vehicle moves and drains the battery

ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"

Robot description publisher

Leverage the robot description publisher to spawn a new urdf model in gazebo and show it in rviz2. To try the demo launch:

ros2 launch ros_ign_gazebo_demos robot_description_publisher.launch.py

Joint States Publisher

Publishes joint states of the robot.

To try the demo launch:

ros2 launch ros_ign_gazebo_demos joint_states.launch.py

CHANGELOG

Changelog for package ros1_ign_gazebo_demos

0.233.2 (2021-07-20)

[ros2] Add exec depend on xacro for demos (#170)
[ros2] Update version docs, add Galactic and Fortress (#164)
Joint states tutorial (#156) Adds an rrbot model to demos and shows the usage of joint_states plugin.
Contributors: Louise Poubel, Vatan Aksoy Tezer

0.233.1 (2021-04-16)

Default to Edifice for Rolling (#150)
Minor updates for demos (#144)
- Re-enable air pressure demo
- Resolves https://github.com/ignitionrobotics/ros_ign/issues/78
- Add RQt topic viewer to IMU demo
- Add image_topic argument for image_bridge demo
- Do not normalize depth image in RViz2
Edifice support (#140)
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
[ros2] Update releases (#108)
Contributors: Andrej Orsula, Louise Poubel, Valerio Magnago

0.221.1 (2020-08-19)

0.221.0 (2020-07-23)

Updated launch file to use ros_ign_gazebo (#82) Co-authored-by: Louise Poubel <louise@openrobotics.org>
Use new ros_ign_gazebo package on ROS 2 demos (#85) Co-authored-by: Alejandro Hern

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	ament_cmake
	0	ignition-gazebo6
	0	ignition-gazebo4
	1	image_transport_plugins
	2	robot_state_publisher
	1	ros_ign_bridge
	1	ros_ign_gazebo
	1	ros_ign_image
	1	rqt_image_view
	1	rqt_plot
	1	rqt_topic
	1	rviz2
	1	xacro

System Dependencies

Name
ignition-gazebo5
ignition-gazebo3

Dependant Packages

Name	Repo	Deps
ros_ign	github-ignitionrobotics-ros_ign

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_gazebo_demos` at answers.ros.org

ros_ign_gazebo_demos package from ros_ign repo

ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_interfaces ros_ign_point_cloud

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	2021-07-20
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

Demos using Ignition Gazebo simulation with ROS.

Additional Links

No additional links.

Maintainers

Louise Poubel

Authors

No additional authors.

ROS + Ignition Gazebo demos

This package contains demos showing how to use Ignition Gazebo with ROS.

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"

Air pressure

Publishes fluid pressure readings.

ros2 launch ros_ign_gazebo_demos air_pressure.launch.py

Camera

Publishes RGB camera image and info.

Images can be exposed to ROS through ros_ign_bridge or ros_ign_image.

Using the image bridge (unidirectional, uses image_transport):

ros2 launch ros_ign_gazebo_demos image_bridge.launch.py

Using the regular bridge:

ros2 launch ros_ign_gazebo_demos camera.launch.py

Diff drive

Send commands to a differential drive vehicle and listen to its odometry.

ros2 launch ros_ign_gazebo_demos diff_drive.launch.py

Then unpause and send a command

ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"

Depth camera

Depth camera data can be obtained as:

sensor_msgs/msg/Image, through ros_ign_bridge or ros_ign_image
sensor_msgs/msg/PointCloud2, through ros_ign_point_cloud

Using the image bridge (unidirectional, uses image_transport):

ros2 launch ros_ign_gazebo_demos image_bridge.launch.py image_topic:=/depth_camera

TODO: Blocked by ros_ign_point_cloud issue.

Using Ignition Gazebo plugin:

ros2 launch ros_ign_gazebo_demos depth_camera.launch.py

GPU lidar

GPU lidar data can be obtained as:

sensor_msgs/msg/LaserScan, through the ros_ign_bridge
sensor_msgs/msg/PointCloud2, through the ros_ign_bridge or ros_ign_point_cloud

Using the bridge:

ros2 launch ros_ign_gazebo_demos gpu_lidar_bridge.launch.py

TODO: Blocked by ros_ign_point_cloud issue.

Using Ignition Gazebo plugin:

ros2 launch ros_ign_gazebo_demos gpu_lidar.launch.py

IMU

Publishes IMU readings.

ros2 launch ros_ign_gazebo_demos imu.launch.py

TODO: IMU display missing for RViz2

Magnetometer

Publishes magnetic field readings.

ros2 launch ros_ign_gazebo_demos magnetometer.launch.py

RGBD camera

RGBD camera data can be obtained as:

sensor_msgs/msg/Image, through ros_ign_bridge or ros_ign_image
sensor_msgs/msg/PointCloud2, through ros_ign_bridge or ros_ign_point_cloud

Using the image bridge (unidirectional, uses image_transport):

# RGB image
ros2 launch ros_ign_gazebo_demos image_bridge.launch.py image_topic:=/rgbd_camera/image
# Depth image
ros2 launch ros_ign_gazebo_demos image_bridge.launch.py image_topic:=/rgbd_camera/depth_image

Using the regular bridge:

ros2 launch ros_ign_gazebo_demos rgbd_camera_bridge.launch.py

TODO: Blocked by ros_ign_point_cloud issue.

Using Ignition Gazebo plugin:

ros2 launch ros_ign_gazebo_demos rgbd_camera.launch.py

Battery

Get the current state of a battery.

ros2 launch ros_ign_gazebo_demos battery.launch.py

Then send a command so the vehicle moves and drains the battery

ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"

Robot description publisher

Leverage the robot description publisher to spawn a new urdf model in gazebo and show it in rviz2. To try the demo launch:

ros2 launch ros_ign_gazebo_demos robot_description_publisher.launch.py

Joint States Publisher

Publishes joint states of the robot.

To try the demo launch:

ros2 launch ros_ign_gazebo_demos joint_states.launch.py

CHANGELOG

Changelog for package ros1_ign_gazebo_demos

0.221.2 (2021-07-20)

Joint states tutorial (#156) Adds an rrbot model to demos and shows the usage of joint_states plugin.
[ros2] Minor updates for demos (#144)
- Re-enable air pressure demo
- Resolves https://github.com/ignitionrobotics/ros_ign/issues/78
- Add RQt topic viewer to IMU demo
- Add image_topic argument for image_bridge demo
- Do not normalize depth image in RViz2
[foxy] Edifice support (#140)
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
[ros2] Update releases (#108)
Contributors: Andrej Orsula, Louise Poubel, Valerio Magnago, Vatan Aksoy Tezer

0.221.1 (2020-08-19)

0.221.0 (2020-07-23)

Updated launch file to use ros_ign_gazebo (#82) Co-authored-by: Louise Poubel <louise@openrobotics.org>
Use new ros_ign_gazebo package on ROS 2 demos (#85) Co-authored-by: Alejandro Hern

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	ament_cmake
	0	ignition-gazebo4
	1	image_transport_plugins
	2	robot_state_publisher
	1	ros_ign_bridge
	1	ros_ign_gazebo
	1	ros_ign_image
	1	rqt_image_view
	1	rqt_plot
	1	rqt_topic
	1	rviz2
	1	xacro

System Dependencies

Name
ignition-gazebo5
ignition-gazebo3

Dependant Packages

Name	Repo	Deps
ros_ign	github-ignitionrobotics-ros_ign

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_gazebo_demos` at answers.ros.org

ros_ign_gazebo_demos package from ros_ign repo

ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_point_cloud

Package Summary

Tags	No category tags.
Version	0.111.1
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	2021-07-20
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

Demos using Ignition Gazebo simulation with ROS.

Additional Links

No additional links.

Maintainers

Louise Poubel

Authors

No additional authors.

ROS + Ignition Gazebo demos

This package contains demos showing how to use Ignition Gazebo with ROS.

Air pressure

Publishes fluid pressure readings.

roslaunch ros_ign_gazebo_demos air_pressure.launch

Camera

Publishes RGB camera image and info.

Images can be exposed to ROS through ros_ign_bridge or ros_ign_image.

Using the image bridge (unidirectional, uses image_transport):

roslaunch ros_ign_gazebo_demos image_bridge.launch

Using the regular bridge:

roslaunch ros_ign_gazebo_demos camera.launch

Diff drive

Send commands to a differential drive vehicle and listen to its odometry.

roslaunch ros_ign_gazebo_demos diff_drive.launch

Then send a command

rostopic pub /model/vehicle_blue/cmd_vel geometry_msgs/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"

Depth camera

Depth camera data can be obtained as:

sensor_msgs/Image, through ros_ign_bridge or ros_ign_image
sensor_msgs/PointCloud2, through ros_ign_bridge or ros_ign_point_cloud (See issue #40)

Using the image bridge (unidirectional, uses image_transport):

roslaunch ros_ign_gazebo_demos image_bridge.launch

Using the bridge:

roslaunch ros_ign_gazebo_demos depth_camera_bridge.launch

Using Ignition Gazebo plugin:

roslaunch ros_ign_gazebo_demos depth_camera.launch

GPU lidar

GPU lidar data can be obtained as:

sensor_msgs/LaserScan, through ros_ign_bridge
sensor_msgs/PointCloud2, through ros_ign_bridge or ros_ign_point_cloud (See issue #40)

Using the bridge:

roslaunch ros_ign_gazebo_demos gpu_lidar_bridge.launch

Using Ignition Gazebo plugin:

roslaunch ros_ign_gazebo_demos gpu_lidar.launch

IMU

Publishes IMU readings.

roslaunch ros_ign_gazebo_demos imu.launch

Magnetometer

Publishes magnetic field readings.

roslaunch ros_ign_gazebo_demos magnetometer.launch

RGBD camera

RGBD camera data can be obtained as:

sensor_msgs/Image, through ros_ign_bridge or ros_ign_image
sensor_msgs/PointCloud2, through ros_ign_bridge or ros_ign_point_cloud (See issue #40)

Using the image bridge (unidirectional, uses image_transport):

roslaunch ros_ign_gazebo_demos image_bridge.launch

Using the regular bridge:

roslaunch ros_ign_gazebo_demos rgbd_camera_bridge.launch

Using Ignition Gazebo plugin:

roslaunch ros_ign_gazebo_demos rgbd_camera.launch

Battery

Get the current state of a battery.

roslaunch ros_ign_gazebo_demos battery.launch

Then send a command so the vehicle moves and drains the battery

rostopic pub /model/vehicle_blue/cmd_vel geometry_msgs/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"

Create entity

Launch simulation and spawn entities:

Sphere from URDF loaded into ROS param
Box from SDF file on Ignition Fuel
Cylinder from SDF file

roslaunch ros_ign_gazebo_demos create.launch

CHANGELOG

Changelog for package ros_ign_gazebo_demos

0.111.1 (2021-07-20)

[noetic] Update version docs, add Fortress (#166)
[noetic] Edifice support (#139)
Add dome + melodic to CI (#126)
[noetic] Update releases (#106)
Pointcloud bridge demo for depth camera (#39)
Contributors: Alejandro Hern

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	catkin
	0	ignition-gazebo6
	0	ignition-gazebo4
	1	image_transport_plugins
	1	ros_ign_bridge
	1	ros_ign_gazebo
	1	ros_ign_image
	1	rqt_image_view
	1	rqt_plot
	2	rviz

System Dependencies

Name
ignition-gazebo5
ignition-gazebo3

Dependant Packages

Name	Repo	Deps
ros_ign	github-ignitionrobotics-ros_ign

Launch files

launch/rgbd_camera_bridge.launch
launch/create.launch
- - world [default: empty]
  - ign_args [default: ]
launch/rgbd_camera.launch
launch/depth_camera.launch
launch/battery.launch
launch/diff_drive.launch
launch/gpu_lidar.launch
launch/air_pressure.launch
launch/gpu_lidar_bridge.launch
launch/depth_camera_bridge.launch
launch/camera.launch
launch/imu.launch
launch/magnetometer.launch
launch/image_bridge.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `ros_ign_gazebo_demos` at answers.ros.org

ros_ign_gazebo_demos package from ros_ign repo

ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_point_cloud

Package Summary

Tags	No category tags.
Version	0.9.5
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	melodic
Last Updated	2021-07-02
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

Demos using Ignition Gazebo simulation with ROS.

Additional Links

No additional links.

Maintainers

Louise Poubel

Authors

No additional authors.

ROS + Ignition Gazebo demos

This package contains demos showing how to use Ignition Gazebo with ROS.

Air pressure

Publishes fluid pressure readings.

roslaunch ros_ign_gazebo_demos air_pressure.launch

Camera

Publishes RGB camera image and info.

Images can be exposed to ROS through ros_ign_bridge or ros_ign_image.

Using the image bridge (unidirectional, uses image_transport):

roslaunch ros_ign_gazebo_demos image_bridge.launch

Using the regular bridge:

roslaunch ros_ign_gazebo_demos camera.launch

Diff drive

Send commands to a differential drive vehicle and listen to its odometry.

roslaunch ros_ign_gazebo_demos diff_drive.launch

Then send a command

rostopic pub /model/vehicle_blue/cmd_vel geometry_msgs/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"

Depth camera

Depth camera data can be obtained as:

sensor_msgs/Image, through ros_ign_bridge or ros_ign_image
sensor_msgs/PointCloud2, through ros_ign_bridge or ros_ign_point_cloud (See issue #40)

Using the image bridge (unidirectional, uses image_transport):

roslaunch ros_ign_gazebo_demos image_bridge.launch

Using the bridge:

roslaunch ros_ign_gazebo_demos depth_camera_bridge.launch

Using Ignition Gazebo plugin:

roslaunch ros_ign_gazebo_demos depth_camera.launch

GPU lidar

GPU lidar data can be obtained as:

sensor_msgs/LaserScan, through ros_ign_bridge
sensor_msgs/PointCloud2, through ros_ign_bridge or ros_ign_point_cloud (See issue #40)

Using the bridge:

roslaunch ros_ign_gazebo_demos gpu_lidar_bridge.launch

Using Ignition Gazebo plugin:

roslaunch ros_ign_gazebo_demos gpu_lidar.launch

IMU

Publishes IMU readings.

roslaunch ros_ign_gazebo_demos imu.launch

Magnetometer

Publishes magnetic field readings.

roslaunch ros_ign_gazebo_demos magnetometer.launch

RGBD camera

RGBD camera data can be obtained as:

sensor_msgs/Image, through ros_ign_bridge or ros_ign_image
sensor_msgs/PointCloud2, through ros_ign_bridge or ros_ign_point_cloud (See issue #40)

Using the image bridge (unidirectional, uses image_transport):

roslaunch ros_ign_gazebo_demos image_bridge.launch

Using the regular bridge:

roslaunch ros_ign_gazebo_demos rgbd_camera_bridge.launch

Using Ignition Gazebo plugin:

roslaunch ros_ign_gazebo_demos rgbd_camera.launch

Battery

Get the current state of a battery.

roslaunch ros_ign_gazebo_demos battery.launch

Then send a command so the vehicle moves and drains the battery

rostopic pub /model/vehicle_blue/cmd_vel geometry_msgs/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"

Create entity

Launch simulation and spawn entities:

Sphere from URDF loaded into ROS param
Box from SDF file on Ignition Fuel
Cylinder from SDF file

roslaunch ros_ign_gazebo_demos create.launch

CHANGELOG

Changelog for package ros1_ign_gazebo_demos

0.9.5 (2021-03-30)

0.9.4 (2020-12-10)

Add dome + melodic to CI (#126) Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org>
[melodic] Update releases (#105)
Pointcloud bridge demo for depth camera (#39)
Choose collection based on environment variable (#72)
- Choose collection based on the environment variable IGNITION_VERSION
Contributors: Louise Poubel, Nate Koenig

0.9.2 (2020-05-14)

0.9.1 (2020-05-13)

Merge pull request #71 from ignitionrobotics/0_9_0gazebo2_fix Fix gazebo version in package.xml files
Contributors: Nate Koenig

0.9.0 (2020-05-13)

Corrected error in launch (#66)
ros_ign_gazebo package, with launch and spawn (#60)
- create ros_ign_gazebo package and move ign_gazebo exec and launch files there
- Port create executable from create branch - ROS interface to spawn entities
- use correct gflags key
- PR feedback
[Citadel] Citadel support (#48)
- Citadel support
- more citadel deps
- addressing feedback, fix typos and better find logic
- fix CI
Correct demo frame names (#54)
Contributors: John, RDaneelOlivav, chapulina

0.8.0 (2019-11-22)

Add replaces for each package (#46)
Make all API and comments ROS-version agnostic Signed-off-by: Louise Poubel <louise@openrobotics.org>
Rename packages and fix compilation + tests Signed-off-by: Louise Poubel <louise@openrobotics.org>
Move files ros1 -> ros Signed-off-by: Louise Poubel <louise@openrobotics.org>
Contributors: Louise Poubel, chapulina

0.7.0 (2019-08-15)

0.6.3 (2019-08-04)

0.6.2 (2019-08-04)

0.6.1 (2019-08-04)

0.6.0 (2019-08-02)

Image bridge using image_transport (#34)
- Image bridge using image_transport
- tests for image
- correct metapackage
* tests with catkin Signed-off-by: Louise Poubel <louise@openrobotics.org> * Revert changes from #32 Signed-off-by: Louise Poubel <louise@openrobotics.org>
Revert \"Pointcloud bridge demo for depth camera\" This reverts commit 094cd40f21aed734d59c204172ad5afd7a26c8d6.
Pointcloud bridge demo for depth camera
Contributors: Louise Poubel, chapulina
0.5.0
Battery state (#30)
Packed demo (#29)
- adding demo for point cloud packed bridge
- correct rviz file
- RGBD bridged cloud demo
Merge pull request #28 from osrf/pointcloudpacked Bridge point cloud packed
Contributors: Nate Koenig, chapulina
Battery state (#30)
Packed demo (#29)
- adding demo for point cloud packed bridge
- correct rviz file
- RGBD bridged cloud demo
Merge pull request #28 from osrf/pointcloudpacked Bridge point cloud packed
Contributors: Nate Koenig, chapulina

0.4.0 (2019-07-16)

0.3.1 (2019-07-01)

Merge pull request #24 from osrf/fix_dep ignition-gazebo2 needed at build time
ignition-gazebo2 needed at build time
Contributors: Jose Luis Rivero

0.3.0 (2019-06-28)

0.2.0
Merge pull request #21 from osrf/lidar Point clouds from lidars
Conversion between nav_msgs/Odometry and ignition::msgs::Odometry (#22)
- Conversion between nav_msgs/Odometry and ignition::msgs::Odometry.
- Update documentation.
- More time to run tests
- Cleaning test_utils.
- Remove explicit ROS dependencies for Travis.
- diff drive demo with cmd_vel and odom
- process child frame id
final tweaks
PC2 for gpu_lidar, 1 vertical sample
Start of lidar PC
Fluid pressure (#20)
- screenshots
- missing IMU
- Fluid pressure
- Fix tests.
Demos package (#19)
- Start of demos package: camera
- IMU
- depth camera
- magnetometer
- lidar, base launch
- READMEs, RGBD camera
- screenshots
- missing IMU
- set plugin path env
- It\'s best to always set it
Contributors: Carlos Ag

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	catkin
	1	image_transport_plugins
	1	ros_ign_bridge
	1	ros_ign_gazebo
	1	ros_ign_image
	1	rqt_image_view
	1	rqt_plot
	2	rviz
	0	ignition-gazebo2
	0	ignition-gazebo4

System Dependencies

Name
ignition-gazebo3

Dependant Packages

Name	Repo	Deps
ros_ign	github-ignitionrobotics-ros_ign

Launch files

launch/rgbd_camera_bridge.launch
launch/create.launch
- - world [default: empty]
  - ign_args [default: ]
launch/rgbd_camera.launch
launch/depth_camera.launch
launch/battery.launch
launch/diff_drive.launch
launch/gpu_lidar.launch
launch/air_pressure.launch
launch/gpu_lidar_bridge.launch
launch/depth_camera_bridge.launch
launch/camera.launch
launch/imu.launch
launch/magnetometer.launch
launch/image_bridge.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `ros_ign_gazebo_demos` at answers.ros.org

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ros_ign_gazebo_demos package from ros_ign repo

ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_point_cloud

Package Summary

Tags	No category tags.
Version	0.7.0
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	dashing
Last Updated	2020-12-07
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

Demos using Ignition Gazebo simulation with ROS.

Additional Links

No additional links.

Maintainers

Louise Poubel

Authors

No additional authors.

ROS + Ignition Gazebo demos

This package contains demos showing how to use Ignition Gazebo with ROS.

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"

Air pressure

TODO: Pending bridge for sensor_msgs/msg/FluidPressure, issue.

Publishes fluid pressure readings.

ros2 launch ros_ign_gazebo_demos air_pressure.launch.py

Camera

Publishes RGB camera image and info.

Images can be exposed to ROS through ros_ign_bridge or ros_ign_image.

Using the image bridge (unidirectional, uses image_transport):

ros2 launch ros_ign_gazebo_demos image_bridge.launch.py

Using the regular bridge:

ros2 launch ros_ign_gazebo_demos camera.launch.py

Diff drive

Send commands to a differential drive vehicle and listen to its odometry.

ros2 launch ros_ign_gazebo_demos diff_drive.launch.py

Then unpause and send a command

ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"

Depth camera

Depth camera data can be obtained as:

sensor_msgs/msg/Image, through ros_ign_bridge or ros_ign_image
sensor_msgs/msg/PointCloud2, through ros_ign_point_cloud

Using the image bridge (unidirectional, uses image_transport):

ros2 launch ros_ign_gazebo_demos image_bridge.launch.py

TODO: Blocked by ros_ign_point_cloud issue.

Using Ignition Gazebo plugin:

ros2 launch ros_ign_gazebo_demos depth_camera.launch.py

GPU lidar

GPU lidar data can be obtained as:

sensor_msgs/msg/LaserScan, through the ros_ign_bridge
sensor_msgs/msg/PointCloud2, through the ros_ign_bridge or ros_ign_point_cloud

Using the bridge:

ros2 launch ros_ign_gazebo_demos gpu_lidar_bridge.launch.py

TODO: Blocked by ros_ign_point_cloud issue.

Using Ignition Gazebo plugin:

ros2 launch ros_ign_gazebo_demos gpu_lidar.launch.py

IMU

Publishes IMU readings.

ros2 launch ros_ign_gazebo_demos imu.launch.py

TODO: IMU display missing for RViz2

Magnetometer

Publishes magnetic field readings.

ros2 launch ros_ign_gazebo_demos magnetometer.launch.py

RGBD camera

RGBD camera data can be obtained as:

sensor_msgs/msg/Image, through ros_ign_bridge or ros_ign_image
sensor_msgs/msg/PointCloud2, through ros_ign_bridge or ros_ign_point_cloud

Using the image bridge (unidirectional, uses image_transport):

ros2 launch ros_ign_gazebo_demos image_bridge.launch.py

Using the regular bridge:

ros2 launch ros_ign_gazebo_demos rgbd_camera_bridge.launch.py

TODO: Blocked by ros_ign_point_cloud issue.

Using Ignition Gazebo plugin:

ros2 launch ros_ign_gazebo_demos rgbd_camera.launch.py

Battery

Get the current state of a battery.

ros2 launch ros_ign_gazebo_demos battery.launch.py

Then send a command so the vehicle moves and drains the battery

ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"

CHANGELOG

Changelog for package ros1_ign_gazebo_demos

0.7.0 (2019-08-15)

0.6.3 (2019-08-04)

0.6.2 (2019-08-04)

0.6.1 (2019-08-04)

0.6.0 (2019-08-02)

Image bridge using image_transport (#34)
- Image bridge using image_transport
- tests for image
- correct metapackage
* tests with catkin Signed-off-by: Louise Poubel <louise@openrobotics.org> * Revert changes from #32 Signed-off-by: Louise Poubel <louise@openrobotics.org>
Revert \"Pointcloud bridge demo for depth camera\" This reverts commit 094cd40f21aed734d59c204172ad5afd7a26c8d6.
Pointcloud bridge demo for depth camera
Contributors: Louise Poubel, chapulina
0.5.0
Battery state (#30)
Packed demo (#29)
- adding demo for point cloud packed bridge
- correct rviz file
- RGBD bridged cloud demo
Merge pull request #28 from osrf/pointcloudpacked Bridge point cloud packed
Contributors: Nate Koenig, chapulina
Battery state (#30)
Packed demo (#29)
- adding demo for point cloud packed bridge
- correct rviz file
- RGBD bridged cloud demo
Merge pull request #28 from osrf/pointcloudpacked Bridge point cloud packed
Contributors: Nate Koenig, chapulina

0.4.0 (2019-07-16)

0.3.1 (2019-07-01)

Merge pull request #24 from osrf/fix_dep ignition-gazebo2 needed at build time
ignition-gazebo2 needed at build time
Contributors: Jose Luis Rivero

0.3.0 (2019-06-28)

0.2.0
Merge pull request #21 from osrf/lidar Point clouds from lidars
Conversion between nav_msgs/Odometry and ignition::msgs::Odometry (#22)
- Conversion between nav_msgs/Odometry and ignition::msgs::Odometry.
- Update documentation.
- More time to run tests
- Cleaning test_utils.
- Remove explicit ROS dependencies for Travis.
- diff drive demo with cmd_vel and odom
- process child frame id
final tweaks
PC2 for gpu_lidar, 1 vertical sample
Start of lidar PC
Fluid pressure (#20)
- screenshots
- missing IMU
- Fluid pressure
- Fix tests.
Demos package (#19)
- Start of demos package: camera
- IMU
- depth camera
- magnetometer
- lidar, base launch
- READMEs, RGBD camera
- screenshots
- missing IMU
- set plugin path env
- It\'s best to always set it
Contributors: Carlos Ag

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	ament_cmake
	0	ignition-gazebo2
	1	image_transport_plugins
	1	ros_ign_bridge
	1	ros_ign_gazebo
	1	ros_ign_image
	1	rqt_image_view
	1	rqt_plot
	1	rqt_topic
	1	rviz2

System Dependencies

Name
ignition-gazebo3

Dependant Packages

Name	Repo	Deps
ros_ign	github-ignitionrobotics-ros_ign

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_gazebo_demos` at answers.ros.org