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ros_ign_gazebo_demos package from ros_ign repo

ros_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_interfaces ros_gz_sim ros_gz_sim_demos

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Wiki

Package Summary

Tags No category tags.
Version 0.0.1
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

Shim package to redirect to ros_gz_sim_demos.

Additional Links

No additional links.

Maintainers

  • Brandon Ong

Authors

No additional authors.
ros_gz_shims/ros_ign_gazebo_demos/README.md

This is a shim package

For ros_gz_sim_demos

CHANGELOG
No CHANGELOG found.

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_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

API Docs
Browse Code
Wiki

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 2022-11-17
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

  • Alejandro Hernandez Cordero

Authors

  • Louise Poubel
ros_ign_gazebo_demos/README.md

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)
  • [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.

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

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

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

API Docs
Browse Code
Wiki

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 2022-09-12
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_ign_gazebo_demos/README.md

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

GNSS

Publishes satellite navigation readings, only available in Ignition releases from Fortress on.

roslaunch ros_ign_gazebo_demos navsat.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

0.111.2 (2021-12-30)

  • [noetic]

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.9.6
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 2022-09-09
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

  • Alejandro Hernandez Cordero

Authors

  • Louise Poubel
ros_ign_gazebo_demos/README.md

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

GNSS

Publishes satellite navigation readings, only available in Ignition releases from Fortress on.

roslaunch ros_ign_gazebo_demos navsat.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

0.9.6 (2021-10-25)

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)

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.

Recent questions tagged ros_ign_gazebo_demos at answers.ros.org

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

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

API Docs
Browse Code
Wiki

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_ign_gazebo_demos/README.md

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

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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

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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

Demos using Ignition Gazebo simulation with ROS.

Additional Links

No additional links.

Maintainers

  • Louise Poubel

Authors

No additional authors.
ros_ign_gazebo_demos/README.md

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

This demo also shows the use of custom QoS parameters. The sensor data is published as as "best-effort", so trying to subscribe to "reliable" data won't work. See the difference between:

ros2 topic echo /air_pressure --qos-reliability best_effort

And

ros2 topic echo /air_pressure --qos-reliability reliable

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}}"

This demo also shows the use of custom QoS parameters. The commands are subscribed to as "reliable", so trying to publish "best-effort" commands won't work. See the difference between:

ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.0}}" --qos-reliability reliable

And

ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.0}}" --qos-reliability best_effort

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

GNSS

Publishes satellite navigation readings, only available in Fortress on.

ros2 launch ros_ign_gazebo_demos navsat.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

0.233.4 (2022-02-07)

0.233.3 (2021-12-30)

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

Wiki Tutorials

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Launch files

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Messages

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Services

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Plugins

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Recent questions tagged ros_ign_gazebo_demos at answers.ros.org

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