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 for package ros1_ign_gazebo_demos

0.9.6 (2021-10-25)

• Support fortress with melodic (#182) Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org>
• Contributors: Nate Koenig

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