Please ticket an issue if you’d like support to be added for some combination.

Integration between ROS and Ignition

Packages

This repository holds packages that provide integration between ROS and Ignition:

• ros_ign: Metapackage which provides all the other packages.
• ros_ign_image: Unidirectional transport bridge for images from Ignition Transport to ROS using image_transport.
• ros_ign_bridge: Bidirectional transport bridge between Ignition Transport and ROS.
• ros_ign_gazebo: Convenient launch files and executables for using Ignition Gazebo with ROS.
• ros_ign_gazebo_demos: Demos using the ROS-Ignition integration.
• ros_ign_point_cloud: Plugins for publishing point clouds to ROS from Ignition Gazebo simulations.

Install

This branch supports ROS Galactic. See above for other ROS versions.

Binaries

Galactic binaries are available for Edifice. They are hosted at https://packages.ros.org.

1. Add https://packages.ros.org

    sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
    sudo apt-get update
   

2. Install ros_ign

    sudo apt install ros-galactic-ros-ign
   

From source

ROS

Be sure you’ve installed ROS Galactic (at least ROS-Base). More ROS dependencies will be installed below.

Ignition

Install either Edifice or Fortress.

Set the IGNITION_VERSION environment variable to the Ignition version you’d like to compile against. For example:

export IGNITION_VERSION=edifice

You only need to set this variable when compiling, not when running.

Compile ros_ign

The following steps are for Linux and OSX.

1. Create a colcon workspace:

    # Setup the workspace
    mkdir -p ~/ws/src
    cd ~/ws/src

    # Download needed software
    git clone https://github.com/osrf/ros_ign.git -b galactic
    

1. Install dependencies (this may also install Ignition):

    cd ~/ws
    rosdep install -r --from-paths src -i -y --rosdistro galactic
    

> If `rosdep` fails to install Ignition libraries and you have not installed them before, please follow [Ignition installation instructions](https://ignitionrobotics.org/docs/latest/install).

1. Build the workspace:

    # Source ROS distro's setup.bash
    source /opt/ros/galactic/setup.bash

    # Build and install into workspace
    cd ~/ws
    colcon build
    

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