ros_gz_bridge__镜像__readme

Bridge communication between ROS and Gazebo

This package provides a network bridge which enables the exchange of messages between ROS and Gazebo Transport.

The following message types can be bridged for topics:

ROS type	Gazebo type
builtin_interfaces/msg/Time	ignition::msgs::Time
std_msgs/msg/Bool	ignition::msgs::Boolean
std_msgs/msg/ColorRGBA	ignition::msgs::Color
std_msgs/msg/Empty	ignition::msgs::Empty
std_msgs/msg/Float32	ignition::msgs::Float
std_msgs/msg/Float64	ignition::msgs::Double
std_msgs/msg/Header	ignition::msgs::Header
std_msgs/msg/Int32	ignition::msgs::Int32
std_msgs/msg/UInt32	ignition::msgs::UInt32
std_msgs/msg/String	ignition::msgs::StringMsg
geometry_msgs/msg/Wrench	ignition::msgs::Wrench
geometry_msgs/msg/WrenchStamped	ignition::msgs::Wrench
geometry_msgs/msg/Quaternion	ignition::msgs::Quaternion
geometry_msgs/msg/Vector3	ignition::msgs::Vector3d
geometry_msgs/msg/Point	ignition::msgs::Vector3d
geometry_msgs/msg/Pose	ignition::msgs::Pose
geometry_msgs/msg/PoseArray	ignition::msgs::Pose_V
geometry_msgs/msg/PoseWithCovariance	ignition::msgs::PoseWithCovariance
geometry_msgs/msg/PoseStamped	ignition::msgs::Pose
geometry_msgs/msg/Transform	ignition::msgs::Pose
geometry_msgs/msg/TransformStamped	ignition::msgs::Pose
geometry_msgs/msg/Twist	ignition::msgs::Twist
geometry_msgs/msg/TwistStamped	ignition::msgs::Twist
geometry_msgs/msg/TwistWithCovariance	ignition::msgs::TwistWithCovariance
nav_msgs/msg/Odometry	ignition::msgs::Odometry
nav_msgs/msg/Odometry	ignition::msgs::OdometryWithCovariance
rcl_interfaces/msg/ParameterValue	ignition::msgs::Any
ros_gz_interfaces/msg/Altimeter	ignition::msgs::Altimeter
ros_gz_interfaces/msg/Contact	ignition::msgs::Contact
ros_gz_interfaces/msg/Contacts	ignition::msgs::Contacts
ros_gz_interfaces/msg/Dataframe	ignition::msgs::Dataframe
ros_gz_interfaces/msg/Entity	ignition::msgs::Entity
ros_gz_interfaces/msg/Float32Array	ignition::msgs::Float_V
ros_gz_interfaces/msg/GuiCamera	ignition::msgs::GUICamera
ros_gz_interfaces/msg/JointWrench	ignition::msgs::JointWrench
ros_gz_interfaces/msg/Light	ignition::msgs::Light
ros_gz_interfaces/msg/SensorNoise	ignition::msgs::SensorNoise
ros_gz_interfaces/msg/StringVec	ignition::msgs::StringMsg_V
ros_gz_interfaces/msg/TrackVisual	ignition::msgs::TrackVisual
ros_gz_interfaces/msg/VideoRecord	ignition::msgs::VideoRecord
ros_gz_interfaces/msg/WorldControl	ignition::msgs::WorldControl
rosgraph_msgs/msg/Clock	ignition::msgs::Clock
sensor_msgs/msg/BatteryState	ignition::msgs::BatteryState
sensor_msgs/msg/CameraInfo	ignition::msgs::CameraInfo
sensor_msgs/msg/FluidPressure	ignition::msgs::FluidPressure
sensor_msgs/msg/Imu	ignition::msgs::IMU
sensor_msgs/msg/Image	ignition::msgs::Image
sensor_msgs/msg/JointState	ignition::msgs::Model
sensor_msgs/msg/Joy	ignition::msgs::Joy
sensor_msgs/msg/LaserScan	ignition::msgs::LaserScan
sensor_msgs/msg/MagneticField	ignition::msgs::Magnetometer
sensor_msgs/msg/NavSatFix	ignition::msgs::NavSat
sensor_msgs/msg/PointCloud2	ignition::msgs::PointCloudPacked
tf2_msgs/msg/TFMessage	ignition::msgs::Pose_V
trajectory_msgs/msg/JointTrajectory	ignition::msgs::JointTrajectory

And the following for services:

ROS type	Gazebo request	Gazebo response
ros_gz_interfaces/srv/ControlWorld	ignition.msgs.WorldControl	ignition.msgs.Boolean

Run ros2 run ros_gz_bridge parameter_bridge -h for instructions.

Example 1a: Gazebo Transport talker and ROS 2 listener

Start the parameter bridge which will watch the specified topics.

# Shell A:
. ~/bridge_ws/install/setup.bash
ros2 run ros_gz_bridge parameter_bridge /chatter@std_msgs/msg/[email protected]

Now we start the ROS listener.

# Shell B:
. /opt/ros/galactic/setup.bash
ros2 topic echo /chatter

Now we start the Gazebo Transport talker.

# Shell C:
ign topic -t /chatter -m ignition.msgs.StringMsg -p 'data:"Hello"'

Example 1b: ROS 2 talker and Gazebo Transport listener

Start the parameter bridge which will watch the specified topics.

# Shell A:
. ~/bridge_ws/install/setup.bash
ros2 run ros_gz_bridge parameter_bridge /chatter@std_msgs/msg/[email protected]

Now we start the Gazebo Transport listener.

# Shell B:
ign topic -e -t /chatter

Now we start the ROS talker.

# Shell C:
. /opt/ros/galactic/setup.bash
ros2 topic pub /chatter std_msgs/msg/String "data: 'Hi'" --once

Example 2: Run the bridge and exchange images

In this example, we're going to generate Gazebo Transport images using Gazebo Sim, that will be converted into ROS images, and visualized with rqt_image_viewer.

First we start Gazebo Sim (don't forget to hit play, or Gazebo Sim won't generate any images).

# Shell A:
ign gazebo sensors_demo.sdf

Let's see the topic where camera images are published.

# Shell B:
ign topic -l | grep image
/rgbd_camera/depth_image
/rgbd_camera/image

Then we start the parameter bridge with the previous topic.

# Shell B:
. ~/bridge_ws/install/setup.bash
ros2 run ros_gz_bridge parameter_bridge /rgbd_camera/image@sensor_msgs/msg/[email protected]

Now we start the ROS GUI:

# Shell C:
. /opt/ros/galactic/setup.bash
ros2 run rqt_image_view rqt_image_view /rgbd_camera/image

You should see the current images in rqt_image_view which are coming from Gazebo (published as Gazebo Msgs over Gazebo Transport).

The screenshot shows all the shell windows and their expected content (it was taken using ROS 2 Galactic and Gazebo Fortress):

Example 3: Static bridge

In this example, we're going to run an executable that starts a bidirectional bridge for a specific topic and message type. We'll use the static_bridge executable that is installed with the bridge.

The example's code can be found under ros_gz_bridge/src/static_bridge.cpp. In the code, it's possible to see how the bridge is hardcoded to bridge string messages published on the /chatter topic.

Let's give it a try, starting with Gazebo -> ROS 2.

On terminal A, start the bridge:

ros2 run ros_gz_bridge static_bridge

On terminal B, we start a ROS 2 listener:

ros2 topic echo /chatter std_msgs/msg/String

And terminal C, publish an Gazebo message:

ign topic -t /chatter -m ignition.msgs.StringMsg -p 'data:"Hello"'

At this point, you should see the ROS 2 listener echoing the message.

Now let's try the other way around, ROS 2 -> Gazebo.

On terminal D, start an Igntion listener:

ign topic -e -t /chatter

And on terminal E, publish a ROS 2 message:

ros2 topic pub /chatter std_msgs/msg/String 'data: "Hello"' -1

You should see the Gazebo listener echoing the message.

Example 4: Service bridge

It's possible to make ROS service requests into Gazebo. Let's try unpausing the simulation.

On terminal A, start the service bridge:

ros2 run ros_gz_bridge parameter_bridge /world/shapes/control@ros_gz_interfaces/srv/ControlWorld

On terminal B, start Gazebo, it will be paused by default:

ign gazebo shapes.sdf

On terminal C, make a ROS request to unpause simulation:

ros2 service call /world//control ros_gz_interfaces/srv/ControlWorld "{world_control: {pause: false}}"

Example 5: Configuring the Bridge via YAML

When configuring many topics, it is easier to use a file-based configuration in a markup language. In this case, the ros_gz bridge supports using a YAML file to configure the various parameters.

The configuration file must be a YAML array of maps. An example configuration for 5 bridges is below, showing the various ways that a bridge may be specified:

 # Set just topic name, applies to both
- topic_name: "chatter"
  ros_type_name: "std_msgs/msg/String"
  gz_type_name: "ignition.msgs.StringMsg"

# Set just ROS topic name, applies to both
- ros_topic_name: "chatter_ros"
  ros_type_name: "std_msgs/msg/String"
  gz_type_name: "ignition.msgs.StringMsg"

# Set just GZ topic name, applies to both
- gz_topic_name: "chatter_ign"
  ros_type_name: "std_msgs/msg/String"
  gz_type_name: "ignition.msgs.StringMsg"

# Set each topic name explicitly
- ros_topic_name: "chatter_both_ros"
  gz_topic_name: "chatter_both_ign"
  ros_type_name: "std_msgs/msg/String"
  gz_type_name: "ignition.msgs.StringMsg"

# Full set of configurations
- ros_topic_name: "ros_chatter"
  gz_topic_name: "ign_chatter"
  ros_type_name: "std_msgs/msg/String"
  gz_type_name: "ignition.msgs.StringMsg"
  subscriber_queue: 5       # Default 10
  publisher_queue: 6        # Default 10
  lazy: true                # Default "false"
  direction: BIDIRECTIONAL  # Default "BIDIRECTIONAL" - Bridge both directions
                            # "GZ_TO_ROS" - Bridge Ignition topic to ROS
                            # "ROS_TO_GZ" - Bridge ROS topic to Ignition

To run the bridge node with the above configuration:

ros2 run ros_gz_bridge parameter_bridge --ros-args -p config_file:=$WORKSPACE/ros_gz/ros_gz_bridge/test/config/full.yaml

API

ROS 2 Parameters:

• subscription_heartbeat - Period at which the node checks for new subscribers for lazy bridges.
• config_file - YAML file to be loaded as the bridge configuration