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 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] 🏁 Dome EOL (#199)
• Enable QoS overrides (#181)
• Contributors: Louise Poubel

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 Hernández Cordero <<ahcorde@gmail.com>>
• [WIP] Port ign_ros_gazebo_demos to ROS2 (#58) Port ros_ign_image to ROS2 Port ros_ign_gazebo_demos to ROS2
• Enable ROS2 CI for Dashing branch (#43)
• Make all API and comments ROS-version agnostic
• Rename packages and fix compilation + tests
• Move files ros1 -> ros
• Contributors: Alejandro Hernández Cordero, Jose Luis Rivero, 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 Agüero, Nate Koenig, chapulina

0.2.2 (2019-05-20)

0.2.1 (2019-05-11)

0.2.0 (2019-05-09)

0.1.0 (2019-03-20)