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Integration between ROS (1 and 2) and Gazebo simulation
ROS version | Ignition version | Branch | Binaries hosted at |
---|---|---|---|
Melodic | Citadel | melodic | only from source |
Melodic | Fortress | melodic | only from source |
Noetic | Citadel | noetic | https://packages.ros.org |
Noetic | Edifice | noetic | only from source |
Noetic | Fortress | noetic | only from source |
Foxy | Citadel | foxy | https://packages.ros.org |
Foxy | Edifice | foxy | only from source |
Galactic | Edifice | galactic | https://packages.ros.org |
Galactic | Fortress | galactic | only from source |
Rolling | Edifice | ros2 | only from source |
Rolling | Fortress | ros2 | https://packages.ros.org |
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 Melodic. See above for other ROS versions.
Binaries
There are no binaries available for Melodic.
From source
ROS
Be sure you've installed ROS Melodic (at least ROS-Base). More ROS dependencies will be installed below.
Ignition
Install either Citadel or Fortress.
Set the IGNITION_VERSION
environment variable to the Ignition version you'd
like to compile against. For example:
export IGNITION_VERSION=citadel
You only need to set this variable when compiling, not when running.
Compile ros_ign
The following steps are for Linux and OSX.
-
Create a catkin workspace:
# Setup the workspace mkdir -p ~/ws/src cd ~/ws/src # Download needed software git clone https://github.com/osrf/ros_ign.git -b melodic
-
Install ROS dependencies:
cd ~/ws rosdep install -r --from-paths src -i -y --rosdistro melodic
If
rosdep
fails to install Ignition libraries and you have not installed them before, please follow Ignition installation instructions. -
Build the workspace:
# Source ROS distro's setup.bash source /opt/ros/melodic/setup.bash # Build and install into workspace cd ~/ws/ catkin_make install