ros_gz
ros_gz copied to clipboard
Launch file for combined spawn_model + bridge
🎉 New feature
Summary
This patch adds two launch files: one for spawning a gz sim model and the other for spawning a gz sim model with a ros_gz bridge.
How to test it?
Launch gz sim:
ros2 launch ros_gz_sim gz_sim.launch.py gz_args:=empty.sdf
Hit play.
Use the provided gz_spawn_model.launch.py
to spawn a vehicle (change file
accordingly):
ros2 launch ros_gz_sim gz_spawn_model.launch.py world:=empty file:=/home/caguero/ros_gz_ws/src/ros_gz/ros_gz_sim_demos/models/vehicle/model.sdf name:=my_vehicle x:=5.0 y:=5.0 z:=0.5
Confirm that no container has been created:
caguero@cold:~/ros_gz_ws$ ros2 component list
Now let's spawn another model with a ros_gz bridge (update file
and config_file
accordingly):
ros2 launch ros_gz_sim ros_gz_spawn_model.launch.py world:=empty file:=/home/caguero/ros_gz_ws/src/ros_gz/ros_gz_sim_demos/models/vehicle/model.sdf name:=my_vehicle_2 x:=2.0 y:=2.0 z:=0.5 config_file:=/home/caguero/ros_gz_ws//src/ros_gz/ros_gz_bridge/test/config/full.yaml use_composition:=True
A second vehicle should be loaded into the scene.
gzserver should be running. Verify that you also see the /ros_chatter
topic:
caguero@cold:~/ros_gz_ws$ ros2 topic list
/parameter_events
/ros_chatter
/rosout
And confirm that a container has been created with both nodes:
caguero@cold:~/ros_gz_ws$ ros2 component list
/ros_gz_container
1 /ros_gz_bridge
You could also explore launching another vehicle without the use_composition
parameter.
Test it
Checklist
- [x] Signed all commits for DCO
- [ ] Added tests
- [ ] Added example and/or tutorial
- [ ] Updated documentation (as needed)
- [ ] Updated migration guide (as needed)
- [ ] Consider updating Python bindings (if the library has them)
- [ ]
codecheck
passed (See contributing) - [ ] All tests passed (See test coverage)
- [ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers
Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by
messages.