Fix missing msgs include and packages.xml deps (#292)

* Fix missing msgs include and packages.xml deps Signed-off-by: methylDragon <methylDragon@gmail.com> * Add additional conditions to support gz sim invocation Signed-off-by: methylDragon <methylDragon@gmail.com> * Fix cpplint Signed-off-by: methylDragon <methylDragon@gmail.com> Signed-off-by: methylDragon <methylDragon@gmail.com>
gazebosim · Sep 8, 2022 · 62e8ad3 · 62e8ad3
1 parent 6b05462
commit 62e8ad3
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Showing 4 changed files with 56 additions and 8 deletions.
diff --git a/ros_gz/package.xml b/ros_gz/package.xml
@@ -12,8 +12,8 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>ros_gz_bridge</exec_depend>
-  <exec_depend>ros_gz_gazebo</exec_depend>
-  <exec_depend>ros_gz_gazebo_demos</exec_depend>
+  <exec_depend>ros_gz_sim</exec_depend>
+  <exec_depend>ros_gz_sim_demos</exec_depend>
   <exec_depend>ros_gz_image</exec_depend>
   <!-- See https://github.com/gazebosim/ros_gz/issues/40 -->
   <!--exec_depend>ros_gz_point_cloud</exec_depend-->

diff --git a/ros_gz_bridge/src/service_factories/ros_gz_interfaces.cpp b/ros_gz_bridge/src/service_factories/ros_gz_interfaces.cpp
@@ -14,6 +14,8 @@
 
 #include "factories/ros_gz_interfaces.hpp"
 
+#include <ignition/msgs/boolean.pb.h>
+
 #include <memory>
 #include <string>
 

diff --git a/ros_gz_shims/ros_ign_gazebo/launch/ign_gazebo.launch.py.in b/ros_gz_shims/ros_ign_gazebo/launch/ign_gazebo.launch.py.in
@@ -19,8 +19,8 @@ from os import environ
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.actions import ExecuteProcess
-from launch.substitutions import LaunchConfiguration
-from launch.conditions import LaunchConfigurationEquals, LaunchConfigurationNotEquals
+from launch.substitutions import LaunchConfiguration, AndSubstitution, PythonExpression
+from launch.conditions import LaunchConfigurationEquals, LaunchConfigurationNotEquals, IfCondition
 
 
 def generate_launch_description():
@@ -64,7 +64,12 @@ def generate_launch_description():
         ),
 
         ExecuteProcess(
-            condition=LaunchConfigurationEquals('ign_version', ''),
+            condition=IfCondition(
+                AndSubstitution(
+                    PythonExpression(["'", LaunchConfiguration('ign_version'), "' == ''"]),
+                    PythonExpression(["'", LaunchConfiguration('gz_version'), "' < '7'"])
+                )
+            ),
             cmd=['ign gazebo',
                  LaunchConfiguration('gz_args'),
                  '--force-version',
@@ -74,4 +79,22 @@ def generate_launch_description():
             additional_env=env,
             shell=True
         ),
+
+        ExecuteProcess(
+            condition=IfCondition(
+                AndSubstitution(
+                    PythonExpression(["'", LaunchConfiguration('ign_version'), "' == ''"]),
+                    PythonExpression(["'", LaunchConfiguration('gz_version'), "' >= '7'"])
+                )
+            ),
+            cmd=['gz sim',
+                 LaunchConfiguration('gz_args'),
+                 '--force-version',
+                 LaunchConfiguration('gz_version'),
+                 ],
+            output='screen',
+            additional_env=env,
+            shell=True
+        ),
+
     ])
diff --git a/ros_gz_sim/launch/gz_sim.launch.py.in b/ros_gz_sim/launch/gz_sim.launch.py.in
@@ -19,8 +19,8 @@ from os import environ
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.actions import ExecuteProcess
-from launch.substitutions import LaunchConfiguration
-from launch.conditions import LaunchConfigurationEquals, LaunchConfigurationNotEquals
+from launch.substitutions import LaunchConfiguration, AndSubstitution, PythonExpression
+from launch.conditions import LaunchConfigurationEquals, LaunchConfigurationNotEquals, IfCondition
 
 
 def generate_launch_description():
@@ -64,7 +64,12 @@ def generate_launch_description():
         ),
 
         ExecuteProcess(
-            condition=LaunchConfigurationEquals('ign_version', ''),
+            condition=IfCondition(
+                AndSubstitution(
+                    PythonExpression(["'", LaunchConfiguration('ign_version'), "' == ''"]),
+                    PythonExpression(["'", LaunchConfiguration('gz_version'), "' < '7'"])
+                )
+            ),
             cmd=['ign gazebo',
                  LaunchConfiguration('gz_args'),
                  '--force-version',
@@ -74,4 +79,22 @@ def generate_launch_description():
             additional_env=env,
             shell=True
         ),
+
+        ExecuteProcess(
+            condition=IfCondition(
+                AndSubstitution(
+                    PythonExpression(["'", LaunchConfiguration('ign_version'), "' == ''"]),
+                    PythonExpression(["'", LaunchConfiguration('gz_version'), "' >= '7'"])
+                )
+            ),
+            cmd=['gz sim',
+                 LaunchConfiguration('gz_args'),
+                 '--force-version',
+                 LaunchConfiguration('gz_version'),
+                 ],
+            output='screen',
+            additional_env=env,
+            shell=True
+        ),
+
     ])