Fixed ros_gz_sim_demos launch files (#319)

Signed-off-by: ahcorde <ahcorde@gmail.com>
gazebosim · Oct 28, 2022 · 8a78928 · 8a78928
1 parent 52fcb57
commit 8a78928
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Showing 16 changed files with 34 additions and 34 deletions.
diff --git a/ros_gz_sim_demos/launch/air_pressure.launch.py b/ros_gz_sim_demos/launch/air_pressure.launch.py
@@ -36,7 +36,7 @@ def generate_launch_description():
     bridge = Node(
         package='ros_gz_bridge',
         executable='parameter_bridge',
-        arguments=['/air_pressure@sensor_msgs/msg/FluidPressure@ignition.msgs.FluidPressure'],
+        arguments=['/air_pressure@sensor_msgs/msg/FluidPressure@gz.msgs.FluidPressure'],
         parameters=[{'qos_overrides./air_pressure.publisher.reliability': 'best_effort'}],
         output='screen'
     )

diff --git a/ros_gz_sim_demos/launch/battery.launch.py b/ros_gz_sim_demos/launch/battery.launch.py
@@ -53,9 +53,9 @@ def generate_launch_description():
         package='ros_gz_bridge',
         executable='parameter_bridge',
         arguments=[
-            '/model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist@ignition.msgs.Twist',
+            '/model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist',
             '/model/vehicle_blue/battery/linear_battery/state@sensor_msgs/msg/BatteryState@'
-            'ignition.msgs.BatteryState'
+            'gz.msgs.BatteryState'
         ],
         output='screen'
     )

diff --git a/ros_gz_sim_demos/launch/camera.launch.py b/ros_gz_sim_demos/launch/camera.launch.py
@@ -49,8 +49,8 @@ def generate_launch_description():
     bridge = Node(
         package='ros_gz_bridge',
         executable='parameter_bridge',
-        arguments=['/camera@sensor_msgs/msg/Image@ignition.msgs.Image',
-                   '/camera_info@sensor_msgs/msg/CameraInfo@ignition.msgs.CameraInfo'],
+        arguments=['/camera@sensor_msgs/msg/Image@gz.msgs.Image',
+                   '/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo'],
         output='screen'
     )
 

diff --git a/ros_gz_sim_demos/launch/depth_camera.launch.py b/ros_gz_sim_demos/launch/depth_camera.launch.py
@@ -60,7 +60,7 @@ def generate_launch_description():
     bridge = Node(
         package='ros_gz_bridge',
         executable='parameter_bridge',
-        arguments=['/depth_camera@sensor_msgs/msg/Image@ignition.msgs.Image'],
+        arguments=['/depth_camera@sensor_msgs/msg/Image@gz.msgs.Image'],
         output='screen'
     )
 

diff --git a/ros_gz_sim_demos/launch/diff_drive.launch.py b/ros_gz_sim_demos/launch/diff_drive.launch.py
@@ -51,10 +51,10 @@ def generate_launch_description():
     bridge = Node(
         package='ros_gz_bridge',
         executable='parameter_bridge',
-        arguments=['/model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist@ignition.msgs.Twist',
-                   '/model/vehicle_blue/odometry@nav_msgs/msg/Odometry@ignition.msgs.Odometry',
-                   '/model/vehicle_green/cmd_vel@geometry_msgs/msg/Twist@ignition.msgs.Twist',
-                   '/model/vehicle_green/odometry@nav_msgs/msg/Odometry@ignition.msgs.Odometry'],
+        arguments=['/model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist',
+                   '/model/vehicle_blue/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry',
+                   '/model/vehicle_green/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist',
+                   '/model/vehicle_green/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry'],
         parameters=[{'qos_overrides./model/vehicle_blue.subscriber.reliability': 'reliable',
                      'qos_overrides./model/vehicle_green.subscriber.reliability': 'reliable'}],
         output='screen'

diff --git a/ros_gz_sim_demos/launch/gpu_lidar.launch.py b/ros_gz_sim_demos/launch/gpu_lidar.launch.py
@@ -51,7 +51,7 @@ def generate_launch_description():
     bridge = Node(
         package='ros_gz_bridge',
         executable='parameter_bridge',
-        arguments=['/lidar@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan/'],
+        arguments=['/lidar@sensor_msgs/msg/LaserScan@gz.msgs.LaserScan/'],
         output='screen'
     )
 

diff --git a/ros_gz_sim_demos/launch/gpu_lidar_bridge.launch.py b/ros_gz_sim_demos/launch/gpu_lidar_bridge.launch.py
@@ -51,8 +51,8 @@ def generate_launch_description():
     bridge = Node(
         package='ros_gz_bridge',
         executable='parameter_bridge',
-        arguments=['lidar@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan',
-                   '/lidar/points@sensor_msgs/msg/PointCloud2@ignition.msgs.PointCloudPacked'],
+        arguments=['lidar@sensor_msgs/msg/LaserScan@gz.msgs.LaserScan',
+                   '/lidar/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'],
         output='screen'
     )
 

diff --git a/ros_gz_sim_demos/launch/imu.launch.py b/ros_gz_sim_demos/launch/imu.launch.py
@@ -60,7 +60,7 @@ def generate_launch_description():
     bridge = Node(
         package='ros_gz_bridge',
         executable='parameter_bridge',
-        arguments=['/imu@sensor_msgs/msg/Imu@ignition.msgs.IMU'],
+        arguments=['/imu@sensor_msgs/msg/Imu@gz.msgs.IMU'],
         output='screen'
     )
 

diff --git a/ros_gz_sim_demos/launch/joint_states.launch.py b/ros_gz_sim_demos/launch/joint_states.launch.py
@@ -76,9 +76,9 @@ def generate_launch_description():
         executable='parameter_bridge',
         arguments=[
             # Clock (IGN -> ROS2)
-            '/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
+            '/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock',
             # Joint states (IGN -> ROS2)
-            '/world/empty/model/rrbot/joint_state@sensor_msgs/msg/JointState[ignition.msgs.Model',
+            '/world/empty/model/rrbot/joint_state@sensor_msgs/msg/JointState[gz.msgs.Model',
         ],
         remappings=[
             ('/world/empty/model/rrbot/joint_state', 'joint_states'),

diff --git a/ros_gz_sim_demos/launch/magnetometer.launch.py b/ros_gz_sim_demos/launch/magnetometer.launch.py
@@ -50,7 +50,7 @@ def generate_launch_description():
     bridge = Node(
         package='ros_gz_bridge',
         executable='parameter_bridge',
-        arguments=['/magnetometer@sensor_msgs/msg/MagneticField@ignition.msgs.Magnetometer'],
+        arguments=['/magnetometer@sensor_msgs/msg/MagneticField@gz.msgs.Magnetometer'],
         output='screen'
     )
 

diff --git a/ros_gz_sim_demos/launch/navsat.launch.py b/ros_gz_sim_demos/launch/navsat.launch.py
@@ -50,7 +50,7 @@ def generate_launch_description():
     bridge = Node(
         package='ros_gz_bridge',
         executable='parameter_bridge',
-        arguments=['/navsat@sensor_msgs/msg/NavSatFix@ignition.msgs.NavSat'],
+        arguments=['/navsat@sensor_msgs/msg/NavSatFix@gz.msgs.NavSat'],
         output='screen'
     )
 

diff --git a/ros_gz_sim_demos/launch/rgbd_camera.launch.py b/ros_gz_sim_demos/launch/rgbd_camera.launch.py
@@ -48,8 +48,8 @@ def generate_launch_description():
     bridge = Node(
         package='ros_gz_bridge',
         executable='parameter_bridge',
-        arguments=['/rgbd_camera/image@sensor_msgs/msg/Image@ignition.msgs.Image',
-                   '/rgbd_camera/depth_image@sensor_msgs/msg/Image@ignition.msgs.Image'],
+        arguments=['/rgbd_camera/image@sensor_msgs/msg/Image@gz.msgs.Image',
+                   '/rgbd_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image'],
         output='screen'
     )
 

diff --git a/ros_gz_sim_demos/launch/rgbd_camera_bridge.launch.py b/ros_gz_sim_demos/launch/rgbd_camera_bridge.launch.py
@@ -54,9 +54,9 @@ def generate_launch_description():
         package='ros_gz_bridge',
         executable='parameter_bridge',
         arguments=[
-            '/rgbd_camera/image@sensor_msgs/msg/Image@ignition.msgs.Image',
-            '/rgbd_camera/depth_image@sensor_msgs/msg/Image@ignition.msgs.Image',
-            '/rgbd_camera/points@sensor_msgs/msg/PointCloud2@ignition.msgs.PointCloudPacked'
+            '/rgbd_camera/image@sensor_msgs/msg/Image@gz.msgs.Image',
+            '/rgbd_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image',
+            '/rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'
         ],
         output='screen'
     )

diff --git a/ros_gz_sim_demos/launch/sdf_parser.launch.py b/ros_gz_sim_demos/launch/sdf_parser.launch.py
@@ -58,15 +58,15 @@ def generate_launch_description():
         executable='parameter_bridge',
         arguments=[
             # Clock (Gazebo -> ROS2)
-            '/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
+            '/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock',
             # Joint states (Gazebo -> ROS2)
-            joint_state_gz_topic + '@sensor_msgs/msg/JointState[ignition.msgs.Model',
+            joint_state_gz_topic + '@sensor_msgs/msg/JointState[gz.msgs.Model',
             # Link poses (Gazebo -> ROS2)
-            link_pose_gz_topic + '@tf2_msgs/msg/TFMessage[ignition.msgs.Pose_V',
-            link_pose_gz_topic + '_static@tf2_msgs/msg/TFMessage[ignition.msgs.Pose_V',
+            link_pose_gz_topic + '@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V',
+            link_pose_gz_topic + '_static@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V',
             # Velocity and odometry (Gazebo -> ROS2)
-            gz_topic + '/cmd_vel@geometry_msgs/msg/Twist@ignition.msgs.Twist',
-            gz_topic + '/odometry@nav_msgs/msg/Odometry@ignition.msgs.Odometry',
+            gz_topic + '/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist',
+            gz_topic + '/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry',
         ],
         remappings=[
             (joint_state_gz_topic, 'joint_states'),

diff --git a/ros_gz_sim_demos/launch/tf_bridge.launch.py b/ros_gz_sim_demos/launch/tf_bridge.launch.py
@@ -41,9 +41,9 @@ def generate_launch_description():
             executable='parameter_bridge',
             arguments=[
                 '/world/default/model/double_pendulum_with_base0/joint_state@'
-                'sensor_msgs/msg/JointState[ignition.msgs.Model',
+                'sensor_msgs/msg/JointState[gz.msgs.Model',
                 '/model/double_pendulum_with_base0/pose@'
-                'tf2_msgs/msg/TFMessage[ignition.msgs.Pose_V'
+                'tf2_msgs/msg/TFMessage[gz.msgs.Pose_V'
             ],
             remappings=[
                 ('/model/double_pendulum_with_base0/pose', '/tf'),

diff --git a/ros_gz_sim_demos/launch/triggered_camera.launch.py b/ros_gz_sim_demos/launch/triggered_camera.launch.py
@@ -49,9 +49,9 @@ def generate_launch_description():
     bridge = Node(
         package='ros_gz_bridge',
         executable='parameter_bridge',
-        arguments=['/camera@sensor_msgs/msg/Image@ignition.msgs.Image',
-                   '/camera/trigger@std_msgs/msg/Bool@ignition.msgs.Boolean',
-                   '/camera_info@sensor_msgs/msg/CameraInfo@ignition.msgs.CameraInfo'],
+        arguments=['/camera@sensor_msgs/msg/Image@gz.msgs.Image',
+                   '/camera/trigger@std_msgs/msg/Bool@gz.msgs.Boolean',
+                   '/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo'],
         output='screen'
     )