Add option to change material color from ROS.

[bperseghetti]

🎉 New feature

Summary

Allows for setting a GZ entities visual material color from ROS. This is highly valuable for creating noticeable LED status lighting. And depends on associated gz-msgs.

Checklist

• Signed all commits for DCO
• Added tests
• 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.

[ahcorde]

can you add a test?

[bperseghetti]

can you add a test?

Yes, I was planning to wait and make sure this change was desired in upstream before spending any extra time to add a test.
Also to make testing work properly with CI will need to get gazebosim/gz-msgs#414 in first anyhow. This was more just to show the interdependent changes.

[bperseghetti]

@ahcorde Test added.

[ahcorde]

you included some changes related with renaming ign to gz. Do you mind to remove them?

[bperseghetti]

you included some changes related with renaming ign to gz. Do you mind to remove them?

So that readme is in the ros_gz_bridge instead of the ros_ign_bridge, should it not be changed to match the naming?

[azeey]

So that readme is in the ros_gz_bridge instead of the ros_ign_bridge, should it not be changed to match the naming?

I think we should stick with ign since Humble is officially paired with Fortress. It's confusing for users since trying to use gz doesn't work in Humble/Fortress.

[bperseghetti]

So that readme is in the ros_gz_bridge instead of the ros_ign_bridge, should it not be changed to match the naming?

I think we should stick with ign since Humble is officially paired with Fortress. It's confusing for users since trying to use gz doesn't work in Humble/Fortress.

But to be clear this is not the main README but this is the one inside ros_gz_bridge. The one inside ros_ign_bridge should just say it's a shim on the other and have ign listed in it, right?

I guess I should just swap them.

[azeey]

But to be clear this is not the main README but this is the one inside ros_gz_bridge. The one inside ros_ign_bridge should just say it's a shim on the other and have ign listed in it, right?

https://github.com/gazebosim/ros_gz/tree/humble/ros_ign_bridge does say it's a shim

[bperseghetti]

But to be clear this is not the main README but this is the one inside ros_gz_bridge. The one inside ros_ign_bridge should just say it's a shim on the other and have ign listed in it, right?

https://github.com/gazebosim/ros_gz/tree/humble/ros_ign_bridge does say it's a shim

Well I did also just change that so you know it's a shim but it has different interface and that gives you the interface of it.

[bperseghetti]

@osrf-jenkins run tests please

[azeey]

This PR is targeting humble which needs to work with Fortress, but the gz-msgs and gz-sim that landed recently all targeted Harmonic. I recommend retargeting this to rolling.

[azeey]

Alternatively, you can do something like

ros_gz/ros_gz_bridge/include/ros_gz_bridge/ros_gz_bridge.hpp

Lines 26 to 38 in 84d5d27

	// Dataframe is available from versions 8.4.0 (fortress) forward
	// This can be removed when the minimum supported version passes 8.4.0
	#if (IGNITION_MSGS_MAJOR_VERSION > 8) || \
	((IGNITION_MSGS_MAJOR_VERSION == 8) && (IGNITION_MSGS_MINOR_VERSION >= 4))
	#define HAVE_DATAFRAME true
	#endif
	#if (GZ_MSGS_MAJOR_VERSION > 8) || \
	((GZ_MSGS_MAJOR_VERSION == 8) && (GZ_MSGS_MINOR_VERSION >= 4))
	#define HAVE_DATAFRAME true
	#endif

[ahcorde]

linters

"ros_gz_bridge" "--output-file" "/github/home/ws/build/ros_gz_bridge/ament_flake8/flake8.txt" "--command" "/opt/ros/rolling/bin/ament_flake8" "--xunit-file" "/github/home/ws/build/ros_gz_bridge/test_results/ros_gz_bridge/flake8.xunit.xml"
2024-02-01T03:46:02.0622501Z 10: Test timeout computed to be: 60
2024-02-01T03:46:02.1111404Z 10: -- run_test.py: invoking following command in '/github/home/ws/src/ros_gz/ros_gz_bridge':
2024-02-01T03:46:02.1112566Z 10:  - /opt/ros/rolling/bin/ament_flake8 --xunit-file /github/home/ws/build/ros_gz_bridge/test_results/ros_gz_bridge/flake8.xunit.xml
2024-02-01T03:46:02.4909897Z 10: from ros_gz_bridge.mappings import MAPPINGS, MAPPINGS_8_4_0, MAPPINGS_10_1_0
2024-02-01T03:46:02.4911413Z 10: ^
2024-02-01T03:46:02.4913079Z 10: 1     I101 Imported names are in the wrong order. Should be MAPPINGS, MAPPINGS_10_1_0, MAPPINGS_8_4_0
2024-02-01T03:46:02.4914637Z 10: 
2024-02-01T03:46:02.4916618Z 10: ./ros_gz_bridge/__init__.py:19:1: I101 Imported names are in the wrong order. Should be MAPPINGS, MAPPINGS_10_1_0, MAPPINGS_8_4_0
2024-02-01T03:46:02.4918587Z 10: 
2024-02-01T03:46:02.4919517Z 10: 
2024-02-01T03:46:02.4921177Z 10: 5 files checked
2024-02-01T03:46:02.4922615Z 10: 1 errors
2024-02-01T03:46:02.4924329Z 10: 
2024-02-01T03:46:02.4926578Z 10: 'I'-type errors: 1
2024-02-01T03:46:02.4928273Z 10: 
2024-02-01T03:46:02.4929977Z 10: Checked files:

[ahcorde]

@azeey any other comment?

[azeey]

@bperseghetti could you please cherry-pick this into iron and ros2 branches?

[bperseghetti]

@bperseghetti could you please cherry-pick this into iron and ros2 branches?

Yep, I can do it later today!

[ahcorde]

friendly ping @bperseghetti do you have any plans to forward port these changes?

[bperseghetti]

Sorry, my bad, I let this one slip through the cracks on my side, will create the PRs after my meetings today.

[bperseghetti]

friendly ping @bperseghetti do you have any plans to forward port these changes?

Randomly remembered to do this, sorry about the dealy, please see associated "forward feature ports":
#520
#521