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Fix missing msgs include and packages.xml deps #292

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merged 3 commits into from
Sep 8, 2022
Merged

Fix missing msgs include and packages.xml deps #292

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310043f
Fix missing msgs include and packages.xml deps
methylDragon Sep 7, 2022
0331e9b
Add additional conditions to support gz sim invocation
methylDragon Sep 7, 2022
6463b34
Fix cpplint
methylDragon Sep 8, 2022
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4 changes: 2 additions & 2 deletions ros_gz/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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-->
Expand Down
2 changes: 2 additions & 0 deletions ros_gz_bridge/src/service_factories/ros_gz_interfaces.cpp
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Expand Up @@ -14,6 +14,8 @@

#include "factories/ros_gz_interfaces.hpp"

#include <ignition/msgs/boolean.pb.h>

#include <memory>
#include <string>

Expand Down
29 changes: 26 additions & 3 deletions ros_gz_shims/ros_ign_gazebo/launch/ign_gazebo.launch.py.in
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Expand Up @@ -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():
Expand Down Expand Up @@ -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',
Expand All @@ -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
),

])
29 changes: 26 additions & 3 deletions ros_gz_sim/launch/gz_sim.launch.py.in
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Original file line number Diff line number Diff line change
Expand Up @@ -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():
Expand Down Expand Up @@ -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',
Expand All @@ -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
),

])