Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

replace ign with gz in ros_gz_bridge README #303

Merged
merged 1 commit into from
Sep 28, 2022
Merged

replace ign with gz in ros_gz_bridge README #303

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
24 changes: 12 additions & 12 deletions ros_gz_bridge/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -230,40 +230,40 @@ bridge may be specified:
# Set just topic name, applies to both
- topic_name: "chatter"
ros_type_name: "std_msgs/msg/String"
ign_type_name: "ignition.msgs.StringMsg"
gz_type_name: "ignition.msgs.StringMsg"

# Set just ROS topic name, applies to both
- ros_topic_name: "chatter_ros"
ros_type_name: "std_msgs/msg/String"
ign_type_name: "ignition.msgs.StringMsg"
gz_type_name: "ignition.msgs.StringMsg"

# Set just IGN topic name, applies to both
- ign_topic_name: "chatter_ign"
# Set just GZ topic name, applies to both
- gz_topic_name: "chatter_ign"
ros_type_name: "std_msgs/msg/String"
ign_type_name: "ignition.msgs.StringMsg"
gz_type_name: "ignition.msgs.StringMsg"

# Set each topic name explicitly
- ros_topic_name: "chatter_both_ros"
ign_topic_name: "chatter_both_ign"
gz_topic_name: "chatter_both_ign"
ros_type_name: "std_msgs/msg/String"
ign_type_name: "ignition.msgs.StringMsg"
gz_type_name: "ignition.msgs.StringMsg"

# Full set of configurations
- ros_topic_name: "ros_chatter"
ign_topic_name: "ign_chatter"
gz_topic_name: "ign_chatter"
ros_type_name: "std_msgs/msg/String"
ign_type_name: "ignition.msgs.StringMsg"
gz_type_name: "ignition.msgs.StringMsg"
subscriber_queue: 5 # Default 10
publisher_queue: 6 # Default 10
lazy: true # Default "false"
direction: BIDIRECTIONAL # Default "BIDIRECTIONAL" - Bridge both directions
# "IGN_TO_ROS" - Bridge Ignition topic to ROS
# "ROS_TO_IGN" - Bridge ROS topic to Ignition
# "GZ_TO_ROS" - Bridge Ignition topic to ROS
# "ROS_TO_GZ" - Bridge ROS topic to Ignition
```

To run the bridge node with the above configuration:
```bash
ros2 run ros_gz_bridge bridge_node --ros-args -p config_file:=$WORKSPACE/ros_gz/ros_gz_bridge/test/config/full.yaml
ros2 run ros_gz_bridge parameter_bridge --ros-args -p config_file:=$WORKSPACE/ros_gz/ros_gz_bridge/test/config/full.yaml
```

## API
Expand Down