From 9072a278494b644a4d14cfa907264deeae1915f6 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Mon, 30 Dec 2019 11:42:15 -0800 Subject: [PATCH 1/2] Update Dashing docs Signed-off-by: Louise Poubel --- README.md | 33 +++++++++++--- ros_ign/README.md | 4 ++ ros_ign_bridge/README.md | 59 +++++++++++++++++-------- ros_ign_bridge/src/parameter_bridge.cpp | 2 +- 4 files changed, 71 insertions(+), 27 deletions(-) create mode 100644 ros_ign/README.md diff --git a/README.md b/README.md index 35b973d9..a8e49602 100644 --- a/README.md +++ b/README.md @@ -1,13 +1,32 @@ -[![Build Status](https://travis-ci.org/osrf/ros_ign.svg?branch=master)](https://travis-ci.org/osrf/ros_ign.svg?branch=master) +[![Build Status](https://travis-ci.org/osrf/ros_ign.svg?branch=dashing)](https://travis-ci.org/osrf/ros_ign/branches) + +* ROS 1 branches: + * [melodic](https://github.com/osrf/ros_ign/tree/melodic) +* ROS 2 branches: + * [dashing](https://github.com/osrf/ros_ign/tree/dashing) # Integration between ROS and Ignition This repository holds packages that provide integration between [ROS](http://www.ros.org/) and [Ignition](https://ignitionrobotics.org): -* `ros_ign`: Metapackage which provides all the other packages. -* `ros_ign_image`: Transport bridge from Ignition transport to ROS using [image_transport](http://wiki.ros.org/image_transport). -* `ros_ign_bridge`: Transport bridge between ROS and Ignition transport. -* `ros_ign_gazebo_demos`: Demos using the ROS-Ignition integration. -* `ros_ign_point_cloud`: Plugins for publishing ROS point clouds from Ignition Gazebo simulations. - +* [ros_ign](https://github.com/osrf/ros_ign/tree/dashing/ros_ign): + Metapackage which provides all the other packages. +* [ros_ign_image](https://github.com/osrf/ros_ign/tree/dashing/ros_ign_image): + Unidirectional transport bridge for images from + [Ignition Transport](https://ignitionrobotics.org/libs/transport) + to ROS using + [image_transport](http://wiki.ros.org/image_transport). +* [ros_ign_bridge](https://github.com/osrf/ros_ign/tree/dashing/ros_ign_bridge): + Bidirectional transport bridge between + [Ignition Transport](https://ignitionrobotics.org/libs/transport) + and ROS. +* [ros_ign_gazebo](https://github.com/osrf/ros_ign/tree/dashing/ros_ign_gazebo): + Convenient launch files and executables for using + [Ignition Gazebo](https://ignitionrobotics.org/libs/gazebo) + with ROS. +* [ros_ign_gazebo_demos](https://github.com/osrf/ros_ign/tree/dashing/ros_ign_gazebo_demos): + Demos using the ROS-Ignition integration. +* [ros_ign_point_cloud](https://github.com/osrf/ros_ign/tree/dashing/ros_ign_point_cloud): + Plugins for publishing point clouds to ROS from + [Ignition Gazebo](https://ignitionrobotics.org/libs/gazebo) simulations. diff --git a/ros_ign/README.md b/ros_ign/README.md new file mode 100644 index 00000000..57837442 --- /dev/null +++ b/ros_ign/README.md @@ -0,0 +1,4 @@ +# ROS-Ignition packages + +`ros_ign` is a metapackage that installs all packages integrating +[ROS](http://www.ros.org/) and [Ignition](https://ignitionrobotics.org): diff --git a/ros_ign_bridge/README.md b/ros_ign_bridge/README.md index 16d3665e..aeeee8d8 100644 --- a/ros_ign_bridge/README.md +++ b/ros_ign_bridge/README.md @@ -26,6 +26,7 @@ service calls. Its support is limited to only the following message types: | rosgraph_msgs/Clock | ignition::msgs::Clock | | sensor_msgs/BatteryState | ignition::msgs::BatteryState | | sensor_msgs/CameraInfo | ignition::msgs::CameraInfo | +| sensor_msgs/FluidPressure (TODO) | ignition::msgs::FluidPressure (TODO) | | sensor_msgs/Imu | ignition::msgs::IMU | | sensor_msgs/Image | ignition::msgs::Image | | sensor_msgs/JointState | ignition::msgs::Model | @@ -33,6 +34,8 @@ service calls. Its support is limited to only the following message types: | sensor_msgs/MagneticField | ignition::msgs::Magnetometer | | sensor_msgs/PointCloud2 | ignition::msgs::PointCloudPacked | +Run `ros2 run ros_ign_bridge parameter_bridge -h` for instructions. + ## Prerequisites * ROS 2 [Dashing](https://index.ros.org/doc/ros2/Installation/Dashing) @@ -45,25 +48,43 @@ source installed. 1. Create a colcon workspace: -``` -# Setup the workspace -mkdir -p ~/bridge_ws/src -cd ~/bridge_ws/src - -# Download needed software -git clone https://github.com/osrf/ros_ign.git -``` - -2. Build the workspace: - -``` -# Source ROS distro's setup.bash -source /opt/ros/dashing/setup.bash - -# Build and install into workspace -cd ~/bridge_ws/ -colcon build -``` + ``` + # Setup the workspace + mkdir -p ~/bridge_ws/src + cd ~/bridge_ws/src + + # Download needed software + git clone https://github.com/osrf/ros_ign.git -b dashing + ``` + +1. Install ROS dependencies: + + ``` + cd ~/bridge_ws + rosdep install --from-paths src -i -y --rosdistro dashing \ + --skip-keys=ignition-gazebo2 \ + --skip-keys=ignition-gazebo3 \ + --skip-keys=ignition-msgs4 \ + --skip-keys=ignition-msgs5 \ + --skip-keys=ignition-rendering2 \ + --skip-keys=ignition-rendering3 \ + --skip-keys=ignition-sensors2 \ + --skip-keys=ignition-sensors3 \ + --skip-keys=ignition-transport7 \ + --skip-keys=ignition-transport8 + + ``` + +1. Build the workspace: + + ``` + # Source ROS distro's setup.bash + source /opt/ros/dashing/setup.bash + + # Build and install into workspace + cd ~/bridge_ws/ + colcon build + ``` ## Example 1a: Ignition Transport talker and ROS 2 listener diff --git a/ros_ign_bridge/src/parameter_bridge.cpp b/ros_ign_bridge/src/parameter_bridge.cpp index 32f4c099..7c837781 100644 --- a/ros_ign_bridge/src/parameter_bridge.cpp +++ b/ros_ign_bridge/src/parameter_bridge.cpp @@ -39,7 +39,7 @@ enum Direction ////////////////////////////////////////////////// void usage() { - std::cerr << "Bridge a collection of ROS2 and Ignition Transport topics.\n\n" << + std::cout << "Bridge a collection of ROS2 and Ignition Transport topics.\n\n" << " parameter_bridge .. " << " \n\n" << "The first @ symbol delimits the topic name from the message types.\n" << From 8280ec757330d2665933cabab87e940cd613c593 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Mon, 30 Dec 2019 11:44:30 -0800 Subject: [PATCH 2/2] ros_ign_gazebo Dashing TODO Signed-off-by: Louise Poubel --- ros_ign_gazebo/README.md | 4 ++++ 1 file changed, 4 insertions(+) create mode 100644 ros_ign_gazebo/README.md diff --git a/ros_ign_gazebo/README.md b/ros_ign_gazebo/README.md new file mode 100644 index 00000000..12119fa7 --- /dev/null +++ b/ros_ign_gazebo/README.md @@ -0,0 +1,4 @@ +# ROS + Ignition Gazebo + +This package hasn't been ported to ROS 2 yet. +