Updated launch file to use ros_ign_gazebo

.travis.yml

@@ -2,10 +2,7 @@ sudo: required
 
 env:
   matrix:
-    - DOCKER_IMAGE=ubuntu:18.04 IGN_COLLECTION="blueprint" ROS_DISTRO="dashing"
-    - DOCKER_IMAGE=ubuntu:18.04 IGN_COLLECTION="blueprint" ROS_DISTRO="eloquent"
-    - DOCKER_IMAGE=ubuntu:18.04 IGN_COLLECTION="citadel" ROS_DISTRO="dashing"
-    - DOCKER_IMAGE=ubuntu:18.04 IGN_COLLECTION="citadel" ROS_DISTRO="eloquent"
+    - DOCKER_IMAGE=ubuntu:20.04 IGN_COLLECTION="citadel" ROS_DISTRO="foxy"
 
 services:
   - docker

.travis/build

@@ -5,27 +5,23 @@ set -ev
 export COLCON_WS=~/ws
 export COLCON_WS_SRC=${COLCON_WS}/src
 export DEBIAN_FRONTEND=noninteractive
-
-if [ "$IGN_COLLECTION" == "blueprint" ]; then
-  IGN_DEPS="libignition-msgs4-dev libignition-transport7-dev libignition-gazebo2-dev"
-elif [ "$IGN_COLLECTION" == "citadel" ]; then
+export ROS_PYTHON_VERSION=3
+if [ "$IGN_COLLECTION" == "citadel" ]; then
   IGN_DEPS="libignition-msgs5-dev libignition-transport8-dev libignition-gazebo3-dev"
 else
   exit 1
 fi
 
 # Dependencies.
-echo "deb [trusted=yes] http://packages.osrfoundation.org/gazebo/ubuntu-stable bionic main" > /etc/apt/sources.list.d/gazebo-stable.list
-echo "deb [trusted=yes] http://packages.osrfoundation.org/gazebo/ubuntu-prerelease bionic main" > /etc/apt/sources.list.d/gazebo-prerelease.list
-echo "deb [trusted=yes] http://packages.ros.org/ros2/ubuntu bionic main" > /etc/apt/sources.list.d/ros2-latest.list
+echo "deb [trusted=yes] http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources.list.d/ros2-latest.list
 apt-get update -qq
 apt-get install -qq -y $IGN_DEPS \
                        python3-colcon-common-extensions \
-                       python-rosdep
+                       python3-rosdep
 
 rosdep init
 rosdep update
-rosdep install --from-paths ./ -i -y \
+rosdep install --from-paths ./ -i -y --rosdistro $ROS_DISTRO \
   --skip-keys=ignition-gazebo2 \
   --skip-keys=ignition-gazebo3 \
   --skip-keys=ignition-math6 \

ros_ign_bridge/include/ros_ign_bridge/factory.hpp

@@ -66,11 +66,11 @@ class Factory : public FactoryInterface
     size_t queue_size,
     ignition::transport::Node::Publisher & ign_pub)
   {
-    std::function<void(std::shared_ptr<const ROS_T>)> fn = std::bind(&Factory<ROS_T,
-        IGN_T>::ros_callback,
-        std::placeholders::_1, ign_pub,
-        ros_type_name_, ign_type_name_,
-        ros_node);
+    std::function<void(std::shared_ptr<const ROS_T>)> fn = std::bind(
+      &Factory<ROS_T, IGN_T>::ros_callback,
+      std::placeholders::_1, ign_pub,
+      ros_type_name_, ign_type_name_,
+      ros_node);
     std::shared_ptr<rclcpp::Subscription<ROS_T>> subscription =
       ros_node->create_subscription<ROS_T>(
       topic_name, rclcpp::QoS(rclcpp::KeepLast(queue_size)), fn);
@@ -110,7 +110,8 @@ class Factory : public FactoryInterface
     IGN_T ign_msg;
     convert_ros_to_ign(*ros_msg, ign_msg);
     ign_pub.Publish(ign_msg);
-    RCLCPP_INFO_ONCE(ros_node->get_logger(),
+    RCLCPP_INFO_ONCE(
+      ros_node->get_logger(),
       "Passing message from ROS %s to Ignition %s (showing msg only once per type",
       ros_type_name.c_str(), ign_type_name.c_str());
   }

ros_ign_gazebo/src/create.cpp

@@ -69,7 +69,8 @@ int main(int _argc, char ** _argv)
     }
 
     if (!executed) {
-      RCLCPP_INFO(ros2_node->get_logger(),
+      RCLCPP_INFO(
+        ros2_node->get_logger(),
         "Timed out when getting world names.");
       return -1;
     }

ros_ign_gazebo_demos/launch/air_pressure.launch.py

@@ -17,13 +17,14 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
+
 from launch.actions import DeclareLaunchArgument
+from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
-from launch.actions import ExecuteProcess
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
+
 from launch_ros.actions import Node
 
 # TODO; execution broken
@@ -33,41 +34,34 @@
 
 def generate_launch_description():
 
-    pkg_ros_ign_gazebo_demos = get_package_share_directory('ros_ign_gazebo_demos')
     pkg_ros_ign_gazebo = get_package_share_directory('ros_ign_gazebo')
 
-    # Ignition Gazebo
-    ign_gazebo = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py'),
-        )
-    )
-
     # Bridge
     # TODO: Needs sensor_msgs/msg/FluidPressure to be supported on bridge
     # bridge = Node(
     #     package='ros_ign_bridge',
-    #     node_executable='parameter_bridge',
+    #     executable='parameter_bridge',
     #     arguments=["/air_pressure@sensor_msgs/msg/FluidPressure@ignition.msgs.FluidPressure"],
     #     output='screen'
     # )
 
+    ign_gazebo = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py')),
+        launch_arguments={'ign_args': '-r sensors.sdf'}.items(),
+    )
+
     # RQt
     rqt = Node(
         package='rqt_topic',
-        node_executable='rqt_topic',
+        executable='rqt_topic',
         arguments=['-t'],
         condition=IfCondition(LaunchConfiguration('rqt'))
     )
-
     return LaunchDescription([
-        DeclareLaunchArgument(
-          'ign_args',
-          default_value=['sensors.sdf'],
-          description='Ignition Gazebo arguments'),
+        ign_gazebo,
         DeclareLaunchArgument('rqt', default_value='true',
                               description='Open RQt.'),
-        ign_gazebo,
-    #    bridge,
+        # bridge,
         rqt
     ])

ros_ign_gazebo_demos/launch/battery.launch.py

@@ -15,52 +15,52 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.actions import IncludeLaunchDescription
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
+
 from launch_ros.actions import Node
 
+
 def generate_launch_description():
 
-    pkg_ros_ign_gazebo_demos = get_package_share_directory('ros_ign_gazebo_demos')
     pkg_ros_ign_gazebo = get_package_share_directory('ros_ign_gazebo')
 
-    # Ignition Gazebo
-    ign_gazebo = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py'),
-        )
-    )
-
     # RQt
     rqt = Node(
         package='rqt_plot',
-        node_executable='rqt_plot',
+        executable='rqt_plot',
         # FIXME: Why isn't the topic being populated on the UI? RQt issue?
-        arguments=['--force-discover', '/model/vehicle_blue/battery/linear_battery/state/percentage'],
+        arguments=['--force-discover',
+                   '/model/vehicle_blue/battery/linear_battery/state/percentage'],
         condition=IfCondition(LaunchConfiguration('rqt'))
     )
 
+    ign_gazebo = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py')),
+        launch_arguments={
+            'ign_args': '-r -z 1000000 linear_battery_demo.sdf'
+        }.items(),
+    )
+
     # Bridge
     bridge = Node(
         package='ros_ign_bridge',
-        node_executable='parameter_bridge',
+        executable='parameter_bridge',
         arguments=['/model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist@ignition.msgs.Twist',
                    '/model/vehicle_blue/battery/linear_battery/state@sensor_msgs/msg/BatteryState@ignition.msgs.BatteryState'],
         output='screen'
     )
 
     return LaunchDescription([
-        DeclareLaunchArgument(
-          'ign_args',
-          default_value=['-r -z 1000000 linear_battery_demo.sdf'],
-          description='Ignition Gazebo arguments'),
+        ign_gazebo,
         DeclareLaunchArgument('rqt', default_value='true',
                               description='Open RQt.'),
-        ign_gazebo,
         bridge,
         rqt
     ])

ros_ign_gazebo_demos/launch/camera.launch.py

@@ -15,50 +15,48 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.actions import IncludeLaunchDescription
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
+
 from launch_ros.actions import Node
 
+
 def generate_launch_description():
 
     pkg_ros_ign_gazebo_demos = get_package_share_directory('ros_ign_gazebo_demos')
     pkg_ros_ign_gazebo = get_package_share_directory('ros_ign_gazebo')
 
-    # Ignition Gazebo
     ign_gazebo = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py'),
-        )
+            os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py')),
+        launch_arguments={'ign_args': '-r camera_sensor.sdf'}.items(),
     )
 
     # RViz
     rviz = Node(
         package='rviz2',
-        node_executable='rviz2',
+        executable='rviz2',
         arguments=['-d', os.path.join(pkg_ros_ign_gazebo_demos, 'rviz', 'camera.rviz')],
         condition=IfCondition(LaunchConfiguration('rviz'))
     )
 
     # Bridge
     bridge = Node(
         package='ros_ign_bridge',
-        node_executable='parameter_bridge',
+        executable='parameter_bridge',
         arguments=['/camera@sensor_msgs/msg/Image@ignition.msgs.Image',
                    '/camera_info@sensor_msgs/msg/CameraInfo@ignition.msgs.CameraInfo'],
         output='screen'
     )
 
     return LaunchDescription([
-        DeclareLaunchArgument(
-          'ign_args',
-          default_value=['-r camera_sensor.sdf'],
-          description='Ignition Gazebo arguments'),
         DeclareLaunchArgument('rviz', default_value='true',
-                             description='Open RViz.'),
+                              description='Open RViz.'),
         ign_gazebo,
         bridge,
         rviz

ros_ign_gazebo_demos/launch/depth_camera.launch.py

@@ -15,61 +15,61 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.actions import IncludeLaunchDescription
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
+
 from launch_ros.actions import Node
 
+
 def generate_launch_description():
 
-    pkg_ros_ign_gazebo_demos = get_package_share_directory('ros_ign_gazebo_demos')
     pkg_ros_ign_gazebo = get_package_share_directory('ros_ign_gazebo')
 
-    # Ignition Gazebo
     ign_gazebo = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py'),
-        )
+            os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py')),
+            # launch_arguments={
+            #    'ign_args': '-r depth_camera.sdf'
+            # }.items(),
     )
 
     # RQt
     rqt = Node(
         package='rqt_image_view',
-        node_executable='rqt_image_view',
+        executable='rqt_image_view',
         arguments=['/camera'],
         condition=IfCondition(LaunchConfiguration('rqt'))
     )
 
     # RViz
     rviz = Node(
         package='rviz2',
-        node_executable='rviz2',
+        executable='rviz2',
         # FIXME: Generate new RViz config once this demo is usable again
-        #arguments=['-d', os.path.join(pkg_ros_ign_gazebo_demos, 'rviz', 'depth_camera.rviz')],
+        # arguments=['-d', os.path.join(pkg_ros_ign_gazebo_demos, 'rviz', 'depth_camera.rviz')],
         condition=IfCondition(LaunchConfiguration('rviz'))
     )
 
     # Bridge
     bridge = Node(
         package='ros_ign_bridge',
-        node_executable='parameter_bridge',
+        executable='parameter_bridge',
         arguments=['/depth_camera@sensor_msgs/msg/Image@ignition.msgs.Image'],
         output='screen'
     )
 
     # FIXME: need a SDF file (depth_camera.sdf) inside ros_ign_point_cloud
     return LaunchDescription([
-        DeclareLaunchArgument(
-          'ign_args',
-          default_value=[],
-          #default_value=['depth_camera.sdf'],
-          description='Ignition Gazebo arguments'),
+        ign_gazebo,
         DeclareLaunchArgument('rviz', default_value='true',
                               description='Open RViz.'),
-        ign_gazebo,
+        DeclareLaunchArgument('rqt', default_value='true',
+                              description='Open RQt.'),
         bridge,
         rviz,
         rqt