Hardware Interface for Ignition Gazebo and ROS2 Control

See ijnek/gz_control_hw_demo for how to use this package.

Supported Combinations

ROS 2 version	Gazebo version	Branch
Humble	Fortress (default)	humble
Humble	Garden	humble
Iron	Fortress (default)	rolling
Iron	Garden	rolling
Rolling	Edifice	rolling
Rolling	Fortress (default)	rolling
Rolling	Garden	rolling

Source Installation

Install a Gazebo version that is supported on your platform from the Supported Combinations table above.

If you have selected a Gazebo version that is not the default version for your distro, then set the GZ_VERSION environment variable to the Gazebo version you'd like to compile against. For example:

export GZ_VERSION=edifice

If you're using a version of Gazebo that isn't the default for your ROS distribution, you must install ros_gz from source too.

You only need to set this variable when compiling, not when running.

Compile ros_ign

The following steps are for Linux and OSX.

1. Create a colcon workspace:

   # Setup the workspace
   mkdir -p ~/ws/src
   cd ~/ws/src
   
   # Source ROS distro's setup.bash (replace rolling with your distro)
   source /opt/ros/rolling/setup.bash
   
   # Clone repoitory (**select one** from below, depending on your ROS 2 distro)
   git clone https://github.com/ijnek/gz_control_hw.git -b humble  # Humble
   git clone https://github.com/ijnek/gz_control_hw.git -b rolling  # Rolling

2. Install dependencies (this may also install Ignition):

   cd ~/ws
   rosdep install --from-paths src --ignore-src --default-yes

   If rosdep fails to install Ignition libraries and you have not installed them before, please follow Ignition installation instructions.

3. Build the workspace:

   # Build workspace
   cd ~/ws
   colcon build

4. Source the workspace:

   # In any new terminal you want to use gz_control_hw, first run
   source ~/ws/src/local_setup.bash