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.

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

[ros2] Port harness to ROS2 #944

Merged
merged 3 commits into from Aug 2, 2019

Conversation

@shiveshkhaitan
Copy link

commented Jul 3, 2019

Port gazebo_ros_harness plugin to ROS2.

Example:

<plugin name="gazebo_ros_harness" filename="libgazebo_ros_harness.so">
  <ros>
    <!-- Add a namespace -->
    <namespace>demo</namespace>
    <argument>box/harness/velocity:=velocity_demo</argument>
    <argument>box/harness/detach:=detach_demo</argument>
  </ros>
  <!-- set initial harness velocity -->
  <init_vel>-0.1</init_vel>
</plugin>

Migration guide at ROS 2 Migration: Harness

@chapulina chapulina added the ros2 label Jul 3, 2019

@chapulina chapulina self-requested a review Jul 3, 2019

@chapulina

This comment has been minimized.

Copy link
Contributor

commented Jul 24, 2019

@osrf-jenkins run tests please

@chapulina
Copy link
Contributor

left a comment

Nice, I like the new init vel feature and the change from Bool to Empty!

The test passes for me and the OSRF farm, but it fails on the ROS farm with the same problem the elevator is having: libHarnessPlugin.so: cannot open shared object file: No such file or directory.

I ticketed #970 for this. Since it doesn't seem to be an issue specific to this PR, I'll merge this as soon as it's rebased.

@chapulina chapulina merged commit c1e4687 into ros-simulation:dashing Aug 2, 2019

0 of 2 checks passed

Dpr__gazebo_ros_pkgs__ubuntu_bionic_amd64 Build finished.
Details
ros2_gazebo_pkgs-ci-pr_any_dashing-bionic-amd64 Build finished.
Details
shiveshkhaitan added a commit to shiveshkhaitan/gazebo_ros_pkgs that referenced this pull request Aug 15, 2019
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Projects
None yet
2 participants
You can’t perform that action at this time.