ROS 2 Migration: gazebo_ros_utils

Overview

The gazebo_ros_utils.h header has been deprecated on ROS 2. This guide explains how to migrate.

GetModelName

• Description: Access model name from sensor

TODO

GetRobotNamespace

• Description: Get the value of the <robotNamespace> SDF tag; if none, get the model name from the sensor using GetModelName.

TODO

GazeboRos::node()

• Description: Get a pointer to a ros::NodeHandle.
• Replacement: Get a pointer to an rclcpp::Node with gazebo_ros::Node::Get().

GazeboRos::info()

TODO

GazeboRos::isInitialized()

TODO

GazeboRos::resolveTF()

TODO

GazeboRos::getParameterBoolean

• Description: Get a boolean value from an SDF tag.
• Replacement: Use sdf::Element::Get<bool>()

Example

ROS 1

PluginName::Load(gazebo::physics::ModelPtr & _model, sdf::Element _sdf)
{
  auto gazebo_ros = GazeboRosPtr(new GazeboRos(_model, _sdf, "PluginName"));
  bool do_smth = false;
  gazebo_ros->getParameterBoolean(do_smth, "do_smth", false);
}

ROS 2

PluginName::Load(gazebo::physics::ModelPtr & _model, sdf::Element _sdf)
{
  bool do_smth = _sdf->Get<bool>("do_smth", false).first;
}

GazeboRos::getParameter

• Description: Get any value from an SDF tag.
• Replacement: Use sdf::Element::Get<T>()

Example: std::string

ROS 1

PluginName::Load(gazebo::physics::ModelPtr & _model, sdf::Element _sdf)
{
  auto gazebo_ros = GazeboRosPtr(new GazeboRos(_model, _sdf, "PluginName"));
  std::string some_string = false;
  gazebo_ros->getParameter<std::string>(some_string, "some_string", "default_value");
}

ROS 2

PluginName::Load(gazebo::physics::ModelPtr & _model, sdf::Element _sdf)
{
  std::string some_string = _sdf->Get<std::string>("some_string", "default_value").first;
}

GazeboRos::getJoint

• Description: Get a joint based on an SDF tag.
• Replacement: Use sdf::Element::Get<std::string>() and gazebo::physics::Model::GetJoint()

Example

ROS 1

PluginName::Load(gazebo::physics::ModelPtr & _model, sdf::Element _sdf)
{
  auto gazebo_ros = GazeboRosPtr(new GazeboRos(_model, _sdf, "PluginName"));
  gazebo::physics::JointPtr joint = gazebo_ros->getJoint(_model, "joint_name", "default_value");
}

ROS 2

PluginName::Load(gazebo::physics::ModelPtr & _model, sdf::Element _sdf)
{
  std::string joint_name = _sdf->Get<std::string>("joint_name", "default_value").first;
  gazebo::physics::JointPtr joint = _model->GetJoint(joint_name);
}