Imported upstream version '1.0.5' of 'upstream'

ros2-gbp · Oct 14, 2024 · 1e39b70 · 1e39b70
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diff --git a/.github/workflows/ros2-ci.yml b/.github/workflows/ros2-ci.yml
@@ -12,7 +12,7 @@ jobs:
         include:
           - docker-image: "ubuntu:24.04"
             gz-version: "harmonic"
-            ros-distro: "rolling"
+            ros-distro: "jazzy"
     container:
       image: ${{ matrix.docker-image }}
     steps:

diff --git a/README.md b/README.md
@@ -59,7 +59,7 @@ This repository holds packages that provide integration between
 
 ## Install
 
-This branch supports ROS Rolling. See above for other ROS versions.
+This branch supports ROS Jazzy. See above for other ROS versions.
 
 ### Binaries
 
@@ -74,19 +74,19 @@ They are hosted at https://packages.ros.org.
 
 1. Install `ros_gz`
 
-        sudo apt install ros-rolling-ros-gz
+        sudo apt install ros-jazzy-ros-gz
 
 ### From source
 
 #### ROS
 
 Be sure you've installed
-[ROS Rolling](https://docs.ros.org/en/rolling/index.html)
+[ROS Jazzy](https://docs.ros.org/en/jazzy/Installation.html)
 (at least ROS-Base). More ROS dependencies will be installed below.
 
 #### Gazebo
 
-Install either [Fortress, Garden, or Harmonic](https://gazebosim.org/docs).
+Install either [Garden or Harmonic](https://gazebosim.org/docs).
 
 Set the `GZ_VERSION` environment variable to the Gazebo version you'd
 like to compile against. For example:
@@ -107,14 +107,14 @@ The following steps are for Linux and OSX.
     cd ~/ws/src
 
     # Download needed software
-    git clone https://github.com/gazebosim/ros_gz.git -b ros2
+    git clone https://github.com/gazebosim/ros_gz.git -b jazzy
     ```
 
 1. Install dependencies (this may also install Gazebo):
 
     ```
     cd ~/ws
-    rosdep install -r --from-paths src -i -y --rosdistro rolling
+    rosdep install -r --from-paths src -i -y --rosdistro jazzy
     ```
 
     > If `rosdep` fails to install Gazebo libraries and you have not installed them before, please follow [Gazebo installation instructions](https://gazebosim.org/docs/latest/install).

diff --git a/ros_gz/CHANGELOG.rst b/ros_gz/CHANGELOG.rst
@@ -2,19 +2,16 @@
 Changelog for package ros_gz
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.1.1 (2024-10-14)
+1.0.5 (2024-10-14)
 ------------------
 
-2.1.0 (2024-09-12)
+1.0.4 (2024-08-29)
 ------------------
 
-2.0.1 (2024-08-29)
+1.0.3 (2024-07-22)
 ------------------
 
-2.0.0 (2024-07-22)
-------------------
-
-1.0.1 (2024-07-03)
+1.0.2 (2024-07-03)
 ------------------
 * Prepare for 1.0.0 Release (`#495 <https://github.com/gazebosim/ros_gz//issues/495>`_)
 * 0.244.14

diff --git a/ros_gz/package.xml b/ros_gz/package.xml
@@ -4,7 +4,7 @@
   <!-- TODO: Make this a metapackage, see
        https://github.com/ros2/ros2/issues/408 -->
   <name>ros_gz</name>
-  <version>2.1.1</version>
+  <version>1.0.5</version>
   <description>Meta-package containing interfaces for using ROS 2 with <a href="https://gazebosim.org">Gazebo</a> simulation.</description>
   <maintainer email="[email protected]">Aditya Pande</maintainer>
   <maintainer email="[email protected]">Alejandro Hernandez</maintainer>

diff --git a/ros_gz_bridge/CHANGELOG.rst b/ros_gz_bridge/CHANGELOG.rst
@@ -2,43 +2,44 @@
 Changelog for package ros_gz_bridge
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.1.1 (2024-10-14)
-------------------
-* Extra parameter to start a container (`#616 <https://github.com/gazebosim/ros_gz/issues/616>`_)
-* adds deadline and liveliness QoSPolicyKinds to qos_overriding_options (`#609 <https://github.com/gazebosim/ros_gz/issues/609>`_)
-  Co-authored-by: nora <[email protected]>
-* Contributors: Carlos Agüero, norakon
-
-2.1.0 (2024-09-12)
-------------------
-* Remove default_value for required arguments (`#602 <https://github.com/gazebosim/ros_gz//issues/602>`_)
-  * Remove default_value for config_file
-* Fix errors with name of bridge not being given (`#600 <https://github.com/gazebosim/ros_gz//issues/600>`_)
-  * Add argument bridge_name to fix errors
-* Use optional parameters in actions (`#601 <https://github.com/gazebosim/ros_gz//issues/601>`_)
-* Contributors: Amronos, Carlos Agüero
-
-2.0.1 (2024-08-29)
-------------------
-* Stamp all outgoing headers with the wall time if parameter override_timestamps_with_wall_time is set to true (`#562 <https://github.com/gazebosim/ros_gz/issues/562>`_)
-* Contributors: Rein Appeldoorn
-
-2.0.0 (2024-07-22)
+1.0.5 (2024-10-14)
 ------------------
+* Merge pull request `#607 <https://github.com/gazebosim/ros_gz/issues/607>`_ from Amronos/ros2-jazzy-backport
+* Fix changelogs and versions
+* adds deadline and liveliness QoSPolicyKinds to qos_overriding_options (`#609 <https://github.com/gazebosim/ros_gz/issues/609>`_) (`#613 <https://github.com/gazebosim/ros_gz/issues/613>`_)
+* Remove default_value for required arguments (`#602 <https://github.com/gazebosim/ros_gz/issues/602>`_)
+* Fix errors with name of bridge not being given (`#600 <https://github.com/gazebosim/ros_gz/issues/600>`_)
+* Use optional parameters in actions (`#601 <https://github.com/gazebosim/ros_gz/issues/601>`_)
 * Making use_composition true by default (`#578 <https://github.com/gazebosim/ros_gz/issues/578>`_)
-* Contributors: Addisu Z. Taddese
-
-1.0.1 (2024-07-03)
+* Use `ignoreLocalMessages` in the bridge (`#559 <https://github.com/gazebosim/ros_gz/issues/559>`_)
+* Update launch files with name parameter (`#556 <https://github.com/gazebosim/ros_gz/issues/556>`_)
+* Ensure the same container is used for the bridge and gz_server (`#553 <https://github.com/gazebosim/ros_gz/issues/553>`_)
+* Launch ros_gz_bridge from xml (`#550 <https://github.com/gazebosim/ros_gz/issues/550>`_)
+* Launch gzserver and the bridge as composable nodes (`#528 <https://github.com/gazebosim/ros_gz/issues/528>`_)
+* adds deadline and liveliness QoSPolicyKinds to qos_overriding_options (`#609 <https://github.com/gazebosim/ros_gz/issues/609>`_) (`#613 <https://github.com/gazebosim/ros_gz/issues/613>`_)
+* Contributors: Aarav Gupta, Addisu Z. Taddese, Alejandro Hernández Cordero, Amronos, Carlos Agüero, mergify[bot]
+
+1.0.4 (2024-08-29)
 ------------------
-* Add support for gz.msgs.EntityWrench (base branch: ros2) (`#573 <https://github.com/gazebosim/ros_gz//issues/573>`_)
-* Merge pull request `#571 <https://github.com/gazebosim/ros_gz//issues/571>`_ from azeey/jazzy_to_ros2
-  Merge jazzy ➡️  ros2
-* Merge branch 'ros2' into jazzy_to_ros2
-* Use memcpy instead of std::copy when bridging images (`#565 <https://github.com/gazebosim/ros_gz//issues/565>`_)
+* feat: `override_timestamps_with_wall_time` parameter (backport `#562 <https://github.com/gazebosim/ros_gz/issues/562>`_) (`#584 <https://github.com/gazebosim/ros_gz/issues/584>`_)
+  Co-authored-by: Rein Appeldoorn <[email protected]>
+* Use memcpy instead of std::copy when bridging images (`#565 <https://github.com/gazebosim/ros_gz/issues/565>`_) (`#585 <https://github.com/gazebosim/ros_gz/issues/585>`_)
   While testing ros <-> gz communication using the bridge I noticed that the bridge was talking quite a bit of time copying images from Gazebo to ROS. I found that the std::copy operation that we're doing is substantially slower than the memcpy alternative. I think that in principle this shouldn't happen but the numbers are quite clear. Perhaps std::copy is doing something that doesn't use cache effectively
   ---------
   Co-authored-by: Jose Luis Rivero <[email protected]>
-* Merge jazzy into ros2
+  (cherry picked from commit a781b78852112246245c05481db6335388d4f736)
+  Co-authored-by: Carlos Agüero <[email protected]>
+* Contributors: mergify[bot]
+
+1.0.3 (2024-07-22)
+------------------
+* Add support for gz.msgs.EntityWrench (base branch: ros2) (`#573 <https://github.com/gazebosim/ros_gz/issues/573>`_) (`#574 <https://github.com/gazebosim/ros_gz/issues/574>`_)
+  (cherry picked from commit f9afb69d1163633dd978024bb7271a28cf7b551a)
+  Co-authored-by: Victor T. Noppeney <[email protected]>
+* Contributors: mergify[bot]
+
+1.0.2 (2024-07-03)
+------------------
 * Merge pull request `#569 <https://github.com/gazebosim/ros_gz//issues/569>`_ from azeey/iron_to_jazzy
   Merge iron ➡️  jazzy
 * Merge iron into jazzy
@@ -51,22 +52,6 @@ Changelog for package ros_gz_bridge
 * Merge pull request `#564 <https://github.com/gazebosim/ros_gz//issues/564>`_ from azeey/humble_to_iron
   Humble ➡️ Iron
 * Merge humble -> iron
-* Use `ignoreLocalMessages` in the bridge (`#559 <https://github.com/gazebosim/ros_gz//issues/559>`_)
-  * Ignore local messages
-* Update launch files with name parameter (`#556 <https://github.com/gazebosim/ros_gz//issues/556>`_)
-  * Name is required.
-* Ensure the same container is used for the bridge and gz_server (`#553 <https://github.com/gazebosim/ros_gz//issues/553>`_)
-  This also adds a required `name` parameter for the bridge so that
-  multiple different bridges can be created without name collision
-* Launch ros_gz_bridge from xml (`#550 <https://github.com/gazebosim/ros_gz//issues/550>`_)
-  * Add gzserver with ability to load an SDF file or string
-* Launch gzserver and the bridge as composable nodes (`#528 <https://github.com/gazebosim/ros_gz//issues/528>`_)
-  * Add gzserver with ability to load an SDF file or string
-* Add option to change material color from ROS. (`#521 <https://github.com/gazebosim/ros_gz//issues/521>`_)
-  Forward port of `#486 <https://github.com/gazebosim/ros_gz//issues/486>`_.
-  * Message and bridge for MaterialColor.
-  This allows bridging MaterialColor from ROS to GZ and is
-  important for allowing simulation users to create status lights.
 * populate imu covariances when converting (`#375 <https://github.com/gazebosim/ros_gz//issues/375>`_) (`#540 <https://github.com/gazebosim/ros_gz//issues/540>`_)
   Co-authored-by: El Jawad Alaa <[email protected]>
 * Prepare for 1.0.0 Release (`#495 <https://github.com/gazebosim/ros_gz//issues/495>`_)
@@ -156,7 +141,7 @@ Changelog for package ros_gz_bridge
   * Update CMakeLists and package.xml for garden
   * Complete garden gz renaming
   * Drop fortress CI
-* Contributors: Addisu Z. Taddese, Aditya Pande, Alejandro Hernández Cordero, Arjun K Haridas, Benjamin Perseghetti, Carlos Agüero, El Jawad Alaa, Jose Luis Rivero, Krzysztof Wojciechowski, Michael Carroll, Rousseau Vincent, Victor T. Noppeney, Yadu, ahcorde, wittenator, ymd-stella
+* Contributors: Addisu Z. Taddese, Aditya Pande, Alejandro Hernández Cordero, Arjun K Haridas, Benjamin Perseghetti, El Jawad Alaa, Jose Luis Rivero, Krzysztof Wojciechowski, Michael Carroll, Rousseau Vincent, Yadu, ahcorde, wittenator, ymd-stella
 
 1.0.0 (2024-04-24)
 ------------------

diff --git a/ros_gz_bridge/launch/ros_gz_bridge.launch b/ros_gz_bridge/launch/ros_gz_bridge.launch
@@ -2,16 +2,14 @@
   <arg name="bridge_name" />
   <arg name="config_file" />
   <arg name="container_name" default="ros_gz_container" />
-  <arg name="create_own_container" default="False" />
   <arg name="namespace" default="" />
-  <arg name="use_composition" default="False" />
+  <arg name="use_composition" default="True" />
   <arg name="use_respawn" default="False" />
   <arg name="log_level" default="info" />
   <ros_gz_bridge
     bridge_name="$(var bridge_name)"
     config_file="$(var config_file)"
     container_name="$(var container_name)"
-    create_own_container="$(var create_own_container)"
     namespace="$(var namespace)"
     use_composition="$(var use_composition)"
     use_respawn="$(var use_respawn)"

diff --git a/ros_gz_bridge/launch/ros_gz_bridge.launch.py b/ros_gz_bridge/launch/ros_gz_bridge.launch.py
@@ -18,7 +18,7 @@
 from launch.actions import DeclareLaunchArgument, GroupAction
 from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes, Node
+from launch_ros.actions import LoadComposableNodes, Node
 from launch_ros.descriptions import ComposableNode
 
 
@@ -27,7 +27,6 @@ def generate_launch_description():
     bridge_name = LaunchConfiguration('bridge_name')
     config_file = LaunchConfiguration('config_file')
     container_name = LaunchConfiguration('container_name')
-    create_own_container = LaunchConfiguration('create_own_container')
     namespace = LaunchConfiguration('namespace')
     use_composition = LaunchConfiguration('use_composition')
     use_respawn = LaunchConfiguration('use_respawn')
@@ -47,21 +46,12 @@ def generate_launch_description():
         description='Name of container that nodes will load in if use composition',
     )
 
-    declare_create_own_container_cmd = DeclareLaunchArgument(
-        'create_own_container',
-        default_value='False',
-        description='Whether the bridge should start its own ROS container when using composition \
-          (not recommended). This option should only be set to true if you plan to put your ROS \
-          node in the container created by the bridge. This is not needed if you want Gazebo and \
-          the bridge to be in the same ROS container.',
-    )
-
     declare_namespace_cmd = DeclareLaunchArgument(
         'namespace', default_value='', description='Top-level namespace'
     )
 
     declare_use_composition_cmd = DeclareLaunchArgument(
-        'use_composition', default_value='False', description='Use composed bringup if True'
+        'use_composition', default_value='True', description='Use composed bringup if True'
     )
 
     declare_use_respawn_cmd = DeclareLaunchArgument(
@@ -91,29 +81,8 @@ def generate_launch_description():
         ],
     )
 
-    load_composable_nodes_with_container = ComposableNodeContainer(
-        condition=IfCondition(
-            PythonExpression([use_composition, ' and ', create_own_container])),
-        name=LaunchConfiguration('container_name'),
-        namespace='',
-        package='rclcpp_components',
-        executable='component_container',
-        composable_node_descriptions=[
-            ComposableNode(
-                package='ros_gz_bridge',
-                plugin='ros_gz_bridge::RosGzBridge',
-                name=bridge_name,
-                namespace=namespace,
-                parameters=[{'config_file': config_file}],
-                extra_arguments=[{'use_intra_process_comms': True}],
-            ),
-        ],
-        output='screen',
-    )
-
-    load_composable_nodes_without_container = LoadComposableNodes(
-        condition=IfCondition(
-            PythonExpression([use_composition, ' and not ', create_own_container])),
+    load_composable_nodes = LoadComposableNodes(
+        condition=IfCondition(use_composition),
         target_container=container_name,
         composable_node_descriptions=[
             ComposableNode(
@@ -134,14 +103,12 @@ def generate_launch_description():
     ld.add_action(declare_bridge_name_cmd)
     ld.add_action(declare_config_file_cmd)
     ld.add_action(declare_container_name_cmd)
-    ld.add_action(declare_create_own_container_cmd)
     ld.add_action(declare_namespace_cmd)
     ld.add_action(declare_use_composition_cmd)
     ld.add_action(declare_use_respawn_cmd)
     ld.add_action(declare_log_level_cmd)
     # Add the actions to launch all of the bridge nodes
     ld.add_action(load_nodes)
-    ld.add_action(load_composable_nodes_with_container)
-    ld.add_action(load_composable_nodes_without_container)
+    ld.add_action(load_composable_nodes)
 
     return ld
diff --git a/ros_gz_bridge/package.xml b/ros_gz_bridge/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ros_gz_bridge</name>
-  <version>2.1.1</version>
+  <version>1.0.5</version>
   <description>Bridge communication between ROS and Gazebo Transport</description>
   <maintainer email="[email protected]">Aditya Pande</maintainer>
   <maintainer email="[email protected]">Alejandro Hernandez</maintainer>

diff --git a/ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py b/ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py
@@ -37,9 +37,8 @@ def __init__(
         bridge_name: SomeSubstitutionsType,
         config_file: SomeSubstitutionsType,
         container_name: Optional[SomeSubstitutionsType] = 'ros_gz_container',
-        create_own_container: Optional[SomeSubstitutionsType] = 'False',
         namespace: Optional[SomeSubstitutionsType] = '',
-        use_composition: Optional[SomeSubstitutionsType] = 'False',
+        use_composition: Optional[SomeSubstitutionsType] = 'True',
         use_respawn: Optional[SomeSubstitutionsType] = 'False',
         log_level: Optional[SomeSubstitutionsType] = 'info',
         **kwargs
@@ -53,7 +52,6 @@ def __init__(
         :param: bridge_name Name of ros_gz_bridge  node
         :param: config_file YAML config file.
         :param: container_name Name of container that nodes will load in if use composition.
-        :param: create_own_container Whether to start a ROS container when using composition.
         :param: namespace Top-level namespace.
         :param: use_composition Use composed bringup if True.
         :param: use_respawn Whether to respawn if a node crashes (when composition is disabled).
@@ -63,7 +61,6 @@ def __init__(
         self.__bridge_name = bridge_name
         self.__config_file = config_file
         self.__container_name = container_name
-        self.__create_own_container = create_own_container
         self.__namespace = namespace
         self.__use_composition = use_composition
         self.__use_respawn = use_respawn
@@ -86,10 +83,6 @@ def parse(cls, entity: Entity, parser: Parser):
             'container_name', data_type=str,
             optional=True)
 
-        create_own_container = entity.get_attr(
-            'create_own_container', data_type=str,
-            optional=True)
-
         namespace = entity.get_attr(
             'namespace', data_type=str,
             optional=True)
@@ -118,11 +111,6 @@ def parse(cls, entity: Entity, parser: Parser):
             container_name = parser.parse_substitution(container_name)
             kwargs['container_name'] = container_name
 
-        if isinstance(create_own_container, str):
-            create_own_container = \
-                parser.parse_substitution(create_own_container)
-            kwargs['create_own_container'] = create_own_container
-
         if isinstance(namespace, str):
             namespace = parser.parse_substitution(namespace)
             kwargs['namespace'] = namespace
@@ -151,7 +139,6 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
             launch_arguments=[('bridge_name', self.__bridge_name),
                               ('config_file', self.__config_file),
                               ('container_name', self.__container_name),
-                              ('create_own_container', self.__create_own_container),
                               ('namespace',   self.__namespace),
                               ('use_composition',  self.__use_composition),
                               ('use_respawn',  self.__use_respawn),

diff --git a/ros_gz_image/CHANGELOG.rst b/ros_gz_image/CHANGELOG.rst
@@ -2,23 +2,17 @@
 Changelog for package ros1_ign_image
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.1.1 (2024-10-14)
+1.0.5 (2024-10-14)
 ------------------
 
-2.1.0 (2024-09-12)
+1.0.4 (2024-08-29)
 ------------------
 
-2.0.1 (2024-08-29)
+1.0.3 (2024-07-22)
 ------------------
 
-2.0.0 (2024-07-22)
+1.0.2 (2024-07-03)
 ------------------
-
-1.0.1 (2024-07-03)
-------------------
-* Merge pull request `#571 <https://github.com/gazebosim/ros_gz//issues/571>`_ from azeey/jazzy_to_ros2
-  Merge jazzy ➡️  ros2
-* Merge jazzy into ros2
 * Merge pull request `#569 <https://github.com/gazebosim/ros_gz//issues/569>`_ from azeey/iron_to_jazzy
   Merge iron ➡️  jazzy
 * Merge iron into jazzy