Imported upstream version '0.247.0' of 'upstream'

README.md

@@ -8,6 +8,8 @@ Galactic | Edifice | [galactic](https://github.com/gazebosim/ros_gz/tree/galacti
 Galactic | Fortress | [galactic](https://github.com/gazebosim/ros_gz/tree/galactic) | only from source
 Humble | Fortress | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | https://packages.ros.org
 Humble | Garden | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | only from source
+Iron | Fortress | [humble](https://github.com/gazebosim/ros_gz/tree/iron) | https://packages.ros.org
+Iron | Garden | [humble](https://github.com/gazebosim/ros_gz/tree/iron) | only from source
 Rolling | Edifice | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source
 Rolling | Fortress | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | https://packages.ros.org
 Rolling | Garden | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source
@@ -51,11 +53,11 @@ This repository holds packages that provide integration between
 
 ## Install
 
-This branch supports ROS Rolling. See above for other ROS versions.
+This branch supports ROS Iron. See above for other ROS versions.
 
 ### Binaries
 
-Rolling binaries are available for Fortress.
+Iron binaries are available for Fortress.
 They are hosted at https://packages.ros.org.
 
 1. Add https://packages.ros.org
@@ -66,14 +68,14 @@ They are hosted at https://packages.ros.org.
 
 1. Install `ros_gz`
 
-        sudo apt install ros-rolling-ros-ign
+        sudo apt install ros-iron-ros-gz
 
 ### From source
 
 #### ROS
 
 Be sure you've installed
-[ROS Rolling](https://index.ros.org/doc/ros2/Installation/)
+[ROS Iron](https://docs.ros.org/en/iron/Installation.html)
 (at least ROS-Base). More ROS dependencies will be installed below.
 
 #### Gazebo
@@ -121,3 +123,10 @@ The following steps are for Linux and OSX.
     cd ~/ws
     colcon build
     ```
+
+## ROSCon 2022
+
+[![](img/video_img.png)](https://vimeo.com/showcase/9954564/video/767127300)
+
+## Project Template
+[A template project integrating ROS and Gazebo simulator](https://github.com/gazebosim/ros_gz_project_template)

ros_gz/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ros_gz
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.247.0 (2023-11-02)
+--------------------
+
 0.245.0 (2023-05-23)
 --------------------
 

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>0.245.0</version>
+  <version>0.247.0</version>
   <description>Meta-package containing interfaces for using ROS 2 with <a href="https://gazebosim.org">Gazebo</a> simulation.</description>
   <maintainer email="[email protected]">Louise Poubel</maintainer>
   <license>Apache 2.0</license>

ros_gz_bridge/CHANGELOG.rst

@@ -2,6 +2,21 @@
 Changelog for package ros_gz_bridge
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.247.0 (2023-11-02)
+--------------------
+* Fix double wait in ros_gz_bridge (`#347 <https://github.com/gazebosim/ros_gz/issues/347>`_) (`#449 <https://github.com/gazebosim/ros_gz/issues/449>`_)
+  Co-authored-by: ymd-stella <[email protected]>
+* [backport iron] SensorNoise msg bridging (`#417 <https://github.com/gazebosim/ros_gz/issues/417>`_) (`#425 <https://github.com/gazebosim/ros_gz/issues/425>`_)
+  Co-authored-by: Aditya Pande <[email protected]>
+* Merge pull request `#420 <https://github.com/gazebosim/ros_gz/issues/420>`_ from gazebosim/ahcorde/iron/backport/411
+  [backport iron] Update README.md (`#411 <https://github.com/gazebosim/ros_gz/issues/411>`_)
+* Merge branch 'iron' into ahcorde/iron/backport/411
+* [backport Iron] Added Altimeter msg bridging (`#413 <https://github.com/gazebosim/ros_gz/issues/413>`_) (`#414 <https://github.com/gazebosim/ros_gz/issues/414>`_)
+  Co-authored-by: Aditya Pande <[email protected]>
+* Update README.md (`#411 <https://github.com/gazebosim/ros_gz/issues/411>`_)
+  The ROS type for gz.msgs.NavSat messages should be **sensor_msgs/msg/NavSatFix** instead of **sensor_msgs/msg/NavSatFixed**
+* Contributors: Alejandro Hernández Cordero, Arjun K Haridas
+
 0.245.0 (2023-05-23)
 --------------------
 * Backport: Add missing rosidl_cmake dep to ros_gz_bridge (`#391 <https://github.com/gazebosim/ros_gz/issues/391>`_) (`#396 <https://github.com/gazebosim/ros_gz/issues/396>`_)

ros_gz_bridge/README.md

@@ -32,30 +32,32 @@ The following message types can be bridged for topics:
 | geometry_msgs/msg/TwistWithCovariance| ignition::msgs::TwistWithCovariance    |
 | nav_msgs/msg/Odometry                | ignition::msgs::Odometry               |
 | nav_msgs/msg/Odometry                | ignition::msgs::OdometryWithCovariance |
-| rcl_interfaces/msg/ParameterValue    | ignition::msgs::Any                  |
+| rcl_interfaces/msg/ParameterValue    | ignition::msgs::Any                    |
+| ros_gz_interfaces/msg/Altimeter      | ignition::msgs::Altimeter              |
 | ros_gz_interfaces/msg/Contact        | ignition::msgs::Contact                |
 | ros_gz_interfaces/msg/Contacts       | ignition::msgs::Contacts               |
-| ros_gz_interfaces/msg/Dataframe     | ignition::msgs::Dataframe            |
+| ros_gz_interfaces/msg/Dataframe      | ignition::msgs::Dataframe              |
 | ros_gz_interfaces/msg/Entity         | ignition::msgs::Entity                 |
 | ros_gz_interfaces/msg/Float32Array   | ignition::msgs::Float_V                |
 | ros_gz_interfaces/msg/GuiCamera      | ignition::msgs::GUICamera              |
 | ros_gz_interfaces/msg/JointWrench    | ignition::msgs::JointWrench            |
 | ros_gz_interfaces/msg/Light          | ignition::msgs::Light                  |
+| ros_gz_interfaces/msg/SensorNoise    | ignition::msgs::SensorNoise            |
 | ros_gz_interfaces/msg/StringVec      | ignition::msgs::StringMsg_V            |
 | ros_gz_interfaces/msg/TrackVisual    | ignition::msgs::TrackVisual            |
-| ros_gz_interfaces/msg/VideoRecord   | ignition::msgs::VideoRecord            |
-| ros_gz_interfaces/msg/WorldControl  | ignition::msgs::WorldControl           |
+| ros_gz_interfaces/msg/VideoRecord    | ignition::msgs::VideoRecord            |
+| ros_gz_interfaces/msg/WorldControl   | ignition::msgs::WorldControl           |
 | rosgraph_msgs/msg/Clock              | ignition::msgs::Clock                  |
 | sensor_msgs/msg/BatteryState         | ignition::msgs::BatteryState           |
 | sensor_msgs/msg/CameraInfo           | ignition::msgs::CameraInfo             |
 | sensor_msgs/msg/FluidPressure        | ignition::msgs::FluidPressure          |
 | sensor_msgs/msg/Imu                  | ignition::msgs::IMU                    |
 | sensor_msgs/msg/Image                | ignition::msgs::Image                  |
 | sensor_msgs/msg/JointState           | ignition::msgs::Model                  |
-| sensor_msgs/msg/Joy                  | ignition::msgs::Joy                  |
+| sensor_msgs/msg/Joy                  | ignition::msgs::Joy                    |
 | sensor_msgs/msg/LaserScan            | ignition::msgs::LaserScan              |
 | sensor_msgs/msg/MagneticField        | ignition::msgs::Magnetometer           |
-| sensor_msgs/msg/NavSatFixed          | ignition::msgs::NavSat               |
+| sensor_msgs/msg/NavSatFix            | ignition::msgs::NavSat                 |
 | sensor_msgs/msg/PointCloud2          | ignition::msgs::PointCloudPacked       |
 | tf2_msgs/msg/TFMessage               | ignition::msgs::Pose_V                 |
 | trajectory_msgs/msg/JointTrajectory  | ignition::msgs::JointTrajectory        |
@@ -64,7 +66,7 @@ And the following for services:
 
 | ROS type                             | Gazebo request             | Gazebo response       |
 |--------------------------------------|:--------------------------:| --------------------- |
-| ros_gz_interfaces/srv/ControlWorld  | ignition.msgs.WorldControl | ignition.msgs.Boolean |
+| ros_gz_interfaces/srv/ControlWorld   | ignition.msgs.WorldControl | ignition.msgs.Boolean |
 
 Run `ros2 run ros_gz_bridge parameter_bridge -h` for instructions.
 

ros_gz_bridge/include/ros_gz_bridge/convert/ros_gz_interfaces.hpp

@@ -16,6 +16,7 @@
 #define ROS_GZ_BRIDGE__CONVERT__ROS_GZ_INTERFACES_HPP_
 
 // Gazebo Msgs
+#include <ignition/msgs/altimeter.pb.h>
 #include <ignition/msgs/entity.pb.h>
 #include <ignition/msgs/joint_wrench.pb.h>
 #include <ignition/msgs/contact.pb.h>
@@ -25,12 +26,14 @@
 #include <ignition/msgs/light.pb.h>
 #include <ignition/msgs/param.pb.h>
 #include <ignition/msgs/param_v.pb.h>
+#include <ignition/msgs/sensor_noise.pb.h>
 #include <ignition/msgs/stringmsg_v.pb.h>
 #include <ignition/msgs/track_visual.pb.h>
 #include <ignition/msgs/video_record.pb.h>
 #include <ignition/msgs/world_control.pb.h>
 
 // ROS 2 messages
+#include <ros_gz_interfaces/msg/altimeter.hpp>
 #include <ros_gz_interfaces/msg/entity.hpp>
 #include <ros_gz_interfaces/msg/joint_wrench.hpp>
 #include <ros_gz_interfaces/msg/contact.hpp>
@@ -39,6 +42,7 @@
 #include <ros_gz_interfaces/msg/gui_camera.hpp>
 #include <ros_gz_interfaces/msg/light.hpp>
 #include <ros_gz_interfaces/msg/param_vec.hpp>
+#include <ros_gz_interfaces/msg/sensor_noise.hpp>
 #include <ros_gz_interfaces/msg/string_vec.hpp>
 #include <ros_gz_interfaces/msg/track_visual.hpp>
 #include <ros_gz_interfaces/msg/video_record.hpp>
@@ -69,6 +73,18 @@ convert_gz_to_ros(
   const ignition::msgs::JointWrench & gz_msg,
   ros_gz_interfaces::msg::JointWrench & ros_msg);
 
+template<>
+void
+convert_ros_to_gz(
+  const ros_gz_interfaces::msg::Altimeter & ros_msg,
+  ignition::msgs::Altimeter & gz_msg);
+
+template<>
+void
+convert_gz_to_ros(
+  const ignition::msgs::Altimeter & gz_msg,
+  ros_gz_interfaces::msg::Altimeter & ros_msg);
+
 template<>
 void
 convert_ros_to_gz(
@@ -143,6 +159,18 @@ convert_gz_to_ros(
   const ignition::msgs::Light & gz_msg,
   ros_gz_interfaces::msg::Light & ros_msg);
 
+template<>
+void
+convert_ros_to_gz(
+  const ros_gz_interfaces::msg::SensorNoise & ros_msg,
+  ignition::msgs::SensorNoise & gz_msg);
+
+template<>
+void
+convert_gz_to_ros(
+  const ignition::msgs::SensorNoise & gz_msg,
+  ros_gz_interfaces::msg::SensorNoise & ros_msg);
+
 template<>
 void
 convert_ros_to_gz(

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>0.245.0</version>
+  <version>0.247.0</version>
   <description>Bridge communication between ROS and Gazebo Transport</description>
   <maintainer email="[email protected]">Louise Poubel</maintainer>
 

ros_gz_bridge/ros_gz_bridge/mappings.py

@@ -53,6 +53,7 @@
         Mapping('ParameterValue', 'Any'),
     ],
     'ros_gz_interfaces': [
+        Mapping('Altimeter', 'Altimeter'),
         Mapping('Contact', 'Contact'),
         Mapping('Contacts', 'Contacts'),
         Mapping('Entity', 'Entity'),
@@ -62,6 +63,7 @@
         Mapping('Light', 'Light'),
         Mapping('ParamVec', 'Param'),
         Mapping('ParamVec', 'Param_V'),
+        Mapping('SensorNoise', 'SensorNoise'),
         Mapping('StringVec', 'StringMsg_V'),
         Mapping('TrackVisual', 'TrackVisual'),
         Mapping('VideoRecord', 'VideoRecord'),

ros_gz_bridge/src/convert/ros_gz_interfaces.cpp

@@ -47,6 +47,30 @@ convert_gz_to_ros(
   convert_gz_to_ros(gz_msg.body_2_wrench(), ros_msg.body_2_wrench);
 }
 
+template<>
+void
+convert_ros_to_gz(
+  const ros_gz_interfaces::msg::Altimeter & ros_msg,
+  ignition::msgs::Altimeter & gz_msg)
+{
+  convert_ros_to_gz(ros_msg.header, (*gz_msg.mutable_header()));
+  gz_msg.set_vertical_position(ros_msg.vertical_position);
+  gz_msg.set_vertical_velocity(ros_msg.vertical_velocity);
+  gz_msg.set_vertical_reference(ros_msg.vertical_reference);
+}
+
+template<>
+void
+convert_gz_to_ros(
+  const ignition::msgs::Altimeter & gz_msg,
+  ros_gz_interfaces::msg::Altimeter & ros_msg)
+{
+  convert_gz_to_ros(gz_msg.header(), ros_msg.header);
+  ros_msg.vertical_position = gz_msg.vertical_position();
+  ros_msg.vertical_velocity = gz_msg.vertical_velocity();
+  ros_msg.vertical_reference = gz_msg.vertical_reference();
+}
+
 template<>
 void
 convert_ros_to_gz(
@@ -356,6 +380,55 @@ convert_gz_to_ros(
   ros_msg.intensity = gz_msg.intensity();
 }
 
+template<>
+void
+convert_ros_to_gz(
+  const ros_gz_interfaces::msg::SensorNoise & ros_msg,
+  ignition::msgs::SensorNoise & gz_msg)
+{
+  convert_ros_to_gz(ros_msg.header, *gz_msg.mutable_header());
+  if (ros_msg.type == 0) {
+    gz_msg.set_type(ignition::msgs::SensorNoise_Type::SensorNoise_Type_NONE);
+  } else if (ros_msg.type == 2) {
+    gz_msg.set_type(ignition::msgs::SensorNoise_Type::SensorNoise_Type_GAUSSIAN);
+  } else if (ros_msg.type == 3) {
+    gz_msg.set_type(ignition::msgs::SensorNoise_Type::SensorNoise_Type_GAUSSIAN_QUANTIZED);
+  }
+
+  gz_msg.set_mean(ros_msg.mean);
+  gz_msg.set_stddev(ros_msg.stddev);
+  gz_msg.set_bias_mean(ros_msg.bias_mean);
+  gz_msg.set_bias_stddev(ros_msg.bias_stddev);
+  gz_msg.set_precision(ros_msg.precision);
+  gz_msg.set_dynamic_bias_stddev(ros_msg.dynamic_bias_stddev);
+}
+
+template<>
+void
+convert_gz_to_ros(
+  const ignition::msgs::SensorNoise & gz_msg,
+  ros_gz_interfaces::msg::SensorNoise & ros_msg)
+{
+  convert_gz_to_ros(gz_msg.header(), ros_msg.header);
+
+  if (gz_msg.type() == ignition::msgs::SensorNoise_Type::SensorNoise_Type_NONE) {
+    ros_msg.type = 0;
+  } else if (gz_msg.type() == ignition::msgs::SensorNoise_Type::SensorNoise_Type_GAUSSIAN) {
+    ros_msg.type = 2;
+  } else if (gz_msg.type() ==  // NOLINT
+    ignition::msgs::SensorNoise_Type::SensorNoise_Type_GAUSSIAN_QUANTIZED)  // NOLINT
+  {  // NOLINT
+    ros_msg.type = 3;
+  }
+
+  ros_msg.mean = gz_msg.mean();
+  ros_msg.stddev = gz_msg.stddev();
+  ros_msg.bias_mean = gz_msg.bias_mean();
+  ros_msg.bias_stddev = gz_msg.bias_stddev();
+  ros_msg.precision = gz_msg.precision();
+  ros_msg.dynamic_bias_stddev = gz_msg.dynamic_bias_stddev();
+}
+
 template<>
 void
 convert_ros_to_gz(

ros_gz_bridge/src/parameter_bridge.cpp

@@ -172,8 +172,5 @@ int main(int argc, char * argv[])
   // ROS 2 spinner
   rclcpp::spin(bridge_node);
 
-  // Wait for gz node shutdown
-  ignition::transport::waitForShutdown();
-
   return 0;
 }

ros_gz_bridge/src/static_bridge.cpp

@@ -44,8 +44,5 @@ int main(int argc, char * argv[])
 
   rclcpp::spin(bridge_node);
 
-  // Wait for gz node shutdown
-  ignition::transport::waitForShutdown();
-
   return 0;
 }

ros_gz_bridge/test/utils/gz_test_msg.cpp

@@ -247,6 +247,54 @@ void compareTestMsg(const std::shared_ptr<ignition::msgs::Vector3d> & _msg)
   EXPECT_EQ(expected_msg.z(), _msg->z());
 }
 
+void createTestMsg(ignition::msgs::Altimeter & _msg)
+{
+  createTestMsg(*_msg.mutable_header());
+  _msg.set_vertical_position(100);
+  _msg.set_vertical_velocity(200);
+  _msg.set_vertical_reference(300);
+}
+
+void compareTestMsg(const std::shared_ptr<ignition::msgs::Altimeter> & _msg)
+{
+  ignition::msgs::Altimeter expected_msg;
+  createTestMsg(expected_msg);
+
+  EXPECT_EQ(expected_msg.vertical_position(), _msg->vertical_position());
+  EXPECT_EQ(expected_msg.vertical_velocity(), _msg->vertical_velocity());
+  EXPECT_EQ(expected_msg.vertical_reference(), _msg->vertical_reference());
+  compareTestMsg(std::make_shared<ignition::msgs::Header>(_msg->header()));
+}
+
+void createTestMsg(ignition::msgs::SensorNoise & _msg)
+{
+  createTestMsg(*_msg.mutable_header());
+  _msg.set_type(ignition::msgs::SensorNoise_Type::SensorNoise_Type_GAUSSIAN_QUANTIZED);
+  _msg.set_mean(100);
+  _msg.set_stddev(200);
+  _msg.set_bias_mean(300);
+  _msg.set_bias_stddev(400);
+  _msg.set_precision(500);
+  _msg.set_dynamic_bias_stddev(600);
+}
+
+void compareTestMsg(const std::shared_ptr<ignition::msgs::SensorNoise> & _msg)
+{
+  ignition::msgs::SensorNoise expected_msg;
+  createTestMsg(expected_msg);
+
+  EXPECT_EQ(
+    expected_msg.type(),
+    ignition::msgs::SensorNoise_Type::SensorNoise_Type_GAUSSIAN_QUANTIZED);
+  EXPECT_EQ(expected_msg.mean(), _msg->mean());
+  EXPECT_EQ(expected_msg.stddev(), _msg->stddev());
+  EXPECT_EQ(expected_msg.bias_mean(), _msg->bias_mean());
+  EXPECT_EQ(expected_msg.bias_stddev(), _msg->bias_stddev());
+  EXPECT_EQ(expected_msg.precision(), _msg->precision());
+  EXPECT_EQ(expected_msg.dynamic_bias_stddev(), _msg->dynamic_bias_stddev());
+  compareTestMsg(std::make_shared<ignition::msgs::Header>(_msg->header()));
+}
+
 void createTestMsg(ignition::msgs::Param & _msg)
 {
   createTestMsg(*_msg.mutable_header());