From 65dd3dc58df9aa85ed9e6d6e33afdd04832c9161 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Wed, 13 Nov 2024 15:45:05 +0100
Subject: [PATCH] Refactor tf_bridge demo.
MIME-Version: 1.0
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Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 ros_gz_sim_demos/CMakeLists.txt              |  6 ++
 ros_gz_sim_demos/README.md                   |  2 +-
 ros_gz_sim_demos/config/tf_bridge.yaml       | 18 ++++++
 ros_gz_sim_demos/launch/tf_bridge.launch.py  | 59 --------------------
 ros_gz_sim_demos/launch/tf_bridge.launch.xml |  6 ++
 5 files changed, 31 insertions(+), 60 deletions(-)
 create mode 100644 ros_gz_sim_demos/config/tf_bridge.yaml
 delete mode 100644 ros_gz_sim_demos/launch/tf_bridge.launch.py
 create mode 100644 ros_gz_sim_demos/launch/tf_bridge.launch.xml

diff --git a/ros_gz_sim_demos/CMakeLists.txt b/ros_gz_sim_demos/CMakeLists.txt
index 8e0f580a..9b69104b 100644
--- a/ros_gz_sim_demos/CMakeLists.txt
+++ b/ros_gz_sim_demos/CMakeLists.txt
@@ -9,6 +9,12 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+install(
+  DIRECTORY
+    config/
+  DESTINATION share/${PROJECT_NAME}/config
+)
+
 install(
   DIRECTORY
     launch/
diff --git a/ros_gz_sim_demos/README.md b/ros_gz_sim_demos/README.md
index c404a4dc..3d46dcf2 100644
--- a/ros_gz_sim_demos/README.md
+++ b/ros_gz_sim_demos/README.md
@@ -203,6 +203,6 @@ and transforms of a robot in rviz.
 
 To try the demo launch:
 
-    ros2 launch ros_gz_sim_demos tf_bridge.launch.py
+    ros2 launch ros_gz_sim_demos tf_bridge.launch.xml
 
 ![](images/tf_bridge.gif)
diff --git a/ros_gz_sim_demos/config/tf_bridge.yaml b/ros_gz_sim_demos/config/tf_bridge.yaml
new file mode 100644
index 00000000..a1bec54e
--- /dev/null
+++ b/ros_gz_sim_demos/config/tf_bridge.yaml
@@ -0,0 +1,18 @@
+# tf_bridge configuration.
+- ros_topic_name: "/joint_states"
+  gz_topic_name: "/world/default/model/double_pendulum_with_base0/joint_state"
+  ros_type_name: "sensor_msgs/msg/JointState"
+  gz_type_name: "gz.msgs.Model"
+  subscriber_queue: 5
+  publisher_queue: 6
+  lazy: false
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/tf"
+  gz_topic_name: "/model/double_pendulum_with_base0/pose"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  subscriber_queue: 5
+  publisher_queue: 6
+  lazy: false
+  direction: GZ_TO_ROS
diff --git a/ros_gz_sim_demos/launch/tf_bridge.launch.py b/ros_gz_sim_demos/launch/tf_bridge.launch.py
deleted file mode 100644
index 42f76cdc..00000000
--- a/ros_gz_sim_demos/launch/tf_bridge.launch.py
+++ /dev/null
@@ -1,59 +0,0 @@
-# Copyright 2022 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import os
-
-from ament_index_python.packages import get_package_share_directory
-
-from launch import LaunchDescription
-from launch.actions import ExecuteProcess
-from launch_ros.actions import Node
-
-
-def generate_launch_description():
-    pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')
-    return LaunchDescription([
-        # Launch gazebo
-        ExecuteProcess(
-            cmd=[
-                'gz', 'sim', '-r',
-                os.path.join(
-                    pkg_ros_gz_sim_demos,
-                    'models',
-                    'double_pendulum_model.sdf'
-                )
-            ]
-        ),
-        # Launch a bridge to forward tf and joint states to ros2
-        Node(
-            package='ros_gz_bridge',
-            executable='parameter_bridge',
-            arguments=[
-                '/world/default/model/double_pendulum_with_base0/joint_state@'
-                'sensor_msgs/msg/JointState[gz.msgs.Model',
-                '/model/double_pendulum_with_base0/pose@'
-                'tf2_msgs/msg/TFMessage[gz.msgs.Pose_V'
-            ],
-            remappings=[
-                ('/model/double_pendulum_with_base0/pose', '/tf'),
-                ('/world/default/model/double_pendulum_with_base0/joint_state', '/joint_states')
-            ]
-        ),
-        # Launch rviz
-        Node(
-            package='rviz2',
-            executable='rviz2',
-            arguments=['-d', os.path.join(pkg_ros_gz_sim_demos, 'rviz', 'tf_bridge.rviz')]
-        )
-    ])
diff --git a/ros_gz_sim_demos/launch/tf_bridge.launch.xml b/ros_gz_sim_demos/launch/tf_bridge.launch.xml
new file mode 100644
index 00000000..33f0949b
--- /dev/null
+++ b/ros_gz_sim_demos/launch/tf_bridge.launch.xml
@@ -0,0 +1,6 @@
+<launch>
+  <gz_server world_sdf_file="$(find-pkg-share ros_gz_sim_demos)/models/double_pendulum_model.sdf" use_composition="True" create_own_container="True" />
+  <ros_gz_bridge bridge_name="ros_gz_bridge" config_file="$(find-pkg-share ros_gz_sim_demos)/config/tf_bridge.yaml" use_composition="True" />
+  <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/tf_bridge.rviz" />
+  <executable cmd="gz sim -g" />
+</launch>