Merge branch 'gazebosim:humble' into humble

gazebosim · Dec 17, 2023 · 82d1209 · 82d1209
2 parents 58f0941 + 78d3398
commit 82d1209
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diff --git a/ros_gz/CHANGELOG.rst b/ros_gz/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros_gz
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.244.12 (2023-12-13)
+---------------------
+
 0.244.11 (2023-05-23)
 ---------------------
 

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>0.244.11</version>
+  <version>0.244.12</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>

diff --git a/ros_gz_bridge/CHANGELOG.rst b/ros_gz_bridge/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package ros_gz_bridge
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.244.12 (2023-12-13)
+---------------------
+* Backport: Add conversion for geometry_msgs/msg/TwistStamped <-> gz.msgs.Twist (`#468 <https://github.com/gazebosim/ros_gz/issues/468>`_) (`#470 <https://github.com/gazebosim/ros_gz/issues/470>`_)
+* Add support for Harmonic/Humble pairing (`#462 <https://github.com/gazebosim/ros_gz/issues/462>`_)
+* Added messages for 2D Bounding Boxes to ros_gz_bridge (`#458 <https://github.com/gazebosim/ros_gz/issues/458>`_)
+* Fix double wait in ros_gz_bridge (`#347 <https://github.com/gazebosim/ros_gz/issues/347>`_) (`#450 <https://github.com/gazebosim/ros_gz/issues/450>`_)
+* [backport humble] SensorNoise msg bridging (`#417 <https://github.com/gazebosim/ros_gz/issues/417>`_)
+* [backport humble] Added Altimeter msg bridging (`#413 <https://github.com/gazebosim/ros_gz/issues/413>`_) (`#414 <https://github.com/gazebosim/ros_gz/issues/414>`_) (`#426 <https://github.com/gazebosim/ros_gz/issues/426>`_)
+* [backport humble] 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: Addisu Z. Taddese, Alejandro Hernández Cordero, Arjun K Haridas, wittenator
+
 0.244.11 (2023-05-23)
 ---------------------
 * Add actuator_msgs to humble bridge. (`#394 <https://github.com/gazebosim/ros_gz/issues/394>`_)

diff --git a/ros_gz_bridge/README.md b/ros_gz_bridge/README.md
@@ -29,6 +29,7 @@ The following message types can be bridged for topics:
 | geometry_msgs/msg/Transform          | ignition::msgs::Pose                   |
 | geometry_msgs/msg/TransformStamped   | ignition::msgs::Pose                   |
 | geometry_msgs/msg/Twist              | ignition::msgs::Twist                  |
+| geometry_msgs/msg/TwistStamped       | ignition::msgs::Twist                  |
 | geometry_msgs/msg/TwistWithCovariance| ignition::msgs::TwistWithCovariance    |
 | nav_msgs/msg/Odometry                | ignition::msgs::Odometry               |
 | nav_msgs/msg/Odometry                | ignition::msgs::OdometryWithCovariance |

diff --git a/ros_gz_bridge/bin/ros_gz_bridge_markdown_table b/ros_gz_bridge/bin/ros_gz_bridge_markdown_table
@@ -42,7 +42,7 @@ def main(argv=sys.argv[1:]):
 
     for mapping in mappings(msgs_ver):
         rows.append('| {:32}| {:32}|'.format(
-            mapping.ros2_package_name + '/' + mapping.ros2_message_name,
+            mapping.ros2_package_name + '/msg/' + mapping.ros2_message_name,
             mapping.gz_string()))
     print('\n'.join(rows))
 

diff --git a/ros_gz_bridge/include/ros_gz_bridge/convert/geometry_msgs.hpp b/ros_gz_bridge/include/ros_gz_bridge/convert/geometry_msgs.hpp
@@ -34,6 +34,7 @@
 #include <geometry_msgs/msg/quaternion.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
 #include <geometry_msgs/msg/twist.hpp>
+#include <geometry_msgs/msg/twist_stamped.hpp>
 #include <geometry_msgs/msg/twist_with_covariance.hpp>
 #include <geometry_msgs/msg/wrench.hpp>
 #include <geometry_msgs/msg/wrench_stamped.hpp>
@@ -164,6 +165,18 @@ convert_gz_to_ros(
   const gz::msgs::Twist & gz_msg,
   geometry_msgs::msg::Twist & ros_msg);
 
+template<>
+void
+convert_ros_to_gz(
+  const geometry_msgs::msg::TwistStamped & ros_msg,
+  gz::msgs::Twist & gz_msg);
+
+template<>
+void
+convert_gz_to_ros(
+  const gz::msgs::Twist & gz_msg,
+  geometry_msgs::msg::TwistStamped & ros_msg);
+
 template<>
 void
 convert_ros_to_gz(

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>0.244.11</version>
+  <version>0.244.12</version>
   <description>Bridge communication between ROS and Gazebo Transport</description>
   <maintainer email="[email protected]">Louise Poubel</maintainer>
 

diff --git a/ros_gz_bridge/ros_gz_bridge/mappings.py b/ros_gz_bridge/ros_gz_bridge/mappings.py
@@ -40,6 +40,7 @@
         Mapping('Transform', 'Pose'),
         Mapping('TransformStamped', 'Pose'),
         Mapping('Twist', 'Twist'),
+        Mapping('TwistStamped', 'Twist'),
         Mapping('TwistWithCovariance', 'TwistWithCovariance'),
         Mapping('Wrench', 'Wrench'),
         Mapping('WrenchStamped', 'Wrench'),

diff --git a/ros_gz_bridge/src/convert/geometry_msgs.cpp b/ros_gz_bridge/src/convert/geometry_msgs.cpp
@@ -256,6 +256,26 @@ convert_gz_to_ros(
   convert_gz_to_ros(gz_msg.angular(), ros_msg.angular);
 }
 
+template<>
+void
+convert_ros_to_gz(
+  const geometry_msgs::msg::TwistStamped & ros_msg,
+  gz::msgs::Twist & gz_msg)
+{
+  convert_ros_to_gz(ros_msg.header, (*gz_msg.mutable_header()));
+  convert_ros_to_gz(ros_msg.twist, gz_msg);
+}
+
+template<>
+void
+convert_gz_to_ros(
+  const gz::msgs::Twist & gz_msg,
+  geometry_msgs::msg::TwistStamped & ros_msg)
+{
+  convert_gz_to_ros(gz_msg.header(), ros_msg.header);
+  convert_gz_to_ros(gz_msg, ros_msg.twist);
+}
+
 template<>
 void
 convert_ros_to_gz(

diff --git a/ros_gz_bridge/test/utils/gz_test_msg.cpp b/ros_gz_bridge/test/utils/gz_test_msg.cpp
@@ -417,6 +417,9 @@ void createTestMsg(gz::msgs::Twist & _msg)
 
 void compareTestMsg(const std::shared_ptr<gz::msgs::Twist> & _msg)
 {
+  if (_msg->has_header()) {
+    compareTestMsg(std::make_shared<gz::msgs::Header>(_msg->header()));
+  }
   compareTestMsg(std::make_shared<gz::msgs::Vector3d>(_msg->linear()));
   compareTestMsg(std::make_shared<gz::msgs::Vector3d>(_msg->angular()));
 }

diff --git a/ros_gz_bridge/test/utils/ros_test_msg.cpp b/ros_gz_bridge/test/utils/ros_test_msg.cpp
@@ -447,6 +447,18 @@ void compareTestMsg(const std::shared_ptr<geometry_msgs::msg::Twist> & _msg)
   compareTestMsg(std::make_shared<geometry_msgs::msg::Vector3>(_msg->angular));
 }
 
+void createTestMsg(geometry_msgs::msg::TwistStamped & _msg)
+{
+  createTestMsg(_msg.header);
+  createTestMsg(_msg.twist);
+}
+
+void compareTestMsg(const std::shared_ptr<geometry_msgs::msg::TwistStamped> & _msg)
+{
+  compareTestMsg(std::make_shared<geometry_msgs::msg::Twist>(_msg->twist));
+  compareTestMsg(std::make_shared<std_msgs::msg::Header>(_msg->header));
+}
+
 void createTestMsg(geometry_msgs::msg::TwistWithCovariance & _msg)
 {
   createTestMsg(_msg.twist.linear);

diff --git a/ros_gz_bridge/test/utils/ros_test_msg.hpp b/ros_gz_bridge/test/utils/ros_test_msg.hpp
@@ -38,6 +38,7 @@
 #include <geometry_msgs/msg/transform.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
 #include <geometry_msgs/msg/twist.hpp>
+#include <geometry_msgs/msg/twist_stamped.hpp>
 #include <geometry_msgs/msg/twist_with_covariance.hpp>
 #include <geometry_msgs/msg/quaternion.hpp>
 #include <geometry_msgs/msg/vector3.hpp>
@@ -297,6 +298,14 @@ void createTestMsg(geometry_msgs::msg::Twist & _msg);
 /// \param[in] _msg The message to compare.
 void compareTestMsg(const std::shared_ptr<geometry_msgs::msg::Twist> & _msg);
 
+/// \brief Create a message used for testing.
+/// \param[out] _msg The message populated.
+void createTestMsg(geometry_msgs::msg::TwistStamped & _msg);
+
+/// \brief Compare a message with the populated for testing.
+/// \param[in] _msg The message to compare.
+void compareTestMsg(const std::shared_ptr<geometry_msgs::msg::TwistStamped> & _msg);
+
 /// \brief Create a message used for testing.
 /// \param[out] _msg The message populated.
 void createTestMsg(geometry_msgs::msg::TwistWithCovariance & _msg);

diff --git a/ros_gz_image/CHANGELOG.rst b/ros_gz_image/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package ros1_ign_image
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.244.12 (2023-12-13)
+---------------------
+* Add support for Harmonic/Humble pairing (`#462 <https://github.com/gazebosim/ros_gz/issues/462>`_)
+* Fix double wait in ros_gz_bridge (`#347 <https://github.com/gazebosim/ros_gz/issues/347>`_) (`#450 <https://github.com/gazebosim/ros_gz/issues/450>`_)
+* Contributors: Addisu Z. Taddese, Alejandro Hernández Cordero
+
 0.244.11 (2023-05-23)
 ---------------------
 

diff --git a/ros_gz_image/package.xml b/ros_gz_image/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>ros_gz_image</name>
-  <version>0.244.11</version>
+  <version>0.244.12</version>
   <description>Image utilities for Gazebo simulation with ROS.</description>
   <license>Apache 2.0</license>
   <maintainer email="[email protected]">Louise Poubel</maintainer>

diff --git a/ros_gz_interfaces/CHANGELOG.rst b/ros_gz_interfaces/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package ros_gz_interfaces
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.244.12 (2023-12-13)
+---------------------
+* [backport humble] SensorNoise msg bridging (`#417 <https://github.com/gazebosim/ros_gz/issues/417>`_)
+* [backport humble] Added Altimeter msg bridging (`#413 <https://github.com/gazebosim/ros_gz/issues/413>`_) (`#414 <https://github.com/gazebosim/ros_gz/issues/414>`_) (`#426 <https://github.com/gazebosim/ros_gz/issues/426>`_)
+* Contributors: Alejandro Hernández Cordero
+
 0.244.11 (2023-05-23)
 ---------------------
 

diff --git a/ros_gz_interfaces/package.xml b/ros_gz_interfaces/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>ros_gz_interfaces</name>
-  <version>0.244.11</version>
+  <version>0.244.12</version>
   <description>Message and service data structures for interacting with Gazebo from ROS2.</description>
   <license>Apache 2.0</license>
   <maintainer email="[email protected]">Louise Poubel</maintainer>

diff --git a/ros_gz_sim/CHANGELOG.rst b/ros_gz_sim/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package ros_gz_sim
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.244.12 (2023-12-13)
+---------------------
+* Add support for Harmonic/Humble pairing (`#462 <https://github.com/gazebosim/ros_gz/issues/462>`_)
+* Set on_exit_shutdown argument for gz-sim ExecuteProcess (`#355 <https://github.com/gazebosim/ros_gz/issues/355>`_) (`#451 <https://github.com/gazebosim/ros_gz/issues/451>`_)
+* Contributors: Addisu Z. Taddese, Michael Carroll
+
 0.244.11 (2023-05-23)
 ---------------------
 

diff --git a/ros_gz_sim/package.xml b/ros_gz_sim/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_sim</name>
-  <version>0.244.11</version>
+  <version>0.244.12</version>
   <description>Tools for using Gazebo Sim simulation with ROS.</description>
   <maintainer email="[email protected]">Alejandro Hernandez</maintainer>
 

diff --git a/ros_gz_sim_demos/CHANGELOG.rst b/ros_gz_sim_demos/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package ros1_gz_sim_demos
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.244.12 (2023-12-13)
+---------------------
+* [backport Humble] Added more topic to the bridge (`#422 <https://github.com/gazebosim/ros_gz/issues/422>`_)
+* Added more topic to the bridge (`#422 <https://github.com/gazebosim/ros_gz/issues/422>`_)
+* Fix incorrect subscription on demo (`#405 <https://github.com/gazebosim/ros_gz/issues/405>`_)
+* Contributors: Alejandro Hernández Cordero, Arjo Chakravarty
+
 0.244.11 (2023-05-23)
 ---------------------
 

diff --git a/ros_gz_sim_demos/package.xml b/ros_gz_sim_demos/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>ros_gz_sim_demos</name>
-  <version>0.244.11</version>
+  <version>0.244.12</version>
   <description>Demos using Gazebo Sim simulation with ROS.</description>
   <license>Apache 2.0</license>
   <maintainer email="[email protected]">Louise Poubel</maintainer>

diff --git a/ros_ign/CHANGELOG.rst b/ros_ign/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros_ign
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.244.12 (2023-12-13)
+---------------------
+
 0.244.11 (2023-05-23)
 ---------------------
 

diff --git a/ros_ign/package.xml b/ros_ign/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>ros_ign</name>
-  <version>0.244.11</version>
+  <version>0.244.12</version>
   <description>Shim meta-package to redirect to <a href="https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz">ros_gz</a>.</description>
   <maintainer email="[email protected]">Brandon Ong</maintainer>
   <license>Apache 2.0</license>

diff --git a/ros_ign_bridge/CHANGELOG.rst b/ros_ign_bridge/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros_ign_bridge
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.244.12 (2023-12-13)
+---------------------
+
 0.244.11 (2023-05-23)
 ---------------------
 

diff --git a/ros_ign_bridge/package.xml b/ros_ign_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_ign_bridge</name>
-  <version>0.244.11</version>
+  <version>0.244.12</version>
   <description>Shim package to redirect to ros_gz_bridge.</description>
   <maintainer email="[email protected]">Brandon Ong</maintainer>
 

diff --git a/ros_ign_gazebo/CHANGELOG.rst b/ros_ign_gazebo/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package ros_ign_gazebo
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.244.12 (2023-12-13)
+---------------------
+* Add support for Harmonic/Humble pairing (`#462 <https://github.com/gazebosim/ros_gz/issues/462>`_)
+* Contributors: Addisu Z. Taddese
+
 0.244.11 (2023-05-23)
 ---------------------
 

diff --git a/ros_ign_gazebo/package.xml b/ros_ign_gazebo/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_ign_gazebo</name>
-  <version>0.244.11</version>
+  <version>0.244.12</version>
   <description>Shim package to redirect to ros_gz_sim.</description>
   <maintainer email="[email protected]">Brandon Ong</maintainer>
 

diff --git a/ros_ign_gazebo_demos/CHANGELOG.rst b/ros_ign_gazebo_demos/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros_ign_gazebo_demos
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.244.12 (2023-12-13)
+---------------------
+
 0.244.11 (2023-05-23)
 ---------------------
 

diff --git a/ros_ign_gazebo_demos/package.xml b/ros_ign_gazebo_demos/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>ros_ign_gazebo_demos</name>
-  <version>0.244.11</version>
+  <version>0.244.12</version>
   <description>Shim package to redirect to ros_gz_sim_demos.</description>
   <license>Apache 2.0</license>
   <maintainer email="[email protected]">Brandon Ong</maintainer>

diff --git a/ros_ign_image/CHANGELOG.rst b/ros_ign_image/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros_ign_image
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.244.12 (2023-12-13)
+---------------------
+
 0.244.11 (2023-05-23)
 ---------------------
 

diff --git a/ros_ign_image/package.xml b/ros_ign_image/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_ign_image</name>
-  <version>0.244.11</version>
+  <version>0.244.12</version>
   <description>Shim package to redirect to ros_gz_image.</description>
   <maintainer email="[email protected]">Brandon Ong</maintainer>
 

diff --git a/ros_ign_interfaces/CHANGELOG.rst b/ros_ign_interfaces/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros_ign_interfaces
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.244.12 (2023-12-13)
+---------------------
+
 0.244.11 (2023-05-23)
 ---------------------
 

diff --git a/ros_ign_interfaces/package.xml b/ros_ign_interfaces/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>ros_ign_interfaces</name>
-  <version>0.244.11</version>
+  <version>0.244.12</version>
   <description>Shim package to redirect to ros_gz_interfaces.</description>
   <license>Apache 2.0</license>
   <maintainer email="[email protected]">Brandon Ong</maintainer>