Refine ros_gz_shims

Co-authored-by: Louise Poubel <[email protected]>

ros_gz_shims/README.md

@@ -10,4 +10,4 @@ ros2 run ros_gz parameter_bridge [...]
 ros2 run ros_ign parameter_bridge [...]  # Will emit deprecation warning
 ```
 
-Additionally, installed files like launchfiles, message interfaces etc. are **duplicated** versions of the ones in `ros_gz` (but renamed as appropriate), and point to `ros_gz` dependencies as well (e.g. launchfiles pointing to `ros_gz` nodes.)
+Additionally, installed files like launch files, message interfaces etc. are **duplicated** versions of the ones in `ros_gz` (but renamed as appropriate), and point to `ros_gz` dependencies as well (e.g. launch files pointing to `ros_gz` nodes.)

ros_gz_shims/ros_ign/README.md

@@ -1,2 +1,2 @@
 # This is a shim meta-package
-For [ros_gz](https://github.com/gazebosim/ros_gz)
+For [ros_gz](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz)

ros_gz_shims/ros_ign/package.xml

@@ -1,11 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
-  <!-- TODO: Make this a metapackage, see
-       https://github.com/ros2/ros2/issues/408 -->
   <name>ros_ign</name>
   <version>0.0.1</version>
-  <description>Shim meta-package to redirect to <a href="https://github.com/gazebosim/ros_gz">ros_gz</a>.</description>
+  <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>
 
@@ -16,8 +14,6 @@
   <exec_depend>ros_ign_gazebo</exec_depend>
   <exec_depend>ros_ign_gazebo_demos</exec_depend>
   <exec_depend>ros_ign_image</exec_depend>
-  <!-- See https://github.com/gazebosim/ros_gz/issues/40 -->
-  <!--exec_depend>ros_gz_point_cloud</exec_depend-->
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

ros_gz_shims/ros_ign_bridge/src/parameter_bridge_shim.cpp

@@ -1,6 +1,19 @@
+// 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.
+
 // Shim to redirect "ros_ign_bridge parameter_bridge" call to "ros_gz_bridge parameter_bridge"
 
-#include <string>
 #include <sstream>
 #include <iostream>
 #include <stdlib.h>

ros_gz_shims/ros_ign_bridge/src/static_bridge_shim.cpp

@@ -1,6 +1,19 @@
+// 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.
+
 // Shim to redirect "ros_ign_bridge static_bridge" call to "ros_gz_bridge static_bridge"
 
-#include <string>
 #include <sstream>
 #include <iostream>
 #include <stdlib.h>

ros_gz_shims/ros_ign_gazebo/CMakeLists.txt

@@ -22,6 +22,24 @@ ament_export_dependencies(
   ros_gz_bridge
 )
 
+# Edifice
+if("$ENV{GZ_VERSION}" STREQUAL "edifice")
+  find_package(ignition-gazebo5 REQUIRED)
+  set(GZ_SIM_VER ${ignition-gazebo5_VERSION_MAJOR})
+  message(STATUS "Compiling against Gazebo Edifice")
+# Garden
+elseif("$ENV{GZ_VERSION}" STREQUAL "garden")
+  find_package(gz-sim7 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
+  set(GZ_TARGET_PREFIX gz)
+  message(STATUS "Compiling against Gazebo Garden")
+# Default to Fortress
+else()
+  find_package(ignition-gazebo6 REQUIRED)
+  set(GZ_SIM_VER ${ignition-gazebo6_VERSION_MAJOR})
+  message(STATUS "Compiling against Gazebo Fortress")
+endif()
+
 configure_file(
   launch/ign_gazebo.launch.py.in
   launch/ign_gazebo.launch.py.configured

ros_gz_shims/ros_ign_gazebo/README.md

@@ -0,0 +1,2 @@
+# This is a shim package
+For [ros_gz_sim](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_sim)

ros_gz_shims/ros_ign_gazebo/src/create_shim.cpp

@@ -1,6 +1,19 @@
+// 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.
+
 // Shim to redirect "ros_ign_bridge parameter_bridge" call to "ros_gz_sim parameter_bridge"
 
-#include <string>
 #include <sstream>
 #include <iostream>
 #include <stdlib.h>

ros_gz_shims/ros_ign_gazebo_demos/CMakeLists.txt

@@ -14,16 +14,4 @@ install(
   DESTINATION share/${PROJECT_NAME}/launch
 )
 
-install(
-  DIRECTORY
-    rviz/
-  DESTINATION share/${PROJECT_NAME}/rviz
-)
-
-install(
-  DIRECTORY
-    models/
-  DESTINATION share/${PROJECT_NAME}/models
-)
-
 ament_package()

ros_gz_shims/ros_ign_gazebo_demos/launch/air_pressure.launch.py

@@ -1,4 +1,4 @@
-# Copyright 2019 Open Source Robotics Foundation, Inc.
+# 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.
@@ -12,52 +12,23 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Launch Gazebo Sim with command line arguments."""
-
 import os
 
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
 from launch.actions import IncludeLaunchDescription
-from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
-
-from launch_ros.actions import Node
 
 
 def generate_launch_description():
+    print("ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!")
 
-    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
-
-    # Bridge
-    bridge = Node(
-        package='ros_gz_bridge',
-        executable='parameter_bridge',
-        arguments=['/air_pressure@sensor_msgs/msg/[email protected]'],
-        parameters=[{'qos_overrides./air_pressure.publisher.reliability': 'best_effort'}],
-        output='screen'
-    )
-
-    gz_sim = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),
-        launch_arguments={'gz_args': '-r sensors.sdf'}.items(),
-    )
+    pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')
 
-    # RQt
-    rqt = Node(
-        package='rqt_topic',
-        executable='rqt_topic',
-        arguments=['-t'],
-        condition=IfCondition(LaunchConfiguration('rqt'))
-    )
     return LaunchDescription([
-        gz_sim,
-        DeclareLaunchArgument('rqt', default_value='true',
-                              description='Open RQt.'),
-        bridge,
-        rqt
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(pkg_ros_gz_sim_demos, 'launch', 'air_pressure.launch.py')),
+        )
     ])

ros_gz_shims/ros_ign_gazebo_demos/launch/battery.launch.py

@@ -1,4 +1,4 @@
-# Copyright 2019 Open Source Robotics Foundation, Inc.
+# 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.
@@ -17,53 +17,18 @@
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
 from launch.actions import IncludeLaunchDescription
-from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
-
-from launch_ros.actions import Node
 
 
 def generate_launch_description():
+    print("ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!")
 
-    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
-
-    # RQt
-    rqt = Node(
-        package='rqt_plot',
-        executable='rqt_plot',
-        # FIXME: Why isn't the topic being populated on the UI? RQt issue?
-        arguments=['--force-discover',
-                   '/model/vehicle_blue/battery/linear_battery/state/percentage'],
-        condition=IfCondition(LaunchConfiguration('rqt'))
-    )
-
-    gz_sim = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),
-        launch_arguments={
-            'gz_args': '-r -z 1000000 linear_battery_demo.sdf'
-        }.items(),
-    )
-
-    # Bridge
-    bridge = Node(
-        package='ros_gz_bridge',
-        executable='parameter_bridge',
-        arguments=[
-            '/model/vehicle_blue/cmd_vel@geometry_msgs/msg/[email protected]',
-            '/model/vehicle_blue/battery/linear_battery/state@sensor_msgs/msg/BatteryState@'
-            'ignition.msgs.BatteryState'
-        ],
-        output='screen'
-    )
+    pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')
 
     return LaunchDescription([
-        gz_sim,
-        DeclareLaunchArgument('rqt', default_value='true',
-                              description='Open RQt.'),
-        bridge,
-        rqt
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(pkg_ros_gz_sim_demos, 'launch', 'battery.launch.py')),
+        )
     ])

ros_gz_shims/ros_ign_gazebo_demos/launch/camera.launch.py

@@ -1,4 +1,4 @@
-# Copyright 2019 Open Source Robotics Foundation, Inc.
+# 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.
@@ -17,47 +17,18 @@
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
 from launch.actions import IncludeLaunchDescription
-from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
-
-from launch_ros.actions import Node
 
 
 def generate_launch_description():
+    print("ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!")
 
     pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')
-    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
-
-    gz_sim = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),
-        launch_arguments={'gz_args': '-r camera_sensor.sdf'}.items(),
-    )
-
-    # RViz
-    rviz = Node(
-        package='rviz2',
-        executable='rviz2',
-        arguments=['-d', os.path.join(pkg_ros_gz_sim_demos, 'rviz', 'camera.rviz')],
-        condition=IfCondition(LaunchConfiguration('rviz'))
-    )
-
-    # Bridge
-    bridge = Node(
-        package='ros_gz_bridge',
-        executable='parameter_bridge',
-        arguments=['/camera@sensor_msgs/msg/[email protected]',
-                   '/camera_info@sensor_msgs/msg/[email protected]'],
-        output='screen'
-    )
 
     return LaunchDescription([
-        DeclareLaunchArgument('rviz', default_value='true',
-                              description='Open RViz.'),
-        gz_sim,
-        bridge,
-        rviz
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(pkg_ros_gz_sim_demos, 'launch', 'camera.launch.py')),
+        )
     ])