Added support for using ROS parameters to spawn entities in Gazebo using ros_gz_sim::create #465

Ayush1285 · 2023-11-17T11:14:04Z

🎉 New feature

Closes #459

Summary

Added ROS parameters support in ros_gz_sim::create node, while preserving the existing behavior. ROS parameters will be checked first, if not found then will revert back to Gflags arguments.

Test it

Launch the demo launch file from the ros_gz_sim_demos package.
ros2 launch ros_gz_sim_demos robot_description_publisher.launch.py

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
codecheck passed (See contributing)
All tests passed (See test coverage)
While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

* Add harmonic CI (gazebosim#447) * Add harmonic CI Signed-off-by: Michael Carroll <[email protected]> * Include garden options Signed-off-by: Michael Carroll <[email protected]> * Add harmonic stanza Signed-off-by: Michael Carroll <[email protected]> * Additional message headers Signed-off-by: Michael Carroll <[email protected]> --------- Signed-off-by: Michael Carroll <[email protected]> * Use stable osrf repo for Garden and stable+prerelease for Harmonic (gazebosim#448) Harmonic is now in the prerelease repository Signed-off-by: Jose Luis Rivero <[email protected]> * Add additional cmake/package.xml changes * Update headers * Update namespaces * Add ci for harmonic/humble * Update readme --------- Signed-off-by: Michael Carroll <[email protected]> Signed-off-by: Jose Luis Rivero <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Co-authored-by: Jose Luis Rivero <[email protected]> Signed-off-by: Ayush1285 <[email protected]>

Signed-off-by: Ayush1285 <[email protected]>

Signed-off-by: Ayush Singh <[email protected]>

Signed-off-by: Ayush1285 <[email protected]>

Ayush1285 · 2023-11-17T15:01:08Z

@ahcorde can you please review it for approval?

Signed-off-by: Ayush1285 <[email protected]>

Ayush1285 · 2023-12-04T12:05:01Z

@ahcorde approval required for the workflow, can you please look into it?

azeey · 2023-12-05T18:06:41Z

Thanks for the contribution, @Ayush1285! Is this a duplicate of #463?

Ayush1285 · 2023-12-05T18:31:40Z

Thanks for the contribution, @Ayush1285! Is this a duplicate of #463?

Just checked the other PR. I guess we both created PRs parallelly for the same issue.

azeey · 2023-12-21T21:56:08Z

@Ayush1285 , I've closed the other PR. Let's iterate on this one and get it merged.

ahcorde

do you mind to target rolling ? then we can backport the changes to humble and iron.

ahcorde · 2023-12-22T13:49:13Z

ros_gz_sim/src/create.cpp

+  const std::string & topic_name, const rclcpp::Node::SharedPtr ros2_node,
+  gz::msgs::EntityFactory & req)
+{
+  const auto timeout = std::chrono::seconds(1);


include <chrono>, <future>, <functional>

ahcorde · 2023-12-22T13:50:38Z

ros_gz_sim/src/create.cpp

+}
+
+
 int main(int _argc, char ** _argv)


Suggested change

}

int main(int _argc, char ** _argv)

}

int main(int _argc, char ** _argv)

ahcorde · 2023-12-22T13:50:57Z

ros_gz_sim/src/create.cpp

@@ -59,8 +99,24 @@ int main(int _argc, char ** _argv)
                       [-R ROLL] [-P PITCH] [-Y YAW])");
  gflags::ParseCommandLineFlags(&_argc, &_argv, true);

+  // Declare ROS Parameters to be passed from Launch file


Suggested change

// Declare ROS Parameters to be passed from Launch file

// Declare ROS 2 parameters to be passed from launch file

ahcorde · 2023-12-22T13:52:23Z

ros_gz_sim_demos/launch/robot_description_publisher.launch.py

+        arguments=[
+            '-name', 'my_custom_model',
+            '-x', '1.2',
+            '-y', '3.3',
+            '-z', '2.4'


these arguments are parameters now, aren't they ?

these arguments are parameters now, aren't they ?

Yes, I'll move them to parameters.

ahcorde

Remove gflags on rolling too

azeey · 2023-12-22T18:49:51Z

Remove gflags on rolling too

Why are we removing gflags? Wouldn't this break a lot of launch files already out there?

ahcorde · 2023-12-22T19:06:37Z

maybe add a warning

Ayush1285 · 2023-12-25T08:58:36Z

do you mind to target rolling ? then we can backport the changes to humble and iron.

Yes, I've created a new PR #475 for rolling.

ahcorde · 2023-12-26T08:43:24Z

I will close this PR in favour of this PR on rolling

azeey and others added 3 commits November 17, 2023 16:49

Added support for ROS parameters

1a02b9a

Signed-off-by: Ayush1285 <[email protected]>

Changes to fix the test failures

74e0642

Signed-off-by: Ayush1285 <[email protected]>

Ayush1285 force-pushed the humble branch from 599ba3d to 74e0642 Compare November 17, 2023 11:19

Ayush1285 and others added 2 commits November 17, 2023 17:06

Merge branch 'humble' into humble

eec67f2

Signed-off-by: Ayush Singh <[email protected]>

Removed Whitespace

2289781

Signed-off-by: Ayush1285 <[email protected]>

Replaced ignition::msgs by gz::msgs

58f0941

Signed-off-by: Ayush1285 <[email protected]>

Merge branch 'gazebosim:humble' into humble

82d1209

azeey mentioned this pull request Dec 21, 2023

Added ROS parameter instead of gflag to ros_gz_sim::create #463

Closed

9 tasks

ahcorde requested changes Dec 22, 2023

View reviewed changes

ahcorde closed this Dec 26, 2023

ahcorde assigned Ayush1285 Dec 26, 2023

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Added support for using ROS parameters to spawn entities in Gazebo using ros_gz_sim::create #465

Added support for using ROS parameters to spawn entities in Gazebo using ros_gz_sim::create #465

Ayush1285 commented Nov 17, 2023 •

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ahcorde commented Dec 26, 2023

	// Declare ROS Parameters to be passed from Launch file
	// Declare ROS 2 parameters to be passed from launch file

Added support for using ROS parameters to spawn entities in Gazebo using ros_gz_sim::create #465

Added support for using ROS parameters to spawn entities in Gazebo using ros_gz_sim::create #465

Conversation

Ayush1285 commented Nov 17, 2023 • edited Loading

🎉 New feature

Summary

Test it

Checklist

Ayush1285 commented Nov 17, 2023

Ayush1285 commented Dec 4, 2023

azeey commented Dec 5, 2023

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