actuators msg ign_ros_bridge

asked 2021-11-09 20:45:26 -0600

kimmcg gravatar image

Hi!

I want to use the ign_ros_bridge to port mav_mgs/msg/Actuators to ignition.msgs.actuators. These is my computers info and distros I'm using:

  • Ubuntu 20.04
  • Ignition Fortress
  • ROS2 galactic

I know that for ROS2, the actuator message is not yet standard, but I've build them from source with this msg

float64[] angles                            
float64[] angular_velocities                
float64[] normalized

and checked it with

$  ros2 interface show mav_msgs/msg/Actuators

But when I try to create an bridge between this new message and the ign msg I get an error message:

$ ros2 run ros_ign_bridge parameter_bridge /X3/gazebo/command/motor_speed@mav_msgs/msg/Actuators]ignition.msgs.Actuators

1636512014.120483 [0] parameter_: using network interface wlp3s0 (udp/192.168.0.52) selected arbitrarily from: wlp3s0, docker0
Failed to create a bridge for topic [/X3/gazebo/command/motor_speed] with ROS2 type [mav_msgs/msg/Actuators] and Ignition Transport type [ignition.msgs.Actuators]
[INFO] [1636512049.181934875] [rclcpp]: signal_handler(signal_value=2)

If I look at the ROS2 branch of ign_gazebo in the readme, it does say a big TODO at that msg in particular. Is that because ROS2 doesnt have the actuator msg yet?

Perhaps it could also be that the ignition version doesn't match ROS2, however I did try out the bridge with a different (ros2 standard) msg and that worked out.

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Comments

The section of code for working with mav_msgs/msg/Actuatorsis commented out in the ros2 branch. See https://github.com/ignitionrobotics/r.... You might be able to uncomment it and build it from source.

azeey gravatar imageazeey ( 2021-11-10 16:27:32 -0600 )edit

Ahh that makes sense! I completely missed that. Thanks!

Then that is also the way to enable new ros to ign messages as well, so it's good to know where to look

kimmcg gravatar imagekimmcg ( 2021-11-10 18:29:39 -0600 )edit