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How to use ros_gz_bridge in roslaunch with conf yaml and readme issue ?

Hi !

I believe, in the equivalence array, all sensor_msgs messages

sensormsgs/BatteryState,sensormsgs/CameraInfo ,sensormsgs/FluidPressure ,sensormsgs/Image ,sensormsgs/Imu ,sensormsgs/JointState, sensormsgs/LaserScan ,sensormsgs/MagneticField ,sensormsgs/NavSatFix ,sensormsgs/PointCloud2

should have an extra /msgs/ in the path to work. Example : sensor_msgs /msgs/ Imu

At least, it works only this way for me and took me a few hours to figure it out.

My config works well from command line :

ros2 run rosgzbridge parameterbridge --ros-args -p configfile:=/colconws/install/trrbringup/share/trrbringup/config/gzbridge.yaml

But I can't get it work from a roslaunch. It's a simple question of YAML arguments declaration but can't figure it out

I tried :

 # Gz Sim-ROS2 Bridge
    bridge = Node(
        package='ros_gz_bridge',
        executable='parameter_bridge',
        arguments=[
                 '--ros-args -p config_file:='+os.path.join(pkg_trr_bringup, 'config', 'gz_bridge.yaml')
                ],
        output='screen'
    )

Any idea

Asked by Luczia on 2022-12-23 11:05:15 UTC

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Answers

Hey ! A little late but if someone has the same issue :

# Bridge gazebo 
ExecuteProcess(
    cmd=[FindExecutable(name='ros2'),
        'run ros_gz_bridge parameter_bridge  --ros-args -p config_file:=YOURPATH/your_file.yaml'
         ],
    output='screen',
    shell=True
),

I suppose that's a little messy but there is no documentation for that case and it works so...

Asked by mls on 2023-05-05 08:39:42 UTC

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