Migrating Ignition gazebo_ros_pkgs/gazebo_package examples that launch scripts to ros_gz

asked 2023-01-22 19:15:14 -0600

RobotRoss gravatar image

updated 2023-01-28 13:03:21 -0600

Is there any documentation or advice giving guidance to migrating existing Ignition Gazebo examples to use ros_gz. This sample Gazebo Simulation (https://automaticaddison.com/set-up-t...) installs ros-<ro2-distro>gazeba-ros_pkgs and a launch file includes this code, that uses the gazebo_ros_packages executables.</ro2-distro>

-# Specify the actions

-# Start Gazebo server start_gazebo_server_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')), condition=IfCondition(use_simulator), launch_arguments={'world': world}.items())

X-Start Gazebo client
start_gazebo_client_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')), condition=IfCondition(PythonExpression([use_simulator, ' and not ', headless])))

Another example of of a wheeled robot design, where the Gazebo-Classic Package gazebo_ros is used. A spawned node is started from the gazebo_ros package with executable “spawn_entity.py” .

Any suggested Gazebo Garden ros_gz code would replace the gzserver, gclient, and spawn_entity code?

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