New ros_gz_interface_demos package #705
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Signed-off-by: khaledgabr77 <khaledgabr77@gmail.com>
Signed-off-by: khaledgabr77 <khaledgabr77@gmail.com>
Signed-off-by: khaledgabr77 <khaledgabr77@gmail.com>
Signed-off-by: khaledgabr77 <khaledgabr77@gmail.com>
Signed-off-by: khaledgabr77 <khaledgabr77@gmail.com>
Signed-off-by: khaledgabr77 <khaledgabr77@gmail.com>
…ables Signed-off-by: khaledgabr77 <khaledgabr77@gmail.com>
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ahcorde
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Mar 17, 2025
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Thank you for openning the PR, I have some comments. Feel free to ask any questions.
Linters are failing https://github.com/gazebosim/ros_gz/actions/runs/13887944210/job/38874261436?pr=705
| cmake_minimum_required(VERSION 3.8) | ||
| project(ros_gz_interface_demos) | ||
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| # Default to C++14 |
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| # Default to C++14 | |
| # Default to C++17 |
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| # Default to C++14 | ||
| if(NOT CMAKE_CXX_STANDARD) | ||
| set(CMAKE_CXX_STANDARD 14) |
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| set(CMAKE_CXX_STANDARD 14) | |
| set(CMAKE_CXX_STANDARD 17) |
| @@ -0,0 +1,68 @@ | |||
| cmake_minimum_required(VERSION 3.8) | |||
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| cmake_minimum_required(VERSION 3.8) | |
| cmake_minimum_required(VERSION 3.20) |
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| find_package(ament_cmake REQUIRED) | ||
| find_package(rclcpp REQUIRED) | ||
| find_package(ros_gz_interfaces REQUIRED) | ||
| find_package(geometry_msgs REQUIRED) | ||
| find_package(builtin_interfaces REQUIRED) |
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| rclcpp | ||
| ros_gz_interfaces | ||
| geometry_msgs | ||
| builtin_interfaces |
ros_gz_interface_demos/package.xml
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| <name>ros_gz_interface_demos</name> | ||
| <version>0.1.0</version> | ||
| <description>C++ package for managing Gazebo entities through ROS 2</description> | ||
| <maintainer email="khaledgabr77@email.com">Khaled Gabr</maintainer> |
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you can add the tag <author> and please add me as a mantainer too
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| <maintainer email="khaledgabr77@email.com">Khaled Gabr</maintainer> | |
| <maintainer email="khaledgabr77@email.com">Khaled Gabr</maintainer> | |
| <maintainer email="alejandro@openrobotics.org">Alejandro Hernandez</maintainer> | |
| <author email="khaledgabr77@email.com">Khaled Gabr</author> |
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| #include <memory> | |||
| return 1; | ||
| } | ||
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| // Parse command line arguments |
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you are parsing cmd manually, maybe you want to check or use cli11 https://github.com/ros/rosdistro/blob/master/rosdep/base.yaml#L614, it's already available in rosdistro.
Same in other executables
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| #include <memory> | |||
Signed-off-by: khaledgabr77 <khaledgabr77@gmail.com>
Signed-off-by: khaledgabr77 <khaledgabr77@gmail.com>
Signed-off-by: khaledgabr77 <khaledgabr77@gmail.com>
Signed-off-by: khaledgabr77 <khaledgabr77@gmail.com>
Signed-off-by: khaledgabr77 <khaledgabr77@gmail.com>
khaledgabr77
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🎉 New feature
Summary
This PR adds a new package
ros_gz_interface_demoswhich provides utilities for managing Gazebo entities through ROS 2. The package includes three primary functionalities:These utilities provide a complete solution for programmatically manipulating simulation entities, which is useful for testing, creating dynamic environments, and integrating with other ROS 2 systems.
Test it
Note: This PR depends on #380. Please ensure that PR has been merged before testing this functionality.
To test this new feature:
Build the package:
colcon build --packages-select ros_gz_interface_demos source install/setup.bashLaunch Gazebo:
gz sim ~/ros_gz_ws/src/ros_gz/ros_gz_interface_demos/worlds/default.sdfRun the ROS-Gazebo bridge for entity creation:
Spawn an entity:
Similarly, you can test
set_entity_poseanddelete_entitywith their respective bridge services.Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.