ros_ign_gazebo_manager

ros_ign_gazebo_manager : control Ignition Gazebo with ROS python,

• for example, you can resume or pause Ignition Gazebo, in addition, you can also create model, delete model and set pose of model with ROS code.
• ign_gazebo_interface.py is implemented to control Ignition Gazebo as ROS client Node, so it's convenient to control Ignition Gazebo with python (sometimes, python is more flexible to do some tasks)

only C++ is supported in ign-transport , so we can't use python to communicate with Ignition Gazebo directly.

ros_ign_gazebo_manager make ROS as bridge to implement this function indirectly.

Usage/example

Environment

• ROS2: foxy
• Ignition Gazebo: Dome
• ros_ign:ros2 https://github.com/ignitionrobotics/ros_ign/tree/ros2

launch a empty world In Ignition Gazebo and ign_gazebo_manager node

ros2 launch ros_ign_gazebo_manager test.launch.py 

• currently, the world name is hard-code with default .
• the ros services ign/default/control, ign/default/create . etc will be created.

control Ignition Gazebo with python script

ros2 run ros_ign_gazebo_manager ign_demo.py