Name	Name	Last commit message	Last commit date
parent directory ..
bin	bin
images	images
include/ros_gz_bridge	include/ros_gz_bridge
resource	resource
ros_gz_bridge	ros_gz_bridge
src	src
test	test
CHANGELOG.rst	CHANGELOG.rst
CMakeLists.txt	CMakeLists.txt
README.md	README.md
package.xml	package.xml

Bridge communication between ROS and Gazebo

This package provides a network bridge which enables the exchange of messages between ROS and Gazebo Transport.

The following message types can be bridged for topics:

ROS type	Gazebo Transport Type
builtin_interfaces/msg/Time	gz.msgs.Time
geometry_msgs/msg/Point	gz.msgs.Vector3d
geometry_msgs/msg/Pose	gz.msgs.Pose
geometry_msgs/msg/PoseArray	gz.msgs.Pose_V
geometry_msgs/msg/PoseStamped	gz.msgs.Pose
geometry_msgs/msg/PoseWithCovariance	gz.msgs.PoseWithCovariance
geometry_msgs/msg/Quaternion	gz.msgs.Quaternion
geometry_msgs/msg/Transform	gz.msgs.Pose
geometry_msgs/msg/TransformStamped	gz.msgs.Pose
geometry_msgs/msg/Twist	gz.msgs.Twist
geometry_msgs/msg/TwistWithCovariance	gz.msgs.TwistWithCovariance
geometry_msgs/msg/TwistWithCovarianceStamped	gz.msgs.TwistWithCovariance
geometry_msgs/msg/Vector3	gz.msgs.Vector3d
geometry_msgs/msg/Wrench	gz.msgs.Wrench
geometry_msgs/msg/WrenchStamped	gz.msgs.Wrench
nav_msgs/msg/Odometry	gz.msgs.Odometry
nav_msgs/msg/Odometry	gz.msgs.OdometryWithCovariance
rcl_interfaces/msg/ParameterValue	gz.msgs.Any
ros_gz_interfaces/msg/Altimeter	gz.msgs.Altimeter
ros_gz_interfaces/msg/Contact	gz.msgs.Contact
ros_gz_interfaces/msg/Contacts	gz.msgs.Contacts
ros_gz_interfaces/msg/Dataframe	gz.msgs.Dataframe
ros_gz_interfaces/msg/Entity	gz.msgs.Entity
ros_gz_interfaces/msg/Float32Array	gz.msgs.Float_V
ros_gz_interfaces/msg/GuiCamera	gz.msgs.GUICamera
ros_gz_interfaces/msg/JointWrench	gz.msgs.JointWrench
ros_gz_interfaces/msg/Light	gz.msgs.Light
ros_gz_interfaces/msg/SensorNoise	gz.msgs.SensorNoise
ros_gz_interfaces/msg/StringVec	gz.msgs.StringMsg_V
ros_gz_interfaces/msg/TrackVisual	gz.msgs.TrackVisual
ros_gz_interfaces/msg/VideoRecord	gz.msgs.VideoRecord
ros_gz_interfaces/msg/WorldControl	gz.msgs.WorldControl
rosgraph_msgs/msg/Clock*	gz.msgs.Clock*
sensor_msgs/msg/BatteryState	gz.msgs.BatteryState
sensor_msgs/msg/CameraInfo	gz.msgs.CameraInfo
sensor_msgs/msg/FluidPressure	gz.msgs.FluidPressure
sensor_msgs/msg/Image	gz.msgs.Image
sensor_msgs/msg/Imu	gz.msgs.IMU
sensor_msgs/msg/JointState	gz.msgs.Model
sensor_msgs/msg/Joy	gz.msgs.Joy
sensor_msgs/msg/LaserScan	gz.msgs.LaserScan
sensor_msgs/msg/MagneticField	gz.msgs.Magnetometer
sensor_msgs/msg/NavSatFix	gz.msgs.NavSat
sensor_msgs/msg/PointCloud2	gz.msgs.PointCloudPacked
std_msgs/msg/Bool	gz.msgs.Boolean
std_msgs/msg/ColorRGBA	gz.msgs.Color
std_msgs/msg/Empty	gz.msgs.Empty
std_msgs/msg/Float32	gz.msgs.Float
std_msgs/msg/Float64	gz.msgs.Double
std_msgs/msg/Header	gz.msgs.Header
std_msgs/msg/Int32	gz.msgs.Int32
std_msgs/msg/String	gz.msgs.StringMsg
std_msgs/msg/UInt32	gz.msgs.UInt32
tf2_msgs/msg/TFMessage	gz.msgs.Pose_V
trajectory_msgs/msg/JointTrajectory	gz.msgs.JointTrajectory

And the following for services:

ROS type	Gazebo request	Gazebo response
ros_gz_interfaces/srv/ControlWorld	gz.msgs.WorldControl	gz.msgs.Boolean

Run ros2 run ros_gz_bridge parameter_bridge -h for instructions.

NOTE: If during startup, gazebo detects that there is another publisher on /clock, it will only create the fully qualified /world/<worldname>/clock topic. Gazebo would be the only /clock publisher, the sole source of clock information.

You should create an unidirectional /clock bridge:

ros2 run ros_gz_bridge parameter_bridge /clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock

Example 1a: Gazebo Transport talker and ROS 2 listener

Start the parameter bridge which will watch the specified topics.

# Shell A:
. ~/bridge_ws/install/setup.bash
ros2 run ros_gz_bridge parameter_bridge /chatter@std_msgs/msg/[email protected]

Now we start the ROS listener.

# Shell B:
. /opt/ros/galactic/setup.bash
ros2 topic echo /chatter

Now we start the Gazebo Transport talker.

# Shell C:
ign topic -t /chatter -m ignition.msgs.StringMsg -p 'data:"Hello"'

Example 1b: ROS 2 talker and Gazebo Transport listener

Start the parameter bridge which will watch the specified topics.

# Shell A:
. ~/bridge_ws/install/setup.bash
ros2 run ros_gz_bridge parameter_bridge /chatter@std_msgs/msg/[email protected]

Now we start the Gazebo Transport listener.

# Shell B:
ign topic -e -t /chatter

Now we start the ROS talker.

# Shell C:
. /opt/ros/galactic/setup.bash
ros2 topic pub /chatter std_msgs/msg/String "data: 'Hi'" --once

Example 2: Run the bridge and exchange images

In this example, we're going to generate Gazebo Transport images using Gazebo Sim, that will be converted into ROS images, and visualized with rqt_image_viewer.

First we start Gazebo Sim (don't forget to hit play, or Gazebo Sim won't generate any images).

# Shell A:
ign gazebo sensors_demo.sdf

Let's see the topic where camera images are published.

# Shell B:
ign topic -l | grep image
/rgbd_camera/depth_image
/rgbd_camera/image

Then we start the parameter bridge with the previous topic.

# Shell B:
. ~/bridge_ws/install/setup.bash
ros2 run ros_gz_bridge parameter_bridge /rgbd_camera/image@sensor_msgs/msg/[email protected]

Now we start the ROS GUI:

# Shell C:
. /opt/ros/galactic/setup.bash
ros2 run rqt_image_view rqt_image_view /rgbd_camera/image

You should see the current images in rqt_image_view which are coming from Gazebo (published as Gazebo Msgs over Gazebo Transport).

The screenshot shows all the shell windows and their expected content (it was taken using ROS 2 Galactic and Gazebo Fortress):

Example 3: Static bridge

In this example, we're going to run an executable that starts a bidirectional bridge for a specific topic and message type. We'll use the static_bridge executable that is installed with the bridge.

The example's code can be found under ros_gz_bridge/src/static_bridge.cpp. In the code, it's possible to see how the bridge is hardcoded to bridge string messages published on the /chatter topic.

Let's give it a try, starting with Gazebo -> ROS 2.

On terminal A, start the bridge:

ros2 run ros_gz_bridge static_bridge

On terminal B, we start a ROS 2 listener:

ros2 topic echo /chatter std_msgs/msg/String

And terminal C, publish an Gazebo message:

ign topic -t /chatter -m ignition.msgs.StringMsg -p 'data:"Hello"'

At this point, you should see the ROS 2 listener echoing the message.

Now let's try the other way around, ROS 2 -> Gazebo.

On terminal D, start an Igntion listener:

ign topic -e -t /chatter

And on terminal E, publish a ROS 2 message:

ros2 topic pub /chatter std_msgs/msg/String 'data: "Hello"' -1

You should see the Gazebo listener echoing the message.

Example 4: Service bridge

It's possible to make ROS service requests into Gazebo. Let's try unpausing the simulation.

On terminal A, start the service bridge:

ros2 run ros_gz_bridge parameter_bridge /world/shapes/control@ros_gz_interfaces/srv/ControlWorld

On terminal B, start Gazebo, it will be paused by default:

ign gazebo shapes.sdf

On terminal C, make a ROS request to unpause simulation:

ros2 service call /world/<world_name>/control ros_gz_interfaces/srv/ControlWorld "{world_control: {pause: false}}"

Example 5: Configuring the Bridge via YAML

When configuring many topics, it is easier to use a file-based configuration in a markup language. In this case, the ros_gz bridge supports using a YAML file to configure the various parameters.

The configuration file must be a YAML array of maps. An example configuration for 5 bridges is below, showing the various ways that a bridge may be specified:

 # Set just topic name, applies to both
- topic_name: "chatter"
  ros_type_name: "std_msgs/msg/String"
  gz_type_name: "ignition.msgs.StringMsg"

# Set just ROS topic name, applies to both
- ros_topic_name: "chatter_ros"
  ros_type_name: "std_msgs/msg/String"
  gz_type_name: "ignition.msgs.StringMsg"

# Set just GZ topic name, applies to both
- gz_topic_name: "chatter_ign"
  ros_type_name: "std_msgs/msg/String"
  gz_type_name: "ignition.msgs.StringMsg"

# Set each topic name explicitly
- ros_topic_name: "chatter_both_ros"
  gz_topic_name: "chatter_both_ign"
  ros_type_name: "std_msgs/msg/String"
  gz_type_name: "ignition.msgs.StringMsg"

# Full set of configurations
- ros_topic_name: "ros_chatter"
  gz_topic_name: "ign_chatter"
  ros_type_name: "std_msgs/msg/String"
  gz_type_name: "ignition.msgs.StringMsg"
  subscriber_queue: 5       # Default 10
  publisher_queue: 6        # Default 10
  lazy: true                # Default "false"
  direction: BIDIRECTIONAL  # Default "BIDIRECTIONAL" - Bridge both directions
                            # "GZ_TO_ROS" - Bridge Ignition topic to ROS
                            # "ROS_TO_GZ" - Bridge ROS topic to Ignition

To run the bridge node with the above configuration:

ros2 run ros_gz_bridge parameter_bridge --ros-args -p config_file:=$WORKSPACE/ros_gz/ros_gz_bridge/test/config/full.yaml

API

ROS 2 Parameters:

subscription_heartbeat - Period at which the node checks for new subscribers for lazy bridges.
config_file - YAML file to be loaded as the bridge configuration

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ros_gz_bridge

ros_gz_bridge

README.md

Bridge communication between ROS and Gazebo

Example 1a: Gazebo Transport talker and ROS 2 listener

Example 1b: ROS 2 talker and Gazebo Transport listener

Example 2: Run the bridge and exchange images

Example 3: Static bridge

Example 4: Service bridge

Example 5: Configuring the Bridge via YAML

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README.md

Bridge communication between ROS and Gazebo

Example 1a: Gazebo Transport talker and ROS 2 listener

Example 1b: ROS 2 talker and Gazebo Transport listener

Example 2: Run the bridge and exchange images

Example 3: Static bridge

Example 4: Service bridge

Example 5: Configuring the Bridge via YAML

API