ROS version	Ignition version	Branch	Binaries hosted at
Noetic	Citadel	noetic	https://packages.ros.org
Noetic	Edifice	noetic	only from source
Noetic	Fortress	noetic	only from source
ROS2 distributions	Check ros2 branch in this repository

Please ticket an issue if you'd like support to be added for some combination.

Integration between ROS and Ignition

Packages

This repository holds packages that provide integration between ROS and Ignition:

• ros_ign: Metapackage which provides all the other packages.
• ros_ign_image: Unidirectional transport bridge for images from Ignition Transport to ROS using image_transport.
• ros_ign_bridge: Bidirectional transport bridge between Ignition Transport and ROS.
• ros_ign_gazebo: Convenient launch files and executables for using Ignition Gazebo with ROS.
• ros_ign_gazebo_demos: Demos using the ROS-Ignition integration.
• ros_ign_point_cloud: Plugins for publishing point clouds to ROS from Ignition Gazebo simulations.

Install

This branch supports ROS Noetic. See above for other ROS versions.

Binaries

Noetic binaries are only available for Citadel. They are hosted at https://packages.ros.org.

1. Add https://packages.ros.org

    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
    sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
    sudo apt-get update
   

2. Install ros_ign

    sudo apt install ros-noetic-ros-ign
   

From source

ROS

Be sure you've installed ROS Noetic (at least ROS-Base). More ROS dependencies will be installed below.

Ignition

Install either Citadel, Edifice or Fortress.

Set the IGNITION_VERSION environment variable to the Ignition version you'd like to compile against. For example:

export IGNITION_VERSION=citadel

You only need to set this variable when compiling, not when running.

Compile ros_ign

The following steps are for Linux and OSX.

1. Create a catkin workspace:

   # Setup the workspace
   mkdir -p ~/ws/src
   cd ~/ws/src
   
   # Download needed software
   git clone https://github.com/osrf/ros_ign.git -b noetic
   

2. Install dependencies (this may also install Ignition):

   cd ~/ws
   rosdep install -r --from-paths src -i -y --rosdistro noetic
   

   If rosdep fails to install Ignition libraries and you have not installed them before, please follow Ignition installation instructions.

3. Build the workspace:

   # Source ROS distro's setup.bash
   source /opt/ros/noetic/setup.bash
   
   # Build and install into workspace
   cd ~/ws/
   catkin_make install