[ros2] new package ros_ign_interfaces, provide some Ignition-specific…

… ROS messages. (#152) * add new package ros_ign_interfaces,provide some Ignition-specific ros .msg and .srv files Signed-off-by: gezp <[email protected]> * modify to match ign-msgs Signed-off-by: gezp <[email protected]> * add author info Signed-off-by: gezp <[email protected]> * modify comments Signed-off-by: gezp <[email protected]> * update code and doc style Signed-off-by: gezp <[email protected]>
gazebosim · Jul 19, 2021 · cdec9ce · cdec9ce
1 parent 7409934
commit cdec9ce
Show file tree

Hide file tree

Showing 14 changed files with 147 additions and 0 deletions.
diff --git a/ros_ign_interfaces/CHANGELOG.rst b/ros_ign_interfaces/CHANGELOG.rst
@@ -0,0 +1,4 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package ros_ign_interfaces
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
diff --git a/ros_ign_interfaces/CMakeLists.txt b/ros_ign_interfaces/CMakeLists.txt
@@ -0,0 +1,42 @@
+cmake_minimum_required(VERSION 3.5)
+project(ros_ign_interfaces)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+set(msg_files
+  "msg/Contact.msg"
+  "msg/Contacts.msg"
+  "msg/Entity.msg"
+  "msg/EntityFactory.msg"
+  "msg/WorldControl.msg"
+  "msg/WorldReset.msg"
+)
+
+set(srv_files
+  "srv/ControlWorld.srv"
+  "srv/DeleteEntity.srv"
+  "srv/SetEntityPose.srv"
+  "srv/SpawnEntity.srv"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  ${srv_files}
+  DEPENDENCIES builtin_interfaces std_msgs geometry_msgs 
+  ADD_LINTER_TESTS
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()
diff --git a/ros_ign_interfaces/README.md b/ros_ign_interfaces/README.md
@@ -0,0 +1,20 @@
+# Message and service data structures for interacting with Ignition from ROS2
+
+This package currently contains some Ignition-specific ROS message and service data structures (.msg and .srv)
+
+## Messages (.msg)
+
+* [Contact](msg/Contact.msg): related to [ignition::msgs::Contact](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs7/proto/ignition/msgs/contact.proto). Contant info bewteen collisions in Ignition Gazebo.
+* [Contacts](msg/Contacts.msg): related to [ignition::msgs::Contacts](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs7/proto/ignition/msgs/contacts.proto).a list of contact.
+* [Entity](msg/Entity.msg): related to [ignition::msgs::Entity](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs7/proto/ignition/msgs/entity.proto). Entity of Ignition Gazebo.
+* [EntityFactory](msg/EntityFactory.msg): related to [ignition::msgs::EntityFactory](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs7/proto/ignition/msgs/entity_factory.proto). Message to create a new entity.
+* [WorldControl](msg/WorldControl.msg): related to [ignition::msgs::WorldControl](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs7/proto/ignition/msgs/world_control.proto). Message to control world of Ingition Gazebo.
+* [WorldReset](msg/WorldReset.msg): related to [ignition::msgs::WorldReset](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs7/proto/ignition/msgs/world_reset.proto). Reset time and model of simulation.
+
+## Services (.srv)
+
+* [ControlWorld](srv/ControlWorld.srv): Control world of Ignition Gazebo,for example,pasue,pasue with multiple steps,resume,etc.
+* [DeleteEntity](srv/DeleteEntity.srv): Delete Entity in Ignition Gazebo
+* [SetEntityPose](srv/SetEntityPose.srv): Set pose of Entity in Ignition Gazebo
+* [SpawnEntity](srv/SpawnEntity.srv): Spawn a Entity in Ignition Gazebo
+
diff --git a/ros_ign_interfaces/msg/Contact.msg b/ros_ign_interfaces/msg/Contact.msg
@@ -0,0 +1,6 @@
+ros_ign_interfaces/Entity collision1        # Contact collision1
+ros_ign_interfaces/Entity collision2        # Contact collision2
+geometry_msgs/Vector3[] positions           # List of contact position
+geometry_msgs/Vector3[] normals             # List of contact normals
+float64[] depths                            # List of penetration depths
+geometry_msgs/Wrench[] wrenches             # List of forces/torques
diff --git a/ros_ign_interfaces/msg/Contacts.msg b/ros_ign_interfaces/msg/Contacts.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header                  # Time stamp
+ros_ign_interfaces/Contact[] contacts   # List of contacts
diff --git a/ros_ign_interfaces/msg/Entity.msg b/ros_ign_interfaces/msg/Entity.msg
@@ -0,0 +1,13 @@
+# Entity type: constant definition
+uint8 NONE      = 0
+uint8 LIGHT     = 1
+uint8 MODEL     = 2
+uint8 LINK      = 3
+uint8 VISUAL    = 4
+uint8 COLLISION = 5
+uint8 SENSOR    = 6
+uint8 JOINT     = 7
+
+uint64 id      # Entity unique identifier accross all types. Defaults to 0
+string name    # Entity name, which is not guaranteed to be unique.
+uint8 type     # Entity type.
diff --git a/ros_ign_interfaces/msg/EntityFactory.msg b/ros_ign_interfaces/msg/EntityFactory.msg
@@ -0,0 +1,11 @@
+string name                             # New name for the entity, overrides the name on the SDF
+bool allow_renaming false               # Whether the server is allowed to rename the entity in case of
+                                        # overlap with existing entities.
+
+# Only one method is supported at a time (sdf,sdf_filename,clone_name)
+string sdf                              # SDF description in string format
+string sdf_filename                     # Full path to SDF file.
+string clone_name                       # Name of entity to clone
+
+geometry_msgs/Pose pose                 # Pose where the entity will be spawned in the world.
+string relative_to "world"              # Pose is defined relative to the frame of this entity. 
diff --git a/ros_ign_interfaces/msg/WorldControl.msg b/ros_ign_interfaces/msg/WorldControl.msg
@@ -0,0 +1,7 @@
+bool pause                                  # Paused state.      
+bool step                                   #
+uint32 multi_step 0                         # Paused after stepping multi_step.
+ros_ign_interfaces/WorldReset reset         #
+uint32 seed                                 #
+builtin_interfaces/Time run_to_sim_time     # A simulation time in the future to run to and 
+                                            # then pause.
diff --git a/ros_ign_interfaces/msg/WorldReset.msg b/ros_ign_interfaces/msg/WorldReset.msg
@@ -0,0 +1,3 @@
+bool all false            # Reset time and model
+bool time_only false      # Reset time only
+bool model_only false     # Reset model only
diff --git a/ros_ign_interfaces/package.xml b/ros_ign_interfaces/package.xml
@@ -0,0 +1,26 @@
+<package format="3">
+  <name>ros_ign_interfaces</name>
+  <version>0.233.1</version>
+  <description>Message and service data structures for interacting with Ignition from ROS2.</description>
+  <license>Apache 2.0</license>
+  <maintainer email="[email protected]">Louise Poubel</maintainer>
+  <maintainer email="[email protected]">Zhenpeng Ge</maintainer>
+  <author>Zhenpeng Ge</author>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <build_depend>builtin_interfaces</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_common</test_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/ros_ign_interfaces/srv/ControlWorld.srv b/ros_ign_interfaces/srv/ControlWorld.srv
@@ -0,0 +1,3 @@
+ros_ign_interfaces/WorldControl world_control  # Message to Control world in Ignition Gazebo
+---
+bool success                                   # Return true if control is successful.
diff --git a/ros_ign_interfaces/srv/DeleteEntity.srv b/ros_ign_interfaces/srv/DeleteEntity.srv
@@ -0,0 +1,3 @@
+ros_ign_interfaces/Entity entity  # Ignition Gazebo entity to be deleted. 
+---
+bool success                      # Return true if deletion is successful.
diff --git a/ros_ign_interfaces/srv/SetEntityPose.srv b/ros_ign_interfaces/srv/SetEntityPose.srv
@@ -0,0 +1,4 @@
+ros_ign_interfaces/Entity entity    # Ignition Gazebo entity.
+geometry_msgs/Pose pose             # Pose of entity.
+---
+bool success                        # Return true if set successfully.
diff --git a/ros_ign_interfaces/srv/SpawnEntity.srv b/ros_ign_interfaces/srv/SpawnEntity.srv
@@ -0,0 +1,3 @@
+ros_ign_interfaces/EntityFactory entity_factory  # Message to create a new entity
+---
+bool success                                     # Return true if spawned successfully.
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		std_msgs/Header header # Time stamp
		ros_ign_interfaces/Contact[] contacts # List of contacts