Fail to create bridge for NavSatFix/NavSat messages

[JasonRBowling]

Environment

• OS Version: Ubuntu 20.04
• Source or binary build?
  Binary. Fortress version 6.11 with ROS2 Galactic, both installed via apt-get

Description

• Expected behavior: I expected to be able to bridge navsat messages from Fortress to ROS2, as I can with other topics (odom, tf, clock. camera, lidar, IMU, empty all work as expected)

• Actual behavior: Launching via launch file or command line gives:
  "[parameter_bridge-2] Failed to create a bridge for topic [/r1/gps] with ROS2 type [sensor_msgs/msg/NavSatFix] and Ignition Transport type [ignition.msgs.NavSat]"

Example command line:
ros2 run ros_ign_bridge parameter_bridge /r1/gps@sensor_msgs/msg/[email protected]

Launch file snippet:

Bridge

bridge = Node(
    package='ros_ign_bridge',
    executable='parameter_bridge',
    arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
               '/model/robot1/tf@tf2_msgs/msg/TFMessage[ignition.msgs.Pose_V',
               '/model/robot2/tf@tf2_msgs/msg/TFMessage[ignition.msgs.Pose_V',
               '/model/robot1/cmd_vel@geometry_msgs/msg/[email protected]',
               '/model/robot1/odometry@nav_msgs/msg/[email protected]',
               '/model/robot2/cmd_vel@geometry_msgs/msg/[email protected]',
               '/model/robot2/odometry@nav_msgs/msg/[email protected]',
               '/world/diff_drive/model/robot1/link/base_link/sensor/imu_sensor/imu@sensor_msgs/msg/[email protected]',
               '/world/diff_drive/model/robot2/link/base_link/sensor/imu_sensor/imu@sensor_msgs/msg/[email protected]',
               '/world/diff_drive/model/robot1/link/base_link/sensor/camera_front/image@sensor_msgs/msg/[email protected]',
               '/world/diff_drive/model/robot2/link/base_link/sensor/camera_front/image@sensor_msgs/msg/[email protected]',
               '/world/diff_drive/model/robot1/link/base_link/sensor/base_scan/scan@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan',
               '/world/diff_drive/model/robot2/link/base_link/sensor/base_scan/scan@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan',
               '/r1/deploy@std_msgs/msg/[email protected]',
               '/r2/deploy@std_msgs/msg/[email protected]',
               '/r1/gps@sensor_msgs/msg/NavSatFix[ignition.msgs.NavSat'],


    output='screen',
    remappings=[('/model/robot1/cmd_vel', '/robot1/cmd_vel'),
                ('/model/robot2/cmd_vel', '/robot2/cmd_vel'),
                ('/model/robot1/tf', '/robot1/tf'),
                ('/model/robot2/tf', '/robot2/tf'),
                ('/model/robot1/odometry', '/robot1/odom'),
                ('/model/robot2/odometry', '/robot2/odom'),
                ('/world/diff_drive/model/robot1/link/base_link/sensor/imu_sensor/imu', '/robot1/imu'),
                ('/world/diff_drive/model/robot2/link/base_link/sensor/imu_sensor/imu', '/robot2/imu'),
                ('/world/diff_drive/model/robot1/link/base_link/sensor/base_scan/scan', '/robot1/scan'),
                ('/world/diff_drive/model/robot2/link/base_link/sensor/base_scan/scan', '/robot2/scan'),
                ('/world/diff_drive/model/robot1/link/base_link/sensor/camera_front/image', '/robot1/camera_front/image'),
                ('/world/diff_drive/model/robot2/link/base_link/sensor/camera_front/image', '/robot2/camera_front/image')
                ]

)

Steps to reproduce

1. Define navsat sensor on robot in Fortress - I confirmed that the ign/gazebo topic was working with "ign topic -e -t /r1/gps"
2. Launch bridge: ros2 run ros_ign_bridge parameter_bridge /r1/gps@sensor_msgs/msg/[email protected]

Thank you!

[chapulina]

Binary. Fortress version 6.11 with ROS2 Galactic, both installed via apt-get

NavSat support was added to Galactic in #268, and we haven't made a release since. You could try building ros_ign from source.

Also note that ros-galactic-ros-ign uses Edifice, not Fortress, per REP-2000.

[JasonRBowling]

I see. Thank you!