diff --git a/ros_ign_gazebo_demos/CMakeLists.txt b/ros_ign_gazebo_demos/CMakeLists.txt
index aa395e18..c4265636 100644
--- a/ros_ign_gazebo_demos/CMakeLists.txt
+++ b/ros_ign_gazebo_demos/CMakeLists.txt
@@ -16,4 +16,10 @@ install(
DESTINATION share/${PROJECT_NAME}/rviz
)
+install(
+ DIRECTORY
+ models/
+ DESTINATION share/${PROJECT_NAME}/models
+)
+
ament_package()
diff --git a/ros_ign_gazebo_demos/README.md b/ros_ign_gazebo_demos/README.md
index 64cc786c..adbd618d 100644
--- a/ros_ign_gazebo_demos/README.md
+++ b/ros_ign_gazebo_demos/README.md
@@ -148,4 +148,14 @@ To try the demo launch:
ros2 launch ros_ign_gazebo_demos robot_description_publisher.launch.py
-
\ No newline at end of file
+
+
+## Joint States Publisher
+
+Publishes joint states of the robot.
+
+To try the demo launch:
+
+ ros2 launch ros_ign_gazebo_demos joint_states.launch.py
+
+
diff --git a/ros_ign_gazebo_demos/images/joint_states.png b/ros_ign_gazebo_demos/images/joint_states.png
new file mode 100644
index 00000000..943eaf66
Binary files /dev/null and b/ros_ign_gazebo_demos/images/joint_states.png differ
diff --git a/ros_ign_gazebo_demos/launch/joint_states.launch.py b/ros_ign_gazebo_demos/launch/joint_states.launch.py
new file mode 100644
index 00000000..c6296bd7
--- /dev/null
+++ b/ros_ign_gazebo_demos/launch/joint_states.launch.py
@@ -0,0 +1,79 @@
+import os
+import xacro
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+
+def generate_launch_description():
+
+ # Package Directories
+ pkg_ros_ign_gazebo = get_package_share_directory('ros_ign_gazebo')
+ pkg_ros_ign_gazebo_demos = get_package_share_directory('ros_ign_gazebo_demos')
+
+ # Parse robot description from xacro
+ robot_description_file = os.path.join(pkg_ros_ign_gazebo_demos, 'models', 'rrbot.xacro')
+ robot_description_config = xacro.process_file(
+ robot_description_file
+ )
+ robot_description = {"robot_description": robot_description_config.toxml()}
+
+ # Robot state publisher
+ robot_state_publisher = Node(
+ package='robot_state_publisher',
+ executable='robot_state_publisher',
+ name='robot_state_publisher',
+ output='both',
+ parameters=[robot_description],
+ )
+
+ # Ignition gazebo
+ gazebo = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(
+ os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py')),
+ launch_arguments={'ign_args': '-r empty.sdf'}.items(),
+ )
+
+ # RViz
+ rviz = Node(
+ package='rviz2',
+ executable='rviz2',
+ arguments=['-d', os.path.join(pkg_ros_ign_gazebo_demos, 'rviz', 'joint_states.rviz')],
+ )
+
+ # Spawn
+ spawn = Node(package='ros_ign_gazebo', executable='create',
+ arguments=[
+ '-name', 'rrbot',
+ '-topic', 'robot_description',
+ ],
+ output='screen',
+ )
+
+ # Ign - ROS Bridge
+ bridge = Node(
+ package='ros_ign_bridge',
+ executable='parameter_bridge',
+ arguments=[
+ # Clock (IGN -> ROS2)
+ '/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
+ # Joint states (IGN -> ROS2)
+ '/world/empty/model/rrbot/joint_state@sensor_msgs/msg/JointState[ignition.msgs.Model',
+ ],
+ remappings=[
+ ('/world/empty/model/rrbot/joint_state', 'joint_states'),
+ ],
+ output='screen'
+ )
+
+ return LaunchDescription(
+ [
+ # Nodes and Launches
+ gazebo,
+ spawn,
+ bridge,
+ robot_state_publisher,
+ rviz,
+ ]
+ )
diff --git a/ros_ign_gazebo_demos/models/rrbot.xacro b/ros_ign_gazebo_demos/models/rrbot.xacro
new file mode 100644
index 00000000..782154e3
--- /dev/null
+++ b/ros_ign_gazebo_demos/models/rrbot.xacro
@@ -0,0 +1,165 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1 0.423529412 0.039215686 1
+ 1 0.423529412 0.039215686 1
+ 1 0.423529412 0.039215686 1
+
+
+
+
+
+ 0.2
+ 0.2
+
+ 0 0 0 1
+ 0 0 0 1
+ 0 0 0 1
+
+
+
+
+
+ 0.2
+ 0.2
+
+ 1 0.423529412 0.039215686 1
+ 1 0.423529412 0.039215686 1
+ 1 0.423529412 0.039215686 1
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/ros_ign_gazebo_demos/package.xml b/ros_ign_gazebo_demos/package.xml
index d46e9078..0529f707 100644
--- a/ros_ign_gazebo_demos/package.xml
+++ b/ros_ign_gazebo_demos/package.xml
@@ -26,6 +26,7 @@
rqt_plot
rqt_topic
rviz2
+ xacro
ament_cmake
diff --git a/ros_ign_gazebo_demos/rviz/joint_states.rviz b/ros_ign_gazebo_demos/rviz/joint_states.rviz
new file mode 100644
index 00000000..06920d70
--- /dev/null
+++ b/ros_ign_gazebo_demos/rviz/joint_states.rviz
@@ -0,0 +1,190 @@
+Panels:
+ - Class: rviz_common/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ - /RobotModel1
+ - /TF1
+ Splitter Ratio: 0.5
+ Tree Height: 802
+ - Class: rviz_common/Selection
+ Name: Selection
+ - Class: rviz_common/Tool Properties
+ Expanded:
+ - /2D Goal Pose1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz_default_plugins/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.029999999329447746
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame:
+ Value: true
+ - Alpha: 0.800000011920929
+ Class: rviz_default_plugins/RobotModel
+ Collision Enabled: false
+ Description File: ""
+ Description Source: Topic
+ Description Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /robot_description
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ link1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Name: RobotModel
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz_default_plugins/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ link1:
+ Value: true
+ link2:
+ Value: true
+ link3:
+ Value: true
+ world:
+ Value: true
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ link1:
+ link2:
+ link3:
+ {}
+ world:
+ {}
+ Update Interval: 0
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: world
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz_default_plugins/Interact
+ Hide Inactive Objects: true
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ - Class: rviz_default_plugins/FocusCamera
+ - Class: rviz_default_plugins/Measure
+ Line color: 128; 128; 0
+ - Class: rviz_default_plugins/SetInitialPose
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /initialpose
+ - Class: rviz_default_plugins/SetGoal
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /goal_pose
+ - Class: rviz_default_plugins/PublishPoint
+ Single click: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /clicked_point
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
+ Value: true
+ Views:
+ Current:
+ Class: rviz_default_plugins/Orbit
+ Distance: 6.524543762207031
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: -0.106326624751091
+ Y: 0.5023337006568909
+ Z: 1.1979976892471313
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.7303980588912964
+ Target Frame:
+ Value: Orbit (rviz)
+ Yaw: 5.698581218719482
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 1025
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd000000040000000000000156000003abfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003ab000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003abfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003ab000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004cc000003ab00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1853
+ X: 67
+ Y: 27
diff --git a/ros_ign_image/src/image_bridge.cpp b/ros_ign_image/src/image_bridge.cpp
index 8e2c82f8..35b11c78 100644
--- a/ros_ign_image/src/image_bridge.cpp
+++ b/ros_ign_image/src/image_bridge.cpp
@@ -15,7 +15,7 @@
#include
#include
-#include
+#include
#include
#include
diff --git a/ros_ign_interfaces/CHANGELOG.rst b/ros_ign_interfaces/CHANGELOG.rst
new file mode 100644
index 00000000..ffde9ad5
--- /dev/null
+++ 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
new file mode 100644
index 00000000..b7e1255e
--- /dev/null
+++ 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
new file mode 100644
index 00000000..82731d3c
--- /dev/null
+++ 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
new file mode 100644
index 00000000..0e4812e2
--- /dev/null
+++ 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
new file mode 100644
index 00000000..e709e178
--- /dev/null
+++ 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
new file mode 100644
index 00000000..b785c7ed
--- /dev/null
+++ 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
new file mode 100644
index 00000000..4576c003
--- /dev/null
+++ 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
new file mode 100644
index 00000000..f08cb6f5
--- /dev/null
+++ 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
new file mode 100644
index 00000000..46f5971f
--- /dev/null
+++ 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
new file mode 100644
index 00000000..ba858aa9
--- /dev/null
+++ b/ros_ign_interfaces/package.xml
@@ -0,0 +1,26 @@
+
+ ros_ign_interfaces
+ 0.233.1
+ Message and service data structures for interacting with Ignition from ROS2.
+ Apache 2.0
+ Louise Poubel
+ Zhenpeng Ge
+ Zhenpeng Ge
+ ament_cmake
+ rosidl_default_generators
+
+ builtin_interfaces
+ std_msgs
+ geometry_msgs
+
+ builtin_interfaces
+ std_msgs
+ geometry_msgs
+ rosidl_default_runtime
+
+ ament_lint_common
+ rosidl_interface_packages
+
+ ament_cmake
+
+
diff --git a/ros_ign_interfaces/srv/ControlWorld.srv b/ros_ign_interfaces/srv/ControlWorld.srv
new file mode 100644
index 00000000..92f7a712
--- /dev/null
+++ 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
new file mode 100644
index 00000000..d922e7f9
--- /dev/null
+++ 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
new file mode 100644
index 00000000..f1fbec7e
--- /dev/null
+++ 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
new file mode 100644
index 00000000..cb85e438
--- /dev/null
+++ 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.