From 0ef69e30cbd9c66975b9649cde6a4dc8131ae942 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Wed, 11 Sep 2024 18:39:45 +0200 Subject: [PATCH 1/4] Documentation updates including updated bridge parameters, links to other ros_gz tutorials and note about the functionality only available in Rolling. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- harmonic/ros2_integration.md | 11 ++++++----- harmonic/ros2_launch_gazebo.md | 2 +- harmonic/ros2_overview.md | 13 +++++++++++++ harmonic/ros2_spawn_model.md | 8 ++++---- 4 files changed, 24 insertions(+), 10 deletions(-) diff --git a/harmonic/ros2_integration.md b/harmonic/ros2_integration.md index f4330cd29..c45d03f6d 100644 --- a/harmonic/ros2_integration.md +++ b/harmonic/ros2_integration.md @@ -80,15 +80,15 @@ within this tag. Here's an example: ```xml - - + + - + ``` In this case the `` parameters are read from the command line. That's an option but not strictly necessary as you could decide to hardcode some -of the values. +of the values or not even use all the parameters. ## Publish key strokes to ROS diff --git a/harmonic/ros2_launch_gazebo.md b/harmonic/ros2_launch_gazebo.md index 8afe673d0..6ed5e916d 100644 --- a/harmonic/ros2_launch_gazebo.md +++ b/harmonic/ros2_launch_gazebo.md @@ -49,7 +49,7 @@ within this tag. Here's an example for launching Gazebo server: In this case the `` parameters are read from the command line. That's an option but not strictly necessary as you could decide to hardcode some of the -values. +values or not even use all the parameters. ### Python Python launch files provide more low-level customization and logic compared to XML launch files. diff --git a/harmonic/ros2_overview.md b/harmonic/ros2_overview.md index a5d8ab62b..28b548688 100644 --- a/harmonic/ros2_overview.md +++ b/harmonic/ros2_overview.md @@ -26,6 +26,9 @@ Please follow the [Install Gazebo and ROS document](ros_installation) before starting this tutorial. A working installation of ROS 2 and Gazebo is required to go further. +Important: Most of this functionality is only available in ROS2 Rolling. +We'll backport it to ROS 2 Jazzy soon. + ## Composition If you inspect the parameters of the launch files mentioned in the next @@ -41,3 +44,13 @@ launched with the `container_node_name` parameter matching the container name including Gazebo and the bridge. You can learn more about ROS composition in [this tutorial](https://docs.ros.org/en/galactic/Tutorials/Intermediate/Composition.html). + +## What's next? + +Here are the next follow-up tutorials that you can check to learn more about +Gazebo/ROS integration. + +* [How to launch Gazebo from ROS 2](ros2_launch_gazebo). +* [How to use ROS 2 to interact with Gazebo](ros2_integration). +* [Example of using ROS 2 to load a model and interact with it in Gazebo](ros2_interop). +* [How to spawn a Gazebo model from ROS 2](ros2_spawn_model). diff --git a/harmonic/ros2_spawn_model.md b/harmonic/ros2_spawn_model.md index 611a75ad8..d3c87c6ce 100644 --- a/harmonic/ros2_spawn_model.md +++ b/harmonic/ros2_spawn_model.md @@ -30,9 +30,9 @@ within this tag. Here's an example: - + - + @@ -43,9 +43,9 @@ within this tag. Here's an example: Date: Wed, 11 Sep 2024 18:41:35 +0200 Subject: [PATCH 2/4] Tweak MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- harmonic/ros2_spawn_model.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/harmonic/ros2_spawn_model.md b/harmonic/ros2_spawn_model.md index d3c87c6ce..36a1780d5 100644 --- a/harmonic/ros2_spawn_model.md +++ b/harmonic/ros2_spawn_model.md @@ -59,4 +59,4 @@ within this tag. Here's an example: In this case the `` parameters are read from the command line. That's an option but not strictly necessary as you could decide to hardcode some -of the values. +of the values or not even use all of the parameters. From a04e097b54dd56d9aa58015170d3271fa39a2b71 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Wed, 11 Sep 2024 18:42:02 +0200 Subject: [PATCH 3/4] Tweak MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- harmonic/ros2_overview.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/harmonic/ros2_overview.md b/harmonic/ros2_overview.md index 28b548688..d9891b82b 100644 --- a/harmonic/ros2_overview.md +++ b/harmonic/ros2_overview.md @@ -26,7 +26,7 @@ Please follow the [Install Gazebo and ROS document](ros_installation) before starting this tutorial. A working installation of ROS 2 and Gazebo is required to go further. -Important: Most of this functionality is only available in ROS2 Rolling. +Important: Most of this functionality is only available in ROS 2 Rolling. We'll backport it to ROS 2 Jazzy soon. ## Composition From ab674e3deacdbe85b112b1ae238697147f3f999d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Wed, 11 Sep 2024 20:02:57 +0200 Subject: [PATCH 4/4] Tweak MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- harmonic/ros2_spawn_model.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/harmonic/ros2_spawn_model.md b/harmonic/ros2_spawn_model.md index 36a1780d5..936354d51 100644 --- a/harmonic/ros2_spawn_model.md +++ b/harmonic/ros2_spawn_model.md @@ -30,7 +30,7 @@ within this tag. Here's an example: - + @@ -43,7 +43,7 @@ within this tag. Here's an example: