Add support for gz.msgs.EntityWrench (base branch: ros2) #573
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Signed-off-by: Victor T. N. <[email protected]>
Signed-off-by: Victor T. N. <[email protected]>
Signed-off-by: Victor T. N. <[email protected]>
Signed-off-by: Victor T. N. <[email protected]>
Signed-off-by: Victor T. N. <[email protected]>
Signed-off-by: Victor T. N. <[email protected]>
Signed-off-by: Victor T. N. <[email protected]>
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Signed-off-by: Victor T. N. <[email protected]> (cherry picked from commit f9afb69)
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Signed-off-by: Victor T. N. <[email protected]> (cherry picked from commit f9afb69) # Conflicts: # ros_gz_bridge/README.md # ros_gz_bridge/test/utils/gz_test_msg.hpp
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Signed-off-by: Victor T. N. <[email protected]> (cherry picked from commit f9afb69) # Conflicts: # ros_gz_bridge/README.md # ros_gz_bridge/test/utils/gz_test_msg.hpp
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…) (#576) * Add support for gz.msgs.EntityWrench (base branch: ros2) (#573) Signed-off-by: Victor T. N. <[email protected]> (cherry picked from commit f9afb69) # Conflicts: # ros_gz_bridge/README.md # ros_gz_bridge/test/utils/gz_test_msg.hpp * Fixed merge Signed-off-by: Alejandro Hernández Cordero <[email protected]> --------- Signed-off-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Victor T. Noppeney <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
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…) (#575) * Add support for gz.msgs.EntityWrench (base branch: ros2) (#573) Signed-off-by: Victor T. N. <[email protected]> (cherry picked from commit f9afb69) # Conflicts: # ros_gz_bridge/README.md # ros_gz_bridge/test/utils/gz_test_msg.hpp * Fixed merge Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Update ros_gz_bridge/README.md Co-authored-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Alejandro Hernández Cordero <[email protected]> --------- Signed-off-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Victor T. Noppeney <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>
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Signed-off-by: Victor T. N. <[email protected]> (cherry picked from commit f9afb69) Co-authored-by: Victor T. Noppeney <[email protected]>
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Signed-off-by: Victor T. N. <[email protected]>
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🎉 New feature
Closes #566
Also replaces PR #572, now retargeted to the
ros2branch.Summary
Adds the new ros_gz_interfaces/msg/EntityWrench, with structure compatible with gz.msgs.EntityWrench. This enables the user to apply wrenches to Gazebo entities using ROS topics.
Also implements the ros_gz_bridge mapping between ros_gz_interfaces/msg/EntityWrench and gz.msgs.EntityWrench.
Test it
Manual testing involves spawning any entity in Gazebo and loading the gz::sim::systems::ApplyLinkWrench plugin to the world SDF. Then, call the ros_gz_bridge to expose the entity wrench topic as follows (YAML syntax):
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.