[ros2] Port gazebo launch scripts to ROS2 #962

shiveshkhaitan · 2019-07-19T20:18:57Z

Port gazebo, gzserver and gzclient scripts from ROS1 to launch files in ROS2.

Example usage:
ros2 launch gazebo_ros gazebo.launch.py verbose:=true pause:=true Timer:=true

ros2 launch gazebo_ros gzserver.launch.py verbose:=true pause:=true

ros2 launch gazebo_ros gzclient.launch.py verbose:=true Timer:=true

This depends on #925

chapulina · 2019-07-24T15:56:33Z

@osrf-jenkins run tests please

chapulina

#925 is merged and backported to dashing. I rebased this branch so it can use GazeboRosPaths.

It's working for me, I just have some suggestions. We also need a migration guide.

chapulina · 2019-08-11T06:05:55Z

gazebo_ros/launch/gzclient.launch.py

+        DeclareLaunchArgument('Cessna', default_value='false',
+                              description='Set "true" to start gzclient with Cessna GUI plugin'),
+        DeclareLaunchArgument('Keyboard', default_value='false',
+                              description='Set "true" to start gzclient with Keyboard GUI plugin'),


Instead of exposing these 3 GUI plugins as boolean options, it would be more flexible to let the user pass the full plugin name as a string. This way, they can also choose custom plugins. What do you think?

The problem is that one argument only takes one value. Users cannot assign a list of plugins to an argument

Together with @sloretz, we found out about the shell=True option, which lets us pass the whole command as a single string. Using that, I have some suggestions on 5721646 .

The last thing I'd like to add would be gui and server arguments to gazebo.launch.py so that users can conditionally include gzclient and gzserver, i.e.:

ros2 launch gazebo_ros gazebo.launch.py gui:=false

I found documentation implying that IncludeLaunchDescription can be conditionally included but I didn't figure out exactly how.

https://answers.ros.org/question/314903/ros2-optionally-launch-node-with-no-arguments/

https://github.com/ros2/launch/blob/master/launch/doc/source/architecture.rst#base-action

https://github.com/ros2/launch/pull/121/files

It turns out conditional includes are not possible yet: ros2/launch#303. We could add a note to the code pointing to that issue.

This PR looks good to me once the changes to use shell=True are in.

gazebo_ros/launch/gzserver.launch.py

gazebo_ros/launch/gzclient.launch.py

gazebo_ros/launch/gzserver.launch.py

Signed-off-by: Louise Poubel <[email protected]>

chapulina

Merging! We just need a migration guide

* [ros2] Port gazebo launch scripts to ROS2 * Add gdb and valgrind option * Use shell command for extra gazebo args

* [ros2] Port elevator to ROS2 * [ros2] Fix test for diff drive (ros-simulation#951) * use c_str() (ros-simulation#950) (ros-simulation#954) Signed-off-by: Karsten Knese <[email protected]> * [ros2] Port projector to ROS2 (ros-simulation#956) * [ros2] Port projector to ROS2 * fix small typo * [ros2] Port planar move to ROS2 (ros-simulation#958) * [ros2] Port planar move to ROS2 * Add test for pose conversion * [ros2] Add ackermann drive plugin (ros-simulation#947) * [ros2] Add ackermann drive plugin * Minor fixes Use gazebo database model * Update example usage * Fix TF for demo * changelog * 3.3.2 * [ros2] Port harness to ROS2 (ros-simulation#944) * [ros2] Port hand of god to ROS2 (ros-simulation#957) * [ros2] Port hand of god to ROS2 * Minor fixes * [ros2] Port model states to ROS2 (ros-simulation#968) * [ros2] Port model states to ROS2 * remove unported code Signed-off-by: Louise Poubel <[email protected]> * Add Gazebo builtin plugins to LD_LIBRARY_PATH (ros-simulation#974) * Add Gazebo builtin plugins to LD_LIBRARY_PATH Signed-off-by: Louise Poubel <[email protected]> * cross-platform Signed-off-by: Louise Poubel <[email protected]> * [ros2] Fix tests on Dashing (ros-simulation#953) * [ros2] Fix camera triggered test on Dashing backport remove noe fix and re-enable distortion tests * improve robustness of joint state pub test Signed-off-by: Louise Poubel <[email protected]> * Fix for multiple video plugins (ros-simulation#898) (ros-simulation#937) * Fix for multiple video plugins (ros-simulation#898) * Fix crash on shutdown * Fix gazebo node destructor * [ros2] Port bumper sensor to ROS2 (ros-simulation#943) * [ros2] Port bumper sensor to ROS2 * Add author name * Minor fixes and add contact msg conversion * Remove unused header includes * [ros2] Port gazebo_ros_path plugin to ROS2 (ros-simulation#925) * [ros2] Port gazebo_ros_path plugin * Minor fixes * Change plugin launch file to python script * Fix for flake8 test * set gazebo library dirs (ros-simulation#963) Signed-off-by: Karsten Knese <[email protected]> * [ros2] Port Link states to ROS2 (ros-simulation#969) * [ros2] Port model states to ROS2 * [ros2] Port link states to ROS2 * Change usage of body -> link * Remove link_states from .ros1_unported * fix video test Signed-off-by: chapulina <[email protected]> * [ros2] Port joint pose trajectory to ROS2 (ros-simulation#955) * [ros2] Port joint pose trajectory to ROS2 * Add conversion tests Minor fixes * [ros2] Port gazebo launch scripts to ROS2 (ros-simulation#962) * [ros2] Port gazebo launch scripts to ROS2 * Add gdb and valgrind option * Use shell command for extra gazebo args * [ros2] Port vacuum gripper to ROS2 (ros-simulation#960) * [ros2] Port vacuum gripper to ROS2 * Fix gripper forces * Add option to set max_distance Change SetForce -> Add Force * [ros2] Port spawn model to ROS2 (ros-simulation#948) * [ros2] Port spawn model to ROS2 * Delete .ros1_unported files * Fixes and add demo Change spawn_model to spawn_entity * Rename demo launch and add checks for service * Fix reading xml file from param and model states * remove diplicate Signed-off-by: Louise Poubel <[email protected]> * Use gazebo launch file * Change topic behaviour * [ros2] Spawn <plugin> without <ros> (ros-simulation#983) Signed-off-by: Louise Poubel <[email protected]> * [ros2] Backport depth camera to dashing (ros-simulation#967) * [ros2] Backport depth camera to dashing * don't install header that will be removed Signed-off-by: Louise Poubel <[email protected]> * fix linting error Signed-off-by: Louise Poubel <[email protected]> * Address reviews on ros-simulation#868 (ros-simulation#972) * [ros2] World plugin to get/set entity state services (ros-simulation#839) remove status_message * [ros2] Port time commands (pause / reset) (ros-simulation#866) * [ros2] Migration of get/set world, model, joint, link, light properties * Trying to pass CI test, try n1. * clean up some linter warnings * Requested changes in review, unfinished * Fix uncrustify * Address reviews * more tests, joint types Signed-off-by: Louise Poubel <[email protected]> * Revert changes to GetModelProperties message Document gazebo_ros_properties header * Convert msgs pose to math pose and use it on SetCoG Signed-off-by: Louise Poubel <[email protected]> * [ros2] Adding GPS plugin (ros-simulation#982) * Adding gps plugin sensor * Adding test for the gps plugin * Adding GPS world demo and other small text corrections * [ros2] Adding option to select the frame where the force will be applied (ros-simulation#978) * Adding option to select the frame where the force will be applied A new parameter was added on the plugin with the options 'world' and 'link' frame. The default value is 'world'. Internally the AddRelativeForce() and torque functions are used instead of the AddForce() when the body option is selected. * Modifying force test for the 'world' frame, and adding test for the force on the 'link' frame The new world file starts with the box rotated. * Fix cpplint and uncrustify on force plugin files * Removing OnUpdateRelative() from the force plugin This function could potentially break the ABI, therefore is been removed. * body -> link, warn -> info, more examples Signed-off-by: Louise Poubel <[email protected]> * [backport] Backport multicamera to dashing (ros-simulation#984) * [backport] Backport multicamera to dashing * fix test - use correct world Signed-off-by: Louise Poubel <[email protected]> * Add maintainer (ros-simulation#985) Signed-off-by: Louise Poubel <[email protected]> * [ros2] Conditional launch includes (ros-simulation#979) * [ros2] Conditional launch includes Signed-off-by: Louise Poubel <[email protected]> * remove unused import Signed-off-by: Louise Poubel <[email protected]> * changelog Signed-off-by: Louise Poubel <[email protected]> * 3.3.3 * [ros2] Uncommenting bond option on spawn_entity (wait Ctrl+C then remove entity) (ros-simulation#986) * Uncommenting bond option on spawn_entity (wait Ctrl+C then remove entity) Instead of waiting for a shutdown callback to be created in rclpy, we can use the try/except to get the SIGINT signal, then delete the entity. * Message formatting Signed-off-by: Louise Poubel <[email protected]> * linter 😅 Signed-off-by: Louise Poubel <[email protected]> * [ros2] Remove ported / deprecated (ros-simulation#989) Signed-off-by: Louise Poubel <[email protected]> * Remove ROS-specific arguments before passing to argparse (ros-simulation#994) This resolves argparse errors when trying to launch the spawn_entity script as a ROS node. For example, a launch file like the following wouldn't work without this change: <launch> <arg name="model_urdf" default="$(find-pkg-share mymodels)/urdf/ball.urdf" /> <node pkg="gazebo_ros" exec="spawn_entity.py" name="spawner" args="-entity foo -file /path/to/my/model/foo.urdf" /> </launch> Signed-off-by: Jacob Perron <[email protected]> * fix multi_camera_plugin on windows (ros-simulation#999) * changelog Signed-off-by: Louise Poubel <[email protected]> * 3.3.4 * Update changelogs * 3.4.0 * generate a .dsv file for the environment hook * Update changelogs * 3.4.1 * changelog Signed-off-by: Louise Poubel <[email protected]> * 3.4.2 * fix pathsep for windows (ros-simulation#1028) * Image publishers use SensorDataQoSProfile (ros-simulation#1031) All other sensor publishers were updated previously to use the same profile (ros-simulation#926). I'm not sure if the image publishers were overlooked or the image_transport API didn't support setting the QoS profile at the time. Signed-off-by: Jacob Perron <[email protected]> * [backport][ros2] make transient local reliable (ros-simulation#1033) (ros-simulation#1036) * [ros2] make transient local reliable (ros-simulation#1033) * make transient local reliable Signed-off-by: Karsten Knese <[email protected]> * fix master Signed-off-by: Karsten Knese <[email protected]> * add launch test Signed-off-by: Karsten Knese <[email protected]> * make it actual latched Signed-off-by: Karsten Knese <[email protected]> * alpha sort Signed-off-by: Karsten Knese <[email protected]> * add launch_test dependency Signed-off-by: Karsten Knese <[email protected]> * more dependencies Signed-off-by: Karsten Knese <[email protected]> * remove debug print Signed-off-by: Karsten Knese <[email protected]> * is_initialized -> ok Signed-off-by: Karsten Knese <[email protected]> * Update gazebo_ros/test/entity_spawner.test.py Co-Authored-By: chapulina <[email protected]> * use erase-remove idiom Signed-off-by: Karsten Knese <[email protected]> * use ReadyToTest() Signed-off-by: Karsten Knese <[email protected]> Co-authored-by: chapulina <[email protected]> * Set timeout and call gzserver directly Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: chapulina <[email protected]> * changelog Signed-off-by: Louise Poubel <[email protected]> * 3.4.3 * Measure IMU orientation with respect to world (ros-simulation#1058) Report the IMU orientation from the sensor plugin with respect to the world frame. This complies with convention documented in REP 145: https://www.ros.org/reps/rep-0145.html In order to not break existing behavior, users should opt-in by adding a new SDF tag. Co-authored-by: Jacob Perron <[email protected]> * Measure IMU orientation with respect to world (dashing) (ros-simulation#1065) Report the IMU orientation from the sensor plugin with respect to the world frame. This complies with convention documented in REP 145: https://www.ros.org/reps/rep-0145.html In order to not break existing behavior, users should opt-in by adding a new SDF tag. Co-authored-by: Jacob Perron <[email protected]> * wait for service with variable timeout (ros-simulation#1090) * wait for service with variable timeout Signed-off-by: Karsten Knese <[email protected]> Co-authored-by: chapulina <[email protected]> * Backport Gazebo11/Bionic fix for boost variant (ros-simulation#1102) * Backport Gazebo11/Bionic fix for boost variant (ros-simulation#1103) * Prepare changelogs * 3.3.5 * Prepare changelogs * 3.4.4 * [eloquent] Fix Windows build. (ros-simulation#1077) * Adding Windows bringup. * Remove unported gazebo_ros_control (ros-simulation#1108) Signed-off-by: Louise Poubel <[email protected]> * use target include directories (ros-simulation#1040) Signed-off-by: Karsten Knese <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Apply acceleration until both left and right reach targetspeed (ros-simulation#1009) Co-authored-by: Louise Poubel <[email protected]> * Fix all Foxy tests Signed-off-by: Louise Poubel <[email protected]> * uncrustifyyyyyy Signed-off-by: Louise Poubel <[email protected]> * changelog Signed-off-by: Louise Poubel <[email protected]> * 3.5.0 Co-authored-by: Shivesh Khaitan <[email protected]> Co-authored-by: chapulina <[email protected]> Co-authored-by: Karsten Knese <[email protected]> Co-authored-by: alexfneves <[email protected]> Co-authored-by: Jacob Perron <[email protected]> Co-authored-by: Jonathan Noyola <[email protected]> Co-authored-by: Jose Luis Rivero <[email protected]> Co-authored-by: Dirk Thomas <[email protected]> Co-authored-by: Steven Peters <[email protected]> Co-authored-by: Sean Yen <[email protected]> Co-authored-by: scgroot <[email protected]>

jacobperron · 2021-03-12T21:29:49Z

gazebo_ros/launch/gzserver.launch.py

+                              description='Set "true" to increase messages written to terminal.'),
+        DeclareLaunchArgument('help', default_value='false',
+                              description='Set "true" to produce gzserver help message.'),
+        DeclareLaunchArgument('pause', default_value='false',


Note, in ROS 1 the launch argument name is "paused". I'm not sure why it changed in ROS 2, but maybe we can document this difference somewhere on a migration page.

I'm referring to the empty_world.launch file, but I guess this isn't really an exact equivalent to gzserver.launch.py, they just happen to both offer launch args for pausing.

chapulina added the ros2 label Jul 24, 2019

j-rivero mentioned this pull request Jul 30, 2019

Port gazebo_ros_pkgs to ROS 2.0 #512

Closed

shiveshkhaitan added 2 commits August 10, 2019 22:50

[ros2] Port gazebo launch scripts to ROS2

a6e3951

Add gdb and valgrind option

d7c6950

chapulina force-pushed the launch_scripts branch from 0e1e429 to d7c6950 Compare August 11, 2019 05:58

chapulina suggested changes Aug 11, 2019

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This was referenced Aug 11, 2019

Use gazebo_ros launch file chapulina/dolly#4

Merged

[ros2] Port spawn model to ROS2 #948

Merged

Allow conditional substitutions ros2/launch#290

Open

chapulina added a commit that referenced this pull request Aug 13, 2019

suggestions to #962

5721646

Signed-off-by: Louise Poubel <[email protected]>

chapulina mentioned this pull request Aug 13, 2019

Conditional includes ros2/launch#303

Closed

Use shell command for extra gazebo args

5b24080

chapulina approved these changes Aug 14, 2019

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chapulina merged commit bf0ba60 into ros-simulation:dashing Aug 14, 2019

shiveshkhaitan mentioned this pull request Aug 15, 2019

[forward_port] dashing -> ros2 #980

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mabelzhang mentioned this pull request Apr 23, 2020

[forward port to Foxy] Add node required parameter to launch (#1074) #1086

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jacobperron reviewed Mar 12, 2021

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[ros2] Port gazebo launch scripts to ROS2 #962

[ros2] Port gazebo launch scripts to ROS2 #962

shiveshkhaitan commented Jul 19, 2019 •

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[ros2] Port gazebo launch scripts to ROS2 #962

[ros2] Port gazebo launch scripts to ROS2 #962

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