Merge branch 'gazebosim:ros2' into pr-ros2-material_color

Author: bperseghetti

.github/workflows/build-and-test.sh

@@ -10,32 +10,15 @@ export ROS_PYTHON_VERSION=3
 apt update -qq
 apt install -qq -y lsb-release wget curl build-essential
 
-if [ "$GZ_VERSION" == "garden" ]; then
-  echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
-  wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
-
-  GZ_DEPS="libgz-sim7-dev"
-
-  ROSDEP_ARGS="--skip-keys='sdformat-urdf'"
-elif [ "$GZ_VERSION" == "harmonic" ]; then
-  echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
-  echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-prerelease `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-prerelease.list
-  wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
-
-  GZ_DEPS="libgz-sim8-dev"
-
-  ROSDEP_ARGS="--skip-keys='sdformat-urdf'"
-fi
-
-# Fortress comes through rosdep for Focal and Jammy
+echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
+wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
 
 # Dependencies.
 echo "deb http://packages.ros.org/ros2-testing/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-testing.list
 curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
 apt-get update -qq
-apt-get install -y $GZ_DEPS \
-                       python3-colcon-common-extensions \
-                       python3-rosdep
+apt-get install -y python3-colcon-common-extensions \
+                   python3-rosdep
 
 rosdep init
 rosdep update

.github/workflows/ros2-ci.yml

@@ -10,29 +10,17 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - docker-image: "ubuntu:22.04"
-            gz-version: "garden"
-            ros-distro: "iron"
-          - docker-image: "ubuntu:22.04"
-            gz-version: "garden"
-            ros-distro: "rolling"
-          - docker-image: "ubuntu:22.04"
+          - docker-image: "ubuntu:24.04"
             gz-version: "harmonic"
             ros-distro: "rolling"
     container:
       image: ${{ matrix.docker-image }}
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
       - name: Build and Test
         run: .github/workflows/build-and-test.sh
         env:
           DOCKER_IMAGE: ${{ matrix.docker-image }}
           GZ_VERSION: ${{ matrix.gz-version  }}
           ROS_DISTRO: ${{ matrix.ros-distro }}
-      - name: Build sdformat_urdf from source
-        uses: actions/checkout@v2
-        if: ${{ matrix.gz-version  }} == "garden"
-        with:
-          repository: ros/sdformat_urdf
-          ref: ros2

ros_gz/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ros_gz
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.0.0 (2024-04-24)
+------------------
+
 0.246.0 (2023-08-31)
 --------------------
 * Port: humble to ros2 (`#386 <https://github.com/gazebosim/ros_gz/issues/386>`_)

ros_gz/package.xml

@@ -4,7 +4,7 @@
   <!-- TODO: Make this a metapackage, see
        https://github.com/ros2/ros2/issues/408 -->
   <name>ros_gz</name>
-  <version>0.246.0</version>
+  <version>1.0.0</version>
   <description>Meta-package containing interfaces for using ROS 2 with <a href="https://gazebosim.org">Gazebo</a> simulation.</description>
   <maintainer email="[email protected]">Aditya Pande</maintainer>
   <maintainer email="[email protected]">Alejandro Hernandez</maintainer>

ros_gz_bridge/CHANGELOG.rst

@@ -2,6 +2,22 @@
 Changelog for package ros_gz_bridge
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.0.0 (2024-04-24)
+------------------
+* Use gz_vendor packages (`#531 <https://github.com/gazebosim/ros_gz/issues/531>`_)
+* Added conversion for Detection3D and Detection3DArray (`#523 <https://github.com/gazebosim/ros_gz/issues/523>`_) (`#525 <https://github.com/gazebosim/ros_gz/issues/525>`_)
+  Co-authored-by: wittenator <[email protected]>
+* [Backport rolling] Add ROS namespaces to GZ topics (`#517 <https://github.com/gazebosim/ros_gz/issues/517>`_)
+  Co-authored-by: Krzysztof Wojciechowski <[email protected]>
+* ign to gz (`#519 <https://github.com/gazebosim/ros_gz/issues/519>`_)
+* Correctly export ros_gz_bridge for downstream targets (`#503 <https://github.com/gazebosim/ros_gz/issues/503>`_)
+* Add a virtual destructor to suppress compiler warning (`#502 <https://github.com/gazebosim/ros_gz/issues/502>`_)
+* Add conversion for geometry_msgs/msg/TwistStamped <-> gz.msgs.Twist (`#468 <https://github.com/gazebosim/ros_gz/issues/468>`_)
+* Added messages for 2D Bounding Boxes to ros_gz_bridge (`#458 <https://github.com/gazebosim/ros_gz/issues/458>`_) (`#466 <https://github.com/gazebosim/ros_gz/issues/466>`_)
+  Co-authored-by: Alejandro Hernandez Cordero <[email protected]>
+* populate imu covariances when converting (`#375 <https://github.com/gazebosim/ros_gz/issues/375>`_)
+* Contributors: Addisu Z. Taddese, Alejandro Hernández Cordero, El Jawad Alaa, Michael Carroll
+
 0.246.0 (2023-08-31)
 --------------------
 * Add harmonic CI (`#447 <https://github.com/gazebosim/ros_gz/issues/447>`_)

ros_gz_bridge/CMakeLists.txt

@@ -14,38 +14,15 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
+find_package(yaml-cpp REQUIRED)
 
-if(NOT DEFINED ENV{GZ_VERSION})
-  set(ENV{GZ_VERSION} "garden")
-endif()
-
-# Garden
-if("$ENV{GZ_VERSION}" STREQUAL "garden")
-  find_package(gz-transport12 REQUIRED)
-  find_package(gz-msgs9 REQUIRED)
+find_package(gz_transport_vendor REQUIRED)
+find_package(gz-transport REQUIRED)
 
-  set(GZ_TARGET_PREFIX gz)
-  set(GZ_MSGS_VER ${gz-msgs9_VERSION_MAJOR})
-  set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})
+find_package(gz_msgs_vendor REQUIRED)
+find_package(gz-msgs REQUIRED)
 
-  message(STATUS "Compiling against Gazebo Garden")
-elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
-  find_package(gz-transport13 REQUIRED)
-  find_package(gz-msgs10 REQUIRED)
-
-  set(GZ_TARGET_PREFIX gz)
-  set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
-  set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
-
-  message(STATUS "Compiling against Gazebo Harmonic")
-else()
-  message(FATAL_ERROR "This branch is only compatible with Gazebo Garden forward.")
-endif()
-
-set(GZ_MSGS_VERSION_MAJOR ${${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}_VERSION_MAJOR})
-set(GZ_MSGS_VERSION_MINOR ${${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}_VERSION_MINOR})
-set(GZ_MSGS_VERSION_PATCH ${${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}_VERSION_PATCH})
-set(GZ_MSGS_VERSION_FULL ${GZ_MSGS_VERSION_MAJOR}.${GZ_MSGS_VERSION_MINOR}.${GZ_MSGS_VERSION_PATCH})
+set(GZ_MSGS_VERSION_FULL ${gz-msgs_VERSION})
 
 set(BRIDGE_MESSAGE_TYPES
   builtin_interfaces
@@ -118,15 +95,18 @@ add_library(${bridge_lib}
 )
 
 target_link_libraries(${bridge_lib}
-  ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
-  ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
+  PUBLIC
+    gz-msgs::core
+    gz-transport::core
+  PRIVATE
+    yaml-cpp::yaml-cpp
 )
 
 ament_target_dependencies(${bridge_lib}
-  rclcpp
-  rclcpp_components
-  yaml_cpp_vendor
-  ${BRIDGE_MESSAGE_TYPES}
+  PUBLIC
+    rclcpp
+    rclcpp_components
+    ${BRIDGE_MESSAGE_TYPES}
 )
 
 target_include_directories(${bridge_lib}
@@ -138,11 +118,6 @@ target_include_directories(${bridge_lib}
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/generated>"
 )
 
-target_link_libraries(${bridge_lib}
-  ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
-  ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
-)
-
 rclcpp_components_register_node(
   ${bridge_lib}
   PLUGIN ros_gz_bridge::RosGzBridge
@@ -193,7 +168,7 @@ if(BUILD_TESTING)
     ${PROJECT_SOURCE_DIR}/src/convert/rcl_interfaces_TEST.cpp
   )
   target_link_libraries(test_rcl_interfaces
-    ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
+    gz-msgs::core
     ${rcl_interfaces_TARGETS}
     gtest
     gtest_main
@@ -228,8 +203,8 @@ if(BUILD_TESTING)
   )
   target_link_libraries(test_utils
     ${GTEST_LIBRARIES}
-    ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
-    ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
+    gz-msgs::core
+    gz-transport::core
   )
   ament_target_dependencies(test_utils
     rclcpp
@@ -341,9 +316,10 @@ ament_export_targets(export_${PROJECT_NAME})
 # specific order: dependents before dependencies
 ament_export_dependencies(rclcpp)
 ament_export_dependencies(rclcpp_components)
-ament_export_dependencies(${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER})
-ament_export_dependencies(${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER})
-ament_export_dependencies(yaml_cpp_vendor)
+ament_export_dependencies(gz_msgs_vendor)
+ament_export_dependencies(gz-msgs)
+ament_export_dependencies(gz_transport_vendor)
+ament_export_dependencies(gz-transport)
 ament_export_dependencies(${BRIDGE_MESSAGE_TYPES})
 
 ament_package()

ros_gz_bridge/README.md

@@ -69,7 +69,8 @@ The following message types can be bridged for topics:
 | trajectory_msgs/msg/JointTrajectory            | gz.msgs.JointTrajectory             |
 | vision_msgs/msg/Detection2D                    | gz.msgs.AnnotatedAxisAligned2DBox   |
 | vision_msgs/msg/Detection2DArray               | gz.msgs.AnnotatedAxisAligned2DBox_V |
-
+| vision_msgs/msg/Detection3D                    | gz::msgs::AnnotatedOriented3DBox    |
+| vision_msgs/msg/Detection3DArray               | gz::msgs::AnnotatedOriented3DBox_V  |
 
 And the following for services:
 
@@ -102,7 +103,7 @@ Now we start the ROS listener.
 
 ```
 # Shell B:
-. /opt/ros/galactic/setup.bash
+. /opt/ros/rolling/setup.bash
 ros2 topic echo /chatter
 ```
 
@@ -134,7 +135,7 @@ Now we start the ROS talker.
 
 ```
 # Shell C:
-. /opt/ros/galactic/setup.bash
+. /opt/ros/rolling/setup.bash
 ros2 topic pub /chatter std_msgs/msg/String "data: 'Hi'" --once
 ```
 
@@ -172,7 +173,7 @@ Now we start the ROS GUI:
 
 ```
 # Shell C:
-. /opt/ros/galactic/setup.bash
+. /opt/ros/rolling/setup.bash
 ros2 run rqt_image_view rqt_image_view /rgbd_camera/image
 ```
 
@@ -290,9 +291,43 @@ To run the bridge node with the above configuration:
 ros2 run ros_gz_bridge parameter_bridge --ros-args -p config_file:=$WORKSPACE/ros_gz/ros_gz_bridge/test/config/full.yaml
 ```
 
+## Example 6: Using ROS namespace with the Bridge
+
+When spawning multiple robots inside the same ROS environment, it is convenient to use namespaces to avoid overlapping topic names.
+There are three main types of namespaces: relative, global (`/`) and private (`~/`). For more information, refer to ROS documentation.
+Namespaces are applied to Gazebo topic both when specified as `topic_name` as well as `gz_topic_name`.
+
+By default, the Bridge will not apply ROS namespace on the Gazebo topics. To enable this feature, use parameter `expand_gz_topic_names`.
+Let's test our topic with namespace:
+
+```bash
+# Shell A:
+. ~/bridge_ws/install/setup.bash
+ros2 run ros_gz_bridge parameter_bridge chatter@std_msgs/msg/[email protected] \
+  --ros-args -p expand_gz_topic_names:=true -r __ns:=/demo
+```
+
+Now we start the Gazebo Transport listener.
+
+```bash
+# Shell B:
+gz topic -e -t /demo/chatter
+```
+
+Now we start the ROS talker.
+
+```bash
+# Shell C:
+. /opt/ros/rolling/setup.bash
+ros2 topic pub /demo/chatter std_msgs/msg/String "data: 'Hi from inside of a namespace'" --once
+```
+
+By changing `chatter` to `/chatter` or `~/chatter` you can obtain different results.
+
 ## API
 
 ROS 2 Parameters:
 
  * `subscription_heartbeat` - Period at which the node checks for new subscribers for lazy bridges.
  * `config_file` - YAML file to be loaded as the bridge configuration
+ * `expand_gz_topic_names` - Enable or disable ROS namespace applied on GZ topics.

ros_gz_bridge/include/ros_gz_bridge/convert/vision_msgs.hpp

@@ -17,9 +17,11 @@
 
 // Gazebo Msgs
 #include <gz/msgs/annotated_axis_aligned_2d_box_v.pb.h>
+#include <gz/msgs/annotated_oriented_3d_box_v.pb.h>
 
 // ROS 2 messages
 #include "vision_msgs/msg/detection2_d_array.hpp"
+#include "vision_msgs/msg/detection3_d_array.hpp"
 #include <ros_gz_bridge/convert_decl.hpp>
 
 namespace ros_gz_bridge
@@ -47,6 +49,30 @@ void
 convert_gz_to_ros(
   const gz::msgs::AnnotatedAxisAligned2DBox_V & gz_msg,
   vision_msgs::msg::Detection2DArray & ros_msg);
+
+template<>
+void
+convert_ros_to_gz(
+  const vision_msgs::msg::Detection3D & ros_msg,
+  gz::msgs::AnnotatedOriented3DBox & gz_msg);
+
+template<>
+void
+convert_gz_to_ros(
+  const gz::msgs::AnnotatedOriented3DBox & gz_msg,
+  vision_msgs::msg::Detection3D & ros_msg);
+
+template<>
+void
+convert_ros_to_gz(
+  const vision_msgs::msg::Detection3DArray & ros_msg,
+  gz::msgs::AnnotatedOriented3DBox_V & gz_msg);
+
+template<>
+void
+convert_gz_to_ros(
+  const gz::msgs::AnnotatedOriented3DBox_V & gz_msg,
+  vision_msgs::msg::Detection3DArray & ros_msg);
 }  // namespace ros_gz_bridge
 
 #endif  // ROS_GZ_BRIDGE__CONVERT__VISION_MSGS_HPP_

ros_gz_bridge/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ros_gz_bridge</name>
-  <version>0.246.0</version>
+  <version>1.0.0</version>
   <description>Bridge communication between ROS and Gazebo Transport</description>
   <maintainer email="[email protected]">Aditya Pande</maintainer>
   <maintainer email="[email protected]">Alejandro Hernandez</maintainer>
@@ -31,12 +31,8 @@
   <depend>yaml_cpp_vendor</depend>
   <depend>vision_msgs</depend>
 
-  <!-- Garden (default) -->
-  <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-msgs9</depend>
-  <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-transport12</depend>
-  <!-- Harmonic -->
-  <depend condition="$GZ_VERSION == harmonic">gz-msgs10</depend>
-  <depend condition="$GZ_VERSION == harmonic">gz-transport13</depend>
+  <depend>gz_msgs_vendor</depend>
+  <depend>gz_transport_vendor</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>

ros_gz_bridge/ros_gz_bridge/mappings.py

@@ -112,5 +112,7 @@
     'vision_msgs': [
         Mapping('Detection2DArray', 'AnnotatedAxisAligned2DBox_V'),
         Mapping('Detection2D', 'AnnotatedAxisAligned2DBox'),
+        Mapping('Detection3DArray', 'AnnotatedOriented3DBox_V'),
+        Mapping('Detection3D', 'AnnotatedOriented3DBox'),
     ],
 }