evs_gz_utils

Utilites for working with Gazebo and ROS2. It uses the ros_gz package provided by Gazebo developers, which facilitates integration between Gazebo and ROS.

Prerequisites

This package uses quaternionic - pure Python package for quaternions. Due to some integrity reasons it is advised to install it with following dependencies:

python3 -m pip install numpy==1.22 quaternionic

Examples

This repository containes some examples of using ros_gz_bridge to exchange data between Gazebo and ROS:

1. evs_gz_utils.launch.py: It generates the 'ground truth' data of the model state from the internal Gazebo topic. Note that it comes with a special bridge to the /clock topic, which allows synchronisation between Gazebo and ROS. After setting the use_sim_time parameter, all following ROS nodes are using the clock source from Gazebo.

Usage example:

ros2 launch evs_gz_utils model_state.launch.py world_name:=world_1 model_name:=uav

2. gz_step.launch.py: It runs the Gazebo simulation in 'stepping' mode, periodically calling the bridged world control service. Note that this is only a dummy example - normally you should perform some task between subsequent steps.

Usage example:

ros2 launch evs_gz_utils gz_step.launch.py world_name:=world_1