gazebosim · chapulina · May 20, 2022 · May 19, 2022 · May 19, 2022 · May 19, 2022
@@ -1,48 +1,48 @@
-[![Build Status](https://github.com/ignitionrobotics/ros_ign/actions/workflows/ros2-ci.yml/badge.svg?branch=ros2)](https://github.com/ignitionrobotics/ros_ign/actions/workflows/ros2-ci.yml)
+[![Build Status](https://github.com/gazebosim/ros_gz/actions/workflows/ros2-ci.yml/badge.svg?branch=ros2)](https://github.com/gazebosim/ros_gz/actions/workflows/ros2-ci.yml)
 
-ROS version | Ignition version | Branch | Binaries hosted at
+ROS version | Gazebo version | Branch | Binaries hosted at
 -- | -- | -- | --
-Melodic | Citadel | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | only from source
-Melodic | Fortress | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | only from source
-Noetic | Citadel | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | https://packages.ros.org
-Noetic | Edifice | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source
-Noetic | Fortress | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source
-Foxy | Citadel | [foxy](https://github.com/osrf/ros_ign/tree/foxy) | https://packages.ros.org
-Foxy | Edifice | [foxy](https://github.com/osrf/ros_ign/tree/foxy) | only from source
-Galactic | Edifice | [galactic](https://github.com/osrf/ros_ign/tree/galactic) | https://packages.ros.org
-Galactic | Fortress | [galactic](https://github.com/osrf/ros_ign/tree/galactic) | only from source
-Rolling | Edifice | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | only from source
-Rolling | Fortress | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | https://packages.ros.org
-
-> Please [ticket an issue](https://github.com/ignitionrobotics/ros_ign/issues/) if you'd like support to be added for some combination.
-
-# Integration between ROS and Ignition
+Melodic | Citadel | [melodic](https://github.com/gazebosim/ros_gz/tree/melodic) | only from source
+Melodic | Fortress | [melodic](https://github.com/gazebosim/ros_gz/tree/melodic) | only from source
+Noetic | Citadel | [noetic](https://github.com/gazebosim/ros_gz/tree/noetic) | https://packages.ros.org
+Noetic | Edifice | [noetic](https://github.com/gazebosim/ros_gz/tree/noetic) | only from source
+Noetic | Fortress | [noetic](https://github.com/gazebosim/ros_gz/tree/noetic) | only from source
+Foxy | Citadel | [foxy](https://github.com/gazebosim/ros_gz/tree/foxy) | https://packages.ros.org
+Foxy | Edifice | [foxy](https://github.com/gazebosim/ros_gz/tree/foxy) | only from source
+Galactic | Edifice | [galactic](https://github.com/gazebosim/ros_gz/tree/galactic) | https://packages.ros.org
+Galactic | Fortress | [galactic](https://github.com/gazebosim/ros_gz/tree/galactic) | only from source
+Rolling | Edifice | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source
+Rolling | Fortress | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | https://packages.ros.org
+
+> Please [ticket an issue](https://github.com/gazebosim/ros_gz/issues/) if you'd like support to be added for some combination.
+
+# Integration between ROS and Gazebo
 
 ## Packages
 
 This repository holds packages that provide integration between
-[ROS](http://www.ros.org/) and [Ignition](https://ignitionrobotics.org):
+[ROS](http://www.ros.org/) and [Gazebo](https://gazebosim.org):
 
-* [ros_ign](https://github.com/ignitionrobotics/ros_ign/tree/ros2/ros_ign):
+* [ros_ign](https://github.com/gazebosim/ros_gz/tree/ros2/ros_ign):
   Metapackage which provides all the other packages.
-* [ros_ign_image](https://github.com/ignitionrobotics/ros_ign/tree/ros2/ros_ign_image):
+* [ros_ign_image](https://github.com/gazebosim/ros_gz/tree/ros2/ros_ign_image):
   Unidirectional transport bridge for images from
-  [Ignition Transport](https://ignitionrobotics.org/libs/transport)
+  [Gazebo Transport](https://gazebosim.org/libs/transport)
   to ROS using
   [image_transport](http://wiki.ros.org/image_transport).
-* [ros_ign_bridge](https://github.com/ignitionrobotics/ros_ign/tree/ros2/ros_ign_bridge):
+* [ros_ign_bridge](https://github.com/gazebosim/ros_gz/tree/ros2/ros_ign_bridge):
   Bidirectional transport bridge between
-  [Ignition Transport](https://ignitionrobotics.org/libs/transport)
+  [Gazebo Transport](https://gazebosim.org/libs/transport)
   and ROS.
-* [ros_ign_gazebo](https://github.com/ignitionrobotics/ros_ign/tree/ros2/ros_ign_gazebo):
+* [ros_ign_gazebo](https://github.com/gazebosim/ros_gz/tree/ros2/ros_ign_gazebo):
   Convenient launch files and executables for using
-  [Ignition Gazebo](https://ignitionrobotics.org/libs/gazebo)
+  [Gazebo Sim](https://gazebosim.org/libs/gazebo)
   with ROS.
-* [ros_ign_gazebo_demos](https://github.com/ignitionrobotics/ros_ign/tree/ros2/ros_ign_gazebo_demos):
-  Demos using the ROS-Ignition integration.
-* [ros_ign_point_cloud](https://github.com/ignitionrobotics/ros_ign/tree/ros2/ros_ign_point_cloud):
+* [ros_ign_gazebo_demos](https://github.com/gazebosim/ros_gz/tree/ros2/ros_ign_gazebo_demos):
+  Demos using the ROS-Gazebo integration.
+* [ros_ign_point_cloud](https://github.com/gazebosim/ros_gz/tree/ros2/ros_ign_point_cloud):
   Plugins for publishing point clouds to ROS from
-  [Ignition Gazebo](https://ignitionrobotics.org/libs/gazebo) simulations.
+  [Gazebo Sim](https://gazebosim.org/libs/gazebo) simulations.
 
 ## Install
 
@@ -71,11 +71,11 @@ Be sure you've installed
 [ROS Rolling](https://index.ros.org/doc/ros2/Installation/)
 (at least ROS-Base). More ROS dependencies will be installed below.
 
-#### Ignition
+#### Gazebo
 
-Install either [Edifice or Fortress](https://ignitionrobotics.org/docs).
+Install either [Edifice or Fortress](https://gazebosim.org/docs).
 
-Set the `IGNITION_VERSION` environment variable to the Ignition version you'd
+Set the `IGNITION_VERSION` environment variable to the Gazebo version you'd
 like to compile against. For example:
 
     export IGNITION_VERSION=edifice
@@ -94,17 +94,17 @@ The following steps are for Linux and OSX.
     cd ~/ws/src
 
     # Download needed software
-    git clone https://github.com/osrf/ros_ign.git -b ros2
+    git clone https://github.com/gazebosim/ros_gz.git -b ros2
     ```
 
-1. Install dependencies (this may also install Ignition):
+1. Install dependencies (this may also install Gazebo):
 
     ```
     cd ~/ws
     rosdep install -r --from-paths src -i -y --rosdistro rolling
     ```
 
-    > If `rosdep` fails to install Ignition libraries and you have not installed them before, please follow [Ignition installation instructions](https://ignitionrobotics.org/docs/latest/install).
+    > If `rosdep` fails to install Gazebo libraries and you have not installed them before, please follow [Gazebo installation instructions](https://gazebosim.org/docs/latest/install).
 
 1. Build the workspace:
 

@@ -1,4 +1,4 @@
-# ROS-Ignition packages
+# ROS-Gazebo packages
 
 `ros_ign` is a metapackage that installs all packages integrating
-[ROS](http://www.ros.org/) and [Ignition](https://ignitionrobotics.org):
+[ROS](http://www.ros.org/) and [Gazebo](https://gazebosim.org):
@@ -1,12 +1,11 @@
-# Bridge communication between ROS and Ignition Transport
+# Bridge communication between ROS and Gazebo
 
 This package provides a network bridge which enables the exchange of messages
-between ROS and Ignition Transport.
+between ROS and Gazebo Transport.
 
-The bridge is currently implemented in C++. At this point there's no support for
-service calls. Its support is limited to only the following message types:
+The following message types can be bridged for topics:
 
-| ROS type                             | Ignition Transport type                |
+| ROS type                             | Gazebo type                            |
 |--------------------------------------|:--------------------------------------:|
 | builtin_interfaces/msg/Time          | ignition::msgs::Time                   |
 | std_msgs/msg/Bool                    | ignition::msgs::Boolean                |
@@ -55,9 +54,15 @@ service calls. Its support is limited to only the following message types:
 | tf2_msgs/msg/TFMessage               | ignition::msgs::Pose_V                 |
 | trajectory_msgs/msg/JointTrajectory  | ignition::msgs::JointTrajectory        |
 
+And the following for services:
+
+| ROS type                             | Gazebo request             | Gazebo response       |
+|--------------------------------------|:--------------------------:| --------------------- |
+| ros_ign_interfaces/srv/ControlWorld  | ignition.msgs.WorldControl | ignition.msgs.Boolean |
+
 Run `ros2 run ros_ign_bridge parameter_bridge -h` for instructions.
 
-## Example 1a: Ignition Transport talker and ROS 2 listener
+## Example 1a: Gazebo Transport talker and ROS 2 listener
 
 Start the parameter bridge which will watch the specified topics.
 
@@ -75,14 +80,14 @@ Now we start the ROS listener.
 ros2 topic echo /chatter
 ```
 
-Now we start the Ignition Transport talker.
+Now we start the Gazebo Transport talker.
 
 ```
 # Shell C:
 ign topic -t /chatter -m ignition.msgs.StringMsg -p 'data:"Hello"'
 ```
 
-## Example 1b: ROS 2 talker and Ignition Transport listener
+## Example 1b: ROS 2 talker and Gazebo Transport listener
 
 Start the parameter bridge which will watch the specified topics.
 
@@ -92,7 +97,7 @@ Start the parameter bridge which will watch the specified topics.
 ros2 run ros_ign_bridge parameter_bridge /chatter@std_msgs/msg/[email protected]
 ```
 
-Now we start the Ignition Transport listener.
+Now we start the Gazebo Transport listener.
 
 ```
 # Shell B:
@@ -109,11 +114,11 @@ ros2 topic pub /chatter std_msgs/msg/String "data: 'Hi'" --once
 
 ## Example 2: Run the bridge and exchange images
 
-In this example, we're going to generate Ignition Transport images using
-Ignition Gazebo, that will be converted into ROS images, and visualized with
+In this example, we're going to generate Gazebo Transport images using
+Gazebo Sim, that will be converted into ROS images, and visualized with
 `rqt_image_viewer`.
 
-First we start Ignition Gazebo (don't forget to hit play, or Ignition Gazebo won't generate any images).
+First we start Gazebo Sim (don't forget to hit play, or Gazebo Sim won't generate any images).
 
 ```
 # Shell A:
@@ -146,12 +151,12 @@ ros2 run rqt_image_view rqt_image_view /rgbd_camera/image
 ```
 
 You should see the current images in `rqt_image_view` which are coming from
-Gazebo (published as Ignition Msgs over Ignition Transport).
+Gazebo (published as Gazebo Msgs over Gazebo Transport).
 
 The screenshot shows all the shell windows and their expected content
-(it was taken using ROS 2 Galactic and Ignition Fortress):
+(it was taken using ROS 2 Galactic and Gazebo Fortress):
 
-![Ignition Transport images and ROS rqt](images/bridge_image_exchange.png)
+![Gazebo Transport images and ROS rqt](images/bridge_image_exchange.png)
 
 ## Example 3: Static bridge
 
@@ -163,7 +168,7 @@ The example's code can be found under `ros_ign_bridge/src/static_bridge.cpp`.
 In the code, it's possible to see how the bridge is hardcoded to bridge string
 messages published on the `/chatter` topic.
 
-Let's give it a try, starting with Ignition -> ROS 2.
+Let's give it a try, starting with Gazebo -> ROS 2.
 
 On terminal A, start the bridge:
 
@@ -173,13 +178,13 @@ On terminal B, we start a ROS 2 listener:
 
 `ros2 topic echo /chatter std_msgs/msg/String`
 
-And terminal C, publish an Ignition message:
+And terminal C, publish an Gazebo message:
 
 `ign topic -t /chatter -m ignition.msgs.StringMsg -p 'data:"Hello"'`
 
 At this point, you should see the ROS 2 listener echoing the message.
 
-Now let's try the other way around, ROS 2 -> Ignition.
+Now let's try the other way around, ROS 2 -> Gazebo.
 
 On terminal D, start an Igntion listener:
 
@@ -189,4 +194,22 @@ And on terminal E, publish a ROS 2 message:
 
 `ros2 topic pub /chatter std_msgs/msg/String 'data: "Hello"' -1`
 
-You should see the Ignition listener echoing the message.
+You should see the Gazebo listener echoing the message.
+
+## Example 4: Service bridge
+
+It's possible to make ROS service requests into Gazebo. Let's try unpausing the simulation.
+
+On terminal A, start the service bridge:
+
+`ros2 run ros_ign_bridge parameter_bridge /world/shapes/control@ros_ign_interfaces/srv/ControlWorld`
+
+On terminal B, start Gazebo, it will be paused by default:
+
+`ign gazebo shapes.sdf`
+
+On terminal C, make a ROS request to unpause simulation:
+
+```
+ros2 service call /world/<world_name>/control ros_ign_interfaces/srv/ControlWorld "world_control: pause: false"
+```
@@ -1,11 +1,11 @@
-# ROS + Ignition Gazebo
+# ROS + Gazebo Sim
 
-This package contains things that make it convenient to integrate ROS with Ignition, such as:
+This package contains things that make it convenient to integrate ROS with Gazebo, such as:
 
  - Launch files
  - ROS-enabled executables
 
-### Run Ignition Gazebo
+### Run Gazebo Sim
 
 There's a convenient launch file, try for example:
 
@@ -17,10 +17,10 @@ ros2 launch ros_ign_gazebo ign_gazebo.launch.py ign_args:="shapes.sdf"
 
 The `create` executable can be used to spawn SDF or URDF entities from:
 
- - A file on disk or from Ignition Fuel
+ - A file on disk or from Gazebo Fuel
  - A ROS parameter
 
-For example, start Ignition Gazebo:
+For example, start Gazebo Sim:
 
 ```
 ros2 launch ros_ign_gazebo ign_gazebo.launch.py

@@ -1,8 +1,8 @@
-# ROS + Ignition Gazebo demos
+# ROS + Gazebo Sim demos
 
-This package contains demos showing how to use Ignition Gazebo with ROS.
+This package contains demos showing how to use Gazebo Sim with ROS.
 
-## Run Ignition Gazebo
+## Run Gazebo Sim
 
 There's a convenient launch file, try for example:
 
@@ -41,11 +41,11 @@ Using the image bridge (unidirectional, uses [image_transport](http://wiki.ros.o
 Using the regular bridge:
 
     ros2 launch ros_ign_gazebo_demos camera.launch.py
-    
+
 To use a camera that only publishes information when triggered:
 
     ros2 launch ros_ign_gazebo_demos triggered_camera.launch.py
-    
+
 Trigger the camera:
 
     ros2 topic pub /camera/trigger std_msgs/msg/Bool "{data: true}" --once
@@ -87,7 +87,7 @@ Using the image bridge (unidirectional, uses [image_transport](http://wiki.ros.o
 
 *TODO*: Blocked by `ros_ign_point_cloud` [issue](https://github.com/osrf/ros_ign/issues/40).
 
-Using Ignition Gazebo plugin:
+Using Gazebo Sim plugin:
 
     ros2 launch ros_ign_gazebo_demos depth_camera.launch.py
 
@@ -106,7 +106,7 @@ Using the bridge:
 
 *TODO*: Blocked by `ros_ign_point_cloud` [issue](https://github.com/osrf/ros_ign/issues/40).
 
-Using Ignition Gazebo plugin:
+Using Gazebo Sim plugin:
 
     ros2 launch ros_ign_gazebo_demos gpu_lidar.launch.py
 
@@ -150,7 +150,7 @@ Using the regular bridge:
 
 *TODO*: Blocked by `ros_ign_point_cloud` [issue](https://github.com/osrf/ros_ign/issues/40).
 
-Using Ignition Gazebo plugin:
+Using Gazebo Sim plugin:
 
     ros2 launch ros_ign_gazebo_demos rgbd_camera.launch.py
 
@@ -190,7 +190,7 @@ To try the demo launch:
 
 ## Bridging joint state and pose publishers
 
-The launch file demonstrates bridging ignition poses to TFMessage to visualize the pose
+The launch file demonstrates bridging Gazebo poses to TFMessage to visualize the pose
 and transforms of a robot in rviz.
 
 To try the demo launch:

@@ -1,7 +1,7 @@
-# Image utilities for using ROS and Ignition Transport
+# Image utilities for using ROS and Gazebo Transport
 
-This package provides a unidirectional bridge for images from Ignition to ROS.
-The bridge subscribes to Ignition image messages (`ignition::msgs::Image`)
+This package provides a unidirectional bridge for images from Gazebo to ROS.
+The bridge subscribes to Gazebo image messages (`ignition::msgs::Image`)
 and republishes them to ROS using [image_transport](http://wiki.ros.org/image_transport).
 
 For compressed images, install

@@ -1,20 +1,20 @@
-# Message and service data structures for interacting with Ignition from ROS2
+# Message and service data structures for interacting with Gazebo from ROS2
 
-This package currently contains some Ignition-specific ROS message and service data structures (.msg and .srv)
+This package currently contains some Gazebo-specific ROS message and service data structures (.msg and .srv)
 
 ## Messages (.msg)
 
-* [Contact](msg/Contact.msg): related to [ignition::msgs::Contact](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs7/proto/ignition/msgs/contact.proto). Contant info bewteen collisions in Ignition Gazebo.
+* [Contact](msg/Contact.msg): related to [ignition::msgs::Contact](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs7/proto/ignition/msgs/contact.proto). Contant info bewteen collisions in Gazebo Sim.
 * [Contacts](msg/Contacts.msg): related to [ignition::msgs::Contacts](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs7/proto/ignition/msgs/contacts.proto). A list of contacts.
-* [Entity](msg/Entity.msg): related to [ignition::msgs::Entity](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs7/proto/ignition/msgs/entity.proto). Entity of Ignition Gazebo.
+* [Entity](msg/Entity.msg): related to [ignition::msgs::Entity](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs7/proto/ignition/msgs/entity.proto). Entity of Gazebo Sim.
 * [EntityFactory](msg/EntityFactory.msg): related to [ignition::msgs::EntityFactory](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs7/proto/ignition/msgs/entity_factory.proto). Message to create a new entity.
-* [Light](msg/Light.msg): related to [ignition::msgs::Light](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs7/proto/ignition/msgs/light.proto). Light info in Ignition Gazebo.
-* [WorldControl](msg/WorldControl.msg): related to [ignition::msgs::WorldControl](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs7/proto/ignition/msgs/world_control.proto). Message to control world of Ignition Gazebo.
+* [Light](msg/Light.msg): related to [ignition::msgs::Light](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs7/proto/ignition/msgs/light.proto). Light info in Gazebo Sim.
+* [WorldControl](msg/WorldControl.msg): related to [ignition::msgs::WorldControl](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs7/proto/ignition/msgs/world_control.proto). Message to control world of Gazebo Sim.
 * [WorldReset](msg/WorldReset.msg): related to [ignition::msgs::WorldReset](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs7/proto/ignition/msgs/world_reset.proto). Reset time and model of simulation.
 
 ## Services (.srv)
 
-* [ControlWorld](srv/ControlWorld.srv): Control world of Ignition Gazebo,for example,pasue,pasue with multiple steps,resume,etc.
-* [DeleteEntity](srv/DeleteEntity.srv): Delete Entity in Ignition Gazebo
-* [SetEntityPose](srv/SetEntityPose.srv): Set pose of Entity in Ignition Gazebo
-* [SpawnEntity](srv/SpawnEntity.srv): Spawn a Entity in Ignition Gazebo
+* [ControlWorld](srv/ControlWorld.srv): Control world of Gazebo Sim,for example,pasue,pasue with multiple steps,resume,etc.
+* [DeleteEntity](srv/DeleteEntity.srv): Delete Entity in Gazebo Sim
+* [SetEntityPose](srv/SetEntityPose.srv): Set pose of Entity in Gazebo Sim
+* [SpawnEntity](srv/SpawnEntity.srv): Spawn a Entity in Gazebo Sim