From abcc653487e09ee125600e548e10f37f7e58572c Mon Sep 17 00:00:00 2001
From: Anirudh Krishnan Komaralingam <anikk.umd@gmail.com>
Date: Sun, 26 Jan 2025 03:14:32 +0000
Subject: [PATCH 1/2] bridge gz and ros topics

---
 xarm_gazebo/CMakeLists.txt                     |  1 +
 xarm_gazebo/config/gz_bridge.yaml              |  5 +++++
 .../launch/_robot_beside_table_gz.launch.py    | 18 ++++++++++++++++++
 3 files changed, 24 insertions(+)
 create mode 100644 xarm_gazebo/config/gz_bridge.yaml

diff --git a/xarm_gazebo/CMakeLists.txt b/xarm_gazebo/CMakeLists.txt
index 4355a24..34093d5 100644
--- a/xarm_gazebo/CMakeLists.txt
+++ b/xarm_gazebo/CMakeLists.txt
@@ -71,6 +71,7 @@ endif()
 install(DIRECTORY
   worlds
   launch
+  config
   DESTINATION share/${PROJECT_NAME}/
 )
 
diff --git a/xarm_gazebo/config/gz_bridge.yaml b/xarm_gazebo/config/gz_bridge.yaml
new file mode 100644
index 0000000..0e53da3
--- /dev/null
+++ b/xarm_gazebo/config/gz_bridge.yaml
@@ -0,0 +1,5 @@
+- ros_topic_name: "clock"
+  gz_topic_name: "clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "gz.msgs.Clock"
+  direction: GZ_TO_ROS
\ No newline at end of file
diff --git a/xarm_gazebo/launch/_robot_beside_table_gz.launch.py b/xarm_gazebo/launch/_robot_beside_table_gz.launch.py
index cfa36ab..983e73d 100644
--- a/xarm_gazebo/launch/_robot_beside_table_gz.launch.py
+++ b/xarm_gazebo/launch/_robot_beside_table_gz.launch.py
@@ -170,6 +170,18 @@ def launch_setup(context, *args, **kwargs):
         parameters=[{'use_sim_time': True}],
     )
 
+    # bridge gz and ros topics
+    bridge_params = os.path.join(get_package_share_directory('xarm_gazebo'),'config','gz_bridge.yaml')
+    ros_gz_bridge = Node(
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
+        arguments=[
+            '--ros-args',
+            '-p',
+            f'config_file:={bridge_params}'
+        ]
+    )
+
     # rviz with moveit configuration
     rviz_config_file = PathJoinSubstitution([FindPackageShare(moveit_config_package_name), 'rviz', 'planner.rviz' if no_gui_ctrl.perform(context) == 'true' else 'moveit.rviz'])
     rviz2_node = Node(
@@ -233,6 +245,12 @@ def launch_setup(context, *args, **kwargs):
                     on_start=gazebo_spawn_entity_node,
                 )
             ),
+            RegisterEventHandler(
+                event_handler=OnProcessStart(
+                    target_action=robot_state_publisher_node,
+                    on_start=ros_gz_bridge,
+                )
+            ),
             RegisterEventHandler(
                 condition=IfCondition(show_rviz),
                 event_handler=OnProcessExit(

From c4dca718f7ef2d35af0a94e840f1cef9996ecfa0 Mon Sep 17 00:00:00 2001
From: Anirudh Krishnan Komaralingam <anikk.umd@gmail.com>
Date: Sun, 26 Jan 2025 03:16:16 +0000
Subject: [PATCH 2/2] fix - missing reference in ros2control causing build
 failure

---
 .../include/xarm_controller/hardware/uf_robot_system_hardware.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/xarm_controller/include/xarm_controller/hardware/uf_robot_system_hardware.h b/xarm_controller/include/xarm_controller/hardware/uf_robot_system_hardware.h
index c0288ca..6e01dab 100644
--- a/xarm_controller/include/xarm_controller/hardware/uf_robot_system_hardware.h
+++ b/xarm_controller/include/xarm_controller/hardware/uf_robot_system_hardware.h
@@ -21,7 +21,7 @@
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
-#include "hardware_interface/visibility_control.h"
+// #include "hardware_interface/visibility_control.h"
 #include "controller_manager_msgs/srv/list_controllers.hpp"
 #include "controller_manager_msgs/srv/switch_controller.hpp"
 #include "xarm_api/xarm_driver.h"