Merge branch 'ros2' into arjo/feat/log_environment_vars

ros_gz/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ros_gz
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.3 (2025-01-14)
+------------------
+
 2.1.2 (2024-10-31)
 ------------------
 

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>2.1.2</version>
+  <version>2.1.3</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 +2,35 @@
 Changelog for package ros_gz_bridge
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.3 (2025-01-14)
+------------------
+* Use both ROS package and message name for unique mappings (`#656 <https://github.com/gazebosim/ros_gz/issues/656>`_)
+  Co-authored-by: Addisu Z. Taddese <[email protected]>
+* Merge pull request `#664 <https://github.com/gazebosim/ros_gz/issues/664>`_ from azeey/improve_parameter_handling
+  Co-authored-by: Alejandro Hernández Cordero <[email protected]>
+* Merge pull request `#663 <https://github.com/gazebosim/ros_gz/issues/663>`_ from azeey/improve_arg_parsing
+  The `RosGzBridge` and `GzServer` now support different spellings for
+  boolean arguments (`True`, `true`). This also simplifies how
+  conditionals are used to create composable nodes by evaluating the
+  conditionals and using them as regular Python booleans instead of
+  relying on `PythonExpression`. It was actually the `PythonExpression`
+  that was preventing support of boolean arguments spelled `true`/`false`.
+* Improve parameter handling for RosGzBridge
+* Fix linter errors
+* Improve argument parsing in Actions
+  The `RosGzBridge` and `GzServer` now support different spellings for
+  boolean arguments (`True`, `true`). This also simplifies how
+  conditionals are used to create composable nodes by evaluating the
+  conditionals and using them as regular Python booleans instead of
+  relying on `PythonExpression`. It was actually the `PythonExpression`
+  that was preventing support of boolean arguments spelled `true`/`false`.
+* Fix use_respawn argument causing errors (`#651 <https://github.com/gazebosim/ros_gz/issues/651>`_)
+* Add a way to pass extra parameters to ros_gz_bridge (`#628 <https://github.com/gazebosim/ros_gz/issues/628>`_)
+  * Add bridge_params argument to ros_gz_bridge
+  Co-authored-by: Alejandro Hernández Cordero <[email protected]>
+  Co-authored-by: Wiktor Bajor <[email protected]>
+* Contributors: Aarav Gupta, Addisu Z. Taddese, Alejandro Hernández Cordero, Øystein Sture
+
 2.1.2 (2024-10-31)
 ------------------
 

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>2.1.2</version>
+  <version>2.1.3</version>
   <description>Bridge communication between ROS and Gazebo Transport</description>
   <maintainer email="[email protected]">Aditya Pande</maintainer>
   <maintainer email="[email protected]">Alejandro Hernandez</maintainer>

ros_gz_bridge/ros_gz_bridge/__init__.py

@@ -59,7 +59,8 @@ def gz_type(self):
         return f'gz::msgs::{self.gz_message_name}'
 
     def unique(self):
-        return f'{self.gz_message_name.lower()}_{self.ros2_message_name.lower()}'
+        return f'{self.gz_message_name.lower()}_' \
+               f'{self.ros2_package_name}_{self.ros2_message_name.lower()}'
 
 
 def mappings(gz_msgs_ver):

ros_gz_image/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ros1_ign_image
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.3 (2025-01-14)
+------------------
+
 2.1.2 (2024-10-31)
 ------------------
 

ros_gz_image/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>ros_gz_image</name>
-  <version>2.1.2</version>
+  <version>2.1.3</version>
   <description>Image utilities for Gazebo simulation with ROS.</description>
   <license>Apache 2.0</license>
   <maintainer email="[email protected]">Aditya Pande</maintainer>

ros_gz_interfaces/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ros_gz_interfaces
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.3 (2025-01-14)
+------------------
+
 2.1.2 (2024-10-31)
 ------------------
 

ros_gz_interfaces/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>ros_gz_interfaces</name>
-  <version>2.1.2</version>
+  <version>2.1.3</version>
   <description>Message and service data structures for interacting with Gazebo from ROS2.</description>
   <license>Apache 2.0</license>
   <author>Louise Poubel</author>

ros_gz_sim/CHANGELOG.rst

@@ -2,6 +2,34 @@
 Changelog for package ros_gz_sim
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.3 (2025-01-14)
+------------------
+* Shutdown explicitly while existing (`#623 <https://github.com/gazebosim/ros_gz/issues/623>`_)
+* Merge pull request `#663 <https://github.com/gazebosim/ros_gz/issues/663>`_ from azeey/improve_arg_parsing
+  The `RosGzBridge` and `GzServer` now support different spellings for
+  boolean arguments (`True`, `true`). This also simplifies how
+  conditionals are used to create composable nodes by evaluating the
+  conditionals and using them as regular Python booleans instead of
+  relying on `PythonExpression`. It was actually the `PythonExpression`
+  that was preventing support of boolean arguments spelled `true`/`false`.
+* Fix linter errors
+* Improve argument parsing in Actions
+  The `RosGzBridge` and `GzServer` now support different spellings for
+  boolean arguments (`True`, `true`). This also simplifies how
+  conditionals are used to create composable nodes by evaluating the
+  conditionals and using them as regular Python booleans instead of
+  relying on `PythonExpression`. It was actually the `PythonExpression`
+  that was preventing support of boolean arguments spelled `true`/`false`.
+* Set env path (`#659 <https://github.com/gazebosim/ros_gz/issues/659>`_)
+* Use member variables instead. (`#653 <https://github.com/gazebosim/ros_gz/issues/653>`_)
+* Move gzserver logic to its action (`#646 <https://github.com/gazebosim/ros_gz/issues/646>`_)
+* Add a way to pass extra parameters to ros_gz_bridge (`#628 <https://github.com/gazebosim/ros_gz/issues/628>`_)
+  * Add bridge_params argument to ros_gz_bridge
+  Co-authored-by: Alejandro Hernández Cordero <[email protected]>
+  Co-authored-by: Wiktor Bajor <[email protected]>
+* Add remove entity node (`#629 <https://github.com/gazebosim/ros_gz/issues/629>`_)
+* Contributors: Aarav Gupta, Addisu Z. Taddese, Alejandro Hernández Cordero, Carlos Agüero, ChenYing Kuo (CY), Tatsuro Sakaguchi, Wiktor Bajor
+
 2.1.2 (2024-10-31)
 ------------------
 * Create ros_gz_spawn_model.launch (`#604 <https://github.com/gazebosim/ros_gz/issues/604>`_)

ros_gz_sim/CMakeLists.txt

@@ -93,6 +93,11 @@ rclcpp_components_register_node(
   EXECUTABLE gzserver
 )
 
+target_include_directories(gzserver_component PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+
 configure_file(
   launch/gz_sim.launch.py.in
   launch/gz_sim.launch.py.configured

ros_gz_sim/include/ros_gz_sim/gzserver.hpp

@@ -0,0 +1,45 @@
+// Copyright 2025 Open Source Robotics Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROS_GZ_SIM__GZSERVER_HPP_
+#define ROS_GZ_SIM__GZSERVER_HPP_
+
+#include <gz/utils/ImplPtr.hh>
+#include <rclcpp/node.hpp>
+
+// ROS node that executes a gz-sim Server given a world SDF file or string.
+namespace ros_gz_sim
+{
+class GzServer : public rclcpp::Node
+{
+public:
+  // Class constructor.
+  explicit GzServer(const rclcpp::NodeOptions & options);
+
+public:
+  // Class destructor.
+  ~GzServer();
+
+public:
+  /// \brief Run the gz sim server.
+  void OnStart();
+
+private:
+  /// \internal
+  /// \brief Private data pointer.
+  GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
+};
+}  // namespace ros_gz_sim
+
+#endif  // ROS_GZ_SIM__GZSERVER_HPP_

ros_gz_sim/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_sim</name>
-  <version>2.1.2</version>
+  <version>2.1.3</version>
   <description>Tools for using Gazebo Sim simulation with ROS.</description>
   <maintainer email="[email protected]">Alejandro Hernandez</maintainer>
   <maintainer email="[email protected]">Aditya Pande</maintainer>

ros_gz_sim/src/gzserver.cpp

@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "ros_gz_sim/gzserver.hpp"
+
 #include <functional>
 #include <thread>
 #include <gz/common/Console.hh>
@@ -21,60 +23,57 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-// ROS node that executes a gz-sim Server given a world SDF file or string.
+
 namespace ros_gz_sim
 {
-class GzServer : public rclcpp::Node
+
+class GzServer::Implementation
 {
-public:
-  // Class constructor.
-  explicit GzServer(const rclcpp::NodeOptions & options)
-  : Node("gzserver", options)
-  {
-    thread_ = std::thread(std::bind(&GzServer::OnStart, this));
-  }
+  /// \brief We don't want to block the ROS thread.
 
 public:
-  // Class destructor.
-  ~GzServer()
-  {
-    // Make sure to join the thread on shutdown.
-    if (thread_.joinable()) {
-      thread_.join();
-    }
-  }
+  std::thread thread;
+};
 
-public:
-  /// \brief Run the gz sim server.
-  void OnStart()
-  {
-    auto world_sdf_file = this->declare_parameter("world_sdf_file", "");
-    auto world_sdf_string = this->declare_parameter("world_sdf_string", "");
+GzServer::GzServer(const rclcpp::NodeOptions & options)
+: Node("gzserver", options), dataPtr(gz::utils::MakeUniqueImpl<Implementation>())
+{
+  this->dataPtr->thread = std::thread(std::bind(&GzServer::OnStart, this));
+}
+
+GzServer::~GzServer()
+{
+  // Make sure to join the thread on shutdown.
+  if (this->dataPtr->thread.joinable()) {
+    this->dataPtr->thread.join();
+  }
+}
 
-    gz::common::Console::SetVerbosity(4);
-    gz::sim::ServerConfig server_config;
+void GzServer::OnStart()
+{
+  auto world_sdf_file = this->declare_parameter("world_sdf_file", "");
+  auto world_sdf_string = this->declare_parameter("world_sdf_string", "");
 
-    if (!world_sdf_file.empty()) {
-      server_config.SetSdfFile(world_sdf_file);
-    } else if (!world_sdf_string.empty()) {
-      server_config.SetSdfString(world_sdf_string);
-    } else {
-      RCLCPP_ERROR(
-        this->get_logger(),
-        "Must specify either 'world_sdf_file' or 'world_sdf_string'");
-      rclcpp::shutdown();
-      return;
-    }
+  gz::common::Console::SetVerbosity(4);
+  gz::sim::ServerConfig server_config;
 
-    gz::sim::Server server(server_config);
-    server.Run(true /*blocking*/, 0, false /*paused*/);
+  if (!world_sdf_file.empty()) {
+    server_config.SetSdfFile(world_sdf_file);
+  } else if (!world_sdf_string.empty()) {
+    server_config.SetSdfString(world_sdf_string);
+  } else {
+    RCLCPP_ERROR(
+      this->get_logger(),
+      "Must specify either 'world_sdf_file' or 'world_sdf_string'");
     rclcpp::shutdown();
+    return;
   }
 
-private:
-  /// \brief We don't want to block the ROS thread.
-  std::thread thread_;
-};
+  gz::sim::Server server(server_config);
+  server.Run(true /*blocking*/, 0, false /*paused*/);
+  rclcpp::shutdown();
+}
+
 }  // namespace ros_gz_sim
 
 RCLCPP_COMPONENTS_REGISTER_NODE(ros_gz_sim::GzServer)

ros_gz_sim_demos/CHANGELOG.rst

@@ -2,6 +2,33 @@
 Changelog for package ros1_gz_sim_demos
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.3 (2025-01-14)
+------------------
+* Refactor triggered_camera demo (`#645 <https://github.com/gazebosim/ros_gz/issues/645>`_)
+  Co-authored-by: Alejandro Hernández Cordero <[email protected]>
+* Refactor rgbd_camera_bridge demo (`#643 <https://github.com/gazebosim/ros_gz/issues/643>`_)
+  Co-authored-by: Alejandro Hernández Cordero <[email protected]>
+* Refactor diff_drive demo (`#635 <https://github.com/gazebosim/ros_gz/issues/635>`_)
+  Co-authored-by: Alejandro Hernández Cordero <[email protected]>
+* Refactor gpu_lidar_bridge demo (`#636 <https://github.com/gazebosim/ros_gz/issues/636>`_)
+  * Refactor gpu_lidar_bridge demo
+* Refactor camera demo (`#634 <https://github.com/gazebosim/ros_gz/issues/634>`_)
+  Co-authored-by: Alejandro Hernández Cordero <[email protected]>
+* Refactor battery demo (`#633 <https://github.com/gazebosim/ros_gz/issues/633>`_)
+* Refactor tf_bridge demo (`#644 <https://github.com/gazebosim/ros_gz/issues/644>`_)
+* Refactor magnetometer demo (`#638 <https://github.com/gazebosim/ros_gz/issues/638>`_)
+* Refactor imu demo (`#637 <https://github.com/gazebosim/ros_gz/issues/637>`_)
+  * Refactor imu demo
+* Refactor navsat_gpxfix demo (`#642 <https://github.com/gazebosim/ros_gz/issues/642>`_)
+  * Refactor navsat_gpxfix demo
+* Refactor navsat demo (`#639 <https://github.com/gazebosim/ros_gz/issues/639>`_)
+  * Refactor navsat demo
+* Refactor air pressure demo (`#632 <https://github.com/gazebosim/ros_gz/issues/632>`_)
+  * Refactor air pressure demo
+  Co-authored-by: Addisu Z. Taddese <[email protected]>
+  Co-authored-by: Alejandro Hernández Cordero <[email protected]>
+* Contributors: Carlos Agüero
+
 2.1.2 (2024-10-31)
 ------------------
 

ros_gz_sim_demos/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>ros_gz_sim_demos</name>
-  <version>2.1.2</version>
+  <version>2.1.3</version>
   <description>Demos using Gazebo Sim simulation with ROS.</description>
   <license>Apache 2.0</license>
   <maintainer email="[email protected]">Aditya Pande</maintainer>

test_ros_gz_bridge/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package test_ros_gz_bridge
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.3 (2025-01-14)
+------------------
+
 2.1.2 (2024-10-31)
 ------------------
 

test_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>test_ros_gz_bridge</name>
-  <version>2.1.2</version>
+  <version>2.1.3</version>
   <description>Bridge communication between ROS and Gazebo Transport</description>
   <maintainer email="[email protected]">Aditya Pande</maintainer>
   <maintainer email="[email protected]">Alejandro Hernandez</maintainer>