ros 2 <-> ign gazebo camera sensor example

A simple example demonstrating the use of ros_ign_bridge to enable the exchange of messages between ignition gazebo and ros 2. A camera sensor is included in a world containing a box and its output is shown using rviz.

Components:

• setup.py
• Launch File
• World and Models
• Building and Running
• Screenshots
• See Also

setup

In setup.py we have to make sure that our world and models are copied properly to the install location. We do this by specifying them in the data_files array.

    data_files=[
        ...,
        (os.path.join('share', package_name), glob('launch/*.launch.py')),
        (os.path.join('share', package_name, "worlds"), glob('worlds/*.sdf')),
        (os.path.join('share', package_name, "models", "arashcamera"), glob('models/arashcamera/*')),
    ],

Launch File

First using the IGN_GAZEBO_RESOURCE_PATH environment variable we have to specify the path to our models' directory in the install location so that ign gazebo would be able to find our sensor.

Then we create 3 components:

• A process to launch gazebo
• A ros node to spin up rviz 2
• The ros_ign_bridge to connect ign topics to that of ros 2

World and Models

In the worlds directory, there is a simple sdf file that contains a box, a plane, and a sun. We have also included our camera sensor in this file using the <include> tag.

In the models directory lives our camera sensor which is a simple sdf file containing the sensor and its description.

Building and Running

Copy the camera-sensor-example directory in your ros 2 workspace and run:

colcon build

Finally launch the package:

ros2 launch camera-sensor-example arashs_wonderland.launch.py

Screenshots

See Also

• ros_gz
• Setting up a robot simulation (Ignition Gazebo)