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ROS GZ Interface

This package currently contains some Gazebo-specific ROS message and service data structures (.msg and .srv)

Message and service data structures for interacting with Gazebo from ROS2

Demo: Set Entity POSE

Gazebo expose service to set entity position and orientation /world/<world name>/set_pose

Run from gazebo

gz set_pose service call
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gz service --timeout 10000 -s /world/my_world/set_pose \
--reptype gz.msgs.Boolean \
--reqtype gz.msgs.Pose \
--req 'name: "box" position {
  x: 5
  y: 0
  z: 0.5
}'

Expose the service via ROS

run bridge
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ros2 run ros_gz_bridge parameter_bridge \
    /world/my_world/set_pose@ros_gz_interfaces/srv/SetEntityPose
query entity name
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# or check the urdf
# idea: wotk with grep
gz topic -e -t /world/my_world/pose/info
call full message
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# call service set_pose on world name: my_world
# entity name: 
ros2 service call /world/my_world/set_pose ros_gz_interfaces/srv/SetEntityPose \
"{entity: {name: 'box'}, \
pose: {position: {x: 3.0, y: 3.0, z: 0.5}, 
orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}"

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# send part of the message other argument get defaults
ros2 service call /world/my_world/set_pose ros_gz_interfaces/srv/SetEntityPose \
"{entity: {name: 'box'}, \
pose: {position: {x: 1.0 } } }"