Question

I use ros2 and ignition to simulate the dynamics of bipedal robot. Thus I need to run bunch of rosignbridge nodes. it is really cumbersome to run those nodes from the terminal. I want to make the launch file to run those nodes. However, I do not know what /TOPIC@ROSMSG@IGNMSG is. Probably it is not a parameter neither argument of the node.

Please let me know how to write launch file for the rosignbridge.

ROS2:foxy
ignition: Citadel
OS: Ubuntu 20.04.2 LTS Focal Fossa

Thanks

Asked by dimai on 2021-02-14 00:51:27 UTC

Answer 1

I recommend you look into the examples on the ros_ign_gazebo_demos package. For example, here's a snippet from diff_drive.launch.py:

# Bridge
bridge = Node(
    package='ros_ign_bridge',
    executable='parameter_bridge',
    arguments=['/model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist@ignition.msgs.Twist',
               '/model/vehicle_blue/odometry@nav_msgs/msg/Odometry@ignition.msgs.Odometry',
               '/model/vehicle_green/cmd_vel@geometry_msgs/msg/Twist@ignition.msgs.Twist',
               '/model/vehicle_green/odometry@nav_msgs/msg/Odometry@ignition.msgs.Odometry'],
    output='screen'
)

Asked by chapulina on 2021-09-26 21:16:36 UTC

How to write a launch file for ros_ign_bridge ?

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