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2020-09-02 16:47:02 -0500 commented answer ROS2 Dashing service `get_entity_state` is missing

Thank you!

2020-09-02 16:46:32 -0500 marked best answer ROS2 Dashing service `get_entity_state` is missing

I am using ROS2 Dashing. There, I launched the following commands:

1) gazebo --verbose world -s libgazebo_ros_factory.so

I got the following answer:

Gazebo multi-robot simulator, version 9.14.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
Gazebo multi-robot simulator, version 9.14.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 172.17.0.2
[INFO] [gazebo_ros_node]: ROS was initialized without arguments.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 172.17.0.2
[Wrn] [GuiIface.cc:119] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[Wrn] [Publisher.cc:185] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.

2) ros2 service call /spawn_entity 'gazebo_msgs/SpawnEntity' '{name: "urdf_ball", xml: "<?xml version=\"1.0\" ?><robot name=\"will_be_ignored\"><link name=\"link\"><visual><geometry><sphere radius=\"1.0\"/></geometry></visual><inertial><mass value=\"1\"/><inertia ixx=\"1\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"1\" iyz=\"0.0\" izz=\"1\"/></inertial></link></robot>"}'

I copied it from gazebo_ros_pkgs.

I got the responce

response:
gazebo_msgs.srv.SpawnEntity_Response(success=True, status_message='SpawnEntity: Successfully spawned entity [urdf_ball]')

3) ros2 service list

And I received the following responce

/delete_entity
/gazebo/describe_parameters
/gazebo/get_parameter_types
/gazebo/get_parameters
/gazebo/list_parameters
/gazebo/set_parameters
/gazebo/set_parameters_atomically
/get_model_list
/hros_cognition_3f1e831f2728/describe_parameters
/hros_cognition_3f1e831f2728/get_parameter_types
/hros_cognition_3f1e831f2728/get_parameters
/hros_cognition_3f1e831f2728/list_parameters
/hros_cognition_3f1e831f2728/set_parameters
/hros_cognition_3f1e831f2728/set_parameters_atomically
/launch_ros/describe_parameters
/launch_ros/get_parameter_types
/launch_ros/get_parameters
/launch_ros/list_parameters
/launch_ros/set_parameters
/launch_ros/set_parameters_atomically
/robot_state_publisher/describe_parameters
/robot_state_publisher/get_parameter_types
/robot_state_publisher/get_parameters
/robot_state_publisher/list_parameters
/robot_state_publisher/set_parameters
/robot_state_publisher/set_parameters_atomically
/spawn_entity

4) Next I want to do but can not do the following

ros2 service call / get_entity_state gazebo_msgs/GetEntityState '{name: urdf_ball, reference_frame: world}'

My question is: Why the service get_entity_state is missing?

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2020-08-23 06:47:12 -0500 asked a question ROS2 Dashing service `get_entity_state` is missing

ROS2 Dashing service `get_entity_state` is missing I am using ROS2 Dashing. There, I launched the following commands: 1

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2020-08-20 14:20:45 -0500 commented answer ROS2 foxy ros1_bridge

It worked perfectly, thank you!

2020-08-20 14:20:38 -0500 asked a question ROS2 foxy ros1_bridge topics missing

ROS2 foxy ros1_bridge topics missing I am using ROS2 Foxy to spawn the robot in ROS1. The robot model (turtlebot3) is su

2020-08-19 10:51:48 -0500 marked best answer ROS2 foxy ros1_bridge

I want to use ROS2 Foxy to spawn a Turtlebot in Gazebo which is in ROS1.

Inside ROS1 when I do rosservice list, I see the following

/gazebo/apply_body_wrench
/gazebo/apply_joint_effort
/gazebo/clear_body_wrenches
/gazebo/clear_joint_forces
/gazebo/delete_light
/gazebo/delete_model
/gazebo/get_joint_properties
/gazebo/get_light_properties
/gazebo/get_link_properties
/gazebo/get_link_state
/gazebo/get_loggers
/gazebo/get_model_properties
/gazebo/get_model_state
/gazebo/get_physics_properties
/gazebo/get_world_properties
/gazebo/pause_physics
/gazebo/reset_simulation
/gazebo/reset_world
/gazebo/set_joint_properties
/gazebo/set_light_properties
/gazebo/set_link_properties
/gazebo/set_link_state
/gazebo/set_logger_level
/gazebo/set_model_configuration
/gazebo/set_model_state
/gazebo/set_parameters
/gazebo/set_physics_properties
/gazebo/spawn_sdf_model
/gazebo/spawn_urdf_model
/gazebo/unpause_physics
/gazebo_gui/get_loggers
/gazebo_gui/set_logger_level
/gazebo_gui/set_parameters
/master_discovery/get_loggers
/master_discovery/list_masters
/master_discovery/refresh
/master_discovery/set_logger_level
/master_sync/get_loggers
/master_sync/get_sync_info
/master_sync/set_logger_level
/param_sync/get_loggers
/param_sync/set_logger_level
/rosout/get_loggers
/rosout/set_logger_level

However when I run ros2 run ros1_bridge dynamic_bridge --bridge-all-topics I see the following

Created 2 to 1 bridge for service /gazebo/pause_physics
Created 2 to 1 bridge for service /gazebo/reset_simulation
Created 2 to 1 bridge for service /gazebo/reset_world
Created 2 to 1 bridge for service /gazebo/unpause_physics
Created 2 to 1 bridge for service /master_discovery/refresh
created 1to2 bridge for topic '/rosout' with ROS 1 type 'rosgraph_msgs/Log' and ROS 2 type 'rcl_interfaces/msg/Log'
created 2to1 bridge for topic '/rosout' with ROS 2 type 'rcl_interfaces/msg/Log' and ROS 1 type 'rosgraph_msgs/Log'
[INFO] [1597772703.322525671] [ros_bridge]: Passing message from ROS 1 rosgraph_msgs/Log to ROS 2 rcl_interfaces/msg/Log (showing msg only once per type)
[INFO] [1597772703.322748003] [ros_bridge]: Passing message from ROS 2 rcl_interfaces/msg/Log to ROS 1 rosgraph_msgs/Log (showing msg only once per type)
[INFO] [1597772703.322769446] [ros_bridge]: Passing message from ROS 2 rcl_interfaces/msg/Log to ROS 1 rosgraph_msgs/Log (showing msg only once per type)
created 1to2 bridge for topic '/rosout' with ROS 1 type 'rosgraph_msgs/Log' and ROS 2 type 'rcl_interfaces/msg/Log'
[INFO] [1597772703.927974308] [ros_bridge]: Passing message from ROS 1 rosgraph_msgs/Log to ROS 2 rcl_interfaces/msg/Log (showing msg only once per type)
^C[MrTurtle] root@turtlebot_0:~/ws/src/robotic_order_fulfillment_robotic_turtle/scripts$ removed 1to2 bridge for topic '/rosout'

Which consequently leads to the following (after sourcing setup.bash)

$ ros2 service list
/gazebo/pause_physics
/gazebo/reset_simulation
/gazebo/reset_world
/gazebo/unpause_physics
/master_discovery/refresh
/ros_bridge/describe_parameters
/ros_bridge/get_parameter_types
/ros_bridge/get_parameters
/ros_bridge/list_parameters
/ros_bridge/set_parameters
/ros_bridge/set_parameters_atomically

As you can see, not all services are available in ROS2. However, when I try to access the services that are availeble (e.g. /gazebo/pause_physics ) it does what is expected from it.

What should I do to see all the services available in ROS1?

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2020-08-18 16:39:53 -0500 asked a question ROS2 foxy ros1_bridge

ROS2 foxy ros1_bridge I want to use ROS2 Foxy to spawn a Turtlebot in Gazebo which is in ROS1. Inside ROS1 when I do ro