Ignition入门教程-使用ros_ign_bridge

Ignition入门教程-使用ros_ign_bridge

说明:

• 介绍如何使用ros_ign_bridge
• ros_ign_bridge是联系ros与Ignition的桥梁

用法

• 新开终端， 输入如下命令，ros2 run ros_ign_bridge parameter_bridge -h
• 效果如下：

$ ros2 run ros_ign_bridge parameter_bridge -h
Bridge a collection of ROS2 and Ignition Transport topics.

  parameter_bridge <topic@ROS2_type@Ign_type> ..  <topic@ROS2_type@Ign_type>

The first @ symbol delimits the topic name from the message types.
Following the first @ symbol is the ROS message type.
The ROS message type is followed by an @, [, or ] symbol where
    @  == a bidirectional bridge, 
    [  == a bridge from Ignition to ROS,
    ]  == a bridge from ROS to Ignition.
Following the direction symbol is the Ignition Transport message type.

A bidirectional bridge example:
    parameter_bridge /chatter@std_msgs/String@ignition.msgs.StringMsg

A bridge from Ignition to ROS example:
    parameter_bridge /chatter@std_msgs/String[ignition.msgs.StringMsg

A bridge from ROS to Ignition example:
    parameter_bridge /chatter@std_msgs/String]ignition.msgs.StringMsg

演示1：

• Ignition发布消息，ROS2订阅消息
• 默认新开终端都已经加载了ros2环境
• 新开终端，发布ros2消息与Ignition消息之间的桥接

ros2 run ros_ign_bridge parameter_bridge /chatter@std_msgs/msg/String@ignition.msgs.StringMsg

• 新开终端，订阅ros2消息

ros2 topic echo /chatter

• 新开终端，发布Ignition消息

ign topic pub -t /chatter -m ignition.msgs.StringMsg -p 'data:"Hello"'

• 可以再上面的订阅窗口，看到发布的Hello信息

$ ros2 topic echo /chatter
data: Hello
---
data: Hello
---

演示2：

• ROS2发布消息， Ignition订阅消息
• 默认新开终端都已经加载了ros2环境
• 新开终端，发布ros2消息与Ignition消息之间的桥接

ros2 run ros_ign_bridge parameter_bridge /chatter@std_msgs/msg/String@ignition.msgs.StringMsg

• 新开终端，订阅Ignition消息

ign topic -e -t /chatter

• 新开终端，发布ROS2消息

$ ros2 topic pub /chatter std_msgs/msg/String "data: 'Hi'" --once
publisher: beginning loop
publishing #1: std_msgs.msg.String(data='Hi')

• 可以再上面的订阅窗口，看到发布的Hi信息

$ ign topic -e -t /chatter
data: "Hi"

data: "Hi"

演示3：

• 新开终端，启动Ignition

ign gazebo sensors_demo.sdf

• 效果图：

• 查看Ignition 图像话题

$ ign topic -l | grep image
/rgbd_camera/depth_image
/rgbd_camera/image

• 查看Ignition所有话题

$ ign topic -l
/camera
/camera_alone
/camera_alone/performance_metrics
/camera_info
/clock
/depth_camera
/depth_camera/performance_metrics
/depth_camera/points
/gazebo/resource_paths
/gui/camera/pose
/gui/record_video/stats
/lidar
/lidar/points
/lidar/points/performance_metrics
/rgbd_camera/camera_info
/rgbd_camera/depth_image
/rgbd_camera/image
/rgbd_camera/performance_metrics
/rgbd_camera/points
/stats
/thermal_camera
/world/lidar_sensor/clock
/world/lidar_sensor/dynamic_pose/info
/world/lidar_sensor/pose/info
/world/lidar_sensor/scene/deletion
/world/lidar_sensor/scene/info
/world/lidar_sensor/state
/world/lidar_sensor/stats

• 新开终端， 开启桥接

ros2 run ros_ign_bridge parameter_bridge /rgbd_camera/image@sensor_msgs/msg/Image@ignition.msgs.Image

• ros2订阅图像话题

ros2 run rqt_image_view rqt_image_view /rgbd_camera/image

• 效果图：

• 注意：要点一下Ignition的左下角三角形的播放按钮，才显示图像。

参考：

• github ros_ign_bridge