[Garden] Fix bridging Gz to ROS2 topics #520
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Signed-off-by: Ian Chen <ichen@openrobotics.org>
caguero
approved these changes
Sep 29, 2022
yeah, I can work on that in a separate PR |
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Part of #514 . |
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Signed-off-by: Ian Chen ichen@openrobotics.org
Follow up to #519, this PR fixes the ROS2 topics for the wamv. The problem was that the ros_ign_bridge is still using the
ignition.msgs.*msg types instead ofgz.msgs(see msg type tableREADME.md) , presumably to keep compability with Fortress.All ROS2 topics should be working except the thruster cmd topic. It requires this gazebosim/gz-sim#1681 to be forward ported from Fortress to Garden
The thrusters joint pos topic should work.
I removed more topic bridges that are not needed / used:
/wamv/imu/data- commented out as there is no imu sensor on the wamv yet/wamv/rxand/wamv/tx- commented out as RFComms is not being used yet/vrx/score,/vrx/run_clock,/vrx/phase: removed as these are also MBZIRC-specific. From looking at the vrx technical guide, I think there is a/vrx/task/infotopic with custom message type that captures these status data instead.