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Add missing bridges for simulation time (backport #443) #446

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merged 3 commits into from
Dec 2, 2024
Merged

Add missing bridges for simulation time (backport #443) #446

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4492470
Add missing bridge for simulation time (#443)
christophfroehlich Dec 2, 2024
d6ba4d9
Fixed merge
ahcorde Dec 2, 2024
0da08d5
Restore license
ahcorde Dec 2, 2024
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9 changes: 9 additions & 0 deletions gz_ros2_control_tests/tests/position_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -93,8 +93,17 @@ def generate_test_description():
output='screen'
)

# Bridge
bridge = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
output='screen'
)

ld = launch.LaunchDescription([
included_launch,
bridge,
gz_spawn_entity,
node_robot_state_publisher,
RegisterEventHandler(
Expand Down
1 change: 1 addition & 0 deletions ign_ros2_control_demos/launch/ackermann_drive_example.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,7 @@ def generate_launch_description():
on_exit=[load_ackermann_controller],
)
),
bridge,
node_robot_state_publisher,
gz_spawn_entity,
# Launch Arguments
Expand Down
9 changes: 9 additions & 0 deletions ign_ros2_control_demos/launch/cart_example_effort.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,14 @@ def generate_launch_description():
output='screen'
)

# Bridge
bridge = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
output='screen'
)

return LaunchDescription([
# Launch gazebo environment
IncludeLaunchDescription(
Expand All @@ -90,6 +98,7 @@ def generate_launch_description():
on_exit=[load_joint_effort_controller],
)
),
bridge,
node_robot_state_publisher,
ignition_spawn_entity,
# Launch Arguments
Expand Down
9 changes: 9 additions & 0 deletions ign_ros2_control_demos/launch/cart_example_position.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,14 @@ def generate_launch_description():
output='screen'
)

# Bridge
bridge = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
output='screen'
)

return LaunchDescription([
# Launch gazebo environment
IncludeLaunchDescription(
Expand All @@ -98,4 +106,5 @@ def generate_launch_description():
'use_sim_time',
default_value=use_sim_time,
description='If true, use simulated clock'),
bridge,
])
9 changes: 9 additions & 0 deletions ign_ros2_control_demos/launch/cart_example_velocity.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -77,6 +77,14 @@ def generate_launch_description():
output='screen'
)

# Bridge
bridge = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
output='screen'
)

return LaunchDescription([
# Launch gazebo environment
IncludeLaunchDescription(
Expand Down Expand Up @@ -109,4 +117,5 @@ def generate_launch_description():
'use_sim_time',
default_value=use_sim_time,
description='If true, use simulated clock'),
bridge,
])
9 changes: 9 additions & 0 deletions ign_ros2_control_demos/launch/gripper_mimic_joint_example.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,14 @@ def generate_launch_description():
output='screen'
)

# Bridge
bridge = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'],
output='screen'
)

return LaunchDescription([
# Launch gazebo environment
IncludeLaunchDescription(
Expand All @@ -101,4 +109,5 @@ def generate_launch_description():
'use_sim_time',
default_value=use_sim_time,
description='If true, use simulated clock'),
bridge,
])
9 changes: 9 additions & 0 deletions ign_ros2_control_demos/launch/pendulum_example_effort.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,14 @@ def generate_launch_description():
output='screen'
)

# Bridge
bridge = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
output='screen'
)

return LaunchDescription([
# Launch gazebo environment
IncludeLaunchDescription(
Expand All @@ -87,6 +95,7 @@ def generate_launch_description():
on_exit=[load_joint_effort_controller],
)
),
bridge,
node_robot_state_publisher,
gz_spawn_entity,
# Launch Arguments
Expand Down
9 changes: 9 additions & 0 deletions ign_ros2_control_demos/launch/pendulum_example_position.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,14 @@ def generate_launch_description():
output='screen'
)

# Bridge
bridge = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
output='screen'
)

return LaunchDescription([
# Launch gazebo environment
IncludeLaunchDescription(
Expand All @@ -87,6 +95,7 @@ def generate_launch_description():
on_exit=[load_tricycle_controller],
)
),
bridge,
node_robot_state_publisher,
gz_spawn_entity,
# Launch Arguments
Expand Down