ccsherlock / ros_ign

Integration between ROS (1 and 2) and Ignition simulation

ROS version	Ignition version	Branch	Binaries hosted at
Melodic	Blueprint	melodic	https://packages.osrfoundation.org
Melodic	Citadel	melodic	only from source
Melodic	Dome	not supported
Noetic	Blueprint	not supported
Noetic	Citadel	noetic	https://packages.ros.org
Noetic	Dome	noetic	only from source
Dashing	Blueprint	dashing	only from source
Dashing	Citadel	dashing	only from source
Dashing	Dome	not supported
Eloquent	Blueprint	dashing	only from source
Eloquent	Citadel	dashing	only from source
Eloquent	Dome	not supported
Foxy	Blueprint	not supported
Foxy	Citadel	ros2	https://packages.ros.org
Foxy	Dome	ros2	only from source

Please ticket an issue if you'd like support to be added for some combination.

Integration between ROS and Ignition

Packages

This repository holds packages that provide integration between ROS and Ignition:

• ros_ign: Metapackage which provides all the other packages.
• ros_ign_image: Unidirectional transport bridge for images from Ignition Transport to ROS using image_transport.
• ros_ign_bridge: Bidirectional transport bridge between Ignition Transport and ROS.
• ros_ign_gazebo: Convenient launch files and executables for using Ignition Gazebo with ROS.
• ros_ign_gazebo_demos: Demos using the ROS-Ignition integration.
• ros_ign_point_cloud: Plugins for publishing point clouds to ROS from Ignition Gazebo simulations.

Install

This branch supports ROS Melodic. See above for other ROS versions.

Binaries

At the moment, Melodic binaries are only available for Blueprint. They are hosted at https://packages.osrfoundation.org.

1. Add https://packages.osrfoundation.org

    sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
    wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
    sudo apt-get update
   

2. Install ros_ign

    sudo apt install ros-melodic-ros-ign
   

From source

ROS

Be sure you've installed ROS Melodic (at least ROS-Base). More ROS dependencies will be installed below.

Ignition

Install either Blueprint or Citadel.

Set the IGNITION_VERSION environment variable to the Ignition version you'd like to compile against. For example:

export IGNITION_VERSION=citadel

You only need to set this variable when compiling, not when running.

Compile ros_ign

The following steps are for Linux and OSX.

1. Create a catkin workspace:

   # Setup the workspace
   mkdir -p ~/ws/src
   cd ~/ws/src
   
   # Download needed software
   git clone https://github.com/osrf/ros_ign.git -b melodic
   

2. Install ROS dependencies:

   cd ~/ws
   rosdep install --from-paths src -i -y --rosdistro melodic \
     --skip-keys=ignition-gazebo2 \
     --skip-keys=ignition-gazebo3 \
     --skip-keys=ignition-msgs4 \
     --skip-keys=ignition-msgs5 \
     --skip-keys=ignition-rendering2 \
     --skip-keys=ignition-rendering3 \
     --skip-keys=ignition-sensors2 \
     --skip-keys=ignition-sensors3 \
     --skip-keys=ignition-transport7 \
     --skip-keys=ignition-transport8
   
   

3. Build the workspace:

   # Source ROS distro's setup.bash
   source /opt/ros/melodic/setup.bash
   
   # Build and install into workspace
   cd ~/ws/
   catkin_make install