simple_launch.gazebo module

class simple_launch.gazebo.GazeboBridge(gz_topic, ros_topic, ros_msg, direction, gz_msg=None)

Bases: object

bidirectional = '@'

static clock()

generate_msg_map()

function to regenerate known messages from readme

gz2ros = '['

static joint_states_bridge(model)

static model_prefix(model)

static model_topic(model, topic)

msg_map = {'actuator_msgs/msg/Actuators': 'gz.msgs.Actuators', 'builtin_interfaces/msg/Time': 'gz.msgs.Time', 'geometry_msgs/msg/Point': 'gz.msgs.Vector3d', 'geometry_msgs/msg/Pose': 'gz.msgs.Pose', 'geometry_msgs/msg/PoseArray': 'gz.msgs.Pose_V', 'geometry_msgs/msg/PoseStamped': 'gz.msgs.Pose', 'geometry_msgs/msg/PoseWithCovariance': 'gz.msgs.PoseWithCovariance', 'geometry_msgs/msg/PoseWithCovarianceStamped': 'gz.msgs.PoseWithCovariance', 'geometry_msgs/msg/Quaternion': 'gz.msgs.Quaternion', 'geometry_msgs/msg/Transform': 'gz.msgs.Pose', 'geometry_msgs/msg/TransformStamped': 'gz.msgs.Pose', 'geometry_msgs/msg/Twist': 'gz.msgs.Twist', 'geometry_msgs/msg/TwistStamped': 'gz.msgs.Twist', 'geometry_msgs/msg/TwistWithCovariance': 'gz.msgs.TwistWithCovariance', 'geometry_msgs/msg/TwistWithCovarianceStamped': 'gz.msgs.TwistWithCovariance', 'geometry_msgs/msg/Vector3': 'gz.msgs.Vector3d', 'geometry_msgs/msg/Wrench': 'gz.msgs.Wrench', 'geometry_msgs/msg/WrenchStamped': 'gz.msgs.Wrench', 'gps_msgs/msg/GPSFix': 'gz.msgs.NavSat', 'nav_msgs/msg/Odometry': 'gz.msgs.OdometryWithCovariance', 'rcl_interfaces/msg/ParameterValue': 'gz.msgs.Any', 'ros_gz_interfaces/msg/Altimeter': 'gz.msgs.Altimeter', 'ros_gz_interfaces/msg/Contact': 'gz.msgs.Contact', 'ros_gz_interfaces/msg/Contacts': 'gz.msgs.Contacts', 'ros_gz_interfaces/msg/Dataframe': 'gz.msgs.Dataframe', 'ros_gz_interfaces/msg/Entity': 'gz.msgs.Entity', 'ros_gz_interfaces/msg/Float32Array': 'gz.msgs.Float_V', 'ros_gz_interfaces/msg/GuiCamera': 'gz.msgs.GUICamera', 'ros_gz_interfaces/msg/JointWrench': 'gz.msgs.JointWrench', 'ros_gz_interfaces/msg/Light': 'gz.msgs.Light', 'ros_gz_interfaces/msg/ParamVec': 'gz.msgs.Param', 'ros_gz_interfaces/msg/SensorNoise': 'gz.msgs.SensorNoise', 'ros_gz_interfaces/msg/StringVec': 'gz.msgs.StringMsg_V', 'ros_gz_interfaces/msg/TrackVisual': 'gz.msgs.TrackVisual', 'ros_gz_interfaces/msg/VideoRecord': 'gz.msgs.VideoRecord', 'rosgraph_msgs/msg/Clock': 'gz.msgs.Clock', 'sensor_msgs/msg/BatteryState': 'gz.msgs.BatteryState', 'sensor_msgs/msg/CameraInfo': 'gz.msgs.CameraInfo', 'sensor_msgs/msg/FluidPressure': 'gz.msgs.FluidPressure', 'sensor_msgs/msg/Image': 'gz.msgs.Image', 'sensor_msgs/msg/Imu': 'gz.msgs.IMU', 'sensor_msgs/msg/JointState': 'gz.msgs.Model', 'sensor_msgs/msg/Joy': 'gz.msgs.Joy', 'sensor_msgs/msg/LaserScan': 'gz.msgs.LaserScan', 'sensor_msgs/msg/MagneticField': 'gz.msgs.Magnetometer', 'sensor_msgs/msg/NavSatFix': 'gz.msgs.NavSat', 'sensor_msgs/msg/PointCloud2': 'gz.msgs.PointCloudPacked', 'std_msgs/msg/Bool': 'gz.msgs.Boolean', 'std_msgs/msg/ColorRGBA': 'gz.msgs.Color', 'std_msgs/msg/Empty': 'gz.msgs.Empty', 'std_msgs/msg/Float32': 'gz.msgs.Float', 'std_msgs/msg/Float64': 'gz.msgs.Double', 'std_msgs/msg/Header': 'gz.msgs.Header', 'std_msgs/msg/Int32': 'gz.msgs.Int32', 'std_msgs/msg/String': 'gz.msgs.StringMsg', 'std_msgs/msg/UInt32': 'gz.msgs.UInt32', 'tf2_msgs/msg/TFMessage': 'gz.msgs.Pose_V', 'trajectory_msgs/msg/JointTrajectory': 'gz.msgs.JointTrajectory', 'vision_msgs/msg/Detection2D': 'gz.msgs.AnnotatedAxisAligned2DBox', 'vision_msgs/msg/Detection2DArray': 'gz.msgs.AnnotatedAxisAligned2DBox_V'}

ros2gz = ']'

static set_world_name(name: str)

Overwrite world name in order to avoid communicating with Gazebo Useful when Gazebo is launched in an included file, where the world name cannot be guessed

static valid(direction)

static world()

yaml()

use YAML-based config for other bridges - topic_name: “chatter”

ign_topic_name: “ign_chatter” ros_type_name: “std_msgs/msg/String” ign_type_name: “ignition.msgs.StringMsg” direction: BIDIRECTIONAL # Default “BIDIRECTIONAL” - Bridge both directions

# “IGN_TO_ROS” - Bridge Ignition topic to ROS # “ROS_TO_IGN” - Bridge ROS topic

simple_launch.gazebo.gz_launch_setup(world_file, gz_args=None)

simple_launch.gazebo.only_show_args()

Returns True if the launch file was launched only to show its arguments

simple_launch.gazebo.ros_gz_prefix()

simple_launch.gazebo.silent_exec(cmd)

Executes the given command and returns the output Returns an empty list if any error