Adding additional docs on sensors and ROS 2 usage #433
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Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
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| For example: | ||
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| ``` | ||
| ros2 run ros_ign_bridge parameter_bridge /TOPIC@ROS_MSG@IGN_MSG | ||
| ros2 run ros_ign_bridge parameter_bridge /scan@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan |
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I think its important to show an actual use case when introducing topics like this. Otherwise, its not clear that ROS_MSG means sensor_msgs/msg/LaserScan and IGN_MSG means ignition.msgs.LaserScan (notable because one wants slashes and the other wants dots).
| @@ -35,6 +37,16 @@ The ROS message type is followed by an `@`, `[`, or `]` symbol where: | |||
| Have a look at these [examples](https://github.com/ignitionrobotics/ros_ign/blob/ros2/ros_gz_bridge/README.md#example-1a-ignition-transport-talker-and-ros-2-listener) | |||
| explaining how to make communication connections from ROS to Ignition and vice versa. | |||
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| It is also possible to use ROS Launch with the `ros_ign_bridge` and represent the topics in yaml format to be given to the bridge at launch time. | |||
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I believe its also important to introduce how to use this in a more practical application early on as well
fortress/sensors.md
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| @@ -8,7 +8,29 @@ to other models in our world. We will use three different sensors: | |||
| an IMU sensor, a Contact sensor and a Lidar sensor. We will also | |||
| learn how to launch multiple tasks with just one file using `ign_launch`. | |||
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| You can find the final world of this tutorial [here](https://github.com/ignitionrobotics/docs/blob/master/fortress/tutorials/sensors/sensor_tutorial.sdf) | |||
| You can find the final world of this tutorial showing all these plugins in use [here.](https://github.com/gazebosim/docs/blob/master/ionic/tutorials/sensors/sensor_tutorial.sdf) | |||
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My intent here is to early on point to helpful resources that folks might only be on this page to obtain (examples, tutorial source, and how to put it together for sensors)
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| ## Preliminaries | ||
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| When adding a `plugin` to an SDF file which does not currently contain one, the default plugins are not loaded. Before adding a sensor, make sure to add in a couple of logical defaults to your world so that it is possible to continue to use the GZ GUI: |
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This is a real issue I ran into that blocked me for several hours requiring a conversation with @azeey since there were no errors. I used the SDF exported by the GUI exporter which did not contain the plugins that were used by the GUI (which seems like a bug; shouldn't that export the SDF being full complete?). Thus, when I added sensor plugins, the SDF didn't load in the GUI anymore. This was due to missing plugins that this will help make sure others don't run into in the future while following this tutorial from their given SDF files.
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Sounds reasonable. I'm not an expert in this. But this sounds like something I might just assume and copy-paste whereas a non-developer might not know. So it seems a good addition to me.
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For clarification - This is a feature / bug fix right? Could you please remove the "Forward port" and "Release" sections in the PR description?
Yeah what you did is correct. |
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Maybe @quarkytale is the most familiar with other relevant tutorials to review parts of this one? No obligations. |
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
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A few fixes, then I think this looks good. I haven't tested anything though.
The bits I didn't review are the parts about ros_gz_bridge and the sensor-specific parts, which I don't have too much experience with. If someone else wants to take a closer look at that, it would be good.
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| ## Preliminaries | ||
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| When adding a `plugin` to an SDF file which does not currently contain one, the default plugins are not loaded. Before adding a sensor, make sure to add in a couple of logical defaults to your world so that it is possible to continue to use the GZ GUI: |
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Sounds reasonable. I'm not an expert in this. But this sounds like something I might just assume and copy-paste whereas a non-developer might not know. So it seems a good addition to me.
Co-authored-by: Mabel Zhang <mabel.m.zhang@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Mabel Zhang <mabel.m.zhang@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
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Any blockers to having this merged now? This feels like something that can go in easily once the instructions are validated over each distribution (thanks Mabel!) |
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@mabelzhang when does this go online? |
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I just ran the deployment. Should be up pretty soon. |
Summary
Adds some important documentation context and linking up of key information in tutorials. I wasn't sure how you handle version control since all the version are in the same branch, so I made the changes across the 3 current and future versions (and made sure for Fortress to use IGN instead of GZ in writing). If that's all automatically backported, let me know and I'll avoid that in the future.
Checklist
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