FlorianPix/ros_ign

Integration between ROS (1 and 2) and Ignition simulation

ROS version	Ignition version	Branch	Binaries hosted at
Melodic	Citadel	melodic	only from source
Melodic	Fortress	melodic	only from source
Noetic	Citadel	noetic	https://packages.ros.org
Noetic	Edifice	noetic	only from source
Noetic	Fortress	noetic	only from source
Foxy	Citadel	foxy	https://packages.ros.org
Foxy	Edifice	foxy	only from source
Galactic	Edifice	galactic	https://packages.ros.org
Galactic	Fortress	galactic	only from source
Rolling	Edifice	ros2	only from source
Rolling	Fortress	ros2	https://packages.ros.org

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

There are no binaries available for Melodic.

From source

ROS

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

Ignition

Install either Citadel or Fortress.

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 -r --from-paths src -i -y --rosdistro melodic
   

   If rosdep fails to install Ignition libraries and you have not installed them before, please follow Ignition installation instructions.

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