[ros2] World plugin with get/set entity state services #839
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chapulina
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Overall it looks good. Adding the status_message is a little odd. In general I think that that sort of output is better to go out on the console logging. Which looking at the implementation is already being done. Because the only thing that we can programmatically do with that information is display it to the user. I'm not entirely against it but it seems to be pushing the limit of what should go back in the message versus go out to console.
gazebo_msgs/srv/GetEntityState.srv
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| # * header.frame_id Filled with the relative_frame. | ||
| gazebo_msgs/EntityState state # Contains pose and twist. | ||
| bool success # Return true if get was successful. If false, the state contains garbage. | ||
| string status_message # Comments if available. |
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What sort of "comments" might go here?
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I was just keeping it because it was in ROS 1, but I agree it doesn't serve any good purpose, so removed in 6387f4a.
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@ros-pull-request-builder retest this please |
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@ros-pull-request-builder retest this please |
chapulina
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TODO(@chapulina) : rebase against new |
remove status_message
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@nzlz's team has been using this branch (see #838 (comment)) and I've already addressed @tfoote's review comment, so I'm merging this. |
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@chapulina - I don't see the gazebo_ros_state files in the 'ros2' branch, is that expected? I see they were merged to the 'crystal' branch, but not 'ros2'. I'd like to use this feature in dashing, has it been replaced somehow? |
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@mkhansen-intel , see #933. I'm still reviewing it. I was having some difficulties using it which I'm not sure were local problems in my setup. |
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I see it's merged now, thanks for the quick follow up |
* [ros2] World plugin to get/set entity state services (#839) remove status_message * [ros2] Port time commands (pause / reset) (#866) * [ros2] Migration of get/set world, model, joint, link, light properties * Trying to pass CI test, try n1. * clean up some linter warnings * Requested changes in review, unfinished * Fix uncrustify * Address reviews * more tests, joint types Signed-off-by: Louise Poubel <louise@openrobotics.org> * Revert changes to GetModelProperties message Document gazebo_ros_properties header * Convert msgs pose to math pose and use it on SetCoG Signed-off-by: Louise Poubel <louise@openrobotics.org>
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@mkhansenbot @chapulina |
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I'm using foxy, and also want to user a service where i can set the state of a model. Have any similar services been migrated to Ros2 yet? |
This is part of breaking
gazebo_ros_apiinto several plugins, see #779 and #838.See the migration documentation: ROS 2 Migration: Entity states.
Try the demo world added in this PR (see the world file for more detailed instructions):
gazebo gazebo_ros/worlds/gazebo_ros_state_demo.worldFYI @mkhansen-intel.