ROS 2 Migration: Bumper

Overview

This pages describes the changes in the bumper plugin in gazebo_plugins for ROS 2, including a migration guide.

Summary

• All SDF parameters are now snake_cased
• Use remapping argument to change default topic (bumper_states)
• tf_prefix is no longer supported.
• The indexing in contact messages now start with 1 instead of 0.

SDF parameters

ROS 1	ROS 2
bumperTopicName	<ros><remapping>bumper_states:=custom_topic</remapping></ros>
frameName	frame_name
robotNamespace	❌

Example Migration

ROS1

  <plugin name="plugin_name" filename="libgazebo_ros_bumper.so">
    <bumperTopicName>bumper_demo</bumperTopicName>
    <frameName>world</frameName>
  </plugin>

ROS2

  <!-- Update rate can be set in sensor directly -->
  <plugin name="plugin_name" filename="libgazebo_ros_bumper.so">
    <ros>
      <namespace>demo</namespace>
      <remapping>bumper_states:=bumper_demo</remapping>
    </ros>
    <frame_name>world</frame_name>
  </plugin>