ROS 2 Migration: Hand of God

Overview

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

Summary

• All SDF parameters are now snake_cased

SDF parameters

ROS 1	ROS 2
frameId	frame_id
linkName	link_name
kl	kl
ka	ka
robotNamespace	❌

Example Migration

ROS1

      <plugin name="hand_of_god" filename="libgazebo_ros_hand_of_god.so">
        <robotNamespace>/demo</robotNamespace>
        <linkName>link</linkName>
        <frameId>link</frameId>
        <ka>200</ka>
        <kl>200</kl>
      </plugin>

ROS2

     <plugin name="hand_of_god" filename="libgazebo_ros_hand_of_god.so">
       <ros>
         <namespace>/demo</namespace>
       </ros>
       <link_name>link</link_name>
       <frame_id>link</frame_id>
       <ka>200</ka>
       <kl>200</kl>
     </plugin>