Bridging Gazebo Harmonic and Ros Iron

Environment

Gazebo Harmonic

Ros Iron (ros2)

Install Gazebo

https://gazebosim.org/docs/harmonic/install_ubuntu

sudo apt-get update
sudo apt-get install lsb-release wget gnupg

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-harmonic

Run Gazebo

https://gazebosim.org/docs

# Start gazebo sim
gz sim -v 4 -r visualize_lidar.sdf

# Test control
gz topic -e -t /model/vehicle_blue/cmd_vel

gz topic -t /model/vehicle_blue/cmd_vel -m gz.msgs.Twist -p "linear: { x: 0.1 }”

Install Ros gz bridge

ros topic: /model/vehicle_blue/cmd_vel, Type geometry_msgs/msg/Twist

to

gz topic: /model/vehicle_blue/cmd_vel, Type gz.msgs.Twist

sudo apt install ros-iron-ros-gzharmonic-bridge

ros2 run ros_gz_bridge parameter_bridge /model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist

# Test
ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/Twist "linear: { x: 0.1 }”

Install keyboard control

sudo apt install ros-iron-teleop-twist-keyboard

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/model/vehicle_blue/cmd_vel

Rviz

Lidar Data

ros2 run ros_gz_bridge parameter_bridge /lidar2@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan --ros-args -r /lidar2:=/laser_scan

tf

ros2 run ros_gz_bridge parameter_bridge /model/vehicle_blue/tf@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V --ros-args -r /model/vehicle_blue/tf:=/tf

Start rviz

rviz2

Global Options -> Fixed Frame to vehicle_blue/lidar_link/gpu_lidar

Reference

https://docs.ros.org/en/iron/Tutorials/Advanced/Simulators/Gazebo/Gazebo.html