search

gazebosim / ros_gz

Integration between ROS (1 and 2) and Gazebo simulation
https://gazebosim.org
Apache License 2.0
210 stars 125 forks source link

Add mappings for gz.msgs.AirSpeedSensor and gz.msgs.Altimeter #382

Open srmainwaring opened 1 year ago

srmainwaring commented 1 year ago

Desired behavior

Provide mappings for sensor data:

Alternatives considered

Implementation suggestion

The main issue is which ROS message type to target as these messages do not have a corresponding message in sensor_msgs.

Additional context

Would be happy to submit a PR for this feature request once a suitable ROS message type is agree upon.

azeey commented 1 year ago

We've been creating our own ROS messages when a compatible message type is not available in the ROS ecosystem (see https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_interfaces). Can we do the same here?

ahcorde commented 1 year ago

Feel free to add me as a reviewer @srmainwaring

adityapande-1995 commented 1 year ago

Adding Altimeter bridging here : https://github.com/gazebosim/ros_gz/pull/413. Note, addin AirSpeedSensor also requires adding SensorNoise msg.

adityapande-1995 commented 1 year ago

SensorNoise msg work in progress : https://github.com/gazebosim/ros_gz/pull/417

wittenator commented 7 months ago

Is there anything missing for the AirSpeedSensor? I would also be very interested in having this data in ROS

wittenator commented 7 months ago

Just for the sake of documentation: It seems that the Air Speed sensor msgs only exists in gz_msgs 9+. Since the current stable version of ros_gz is using Fortress and therefore gz_msgs version 7, there is no message to bridge atm.