Add option to change material color from ROS.

[bperseghetti]

🎉 New feature

Summary

Allows for setting a GZ entities visual material color from ROS. This is highly valuable for creating noticeable LED status lighting. And depends on associated gz-msgs.

Checklist

• [x] Signed all commits for DCO
• [x] Added tests
• [x] Updated documentation (as needed)
• [x] Updated migration guide (as needed)
• [x] Consider updating Python bindings (if the library has them)
• [x] codecheck passed (See contributing)
• [ ] All tests passed (See test coverage)
• [x] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[bperseghetti]

can you add a test?

Yes, I was planning to wait and make sure this change was desired in upstream before spending any extra time to add a test. Also to make testing work properly with CI will need to get https://github.com/gazebosim/gz-msgs/pull/414 in first anyhow. This was more just to show the interdependent changes.

[bperseghetti]

@ahcorde Test added.

[bperseghetti]

you included some changes related with renaming ign to gz. Do you mind to remove them?

So that readme is in the ros_gz_bridge instead of the ros_ign_bridge, should it not be changed to match the naming?

[azeey]

So that readme is in the ros_gz_bridge instead of the ros_ign_bridge, should it not be changed to match the naming?

I think we should stick with ign since Humble is officially paired with Fortress. It's confusing for users since trying to use gz doesn't work in Humble/Fortress.

[bperseghetti]

So that readme is in the ros_gz_bridge instead of the ros_ign_bridge, should it not be changed to match the naming?

I think we should stick with ign since Humble is officially paired with Fortress. It's confusing for users since trying to use gz doesn't work in Humble/Fortress.

But to be clear this is not the main README but this is the one inside ros_gz_bridge. The one inside ros_ign_bridge should just say it's a shim on the other and have ign listed in it, right?

I guess I should just swap them.

[azeey]

But to be clear this is not the main README but this is the one inside ros_gz_bridge. The one inside ros_ign_bridge should just say it's a shim on the other and have ign listed in it, right?

https://github.com/gazebosim/ros_gz/tree/humble/ros_ign_bridge does say it's a shim

[bperseghetti]

But to be clear this is not the main README but this is the one inside ros_gz_bridge. The one inside ros_ign_bridge should just say it's a shim on the other and have ign listed in it, right?

https://github.com/gazebosim/ros_gz/tree/humble/ros_ign_bridge does say it's a shim

Well I did also just change that so you know it's a shim but it has different interface and that gives you the interface of it.

[bperseghetti]

@osrf-jenkins run tests please

[azeey]

This PR is targeting humble which needs to work with Fortress, but the gz-msgs and gz-sim that landed recently all targeted Harmonic. I recommend retargeting this to rolling.

[azeey]

Alternatively, you can do something like https://github.com/gazebosim/ros_gz/blob/84d5d27e6f730db506e6b229c40ef3fdc7042cf6/ros_gz_bridge/include/ros_gz_bridge/ros_gz_bridge.hpp#L26-L38

[bperseghetti]

Alternatively, you can do something like

https://github.com/gazebosim/ros_gz/blob/84d5d27e6f730db506e6b229c40ef3fdc7042cf6/ros_gz_bridge/include/ros_gz_bridge/ros_gz_bridge.hpp#L26-L38

Yep, can't believe I didn't think of/see that. Thanks!

[bperseghetti]

This PR is targeting humble which needs to work with Fortress, but the gz-msgs and gz-sim that landed recently all targeted Harmonic. I recommend retargeting this to rolling.

I do want this to land in humble first and foremost as that is the "LTS", I can also bump it to rolling in another eventual PR and at that point remove the if/def conditionals from the code.

[azeey]

@bperseghetti could you please cherry-pick this into iron and ros2 branches?

[bperseghetti]

@bperseghetti could you please cherry-pick this into iron and ros2 branches?

Yep, I can do it later today!

[ahcorde]

friendly ping @bperseghetti do you have any plans to forward port these changes?

[bperseghetti]

Sorry, my bad, I let this one slip through the cracks on my side, will create the PRs after my meetings today.

[bperseghetti]

friendly ping @bperseghetti do you have any plans to forward port these changes?

Randomly remembered to do this, sorry about the dealy, please see associated "forward feature ports": https://github.com/gazebosim/ros_gz/pull/520 https://github.com/gazebosim/ros_gz/pull/521