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π New feature
Part of https://github.com/gazebosim/ros_gz/issues/552
Summary
This patch allows to run the
ros_gz
bridge as an executable or as a composable node from an XML file.How to test it?
Use the provided
ros_gz_bridge.launch
(modifyconfig_file
accordingly) to run the bridge as an executableVerify that you see the
/ros_chatter
topic:And confirm that no container has been created:
Now
CTRL-C
the bridge and try the composable version:Verify that you see the
/ros_chatter
topic:And confirm that a container has been created:
Test it
Checklist
codecheck
passed (See contributing)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.