Closed Vtn21 closed 5 days ago
Hi @ahcorde , sorry for my delay. While working on merging the PR with the base ros2
branch, I ended up forgetting to signoff a commit and things got messy. I opened another PR checking out directly from the ros2
branch which I believe is better now. Thanks for the support!
π New feature
Closes #566
Summary
Adds the new ros_gz_interfaces/msg/EntityWrench, with structure compatible with gz.msgs.EntityWrench. This enables the user to apply wrenches to Gazebo entities using ROS topics.
Also implements the ros_gz_bridge mapping between ros_gz_interfaces/msg/EntityWrench and gz.msgs.EntityWrench.
Test it
Manual testing involves spawning any entity in Gazebo and loading the gz::sim::systems::ApplyLinkWrench plugin to the world SDF. Then, call the ros_gz_bridge to expose the entity wrench topic as follows (YAML syntax):
Wrenches are then applied to selected entities using the "/world//wrench" topic.
Checklist
codecheck
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