Closed mergify[bot] closed 3 days ago
Cherry-pick of f9afb69d1163633dd978024bb7271a28cf7b551a has failed:
On branch mergify/bp/iron/pr-573
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Changes to be committed:
modified: ros_gz_bridge/include/ros_gz_bridge/convert/ros_gz_interfaces.hpp
modified: ros_gz_bridge/ros_gz_bridge/mappings.py
modified: ros_gz_bridge/src/convert/ros_gz_interfaces.cpp
modified: ros_gz_bridge/test/utils/gz_test_msg.cpp
modified: ros_gz_bridge/test/utils/ros_test_msg.cpp
modified: ros_gz_bridge/test/utils/ros_test_msg.hpp
modified: ros_gz_interfaces/CMakeLists.txt
modified: ros_gz_interfaces/README.md
new file: ros_gz_interfaces/msg/EntityWrench.msg
Unmerged paths:
(use "git add <file>..." to mark resolution)
both modified: ros_gz_bridge/README.md
both modified: ros_gz_bridge/test/utils/gz_test_msg.hpp
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🎉 New feature
Closes #566
Also replaces PR #572, now retargeted to the
ros2
branch.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):
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.This is an automatic backport of pull request #573 done by Mergify.