Update Example 9 to use Gazebo Sim and .xml launch files #486
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arne48,
bijoua29,
bmagyar,
olivier-stasse,
progtologist and
saikishor
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Dear @destogl and @christophfroehlich thanks a lot for both contributions. Switching to gz-sim is definitely a plus.
But keeping the examples simple and documented are the main target of the repo I guess.
| <arg name="gz_args" value=" -r -v 4 $(var gazebo_world)"/> | ||
| </include> | ||
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| <node pkg="ros_gz_bridge" exec="parameter_bridge" args=" |
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Why not naming the node clock_bridge as in the python equivalent ?
| <param name="use_sim_time" value="true" /> | ||
| </node> | ||
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| </launch> |
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Dear @destogl maybe we do not need the equivalent xml file here, as it is not in the other examples.
| <plugin | ||
| filename="gz-sim-sensors-system" | ||
| name="gz::sim::systems::Sensors"> | ||
| <render_engine>ogre2</render_engine> |
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It looks like this is the only difference with the default gz-sim empty.world file.
Do we need it here ?
@christophfroehlich you are right, I just tested and we don't need world file. I agree that we can go with #482, only thing I would like to add on top of it is You can just take |
Used for testing ros-controls/ros2_control#1354.
@christophfroehlich, This should help you with #482—it should replace it if that is OK with you.