Add gazebo bridge node and fix some warnings (#755)

Author: Juliaj

example_9/bringup/config/rrbot_controllers.yaml

@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 10  # Hz
+    update_rate: 1000  # Hz
 
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster

example_9/bringup/launch/rrbot_gazebo.launch.py

@@ -44,6 +44,14 @@ def generate_launch_description():
         launch_arguments={"gz_args": " -r -v 3 empty.sdf"}.items(),
     )
 
+    # Gazebo bridge
+    gazebo_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=["/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"],
+        output="screen",
+    )
+
     gz_spawn_entity = Node(
         package="ros_gz_sim",
         executable="create",
@@ -113,6 +121,7 @@ def generate_launch_description():
 
     nodes = [
         gazebo,
+        gazebo_bridge,
         node_robot_state_publisher,
         gz_spawn_entity,
         joint_state_broadcaster_spawner,

example_9/description/gazebo/rrbot.gazebo.xacro

@@ -16,21 +16,36 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
 
     <!-- Link1 -->
     <gazebo reference="${prefix}base_link">
-      <material>Gazebo/Orange</material>
+      <material>
+        <script>
+          <uri>file://media/materials/scripts/gazebo.material</uri>
+          <name>Gazebo/Orange</name>
+        </script>
+      </material>
     </gazebo>
 
     <!-- Link2 -->
     <gazebo reference="${prefix}link1">
       <mu1>0.2</mu1>
       <mu2>0.2</mu2>
-      <material>Gazebo/Yellow</material>
+      <material>
+        <script>
+          <uri>file://media/materials/scripts/gazebo.material</uri>
+          <name>Gazebo/Yellow</name>
+        </script>
+      </material>
     </gazebo>
 
     <!-- Link3 -->
     <gazebo reference="${prefix}link2">
       <mu1>0.2</mu1>
       <mu2>0.2</mu2>
-      <material>Gazebo/Orange</material>
+      <material>
+        <script>
+          <uri>file://media/materials/scripts/gazebo.material</uri>
+          <name>Gazebo/Yellow</name>
+        </script>
+      </material>
     </gazebo>
 
   </xacro:macro>

example_9/package.xml

@@ -26,6 +26,7 @@
 
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>forward_command_controller</exec_depend>
+  <exec_depend>ros_gz_bridge</exec_depend>
   <exec_depend>ros_gz_sim</exec_depend>
   <exec_depend>gz_ros2_control</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>