From 84835adcd32e00faff97b271bbba72a0646c8e79 Mon Sep 17 00:00:00 2001 From: Olivier Kermorgant Date: Wed, 28 Sep 2022 02:49:08 +0200 Subject: [PATCH] replace ign with gz in ros_gz_bridge README (#303) Signed-off-by: Olivier Kermorgant --- ros_gz_bridge/README.md | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/ros_gz_bridge/README.md b/ros_gz_bridge/README.md index dadcf834..e76eeaa3 100644 --- a/ros_gz_bridge/README.md +++ b/ros_gz_bridge/README.md @@ -230,40 +230,40 @@ bridge may be specified: # Set just topic name, applies to both - topic_name: "chatter" ros_type_name: "std_msgs/msg/String" - ign_type_name: "ignition.msgs.StringMsg" + gz_type_name: "ignition.msgs.StringMsg" # Set just ROS topic name, applies to both - ros_topic_name: "chatter_ros" ros_type_name: "std_msgs/msg/String" - ign_type_name: "ignition.msgs.StringMsg" + gz_type_name: "ignition.msgs.StringMsg" -# Set just IGN topic name, applies to both -- ign_topic_name: "chatter_ign" +# Set just GZ topic name, applies to both +- gz_topic_name: "chatter_ign" ros_type_name: "std_msgs/msg/String" - ign_type_name: "ignition.msgs.StringMsg" + gz_type_name: "ignition.msgs.StringMsg" # Set each topic name explicitly - ros_topic_name: "chatter_both_ros" - ign_topic_name: "chatter_both_ign" + gz_topic_name: "chatter_both_ign" ros_type_name: "std_msgs/msg/String" - ign_type_name: "ignition.msgs.StringMsg" + gz_type_name: "ignition.msgs.StringMsg" # Full set of configurations - ros_topic_name: "ros_chatter" - ign_topic_name: "ign_chatter" + gz_topic_name: "ign_chatter" ros_type_name: "std_msgs/msg/String" - ign_type_name: "ignition.msgs.StringMsg" + gz_type_name: "ignition.msgs.StringMsg" subscriber_queue: 5 # Default 10 publisher_queue: 6 # Default 10 lazy: true # Default "false" direction: BIDIRECTIONAL # Default "BIDIRECTIONAL" - Bridge both directions - # "IGN_TO_ROS" - Bridge Ignition topic to ROS - # "ROS_TO_IGN" - Bridge ROS topic to Ignition + # "GZ_TO_ROS" - Bridge Ignition topic to ROS + # "ROS_TO_GZ" - Bridge ROS topic to Ignition ``` To run the bridge node with the above configuration: ```bash -ros2 run ros_gz_bridge bridge_node --ros-args -p config_file:=$WORKSPACE/ros_gz/ros_gz_bridge/test/config/full.yaml +ros2 run ros_gz_bridge parameter_bridge --ros-args -p config_file:=$WORKSPACE/ros_gz/ros_gz_bridge/test/config/full.yaml ``` ## API