入门Gazebo仿真（2）：gazebo传感器数据转ROS2消息

Gazebo仿真gazebo转ROS2消息

基本配置

Ubuntu 22.04

ROS2 humble

Gazebo Harmonic 版本 8.14.0

实现转换

基于ROS软件ros_gz_bridge，

bash 复制代码

sudo apt install ros-humble-ros-gz-bridge

Python实现，

python 复制代码

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    gz_bridge = Node(
        package="ros_gz_bridge",
        executable="parameter_bridge",
        name="simple_lidar_bridge",
        arguments=[
            "<gz的点云消息>@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked"
        ],
        output="screen",
    )
    gz_imu_bridge = Node(
        package="ros_gz_bridge",
        executable="parameter_bridge",
        name="simple_imu_bridge",
        arguments=["<gz的IMU消息>@sensor_msgs/msg/Imu[gz.msgs.IMU"],
        output="screen",
    )
    gz_clock_bridge = Node(
        package="ros_gz_bridge",
        executable="parameter_bridge",
        name="simple_clock_bridge",
        arguments=["/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"],
        output="screen",
    )
    return LaunchDescription([gz_bridge, gz_imu_bridge, gz_clock_bridge])

启动gazebo仿真后，执行ros2 launch <脚本>

ROS2消息没有数据

ros-humble-ros-gz-bridge 是基于旧的 Ignition 消息库编译的，而gz-sim8

使用的是新的 Gazebo 消息库。虽然两者都注册了 gz.msgs.* 类型，但底层的

transport 层在序列化/反序列化时类型描述符不兼容，导致 Unknown message type 错误。

安装与 gz-sim8 匹配的 harmonic 版本桥接器：

bash 复制代码

  sudo apt install ros-humble-ros-gzharmonic-bridge