Expose Gazebo topics

Author: roncapat

.github/workflows/ci.yaml

@@ -28,6 +28,7 @@ jobs:
         rosdep update
         rosdep install --from-paths ./ -i -y --rosdistro rolling \
           --ignore-src
+        apt-get upgrade -q -y --with-new-pkgs ros-rolling-rcl
     - name: Build project
       id: build
       run: |
@@ -46,7 +47,7 @@ jobs:
     container:
       image: osrf/ros:rolling-desktop
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v2
     - name: Setup colcon workspace
       id: configure
       run: |
@@ -64,6 +65,7 @@ jobs:
         rosdep update
         rosdep install --from-paths ./ -i -y --rosdistro rolling \
           --ignore-src
+        apt-get upgrade -q -y --with-new-pkgs ros-rolling-rcl
     - name: Build project
       id: build
       run: |

gazebo_ros2_control/CMakeLists.txt

@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.5.0)
 project(gazebo_ros2_control)
 
 find_package(ament_cmake REQUIRED)
+find_package(service_msgs REQUIRED)
 find_package(angles REQUIRED)
 find_package(controller_manager REQUIRED)
 find_package(gazebo_dev REQUIRED)
@@ -26,10 +27,11 @@ link_directories(
 
 # Libraries
 add_library(${PROJECT_NAME} SHARED
-  src/gazebo_ros2_control_plugin.cpp
+  src/gazebo_ros2_control_plugin.cpp src/node.cc
 )
 ament_target_dependencies(${PROJECT_NAME}
   angles
+  service_msgs
   controller_manager
   gazebo_dev
   gazebo_ros
@@ -62,18 +64,8 @@ ament_export_include_directories(
   include
 )
 
-ament_export_dependencies(
-  ament_cmake
-  angles
-  controller_manager
-  gazebo_dev
-  gazebo_ros
-  hardware_interface
-  pluginlib
-  rclcpp
-  yaml_cpp_vendor
-)
-
+ament_export_dependencies(ament_cmake)
+ament_export_dependencies(rclcpp)
 ament_export_libraries(
   ${PROJECT_NAME}
   gazebo_hardware_plugins

gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system.hpp

@@ -74,6 +74,7 @@ class GazeboSystem : public GazeboSystemInterface
   bool initSim(
     rclcpp::Node::SharedPtr & model_nh,
     gazebo::physics::ModelPtr parent_model,
+    gazebo::transport::NodePtr & transport_nh,
     const hardware_interface::HardwareInfo & hardware_info,
     sdf::ElementPtr sdf) override;
 
@@ -86,6 +87,10 @@ class GazeboSystem : public GazeboSystemInterface
     const hardware_interface::HardwareInfo & hardware_info,
     gazebo::physics::ModelPtr parent_model);
 
+  void registerGazeboTopics(
+    const hardware_interface::HardwareInfo & hardware_info,
+    gazebo::physics::ModelPtr parent_model);
+
   /// \brief Private data class
   std::unique_ptr<GazeboSystemPrivate> dataPtr;
 };

gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system_interface.hpp

@@ -26,6 +26,7 @@
 
 #include "hardware_interface/system_interface.hpp"
 
+#include "gazebo_ros2_control/node.hh"
 #include "rclcpp/rclcpp.hpp"
 
 
@@ -69,6 +70,7 @@ class GazeboSystemInterface
   virtual bool initSim(
     rclcpp::Node::SharedPtr & model_nh,
     gazebo::physics::ModelPtr parent_model,
+    gazebo::transport::NodePtr & transport_nh,
     const hardware_interface::HardwareInfo & hardware_info,
     sdf::ElementPtr sdf) = 0;