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Update Documentation for ros_gz Commands (#511)
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Signed-off-by: Amronos <[email protected]>
Co-authored-by: Alejandro Hernández Cordero <[email protected]>
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Amronos and ahcorde authored Sep 16, 2024
1 parent a7c9c3c commit f629af4
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6 changes: 5 additions & 1 deletion harmonic/ros2_integration.md
Original file line number Diff line number Diff line change
Expand Up @@ -75,9 +75,13 @@ ros2 run rclcpp_components component_container --ros-args -r __node:=ros_gz_cont

And now, the container will load your bridge with:
```bash
ros2 launch ros_gz_bridge ros_gz_bridge.launch.py name:=ros_gz_bridge config_file:=<path_to_your_YAML_file>
ros2 launch ros_gz_bridge ros_gz_bridge.launch.py bridge_name:=ros_gz_bridge config_file:=<path_to_your_YAML_file>
```

Check [this block](https://github.com/gazebosim/ros_gz/blob/ros2/ros_gz_bridge/launch/ros_gz_bridge.launch.py#L27-L33)
from the source code to know all the different parameters accepted by this
launch file.

## Launching the bridge from a custom launch file in XML.

It's also possible to trigger the bridge from your custom launch file. For that
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4 changes: 2 additions & 2 deletions harmonic/ros2_spawn_model.md
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Expand Up @@ -12,10 +12,10 @@ The package `ros_gz_sim` contains a launch file named
existing simulation. Here's an example:

```bash
ros2 launch ros_gz_sim ros_gz_spawn_model.launch.py world:=empty file:=$(ros2 pkg prefix --share ros_gz_sim_demos)/models/vehicle/model.sdf name:=my_vehicle x:=5.0 y:=5.0 z:=0.5
ros2 launch ros_gz_sim ros_gz_spawn_model.launch.py world:=empty file:=$(ros2 pkg prefix --share ros_gz_sim_demos)/models/vehicle/model.sdf entity_name:=my_vehicle x:=5.0 y:=5.0 z:=0.5
```

Check [this block](https://github.com/gazebosim/ros_gz/blob/cadae1c8323a74395c09a37e3de4c669c8c09d4f/ros_gz_sim/launch/ros_gz_spawn_model.launch.py#L33-L44)
Check [this block](https://github.com/gazebosim/ros_gz/blob/ros2/ros_gz_sim/launch/ros_gz_spawn_model.launch.py#L26-L45)
from the source code to know all the different parameters accepted by this
launch file.

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