From f629af417d02b6e1fa607311e6d272e22eb30a74 Mon Sep 17 00:00:00 2001 From: Amronos <134804732+Amronos@users.noreply.github.com> Date: Mon, 16 Sep 2024 16:39:34 +0530 Subject: [PATCH] Update Documentation for ros_gz Commands (#511) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Amronos <134804732+Amronos@users.noreply.github.com> Co-authored-by: Alejandro Hernández Cordero --- harmonic/ros2_integration.md | 6 +++++- harmonic/ros2_spawn_model.md | 4 ++-- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/harmonic/ros2_integration.md b/harmonic/ros2_integration.md index ea5830785..bcf12814a 100644 --- a/harmonic/ros2_integration.md +++ b/harmonic/ros2_integration.md @@ -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:= +ros2 launch ros_gz_bridge ros_gz_bridge.launch.py bridge_name:=ros_gz_bridge config_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 diff --git a/harmonic/ros2_spawn_model.md b/harmonic/ros2_spawn_model.md index 936354d51..056f14fd2 100644 --- a/harmonic/ros2_spawn_model.md +++ b/harmonic/ros2_spawn_model.md @@ -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.