Ignition-ROS2-Plugin-Templete

Gazebo Ignition/ROS2 connection template

Intro

This repository is for connection between Gazebo Ignition and ROS2.

This is tested in Gazebo Fortress and ROS2 Humble.

Install & Build

1. First you have to install ROS2 and Gazebo Ignition
2. Git clone this repository

   git clone https://github.com/MichaelBentleyOh/Ignition-ROS2-Plugin-Templete.git
   

3. Copy this package into your package.
4. Build your package and insert plugin information into your SDF/Xacro/URDF file.

   colcon build --symlink-install
   

Details are skipped. I will add explanation later.

Log

1. 2025.3.10 : Create Repository & Upload template package.
2. 2025.??.?? : Add various plugin method such as realtime ROS2 data handling utilities, lifecycles, etc.

Reference

1. https://github.com/bmagyar/gz_ros2_control?tab=License-1-ov-file
2. https://github.com/ros-controls/ros2_controllers
3. https://github.com/ami-iit/gazebo-scenario-plugins
4. https://gazebosim.org/api/gazebo/6/createsystemplugins.html
5. https://gazebosim.org/api/gazebo/6/migrationplugins.html
6. ChatGPT XD!!!!!

Q&A

Feel free to ask me about anything!!!!!

You can write question on this repository's "Issues" or send me an e-mail.

Author's email : michael1015999@gmail.com