README

Message and service data structures for interacting with Gazebo from ROS2

This package currently contains some Gazebo-specific ROS message and service data structures (.msg and .srv)

Messages (.msg)

• Contact: related to ignition::msgs::Contact. Contant info bewteen collisions in Gazebo Sim.

• Contacts: related to ignition::msgs::Contacts. A list of contacts.

• Entity: related to ignition::msgs::Entity. Entity of Gazebo Sim.

• EntityFactory: related to ignition::msgs::EntityFactory. Message to create a new entity.

• EntityWrench: related to ignition::msgs::EntityWrench. Wrench to be applied to a specified Entity of Gazebo Sim.

• Light: related to ignition::msgs::Light. Light info in Gazebo Sim.

• WorldControl: related to ignition::msgs::WorldControl. Message to control world of Gazebo Sim.

• WorldReset: related to ignition::msgs::WorldReset. Reset time and model of simulation.

Services (.srv)

• ControlWorld: Control world of Gazebo Sim,for example,pasue,pasue with multiple steps,resume,etc.

• DeleteEntity: Delete Entity in Gazebo Sim

• SetEntityPose: Set pose of Entity in Gazebo Sim

• SpawnEntity: Spawn a Entity in Gazebo Sim