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I'm trying to understand if and how I can call a Gazebo (Ignition) service from a ROS 2 node. Is it possible? If yes, what is a general pipeline to follow?

In my simulation now I call the following service ign service -s /world/arena/set_pose --reqtype ignition.msgs.Pose --reptype ignition.msgs.Boolean --req 'id: 87 position: { x: 1.0, y: 3.0, z: 0.5 } orientation: { x: 0.0, y: 0.0, z: 0.0, w: 1.0 }' --timeout 1000 to reset the position of an object. Is it possible to call this service from a ROS node (I wrote my node in python).

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2 Answers 2

Reset to default
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You will need to use the ros_gz_bridge. See here and here for documentation. Refer to example 4 for services.

Note that Ignition was renamed to Gazebo from Fortress on, so the syntax for Ignition will differ somewhat from above examples. There is a code example for Ignition in the original PR.

An alternative option would be to include the gz-transport library in your code and instantiate a Gazebo node, but I think that this is C++ only. See here for documentation and examples.

There exist Python bindings but I am fairly sure that these were not backported to Fortress..

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  • $\begingroup$ Thanks for the suggestions, I'm trying to reset the entire world models as well but seems that this feature is not supported on my simulator version. If I run the command gn service -s /world/arena/control --reqtype ignition.msgs.WorldControl --reptype ignition.msgs.Boolean --timeout 5000 --req 'reset: {model_only: true}' I got the following warning [Wrn] [SimulationRunner.cc:1131] Model only reset is not supported. $\endgroup$
    – Paolo
    Commented Oct 23 at 7:42
  • $\begingroup$ It says 'Model only reset is not supported', so you could try --req 'reset: {all: true}' instead. That being said, this is a new question; if this suggestion doesn't help, then you should post a new question. $\endgroup$
    – JRTG
    Commented Oct 23 at 12:02
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I've found another way to set the position of a model without needing to know the model's ID. You can use the following command:

ign service -s /world/arena/set_pose --reqtype ignition.msgs.Pose --reptype ignition.msgs.Boolean --req 'name: "model_name" position: { x: 1.0, y: 1.0, z: 0.2 } orientation: { x: 0.0, y: 0.0, z: 0.0, w: 1.0 }' --timeout 1000

Even if this doesn’t answer my question, it’s a good workaround since it's easier to know the name of your model (ign model --list) instead of your model ID (which is assigned by Gazebo). The previous line can also be embedded in a Python script (I guess relatively easily).

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