Parameter to disable ROS network interaction from/to Gazebo #585
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kev-the-dev
reviewed
May 29, 2018
| advertiseServices(); | ||
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| // Manage clock for simulated ros time | ||
| pub_clock_ = nh_->advertise<rosgraph_msgs::Clock>("/clock",10); |
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/clock is already advertised within advertiseServices(), perhaps it should be removed there.
| <arg name="gui" value="false"/> | ||
| <arg name="headless" value="false"/> | ||
| <arg name="debug" value="false"/> | ||
| <arg name="enable_ros_network" value="true" /> |
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Perhaps this argument should be excluded entirely in this test to ensure the default behavior is enabled.
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Bump to trigger CI, good to merge if no regressions |
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out of date, probably can be left out |
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The PR implements a ROS parameter named
enable_ros_networkthat allows to disable all the gazebo topics (except /clock) and services that are created from thegazebo_rospackage. This is useful in situation where the interaction from user with the gazebo simulator should be limited or blocked.To keep backwards compatibility, by default, the behaviour is to enable all topics and services if the parameter is not present so current code should not experiment any difference at all.
I've added a couple of tests based on the
ros_api_checkerthat the OSRF developed during the times of the Virtual Robotics Challenge. It checks all the ROS topics and services in runtime to check if they are exactly the same that is described in the .yaml files available in this PR.