ros2-gazebo-bridge

To bridge Gazebo simulation topics with ROS 2, configure ros_gz_bridge with specific topic mappings to pass velocity commands, sensor data, and robot state bidirectionally. It enables direct closed-loop control across both systems.

You can configure both unidirectional and bidirectional bridges between Gazebo and ROS 2. Directionality is specified within your topic maps, ensuring message type compatibility for either one-way or two-way data flow.

Set up topic mappings for ROS 2 and Gazebo integration using YAML-based configurations to define message type compatibility and directionality. This orchestration can be integrated directly into your launch file.

The ROS 2 Gazebo bridge supports launch file orchestration, allowing you to start Gazebo, spawn your robot, and run ros_gz_bridge with your configured topic mappings in a unified workflow.

The best way to debug ROS 2 and Gazebo bridge connections is by verifying message type compatibility and checking the configured topic maps within your YAML-based configurations. The bridge supports dedicated debugging workflows.

You can bridge velocity commands, sensor data, and robot state between Gazebo and ROS 2. These common message mappings enable real-time closed-loop control in your robotics simulation workflows.