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Add documentation on QOS Overrides and the bridge_params argument #539

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Add documentation on QOS Overrides and the bridge_params argument #539

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Add documentation on QOS Overrides and the bridge_params argument
Amronos Nov 17, 2024
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Merge branch 'master' into bridge-params
Amronos Dec 1, 2024
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30 changes: 14 additions & 16 deletions harmonic/ros2_integration.md
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Expand Up @@ -78,36 +78,34 @@ ros2 launch ros_gz_bridge ros_gz_bridge.launch.py bridge_name:=ros_gz_bridge con
Alternatively, if an existing container is already running, you can pass its name
when launching the bridge using the `container_name` parameter. More info about composition can be viewed [here](ros2_overview#composition)

Check [this block](https://github.com/gazebosim/ros_gz/blob/jazzy/ros_gz_bridge/launch/ros_gz_bridge.launch.py#L27-L34)
Check [this block](https://github.com/gazebosim/ros_gz/blob/jazzy/ros_gz_bridge/launch/ros_gz_bridge.launch.py#L25-L68)
from the source code to know all the different parameters accepted by this
launch file.

QOS Overrides:

QOS overrides can be passed as extra parameters to the bridge using the `bridge_params` argument of the launch file. An example of this:
```bash
ros2 launch ros_gz_bridge ros_gz_bridge.launch.py bridge_name:=ros_gz_bridge config_file:=<path_to_your_YAML_file> bridge_params:={'qos_overrides./topic_name.publisher.durability': 'transient_local', 'qos_overrides./another_topic_name.publisher.durability': 'transient_local'}
```
You can omit the following from what you pass to `bridge_params`: `{}`, ` `, `"`, `'`.

More info about using QOS overrides can be found [here](https://docs.ros.org/en/jazzy/How-To-Guides/Overriding-QoS-Policies-For-Recording-And-Playback.html#using-qos-overrides)

## Launching the bridge from a custom launch file in XML.

It's also possible to trigger the bridge from your custom launch file. For that
purpose we have created the `<ros_gz_bridge/>` tag that can be used from you
XML or YAML launch file. In this case, the arguments are passed as attributes
within this tag. Here's an example:
within this tag. Here's a simplified example, a more comprehensive example can be viewed [here](https://github.com/gazebosim/ros_gz/blob/ros2/ros_gz_bridge/launch/ros_gz_bridge.launch):

```xml
<launch>
<arg name="bridge_name" />
<arg name="config_file" />
<arg name="container_name" default="ros_gz_container" />
<arg name="create_own_container" default="False" />
<arg name="namespace" default="" />
<arg name="use_composition" default="False" />
<arg name="use_respawn" default="False" />
<arg name="log_level" default="info" />
<ros_gz_bridge
bridge_name="$(var bridge_name)"
config_file="$(var config_file)"
container_name="$(var container_name)"
create_own_container="$(var create_own_container)"
namespace="$(var namespace)"
use_composition="$(var use_composition)"
use_respawn="$(var use_respawn)"
log_level="$(var log_level)">
config_file="$(var config_file)">
</ros_gz_bridge>
</launch>
```
Expand All @@ -119,7 +117,7 @@ of the values or not even use all the parameters.
## Launching the bridge from a custom launch file in Python.

Here's a simplified example of a Python launch file used to load a bridge from
Python:
Python, a more comprehensive example can be viewed [here](https://github.com/gazebosim/ros_gz/blob/ros2/ros_gz_bridge/launch/ros_gz_bridge.launch.py):
```python
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
Expand Down