stage_ros2

ROS 2 node wrapping the Stage simulator.

License

The stage_ros2 package is GPL-licensed, as Stage is GPL-licensed and stage_ros2 links to it. See stage_ros2/LICENSE for details.

The stage_ros2_itfs package is BSD-licenced (Simplified BSD License). See stage_ros2_itfs/LICENSE for details.

Build

cd ros2_ws/src
git clone https://github.com/rtv/Stage.git
git clone https://github.com/ymd-stella/stage_ros2.git
cd ..
colcon build --symlink-install
source install/setup.sh

Use

ros2 run stage_ros2 stage_ros2 --ros-args -p world:=camera.world

ROS parameters:

• world: path to the world file.
• gui: whether to show the Stage GUI.
• <model_name>/is_depth_canonical: whether to publish depth image in float32 (true) or uint16 (false) format.