ROS version	Ignition version	Branch	Binaries hosted at
Melodic	Citadel	melodic	only from source
Melodic	Dome	melodic	https://packages.osrfoundation.org
Melodic	Fortress	melodic	only from source
Noetic	Citadel	noetic	https://packages.ros.org
Noetic	Dome	noetic	only from source
Noetic	Edifice	noetic	only from source
Noetic	Fortress (not released)	noetic	only from source
Foxy	Citadel	foxy	https://packages.ros.org
Foxy	Dome	foxy	only from source
Foxy	Edifice	foxy	only from source
Galactic	Edifice	ros2	https://packages.ros.org
Rolling	Edifice	ros2	https://packages.ros.org
Rolling	Fortress (not released)	ros2	only from source

Please ticket an issue if you'd like support to be added for some combination.

Integration between ROS and Ignition

Packages

This repository holds packages that provide integration between ROS and Ignition:

• ros_ign: Metapackage which provides all the other packages.
• ros_ign_image: Unidirectional transport bridge for images from Ignition Transport to ROS using image_transport.
• ros_ign_bridge: Bidirectional transport bridge between Ignition Transport and ROS.
• ros_ign_gazebo: Convenient launch files and executables for using Ignition Gazebo with ROS.
• ros_ign_gazebo_demos: Demos using the ROS-Ignition integration.
• ros_ign_point_cloud: Plugins for publishing point clouds to ROS from Ignition Gazebo simulations.

Install

This branch supports ROS Melodic. See above for other ROS versions.

Binaries

At the moment, Melodic binaries are only available for Dome. They are hosted at https://packages.osrfoundation.org.

1. Add https://packages.osrfoundation.org

    sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
    wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
    sudo apt-get update
   

2. Install ros_ign

    sudo apt install ros-melodic-ros-ign
   

From source

ROS

Be sure you've installed ROS Melodic (at least ROS-Base). More ROS dependencies will be installed below.

Ignition

Install either Citadel or Dome.

Set the IGNITION_VERSION environment variable to the Ignition version you'd like to compile against. For example:

export IGNITION_VERSION=citadel

You only need to set this variable when compiling, not when running.

Compile ros_ign

The following steps are for Linux and OSX.

1. Create a catkin workspace:

   # Setup the workspace
   mkdir -p ~/ws/src
   cd ~/ws/src
   
   # Download needed software
   git clone https://github.com/osrf/ros_ign.git -b melodic
   

2. Install ROS dependencies:

   cd ~/ws
   rosdep install -r --from-paths src -i -y --rosdistro melodic
   

   If rosdep fails to install Ignition libraries and you have not installed them before, please follow Ignition installation instructions.

3. Build the workspace:

   # Source ROS distro's setup.bash
   source /opt/ros/melodic/setup.bash
   
   # Build and install into workspace
   cd ~/ws/
   catkin_make install