Merge branch 'ros2' into caguero/imu_demo_v2

ros_gz_sim_demos/README.md

@@ -14,7 +14,7 @@ There's a convenient launch file, try for example:
 
 Publishes fluid pressure readings.
 
-    ros2 launch ros_gz_sim_demos air_pressure.launch.py
+    ros2 launch ros_gz_sim_demos air_pressure.launch.xml
 
 This demo also shows the use of custom QoS parameters. The sensor data is
 published as as "best-effort", so trying to subscribe to "reliable" data won't

ros_gz_sim_demos/config/air_pressure.yaml

@@ -0,0 +1,6 @@
+# Air pressure bridge configuration.
+- topic_name: "air_pressure"
+  ros_type_name: "sensor_msgs/msg/FluidPressure"
+  gz_type_name: "gz.msgs.FluidPressure"
+  lazy: true
+  direction: GZ_TO_ROS

ros_gz_sim_demos/launch/air_pressure.launch.xml

@@ -0,0 +1,16 @@
+<launch>
+  <gz_server
+    world_sdf_file="sensors.sdf"
+    use_composition="true"
+    create_own_container="true" />
+  <ros_gz_bridge
+    bridge_name="ros_gz_bridge"
+    config_file="$(find-pkg-share ros_gz_sim_demos)/config/air_pressure.yaml"
+    use_composition="true">
+    <param name="qos_overrides./air_pressure.publisher.reliability" value='best_effort'></param>
+  </ros_gz_bridge>
+  <node pkg="rqt_topic" exec="rqt_topic">
+    <param name="qos_overrides./air_pressure.subscription.reliability" value="best_effort"/>
+  </node>
+  <executable cmd="gz sim -g" />
+</launch>