I am currently using Ros2 rolling and Gazebo ionic versions. I want to know how the various operations of Ros2 interact with Gazebo when I work with it?
The Gazebo document focuses on describing the interaction through ros_gz, but its support for message types is limited. I would like to know how other information is transmitted and interacted with.
For example, adding a new model to the Gazebo launched by Ros2 can be achieved through ros_gz, but dynamically adding a new plugin seems to be impossible.
I found online that there is a Gazebo ROS plugin built into Gazebo for some basic interaction operations, but I couldn’t find any relevant information in the new version of the documentation. Has it been discontinued in the latest version?
I couldn’t find any content related to interaction methods other than ros_gz in the document. It would be great if you could send me the relevant documents.
ros_gz_bridge is sufficient .
ros_gz_bridge can transfer data between ros2 and gazebo.