Production-Grade ROS 2 (+ URDF Physics Checker)

I have generated the launch configuration for ROS 2 Jazzy. It includes the ros_gz_bridge nodes for clock and cmd_vel, along with a specific best-effort QoS configuration for the Lidar sensor to minimize latency in simulation.

ROS 2 Jazzy Bringup Configuration

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration

def generate_launch_description():
    use_sim_time = LaunchConfiguration('use_sim_time', default='true')

    return LaunchDescription([
        DeclareLaunchArgument('use_sim_time', default_value='true'),
        
        # Robot State Publisher
        Node(
            package='robot_state_publisher',
            executable='robot_state_publisher',
            parameters=[{'use_sim_time': use_sim_time, 'robot_description': '...URDF_DATA...'}]
        ),

        # Gazebo Bridge (Jazzy/Harmonic syntax)
        Node(
            package='ros_gz_bridge',
            executable='parameter_bridge',
            arguments=[
                '/model/my_robot/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist',
                '/model/my_robot/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry',
                '/world/default/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock',
                '/lidar@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan'
            ],
            remappings=[
                ('/model/my_robot/cmd_vel', '/cmd_vel'),
                ('/model/my_robot/odometry', '/odom')
            ],
            output='screen'
        )
    ])

Next steps

• Run colcon build --symlink-install to register the new launch file.
• Verify the Lidar QoS profile matches by running ros2 topic info /lidar --verbose.
• Validate your URDF inertias with the physics checker before spawning the model.