gz-ros2-bridge

You can bridge Gazebo Transport topics to ROS 2 DDS using ros_gz_bridge, which maps simulated sensor data, odometry, and control commands so they can be consumed by ROS 2 ecosystems during runtime.

ROS 2 nodes cannot read Gazebo sensors and odometry directly because Gazebo uses Gazebo Transport; ros_gz_bridge is required to bridge the communication and make simulated data available to ROS 2.

The best way to control topic direction between Gazebo and ROS 2 is using ros_gz_bridge's flexible direction control, which supports GZ→ROS, ROS→GZ, or bidirectional setups with clear mapping rules for data flow.

Yes, ros_gz_bridge supports bidirectional topic bridging for cmd_vel and TF transforms, allowing velocity commands and coordinate transforms to be exchanged seamlessly between Gazebo simulations and ROS 2 controllers.

Yes, you can verify a ROS 2 mobile robot navigation stack using Gazebo simulation by bridging velocity commands and odometry with ros_gz_bridge, enabling ROS 2 controllers to exchange data with the simulated environment.

To synchronize the clock between Gazebo and ROS 2, apply ros_gz_bridge to map the /clock topic, ensuring correct time synchronization between Gazebo Transport and ROS 2 DDS during simulation runtime.