custom_gz_msgs

Custom Gazebo Harmonic protobuf message definitions for the simulation environment.

For general information on creating Gazebo messages, see the official guide.

Messages

All messages are defined in the gz.custom_msgs namespace and live under proto/gz/custom_msgs/.

AttachDetachRequest / AttachDetachResponse

Protobuf service message pair used by the DynamicDetachableJoint plugin to attach and detach child models at runtime.

AttachDetachRequest fields:

Field	Type	Description
child_model_name	string	Name of the child model to attach or detach
child_link_name	string	Specific link on the child model
command	string	"attach" or "detach"

AttachDetachResponse fields:

Field	Type	Description
success	bool	Whether the operation succeeded
message	string	Status or error description

Example usage with gz service:

gz service -s /model/standard_vtol/dynamic_detachable_joint/attach_detach \
  --reqtype gz.custom_msgs.AttachDetachRequest \
  --reptype gz.custom_msgs.AttachDetachResponse \
  --req 'child_model_name: "payload", child_link_name: "payload_link", command: "attach"' \
  --timeout 1000

Building

Built as part of the colcon workspace:

colcon build --packages-select custom_gz_msgs

The build generates a C++ protobuf library (custom_gz_msgs-msgs) and installs headers to include/gz/custom_msgs/. An environment hook automatically adds the installed descriptor path to GZ_DESCRIPTOR_PATH so Gazebo can resolve the custom message types at runtime.

Consumed by custom_gz_plugins (plugin implementation) and custom_sim_bridge (ROS 2 bridge).