docs: add ROS2 + Gazebo Docker bridge setup guide for harmonic, ionic…

garden/ros2_gz_docker_bridge.md

@@ -0,0 +1,174 @@
+# ROS2 + Gazebo Docker Bridge
+
+A two-container Docker setup for running Gazebo and ROS2 as separate services connected over a custom Docker network, with the ros_gz_bridge handling topic communication between them
+
+---
+
+## Compatibility
+
+| ROS2 | Gazebo |
+|---|---|
+| Rolling | Jetty |
+| Kilted | Ionic |
+| Jazzy | Harmonic |
+| Iron | Harmonic |
+| Humble | Fortress |
+
+---
+
+## Prerequisites
+
+- Docker installed and running
+- Both images built:
+  - `gazebo` — from `dockerfile.gazebo`
+  - `ros2` — from your ROS2 Dockerfile
+- `ros-gz-bridge` installed
+
+---
+
+## Setup
+
+### 1. Create the Docker Network
+
+```bash
+docker network create ros-link
+```
+
+### 2. Start Containers
+
+```bash
+docker run -it -d --name gazebo-container --network ros-link gazebo sleep infinity
+docker run -it -d --name ros2-container --network ros-link ros2 sleep infinity
+```
+
+### 3. Check Container IPs
+
+
+```bash
+docker network inspect ros-link
+```
+
+Example output:
+```json
+[
+  {
+    "Name": "ros-link",
+    "Driver": "bridge",
+    "IPAM": {
+      "Config": [{ "Subnet": "172.21.0.0/16", "Gateway": "172.21.0.1" }]
+    },
+    "Containers": {
+      "281b3cbfba6a...": {
+        "Name": "ros2-container",
+        "IPv4Address": "172.21.0.3/16" //<ros-ip>
+      },
+      "c2410d610249...": {
+        "Name": "gazebo-container",
+        "IPv4Address": "172.21.0.2/16" //<gz-ip>
+      }
+    }
+  }
+]
+```
+
+---
+
+### 4. Configure Environment Variables
+
+**In `gazebo-container`:**
+```bash
+export GZ_IP=<gz-ip>
+export GZ_PARTITION=gazebo-container
+```
+
+**In `ros2-container`:**
+```bash
+export GZ_IP=<ros-ip>
+export GZ_PARTITION=gazebo-container
+source /opt/ros/<ros-distro>/setup.bash
+```
+
+> Add these to `~/.bashrc` in each container to be available across sessions.
+
+---
+
+### 5. Install the Bridge
+
+```bash
+apt-get update && apt-get install -y ros-<ros-distro>-ros-gz-bridge
+```
+
+---
+
+## Using a Config File (optional)
+
+if you have a `bridge.yaml` config file, you can use it instead of passing topics as arguments:
+
+```bash
+ros2 run ros_gz_bridge parameter_bridge --ros-args -p config_file:=/path/to/bridge.yaml
+```
+
+a typical `bridge.yaml` looks like this:
+
+```yaml
+- ros_topic_name: /clock
+  gz_topic_name: /clock
+  ros_type_name: rosgraph_msgs/msg/Clock
+  gz_type_name: gz.msgs.Clock
+  direction: GZ_TO_ROS
+```
+
+---
+
+## Running the Bridge
+
+### Terminal 1 — Start Gazebo sim
+
+```bash
+docker exec -it gazebo-container bash
+gz sim shapes.sdf
+```
+
+### Terminal 2 — Start the bridge
+
+```bash
+docker exec -it ros2-container bash
+source /opt/ros/<ros-distro>/setup.bash
+ros2 run ros_gz_bridge parameter_bridge \
+  /clock@rosgraph_msgs/msg/Clock@gz.msgs.Clock
+```
+
+### Terminal 3 — Verify
+
+```bash
+docker exec -it ros2-container bash
+source /opt/ros/<ros-distro>/setup.bash
+ros2 topic echo /clock
+```
+if you see something like this :- 
+```bash
+clock:
+  sec: 0
+  nanosec: 0
+---
+clock:
+  sec: 0
+  nanosec: 0
+---
+clock:
+  sec: 0
+  nanosec: 0
+---
+```
+then the connection between the two docker containers is succesfull
+
+---
+
+## Final Network Info
+
+| Container | IP | Role |
+|---|---|---|
+| `gazebo-container` | `<gz-ip>` | Runs Gazebo simulation |
+| `ros2-container` | `<ros-ip>` | Runs ROS2 + bridge |
+
+Network name: `ros-link`

garden/tutorials.md

@@ -23,6 +23,7 @@ These tutorials cover general concepts to help get you started with Gazebo.
 * [ROS 2 Integration](ros2_integration)
 * [ROS 2 Interoperability](ros2_interop)
 * [ROS 2 Integration Template](ros_gz_project_template_guide)
+* [ROS 2 Docker Bridge Setup](ros2_gz_docker_bridge)
 
 ## Per-library tutorials
 

harmonic/ros2_gz_docker_bridge.md

@@ -0,0 +1,174 @@
+# ROS2 + Gazebo Docker Bridge
+
+A two-container Docker setup for running Gazebo and ROS2 as separate services connected over a custom Docker network, with the ros_gz_bridge handling topic communication between them
+
+---
+
+## Compatibility
+
+| ROS2 | Gazebo |
+|---|---|
+| Rolling | Jetty |
+| Kilted | Ionic |
+| Jazzy | Harmonic |
+| Iron | Harmonic |
+| Humble | Fortress |
+
+---
+
+## Prerequisites
+
+- Docker installed and running
+- Both images built:
+  - `gazebo` — from `dockerfile.gazebo`
+  - `ros2` — from your ROS2 Dockerfile
+- `ros-gz-bridge` installed
+
+---
+
+## Setup
+
+### 1. Create the Docker Network
+
+```bash
+docker network create ros-link
+```
+
+### 2. Start Containers
+
+```bash
+docker run -it -d --name gazebo-container --network ros-link gazebo sleep infinity
+docker run -it -d --name ros2-container --network ros-link ros2 sleep infinity
+```
+
+### 3. Check Container IPs
+
+
+```bash
+docker network inspect ros-link
+```
+
+Example output:
+```json
+[
+  {
+    "Name": "ros-link",
+    "Driver": "bridge",
+    "IPAM": {
+      "Config": [{ "Subnet": "172.21.0.0/16", "Gateway": "172.21.0.1" }]
+    },
+    "Containers": {
+      "281b3cbfba6a...": {
+        "Name": "ros2-container",
+        "IPv4Address": "172.21.0.3/16" //<ros-ip>
+      },
+      "c2410d610249...": {
+        "Name": "gazebo-container",
+        "IPv4Address": "172.21.0.2/16" //<gz-ip>
+      }
+    }
+  }
+]
+```
+
+---
+
+### 4. Configure Environment Variables
+
+**In `gazebo-container`:**
+```bash
+export GZ_IP=<gz-ip>
+export GZ_PARTITION=gazebo-container
+```
+
+**In `ros2-container`:**
+```bash
+export GZ_IP=<ros-ip>
+export GZ_PARTITION=gazebo-container
+source /opt/ros/<ros-distro>/setup.bash
+```
+
+> Add these to `~/.bashrc` in each container to be available across sessions.
+
+---
+
+### 5. Install the Bridge
+
+```bash
+apt-get update && apt-get install -y ros-<ros-distro>-ros-gz-bridge
+```
+
+---
+
+## Using a Config File (optional)
+
+if you have a `bridge.yaml` config file, you can use it instead of passing topics as arguments:
+
+```bash
+ros2 run ros_gz_bridge parameter_bridge --ros-args -p config_file:=/path/to/bridge.yaml
+```
+
+a typical `bridge.yaml` looks like this:
+
+```yaml
+- ros_topic_name: /clock
+  gz_topic_name: /clock
+  ros_type_name: rosgraph_msgs/msg/Clock
+  gz_type_name: gz.msgs.Clock
+  direction: GZ_TO_ROS
+```
+
+---
+
+## Running the Bridge
+
+### Terminal 1 — Start Gazebo sim
+
+```bash
+docker exec -it gazebo-container bash
+gz sim shapes.sdf
+```
+
+### Terminal 2 — Start the bridge
+
+```bash
+docker exec -it ros2-container bash
+source /opt/ros/<ros-distro>/setup.bash
+ros2 run ros_gz_bridge parameter_bridge \
+  /clock@rosgraph_msgs/msg/Clock@gz.msgs.Clock
+```
+
+### Terminal 3 — Verify
+
+```bash
+docker exec -it ros2-container bash
+source /opt/ros/<ros-distro>/setup.bash
+ros2 topic echo /clock
+```
+if you see something like this :- 
+```bash
+clock:
+  sec: 0
+  nanosec: 0
+---
+clock:
+  sec: 0
+  nanosec: 0
+---
+clock:
+  sec: 0
+  nanosec: 0
+---
+```
+then the connection between the two docker containers is succesfull
+
+---
+
+## Final Network Info
+
+| Container | IP | Role |
+|---|---|---|
+| `gazebo-container` | `<gz-ip>` | Runs Gazebo simulation |
+| `ros2-container` | `<ros-ip>` | Runs ROS2 + bridge |
+
+Network name: `ros-link`

harmonic/tutorials.md

@@ -23,7 +23,7 @@ These tutorials cover general concepts to help get you started with Gazebo.
 * [ROS 2 Integration via Bridge](ros2_integration)
 * [ROS 2 Interoperability](ros2_interop)
 * [ROS 2 Integration Template](ros_gz_project_template_guide)
-
+* [ROS 2 Docker Bridge Setup](ros_docker_gz_integration)
 ## Per-library tutorials
 
 See the *API & Tutorials* sections on the [Libraries page](/libs){.external} page for more specific content correlating to each Gazebo library.