Comments (14)
If you want to use gz-sim with robostack, pay attention that you may also hit the error: conda-forge/gz-sim-feedstock#6 . The fix for that is available at gazebosim/gz-sim#1968 . It is taking some time as it needs to be accepted upstream before being backported (as it introduces new ABI symbols), but hopefully we should be done with it soon(ish).
from ros-humble.
In general you can't mix homebrew and conda-forge packages, as they have different ABIs. Anyhow, even if conda-forge/gz-sim-feedstock#6 is present, probably you can work around it by manually copying $CONDA_PREFIX/share/gz/gz-sim7/gui/gui.config
to ~/.gz/sim/7/gui.config
. Furthermore, as this problem is just at runtime, there should be no problem in already working on adding ros-humble-ros-gz
to robostack, see https://github.com/RoboStack/ros-humble/blob/main/CONTRIBUTING.md#adding-new-packages-via-pull-requests for docs on that.
from ros-humble.
By the way, I can’t recall how exactly vinca parses the package.xml, and I’m not sure if it would respect the environment variables. In the past I’ve simply remapped within the robostack.yaml /conda.yaml to whichever gazebo version I want. Not nice but works.
from ros-humble.
I guess it would be resolved if we move to a newer ROS2 distribution (e.g. Iron) which supports a newer Modern go-sim?
Kind of. The packages for gz-sim on Windows on conda-forge are available and basic simulations are working, but the GUI still does not work, but that's an upstream issue (see gazebosim/gz-sim#2089).
from ros-humble.
Thanks for pointing me to this issues! I will have them monitor and see if there is any progress.
from ros-humble.
Awesome to see progress on this front!
It looks like I have some spare time available. Does it make sense to take a stab at adding the ros-gz
package now before the gz-sim
PR is merged? Since the gz-sim*
things can be installed separately, relatively easy on mac with homebrew.
from ros-humble.
A more tricky issue is that apparently the Humble version of ros-gz packages depend on Gazebo (Ignition) Fortress (see https://github.com/gazebosim/ros_gz). However, all relocatability work is going on Gazebo Garden. While it may be possible to have some simpler workaround/fix to solve conda-forge/gz-sim-feedstock#6, I am not sure if Gazebo Fortress packages work at all on macOS. Probably the easiest way to check is to first build from source ros-gz packages to check if they work.
from ros-humble.
Is there an inherent requirement to support Fortress
release ( a side from it being an LTS version )? It seems at least initially we can focus on Garden
.
from ros-humble.
Fine for me (if it is ok for @@Tobias-Fischer) if you are able to do that, to be honest I tought it was difficult to override the metadata in the package.xml, but apparently there is an handy env variable to do so:https://github.com/gazebosim/ros_gz/blob/humble/ros_gz_bridge/package.xml#L30 . So probably you also need to add Garden packages to the rosdep keys in https://github.com/RoboStack/ros-humble/blob/main/robostack.yaml .
from ros-humble.
Sounds good to me :)
from ros-humble.
Thanks for pointing me to this issues! I will have them monitor and see if there is any progress.
For anyone just monitoring this issue and not that one, the problems on gz-sim on Linux were solved some weeks ago, see conda-forge/gz-sim-feedstock#6 (comment) .
from ros-humble.
Hi @traversaro - I am a bit lost when it comes to Gazebo support for ROS2. I'm happy to look into it, but would appreciate a bit of guidance. What is the overall status of Classic-Gazebo and Ignition-Gazebo both standalone and in conjunction with RoboStack/ROS2? Which version of Classic-Gazebo / Ignition-Gazebo should we use?
We just got asked this in our Gitter:
"z4ziad
Ok, I am new to Robostack. So far, I like what I have read about it and would like to use it in the classroom in an engineering program. I wonder what route I should take to install ROS2 Humble and a basic Gazebo simulator (i.e., what packages should I install for Windows and MacOS)?"
from ros-humble.
Hi @traversaro - I am a bit lost when it comes to Gazebo support for ROS2. I'm happy to look into it, but would appreciate a bit of guidance. What is the overall status of Classic-Gazebo and Ignition-Gazebo both standalone and in conjunction with RoboStack/ROS2? Which version of Classic-Gazebo / Ignition-Gazebo should we use?
Ok, let's try to recap. Sorry for the complexity, hopefully it will go away in the long term. In the following I will refer to "Classic gazebo" to refer to the "old" Gazebo that has been developed from ~2004 and will be not be supported upstream anymore in 2025, and with "Modern gz-sim" for the modern simulator (that used to be called "Ignition Gazebo") that is being actively developed and it is recommended for new developments. Unfortunately, both are being called "Gazebo", so I prefer to avoid using just "Gazebo" as it is ambiguous. It is important to distinguish the two, as even if they share the possibilities of loading models in URDF and SDF formats, the API for their plugins is completely different, so effectively two different simulators.
First of all, historically each version of ROS/ROS2 is associated to a corresponding release of both "Gazebo classic" and "Modern gz-sim". Using a different version may be working, but it is typically not supported in binary packages. For ROS2 Humble, the corresponding releases are:
Gazebo version | Version supported by ROS Humble | Package providing integration between ROS and Gazebo | Documentation Link | OS supported |
---|---|---|---|---|
Gazebo Classic: | 11 | ros-humble-gazebo-ros-pkgs |
https://classic.gazebosim.org/tutorials?tut=ros2_overview | Linux, macOS and Windows. |
Modern gz-sim | Gazebo Fortress , gz-sim6 (that is available in conda-forge as libignition-gazebo6, as it was released before the Gazebo/Ignition renaming) . See https://github.com/gazebosim/ros_gz and https://github.com/gazebo-tooling/gazebodistro/blob/master/collection-fortress.yaml | ros-humble-ros-gz (it used to be called ros-ign, but it was retroactively renamed to ros-gz to simplify the life of users migrating to the future release of Modern gz-sim called "gz" instead of "ign"). |
https://docs.ros.org/en/humble/Tutorials/Advanced/Simulators/Gazebo/Gazebo.html | Linux should work, I am not sure about macOS. For sure Windows it is not working, see gazebosim/gz-sim#2089 |
Regarding robostack, it seems that ros-humble-gazebo-ros-pkgs
was compiled recently, while in the latest rebuild, while ros-humble-ros-gz
is missing, I will open a PR to build it: #146 .
from ros-humble.
Many thanks @traversaro! I’ll reopen here to keep track of the Windows issue. I guess it would be resolved if we move to a newer ROS2 distribution (e.g. Iron) which supports a newer Modern go-sim?
from ros-humble.
Related Issues (20)
- package 'moveit2_tutorials' not found HOT 2
- Strange behaviour on initialising the env compared to native install of ROS Humble HOT 6
- Important: libprotobuf==4.25.1 needs to be installed for gazebo_ros_plugins to work with ros2-distro-mutex==0.5.0=humble HOT 3
- ROS Humble not installed correctly on macOS HOT 6
- Package request: libcamera HOT 5
- Gazebo not publishing topics HOT 4
- Moveit motion planning for Rviz not finding plugin in library HOT 18
- Package request: ros-humble-moveit-planners-chomp HOT 2
- Package request: ros-humble-motion-capture-tracking HOT 1
- laserscan plugin not found by Gazebo HOT 13
- ros-humble-gazebo-ros and ros-humble-ros-gz cannot be installed at the same time HOT 7
- Fastdds server not working as expected in MacOS HOT 2
- Building Python packages raises ModuleNotFoundError: No module named 'setuptools.extern' on new installation HOT 2
- Colcon buld failure for a custom message on ROS 2 MacOS M2 (already following FAQ) HOT 7
- Error loading server extension jupyros ImportError: Error importing numpy: HOT 5
- Package gazebo-ros is not starting the service /spawn_entity HOT 3
- Ros-Humble-Gazebo-Ros-Pkgs Not Installing Gazebo ROS API Plugins on OSX-arm64 HOT 4
- CMake Error at CMakeLists.txt:10 (find_package): By not providing "Findcatkin.cmake" in CMAKE_MODULE_PATH from colcon build HOT 6
- ros-humble-gazebo-ros2-control : Gazebo Ros2 Control Plugin Not Loading HOT 2
- Ament tools no longer in bin directory, and therefore not on path
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from ros-humble.