Gazebo: support Gazebo Harmonic and Garden

[srmainwaring]

Add support for Gazebo Harmonic retaining the default support for Gazebo Garden. The version used is controlled by the environment variable GZ_VERSION which should be either garden or harmonic. If not set the default is to assume garden.

Details

• Use the same approach for versioning used in ros_gz.
• Update package.xml and CMakeLists.txt to handle either garden or harmonic.
• Add missing gz-msg headers that cause compilation to fail in Harmonic.

Testing

Tested on macOS Ventura with Harmonic built from source and running the Iris quadcopter example.

[Ryanf55]

Is this known to not work?

rryan@B650-970:~/Dev/ros2_ws/src/ardupilot_gazebo$ rosdep install --from-paths . --ignore-src
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
ardupilot_gazebo: Cannot locate rosdep definition for [gz-sim8]

[srmainwaring]

Taking my steer from: https://github.com/gazebosim/ros_gz/blob/a982161db38058f3c3b6b69f660184930484f077/ros_gz_sim/package.xml#L28-L32
which I assumed correct as it is OSRF maintained.

[Ryanf55]

Hopefully they fix it at some point.

[Ryanf55]

I tried using harmonic in ardupilot_gz, but robot state publisher crashes.

https://github.com/ArduPilot/ardupilot_gz?tab=readme-ov-file#2-launch-the-simulation

[robot_state_publisher-6] [ERROR] [1702871715.500489068] [sdformat_urdf]: Failed to find sdf canonical link [base_link]
[robot_state_publisher-6] Failed to parse robot description using: sdformat_urdf_plugin/SDFormatURDFParser
[robot_state_publisher-6] terminate called after throwing an instance of 'std::runtime_error'
[robot_state_publisher-6]   what():  Unable to initialize urdf::model from robot description

[Ryanf55]

Also, when trying to build this with colcon in a fresh ros2 workspace, I get the following after building everything in ros2_gz.repos

ryan@B650-970:~/Dev/tmp_ws$ . install/setup.bash
not found: "/home/ryan/Dev/tmp_ws/install/ardupilot_gazebo/share/ardupilot_gazebo/local_setup.bash"

[srmainwaring]

I tried using harmonic in ardupilot_gz, but robot state publisher crashes.

Did not run into this issue when testing on macOS. I'll need to look at an Ubuntu VM install, but this doesn't look like a problem with this plugin?

[srmainwaring]

Also, when trying to build this with colcon in a fresh ros2 workspace, I get the following after building everything in ros2_gz.repos

ryan@B650-970:~/Dev/tmp_ws$ . install/setup.bash
not found: "/home/ryan/Dev/tmp_ws/install/ardupilot_gazebo/share/ardupilot_gazebo/local_setup.bash"

Cannot replicate in macOS:

% ls ./install/ardupilot_gazebo/share/ardupilot_gazebo
cmake			local_setup.sh		package.sh
config			local_setup.zsh		package.xml
environment		models			package.zsh
hook			package.bash		worlds
local_setup.bash	package.dsv
local_setup.dsv		package.ps1
% gz sim --version
Gazebo Sim, version 8.0.0
Copyright (C) 2018 Open Source Robotics Foundation.
Released under the Apache 2.0 License.

Edit - this is not expected to work - ros2_gz.repos is pulling in the ros2 branch - which has not been updated, This change is targeting main. We'll forward port to ros2 once this is merged.

  ardupilot_gazebo:
    type: git
    url: https://github.com/ArduPilot/ardupilot_gazebo.git
    version: ros2

[srmainwaring]

@Ryanf55 - there may be issues with the Harmonic dependencies and packaging on Ubuntu, can we deal with these in a follow up as I don't think they are driven by this change, which does not alter the default behaviour in any case.

The main check for this plugin is the standalone ArduPilot SITL / Gazebo iris quadcopter test, which does not depend on ROS at all. If that is working then I think the other issues should be followed up in the respective repos.

[Ryanf55]

Also, when trying to build this with colcon in a fresh ros2 workspace, I get the following after building everything in ros2_gz.repos

ryan@B650-970:~/Dev/tmp_ws$ . install/setup.bash
not found: "/home/ryan/Dev/tmp_ws/install/ardupilot_gazebo/share/ardupilot_gazebo/local_setup.bash"

Cannot replicate in macOS:

% ls ./install/ardupilot_gazebo/share/ardupilot_gazebo
cmake			local_setup.sh		package.sh
config			local_setup.zsh		package.xml
environment		models			package.zsh
hook			package.bash		worlds
local_setup.bash	package.dsv
local_setup.dsv		package.ps1
% gz sim --version
Gazebo Sim, version 8.0.0
Copyright (C) 2018 Open Source Robotics Foundation.
Released under the Apache 2.0 License.

Edit - this is not expected to work - ros2_gz.repos is pulling in the ros2 branch - which has not been updated, This change is targeting main. We'll forward port to ros2 once this is merged.

  ardupilot_gazebo:
    type: git
    url: https://github.com/ArduPilot/ardupilot_gazebo.git
    version: ros2

Yea, that was after checking out this PR branch in ardupilot_gazebo, leaving everything else the same.

[srmainwaring]

Thanks for the review @Ryanf55. There are a few follow up changes to AP repos to fully support Harmonic and some upstream:

• Support Gazebo Harmonic ros/sdformat_urdf#23
• Tools: support Gazebo Harmonic and Garden ardupilot_gz#42
• Gazebo: remove unnecessary dependency on gz-sim SITL_Models#110