Use Gazebo ROS vendor packages (#277)

Signed-off-by: Addisu Z. Taddese <[email protected]>

.github/workflows/ci-rolling.yaml

@@ -13,26 +13,12 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - docker-image: "ubuntu:22.04"
-            gz-version: "fortress"
-            ros-distro: "rolling"
-            ros-repo-packages: ""
-          - docker-image: "ubuntu:22.04"
-            gz-version: "garden"
-            ros-distro: "rolling"
-            ros-repo-packages: ""
-          - docker-image: "ubuntu:22.04"
-            gz-version: "fortress"
-            ros-distro: "rolling"
-            ros-repo-packages: "-testing"
-          - docker-image: "ubuntu:22.04"
-            gz-version: "garden"
+          - docker-image: "ubuntu:24.04"
             ros-distro: "rolling"
             ros-repo-packages: "-testing"
 
     env:
       DOCKER_IMAGE: ${{ matrix.docker-image }}
-      GZ_VERSION: ${{ matrix.gz-version }}
       ROS_DISTRO: ${{ matrix.ros-distro }}
       ROS_REPO_PACKAGES: ${{ matrix.ros-repo-packages }}
     container:
@@ -48,40 +34,22 @@ jobs:
         apt install -qq -y lsb-release wget curl gnupg2 git
         cd ..
         mkdir -p /home/ros2_ws/src
-        if [ "$ROS_DISTRO" == "rolling" ]; then
-          git clone https://github.com/gazebosim/ros_gz/
-        fi
         cp -r gz_ros2_control /home/ros2_ws/src/
         curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
         echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2$ROS_REPO_PACKAGES/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
-        wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-        if [ "$GZ_VERSION" == "garden" ]; then
-          export GZ_DEPS="libgz-sim7-dev libgz-plugin2-dev gz-sim7-cli"
-        fi
 
         apt-get update && apt-get upgrade -q -y
         apt-get update && apt-get install -qq -y \
           dirmngr \
           python3-colcon-ros \
           python3-colcon-common-extensions \
           python3-rosdep \
-          build-essential \
-          ${GZ_DEPS}
+          build-essential
 
-        if [ "$GZ_VERSION" == "garden" ]; then
-          export ROSDEP_ARGS="--skip-keys ros_gz_sim --skip-keys gz-plugin2 --skip-keys gz-sim7 --skip-keys gz-transport12 --skip-keys gz-math7 --skip-keys gz-msgs9"
-        fi
         cd /home/ros2_ws/src/
-        if [ "$ROS_DISTRO" == "rolling" ]; then
-          git clone https://github.com/gazebosim/ros_gz/
-        fi
-        if [ "$ROS_DISTRO" == "iron" ]; then
-          git clone https://github.com/gazebosim/ros_gz/ -b iron
-        fi
         rosdep init
         rosdep update
-        rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} --ignore-src ${ROSDEP_ARGS}
+        rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} --ignore-src
     - name: Build project
       id: build
       run: |

Dockerfile/Dockerfile

@@ -1,7 +1,6 @@
-FROM ubuntu:22.04
+FROM ubuntu:24.04
 
 ENV DEBIAN_FRONTEND noninteractive
-ENV GZ_VERSION fortress
 ENV ROS_DISTRO rolling
 
 # Make sure everything is up to date before building from source

README.md

@@ -18,12 +18,10 @@ Galactic | Fortress | [galactic](https://github.com/ros-controls/gz_ros2_control
 Humble | Fortress | [humble](https://github.com/ros-controls/gz_ros2_control/tree/humble) | https://packages.ros.org
 Iron | Edifice | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | only from source
 Iron | Fortress | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | https://packages.ros.org
-Iron | Garden (not released) | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | only from source
-Iron | Harmonic (not released) | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | only from source
-Rolling | Edifice | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
-Rolling | Fortress | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
-Rolling | Garden (not released) | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
-Rolling | Harmonic (not released) | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
+Iron | Garden | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | only from source
+Iron | Harmonic | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | only from source
+Jazzy | Harmonic | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
+Rolling | Harmonic | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
 
 ## Build status
 
@@ -37,15 +35,11 @@ See the [documentation file](doc/index.rst) or [control.ros.org](https://control
 
 # Compile from source
 
-If you want compile this from source, you should choose the Gazebo version. The default one is `garden`:
+Note that `gz_ros2_control` depends on the version of Gazebo that is
+provided by the Gazebo Vendor packages [`gz_plugin_vendor`](https://github.com/gazebo-release/gz_plugin_vendor) and [`gz_sim_vendor`](https://github.com/gazebo-release/gz_sim_vendor).
+Currently, for ROS 2 Jazzy and Rolling, the Gazebo version is Harmonic.
 
-```bash
-export GZ_VERSION=fortress
-export GZ_VERSION=garden
-export GZ_VERSION=harmonic
-```
-
-Then create a workspace, clone the repo and compile it:
+To compile `gz_ros2_control` from source, create a workspace, clone the repo and compile it:
 
 ```bash
 mkdir -p ~/gz_ros2_control_ws/src

gz_ros2_control/CMakeLists.txt

@@ -24,36 +24,11 @@ find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
 
-set(GZ_PLUGIN)
-set(GZ_SIM)
-
-if("$ENV{GZ_VERSION}" STREQUAL "garden")
-  find_package(gz-sim7 REQUIRED)
-  set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
-  message(STATUS "Compiling against Gazebo Garden")
-  find_package(gz-plugin2 REQUIRED)
-  set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
-  set(GZ_PLUGIN gz-plugin${GZ_PLUGIN_VER}::register)
-  set(GZ_SIM gz-sim${GZ_SIM_VER}::core)
-  add_definitions(-DGZ_HEADERS)
-elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
-  find_package(gz-sim8 REQUIRED)
-  set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
-  message(STATUS "Compiling against Gazebo Harmonic")
-  find_package(gz-plugin2 REQUIRED)
-  set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
-  set(GZ_PLUGIN gz-plugin${GZ_PLUGIN_VER}::register)
-  set(GZ_SIM gz-sim${GZ_SIM_VER}::core)
-  add_definitions(-DGZ_HEADERS)
-else()
-  find_package(ignition-gazebo6 REQUIRED)
-  set(GZ_SIM_VER ${ignition-gazebo6_VERSION_MAJOR})
-  message(STATUS "Compiling against Gazebo Fortress")
-  find_package(ignition-plugin1 REQUIRED)
-  set(GZ_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
-  set(GZ_PLUGIN ignition-plugin${GZ_PLUGIN_VER}::register)
-  set(GZ_SIM ignition-gazebo${GZ_SIM_VER}::core)
-endif()
+find_package(gz_sim_vendor REQUIRED)
+find_package(gz-sim REQUIRED)
+
+find_package(gz_plugin_vendor REQUIRED)
+find_package(gz-plugin REQUIRED)
 
 include_directories(include)
 
@@ -62,8 +37,8 @@ add_library(${PROJECT_NAME}-system SHARED
 )
 
 target_link_libraries(${PROJECT_NAME}-system
-  ${GZ_SIM}
-  ${GZ_PLUGIN}
+  gz-sim::gz-sim
+  gz-plugin::register
 )
 ament_target_dependencies(${PROJECT_NAME}-system
   ament_index_cpp
@@ -86,7 +61,7 @@ ament_target_dependencies(gz_hardware_plugins
   rclcpp
 )
 target_link_libraries(gz_hardware_plugins
-  ${GZ_SIM}
+  gz-sim::gz-sim
 )
 
 ## Install

gz_ros2_control/include/gz_ros2_control/gz_ros2_control_plugin.hpp

@@ -17,13 +17,8 @@
 
 #include <memory>
 
-#ifdef GZ_HEADERS
 #include <gz/sim/System.hh>
 namespace sim = gz::sim;
-#else
-#include <ignition/gazebo/System.hh>
-namespace sim = ignition::gazebo;
-#endif
 
 namespace gz_ros2_control
 {

gz_ros2_control/include/gz_ros2_control/gz_system_interface.hpp

@@ -21,13 +21,8 @@
 #include <string>
 #include <vector>
 
-#ifdef GZ_HEADERS
 #include <gz/sim/System.hh>
 namespace sim = gz::sim;
-#else
-#include <ignition/gazebo/System.hh>
-namespace sim = ignition::gazebo;
-#endif
 
 #include <hardware_interface/system_interface.hpp>
 #include <hardware_interface/types/hardware_interface_type_values.hpp>

gz_ros2_control/package.xml

@@ -11,16 +11,9 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>ament_index_cpp</depend>
-  <!-- default version to use in official ROS2 packages is GAzebo Fortress for ROS2 Rolling -->
-  <depend condition="$GZ_VERSION == ''">ignition-gazebo6</depend>
-  <depend condition="$GZ_VERSION == fortress">ignition-gazebo6</depend>
-  <depend condition="$GZ_VERSION == garden">gz-sim7</depend>
-  <depend condition="$GZ_VERSION == harmonic">gz-sim8</depend>
-
-  <depend condition="$GZ_VERSION == ''">ignition-plugin</depend>
-  <depend condition="$GZ_VERSION == fortress">ignition-plugin</depend>
-  <depend condition="$GZ_VERSION == garden">gz-plugin2</depend>
-  <depend condition="$GZ_VERSION == harmonic">gz-plugin2</depend>
+  <!-- default version to use in official ROS 2 packages is Gazebo Harmonic for ROS 2 Rolling -->
+  <depend>gz_sim_vendor</depend>
+  <depend>gz_plugin_vendor</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>yaml_cpp_vendor</depend>

gz_ros2_control/src/gz_ros2_control_plugin.cpp

@@ -22,23 +22,13 @@
 #include <utility>
 #include <vector>
 
-#ifdef GZ_HEADERS
 #include <gz/sim/components/Joint.hh>
 #include <gz/sim/components/JointType.hh>
 #include <gz/sim/components/Name.hh>
 #include <gz/sim/components/ParentEntity.hh>
 #include <gz/sim/components/World.hh>
 #include <gz/sim/Model.hh>
 #include <gz/plugin/Register.hh>
-#else
-#include <ignition/gazebo/components/Joint.hh>
-#include <ignition/gazebo/components/JointType.hh>
-#include <ignition/gazebo/components/Name.hh>
-#include <ignition/gazebo/components/ParentEntity.hh>
-#include <ignition/gazebo/components/World.hh>
-#include <ignition/gazebo/Model.hh>
-#include <ignition/plugin/Register.hh>
-#endif
 
 
 #include <controller_manager/controller_manager.hpp>
@@ -581,7 +571,6 @@ void GazeboSimROS2ControlPlugin::PostUpdate(
 }
 }  // namespace gz_ros2_control
 
-#ifdef GZ_HEADERS
 GZ_ADD_PLUGIN(
   gz_ros2_control::GazeboSimROS2ControlPlugin,
   gz::sim::System,
@@ -591,14 +580,3 @@ GZ_ADD_PLUGIN(
 GZ_ADD_PLUGIN_ALIAS(
   gz_ros2_control::GazeboSimROS2ControlPlugin,
   "ign_ros2_control::IgnitionROS2ControlPlugin")
-#else
-IGNITION_ADD_PLUGIN(
-  gz_ros2_control::GazeboSimROS2ControlPlugin,
-  ignition::gazebo::System,
-  gz_ros2_control::GazeboSimROS2ControlPlugin::ISystemConfigure,
-  gz_ros2_control::GazeboSimROS2ControlPlugin::ISystemPreUpdate,
-  gz_ros2_control::GazeboSimROS2ControlPlugin::ISystemPostUpdate)
-IGNITION_ADD_PLUGIN_ALIAS(
-  gz_ros2_control::GazeboSimROS2ControlPlugin,
-  "ign_ros2_control::IgnitionROS2ControlPlugin")
-#endif