Switch to Humble/Garden on 22.04

.github/workflows/build-and-test.sh

@@ -11,18 +11,24 @@ mkdir -p $COLCON_WS_SRC
 apt update -qq
 apt install -qq -y lsb-release wget curl build-essential
 
+# Garden only has nightlies for now
+echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
+echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list
+wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
+
 echo "deb http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list
 curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
 apt-get update -qq
 apt-get install -y git \
+                   gz-garden \
                    python3-colcon-common-extensions \
                    python3-rosdep \
                    python3-vcstool \
                    wget
 
 cd $COLCON_WS_SRC
 cp -r $GITHUB_WORKSPACE $COLCON_WS_SRC
-wget https://raw.githubusercontent.com/osrf/buoy_entrypoint/main/buoy_all.yaml
+wget https://raw.githubusercontent.com/osrf/buoy_entrypoint/chapulina/humble_garden/buoy_all.yaml
 vcs import --skip-existing < buoy_all.yaml
 
 rm -rf buoy_examples
@@ -31,9 +37,16 @@ rosdep init
 rosdep update
 rosdep install --from-paths ./ -i -y -r --rosdistro $ROS_DISTRO
 
+# For rosbag2 test artifacts
+apt install -y ros-humble-ros2cli ros-humble-rosbag2 ros-humble-rosbag2-transport
+
+# for cyclonedds rmw implementation
+apt install -y ros-humble-rmw-cyclonedds-cpp
+
 # Build everything up to buoy_gazebo
 source /opt/ros/$ROS_DISTRO/setup.bash
 cd $COLCON_WS
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 colcon build --packages-up-to buoy_tests --event-handlers console_direct+
 source $COLCON_WS/install/setup.bash
 

.github/workflows/ci.yml

@@ -5,19 +5,27 @@ on: [push, pull_request]
 jobs:
   tests:
     name: Build and test
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       matrix:
         include:
-          - gz-version: "fortress"
-            ros-distro: "galactic"
+          - gz-version: "garden"
+            ros-distro: "humble"
     container:
-      image: ubuntu:20.04
+      image: ubuntu:22.04
     steps:
       - name: Checkout
         uses: actions/checkout@v2
       - name: Build and Test
         run: .github/workflows/build-and-test.sh
         env:
-          IGNITION_VERSION: ${{ matrix.gz-version  }}
+          GZ_VERSION: ${{ matrix.gz-version  }}
           ROS_DISTRO: ${{ matrix.ros-distro }}
+      - name: Archive rosbags
+        if: success() || failure()
+        uses: actions/upload-artifact@v3
+        with:
+          name: rosbags
+          path: ~/ws/build/buoy_tests/rosbag*
+          if-no-files-found: ignore
+          retention-days: 2

README.md

@@ -14,4 +14,4 @@ and enable the profiler with `colcon`:
 colcon build --cmake-args ' -DBUILD_TESTING=false' ' -DENABLE_PROFILER=1'
 ```
 
-See more on [this tutorial](https://ignitionrobotics.org/api/common/4.4/profiler.html).
+See more on [this tutorial](https://gazebosim.org/api/common/4.4/profiler.html).

buoy_description/CMakeLists.txt

@@ -7,7 +7,7 @@ set(BUOY_BASE_MODEL_PATH "/models/mbari_wec_base")
 file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}${BUOY_BASE_MODEL_PATH})
 add_custom_command(
   OUTPUT model_gen_cmd
-  COMMAND empy3
+  COMMAND python3 -m em
     ${CMAKE_CURRENT_SOURCE_DIR}${BUOY_BASE_MODEL_PATH}/model.sdf.em >
     ${CMAKE_CURRENT_BINARY_DIR}${BUOY_BASE_MODEL_PATH}/model.sdf
 )

buoy_description/hooks/buoy_description.dsv.in

@@ -1,2 +1,2 @@
-prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share
-prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share/buoy_description/models
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/buoy_description/models

buoy_description/models/mbari_wec_base/model.sdf.em

@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 @{
-from ignition.math import Cylinderd
-from ignition.math import MassMatrix3d
-from ignition.math import Material
+from gz.math7 import Cylinderd
+from gz.math7 import MassMatrix3d
+from gz.math7 import Material
 import math
 
 ##############

buoy_description/models/mbari_wec_ros/model.sdf

@@ -37,22 +37,22 @@
     </plugin>
 
     <plugin
-      filename="ignition-gazebo-joint-state-publisher-system"
-      name="ignition::gazebo::systems::JointStatePublisher">
+      filename="gz-sim-joint-state-publisher-system"
+      name="gz::sim::systems::JointStatePublisher">
     </plugin>
 
     <plugin
-      filename="ignition-gazebo-pose-publisher-system"
-      name="ignition::gazebo::systems::PosePublisher">
+      filename="gz-sim-pose-publisher-system"
+      name="gz::sim::systems::PosePublisher">
       <publish_link_pose>true</publish_link_pose>
       <use_pose_vector_msg>true</use_pose_vector_msg>
       <static_publisher>true</static_publisher>
       <static_update_frequency>1</static_update_frequency>
     </plugin>
 
     <plugin
-      filename="ignition-gazebo-odometry-publisher-system"
-      name="ignition::gazebo::systems::OdometryPublisher">
+      filename="gz-sim-odometry-publisher-system"
+      name="gz::sim::systems::OdometryPublisher">
       <dimensions>3</dimensions>
       <odom_frame>MBARI_WEC_ROS/odom</odom_frame>
       <robot_base_frame>MBARI_WEC_ROS</robot_base_frame>

buoy_description/package.xml

@@ -11,7 +11,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>python3-empy</depend>
-  <depend>python3-ignition-math6</depend>
+  <depend>python3-gz-math7</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

buoy_gazebo/CMakeLists.txt

@@ -6,24 +6,24 @@ project(buoy_gazebo)
 # endif()
 
 # Option to enable profiler
-option(ENABLE_PROFILER "Enable Ignition Profiler" FALSE)
+option(ENABLE_PROFILER "Enable Gazebo Profiler" FALSE)
 
 if(ENABLE_PROFILER)
-  add_definitions("-DIGN_PROFILER_ENABLE=1")
+  add_definitions("-DGZ_PROFILER_ENABLE=1")
 else()
-  add_definitions("-DIGN_PROFILER_ENABLE=0")
+  add_definitions("-DGZ_PROFILER_ENABLE=0")
 endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(buoy_description REQUIRED)
 
-find_package(ignition-cmake2 REQUIRED)
-find_package(ignition-plugin1 REQUIRED COMPONENTS register)
-set(GZ_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
-find_package(ignition-common4 REQUIRED COMPONENTS profiler)
-set(GZ_COMMON_VER ${ignition-common4_VERSION_MAJOR})
-find_package(ignition-gazebo6 REQUIRED)
-set(GZ_SIM_VER ${ignition-gazebo6_VERSION_MAJOR})
+find_package(gz-cmake3 REQUIRED)
+find_package(gz-plugin2 REQUIRED COMPONENTS register)
+set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+find_package(gz-common5 REQUIRED COMPONENTS profiler)
+set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
+find_package(gz-sim7 REQUIRED)
+set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
 
 
 # Plugins
@@ -68,9 +68,9 @@ function(gz_add_plugin plugin_name)
   )
   target_link_libraries(${plugin_name}
     PUBLIC
-      ignition-gazebo${GZ_SIM_VER}::ignition-gazebo${GZ_SIM_VER}
-      ignition-plugin${GZ_PLUGIN_VER}::ignition-plugin${GZ_PLUGIN_VER}
-      ignition-common${GZ_COMMON_VER}::profiler
+      gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
+      gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
+      gz-common${GZ_COMMON_VER}::profiler
       ${gz_add_plugin_PUBLIC_LINK_LIBS}
     PRIVATE
       ${gz_add_plugin_PRIVATE_LINK_LIBS}

buoy_gazebo/gazebo/server.config

@@ -3,23 +3,23 @@
   <plugins>
     <plugin entity_name="*"
             entity_type="world"
-            filename="ignition-gazebo-physics-system"
-            name="ignition::gazebo::systems::Physics">
+            filename="gz-sim-physics-system"
+            name="gz::sim::systems::Physics">
     </plugin>
     <plugin entity_name="*"
             entity_type="world"
-            filename="ignition-gazebo-user-commands-system"
-            name="ignition::gazebo::systems::UserCommands">
+            filename="gz-sim-user-commands-system"
+            name="gz::sim::systems::UserCommands">
     </plugin>
     <plugin entity_name="*"
             entity_type="world"
-            filename="ignition-gazebo-scene-broadcaster-system"
-            name="ignition::gazebo::systems::SceneBroadcaster">
+            filename="gz-sim-scene-broadcaster-system"
+            name="gz::sim::systems::SceneBroadcaster">
     </plugin>
     <plugin entity_name="*"
             entity_type="world"
-      filename="ignition-gazebo-buoyancy-system"
-      name="ignition::gazebo::systems::Buoyancy">
+      filename="gz-sim-buoyancy-system"
+      name="gz::sim::systems::Buoyancy">
       <graded_buoyancy>
         <default_density>1025</default_density>
         <density_change>
@@ -30,13 +30,13 @@
     </plugin>
     <plugin entity_name="*"
             entity_type="world"
-            filename="ignition-gazebo-forcetorque-system"
-            name="ignition::gazebo::systems::ForceTorque">
+            filename="gz-sim-forcetorque-system"
+            name="gz::sim::systems::ForceTorque">
     </plugin>
     <plugin entity_name="*"
             entity_type="world"
-            filename="ignition-gazebo-imu-system"
-            name="ignition::gazebo::systems::Imu">
+            filename="gz-sim-imu-system"
+            name="gz::sim::systems::Imu">
     </plugin>
   </plugins>
 </server_config>

buoy_gazebo/hooks/buoy_gazebo.dsv.in

@@ -1,4 +1,4 @@
-prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share/@PROJECT_NAME@/worlds
-prepend-non-duplicate;IGN_GAZEBO_SYSTEM_PLUGIN_PATH;@CMAKE_INSTALL_PREFIX@/lib
-prepend-non-duplicate;IGN_GAZEBO_SERVER_CONFIG_PATH;share/@PROJECT_NAME@/gazebo/server.config
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/@PROJECT_NAME@/worlds
+prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;@CMAKE_INSTALL_PREFIX@/lib
+prepend-non-duplicate;GZ_SIM_SERVER_CONFIG_PATH;share/@PROJECT_NAME@/gazebo/server.config
 set-if-unset;MESA_GL_VERSION_OVERRIDE;3.3

buoy_gazebo/launch/debugger.launch.py

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Launch Ignition Gazebo with command line arguments."""
+"""Launch Gazebo Sim with command line arguments."""
 
 from os import environ
 
@@ -23,21 +23,21 @@
 
 
 def generate_launch_description():
-    env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH':
-           ':'.join([environ.get('IGN_GAZEBO_SYSTEM_PLUGIN_PATH', default=''),
+    env = {'GZ_SIM_SYSTEM_PLUGIN_PATH':
+           ':'.join([environ.get('GZ_SIM_SYSTEM_PLUGIN_PATH', default=''),
                      environ.get('LD_LIBRARY_PATH', default='')])}
 
     return LaunchDescription([
-        DeclareLaunchArgument('ign_args', default_value='',
-                              description='Arguments to be passed to Ignition Gazebo'),
-        # Ignition Gazebo's major version
-        DeclareLaunchArgument('ign_version', default_value='6',
-                              description="Ignition Gazebo's major version"),
+        DeclareLaunchArgument('gz_args', default_value='',
+                              description='Arguments to be passed to Gazebo'),
+        # Gazebo's major version
+        DeclareLaunchArgument('gz_version', default_value='6',
+                              description="Gazebo's major version"),
         ExecuteProcess(
-            cmd=['ruby $(which ign) gazebo -rs',
-                 LaunchConfiguration('ign_args'),
+            cmd=['ruby $(which gz) sim -rs',
+                 LaunchConfiguration('gz_args'),
                  '--force-version',
-                 LaunchConfiguration('ign_version'),
+                 LaunchConfiguration('gz_version'),
                  ],
             prefix=['xterm -e gdb -ex run --args'],
             # prefix=['xterm -e valgrind'],

buoy_gazebo/launch/electrohydraulic_pto.launch.py

@@ -23,26 +23,26 @@
 
 def generate_launch_description():
 
-    pkg_ros_ign_gazebo = get_package_share_directory('ros_ign_gazebo')
+    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
 
     gazebo = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py'),
+            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py'),
         ),
-        launch_arguments={'ign_args': '-r electrohydraulicPTO.sdf'}.items(),
+        launch_arguments={'gz_args': '-r electrohydraulicPTO.sdf'}.items(),
     )
 
     # For now, each field is published in its own topic as a double / float64
     ros_msg_type = 'std_msgs/msg/Float64'
-    gz_msg_type = 'ignition.msgs.Double'
+    gz_msg_type = 'gz.msgs.Double'
     joint_name = 'HydraulicRam'
     model_name = 'Hydraulics_Test'
 
     gz_to_ros = ros_msg_type + '[' + gz_msg_type
     ros_to_gz = ros_msg_type + ']' + gz_msg_type
 
     bridge = Node(
-        package='ros_ign_bridge',
+        package='ros_gz_bridge',
         executable='parameter_bridge',
         arguments=[
             ['/battcurr_' + joint_name + '@' + gz_to_ros],

buoy_gazebo/launch/mbari_wec.launch.py

@@ -27,7 +27,7 @@
 
 def generate_launch_description():
 
-    pkg_ros_ign_gazebo = get_package_share_directory('ros_ign_gazebo')
+    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
     pkg_buoy_gazebo = get_package_share_directory('buoy_gazebo')
     pkg_buoy_description = get_package_share_directory('buoy_description')
     model_dir = 'mbari_wec_ros'
@@ -59,9 +59,9 @@ def generate_launch_description():
 
     gazebo = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py'),
+            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py'),
         ),
-        launch_arguments={'ign_args': PathJoinSubstitution([
+        launch_arguments={'gz_args': PathJoinSubstitution([
             pkg_buoy_gazebo,
             'worlds',
             LaunchConfiguration('world_file')
@@ -72,17 +72,17 @@ def generate_launch_description():
     # Bridge to forward tf and joint states to ros2
     link_pose_gz_topic = '/model/' + model_name + '/pose'
     bridge = Node(
-        package='ros_ign_bridge',
+        package='ros_gz_bridge',
         executable='parameter_bridge',
         arguments=[
             # Clock (Gazebo -> ROS2)
-            '/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
+            '/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock',
             # Joint states (Gazebo -> ROS2)
             ['/world/', LaunchConfiguration('world_name'), '/model/', model_name, '/joint_state',
-             '@', 'sensor_msgs/msg/JointState', '[', 'ignition.msgs.Model'],
+             '@', 'sensor_msgs/msg/JointState', '[', 'gz.msgs.Model'],
             # Link poses (Gazebo -> ROS2)
-            link_pose_gz_topic + '@tf2_msgs/msg/TFMessage[ignition.msgs.Pose_V',
-            link_pose_gz_topic + '_static@tf2_msgs/msg/TFMessage[ignition.msgs.Pose_V',
+            link_pose_gz_topic + '@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V',
+            link_pose_gz_topic + '_static@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V',
         ],
         remappings=[
             (['/world/', LaunchConfiguration('world_name'), '/model/', model_name, '/joint_state'],

buoy_gazebo/launch/mbari_wec_debugger.launch.py

@@ -34,16 +34,16 @@ def generate_launch_description():
         ),
     )
 
-    bridge = Node(package='ros_ign_bridge',
+    bridge = Node(package='ros_gz_bridge',
                   executable='parameter_bridge',
-                  arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'],
+                  arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
                   output='screen')
 
     return LaunchDescription([
         DeclareLaunchArgument(
-          'ign_args',
+          'gz_args',
           default_value=[os.path.join(pkg_buoy_gazebo, 'worlds', 'mbari_wec.sdf'), ''],
-          description='Ignition Gazebo arguments'),
+          description='Gazebo arguments'),
         gazebo,
         bridge
     ])