ROS 2 Migration

[amock]

This repository needs to be migrated to ROS 2 and the latest version of Gazebo. If anyone starts working on it before I do, please leave a comment here to prevent duplicate efforts.

I suggest the migration be done in two steps:

1. Migrate to Gazebo Classic on ROS 2 Humble (this is likely the easier part).
2. Migrate the same system to the new version of Gazebo.

With this approach, the operating system can be updated during the simpler migration phase. The more complex migration can then be carried out without needing to change the operating system again. I believe this makes the overall process more manageable and efficient.

Note: Once we got familiar with the codebase again, we might be able to solve issue #2.

Edit:
Here is the checklist:

• Migrate to Gazebo Classic on ROS 2 Humble
• Migrate the same system to the new version of Gazebo.

[kjeppesen1]

Hi @amock, I'm interested in trying out rmagine with Gazebo Classic and ROS2 Humble to see if it is suitable for a project that I'm working on. Have you made any progress towards the ROS2 migration? If rmagine does end up working for my needs then I might be able to help contribute. But first I'm trying to see if I can get some simple tests working in my ROS2 environment.

[kjeppesen1]

I've opened a PR with my attempt at a ROS2 port, which is working for me on my system. Feel free to use my changes directly, or use it as inspiration in case you wanted to do things differently. #4

[amock]

Hi @kjeppesen1 ,

Hi @amock, I'm interested in trying out rmagine with Gazebo Classic and ROS2 Humble to see if it is suitable for a project that I'm working on. Have you made any progress towards the ROS2 migration? If rmagine does end up working for my needs then I might be able to help contribute. But first I'm trying to see if I can get some simple tests working in my ROS2 environment.

No progress yet. I am right now busy with other things. But at least the ros-agnostic core rmagine is compiling with newer ROS versions.

I've opened a PR with my attempt at a ROS2 port, which is working for me on my system. Feel free to use my changes directly, or use it as inspiration in case you wanted to do things differently. #4

So at least this point is now not on my TODO list anymore. Thanks a lot! I will be reviewing the PR in some days. After that I guess it will be a bit easier to migrate this to the new version of Gazebo.

[amock]

I merged your additions into "ros2-dev". I’ll probably add a few things once I get it running on my computer. After that, I’ll create another PR and let you know. Then, you can test it on your system (Ubuntu 20 & ROS 2—somewhere between Humble and Iron).

[amock]

The ros2 branch now contains a stable version for a more or less standard ROS 2 setup using the latest Gazebo Classic:

• Ubuntu 22
• ROS 2 Humble installed from binaries (apt)
• Embree 4.3.0
• OptiX:

[gzserver-1] [RMagine - CudaContext] CUDA Driver Version / Runtime Version: 12.2.0 / 12.2.0
[gzserver-1] [RMagine - CudaContext] Construct context on device 0 - NVIDIA GeForce RTX 2070 SUPER 
[gzserver-1] [RMagine - OptixContext] Init Optix (7.3.0). Required GPU driver >= 465.84

I tested example.launch.xml and rotating_scanner.launch.xml. I also added cubes and the "Ambulance" model from Gazebo.

@kjeppesen1, I had to change a few major things that made me wonder how it was working on your system:

• Environment hooks to ensure Gazebo finds the plugins
• Rotating scanner URDF: joint state publisher parameters

Could you test whether the ros2 branch also works with your setup?

[kjeppesen1]

@amock yes I can confirm that the ros2 branch works with my setup as well! I just ran both of the sample launches without issues. Nice work with the environment hooks. I must have manually set those on my system and forgot to set those properly.

[sotomotocross]

So the ros2 branch works with ROS2 but not with the new version of Gazebo?
In order to complete the migration, does this have to happen?
Because when I am trying to colcon build in a workspace containing 'rmagine' and 'rmagine_gazebo_plugins' I get this error:
`--- stderr: rmagine_gazebo_plugins
CMake Error at CMakeLists.txt:17 (find_package):
By not providing "Findgazebo.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "gazebo", but
CMake did not find one.

Could not find a package configuration file provided by "gazebo" with any
of the following names:

gazeboConfig.cmake
gazebo-config.cmake

Add the installation prefix of "gazebo" to CMAKE_PREFIX_PATH or set
"gazebo_DIR" to a directory containing one of the above files. If "gazebo"
provides a separate development package or SDK, be sure it has been
installed.

---

Failed <<< rmagine_gazebo_plugins [0.91s, exited with code 1]
`
I suppose that we have to migrate this part of the 'rmagine_gazebo_plugins' as well?

[amock]

The answer to your question may be the checklist of the very first message of this issue. I sum it up: ROS 1 + old Gazebo was migrated to ROS 2 (humble) + old Gazebo. Now we have a running ROS 2 version; only the Gazebo needs to be replaced by the new one.

Just to double-check: Is the current state working for you when you have ROS 2 humble + old Gazebo installed?

[sotomotocross]

It doesn't even compile because I am only using the new Gazebo.
I will attempt to migrate this version and we will be in touch.
Do you have any points to be careful of for this?