Add support for Harmonic/Humble pairing (gazebosim#462)

* Add harmonic CI (gazebosim#447) * Add harmonic CI Signed-off-by: Michael Carroll <[email protected]> * Include garden options Signed-off-by: Michael Carroll <[email protected]> * Add harmonic stanza Signed-off-by: Michael Carroll <[email protected]> * Additional message headers Signed-off-by: Michael Carroll <[email protected]> --------- Signed-off-by: Michael Carroll <[email protected]> * Use stable osrf repo for Garden and stable+prerelease for Harmonic (gazebosim#448) Harmonic is now in the prerelease repository Signed-off-by: Jose Luis Rivero <[email protected]> * Add additional cmake/package.xml changes * Update headers * Update namespaces * Add ci for harmonic/humble * Update readme --------- Signed-off-by: Michael Carroll <[email protected]> Signed-off-by: Jose Luis Rivero <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Co-authored-by: Jose Luis Rivero <[email protected]> Signed-off-by: Ayush1285 <[email protected]>
Ayush1285 · Nov 17, 2023 · 70d1579 · 70d1579
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diff --git a/.github/workflows/build-and-test.sh b/.github/workflows/build-and-test.sh
@@ -10,14 +10,19 @@ export ROS_PYTHON_VERSION=3
 apt update -qq
 apt install -qq -y lsb-release wget curl build-essential
 
-# Garden only has nightlies for now
 if [ "$GZ_VERSION" == "garden" ]; then
   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 -
 
   GZ_DEPS="libgz-sim7-dev"
 
+  ROSDEP_ARGS="--skip-keys='sdformat-urdf'"
+elif [ "$GZ_VERSION" == "harmonic" ]; then
+  echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
+  wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
+
+  GZ_DEPS="libgz-sim8-dev"
+
   ROSDEP_ARGS="--skip-keys='sdformat-urdf'"
 fi
 

diff --git a/.github/workflows/ros2-ci.yml b/.github/workflows/ros2-ci.yml
@@ -16,12 +16,18 @@ jobs:
           - docker-image: "ubuntu:22.04"
             gz-version: "garden"
             ros-distro: "humble"
+          - docker-image: "ubuntu:22.04"
+            gz-version: "harmonic"
+            ros-distro: "humble"
           - docker-image: "ubuntu:22.04"
             gz-version: "fortress"
             ros-distro: "rolling"
           - docker-image: "ubuntu:22.04"
             gz-version: "garden"
             ros-distro: "rolling"
+          - docker-image: "ubuntu:22.04"
+            gz-version: "harmonic"
+            ros-distro: "rolling"
     container:
       image: ${{ matrix.docker-image }}
     steps:

diff --git a/README.md b/README.md
@@ -7,10 +7,14 @@ Foxy | Edifice | [foxy](https://github.com/gazebosim/ros_gz/tree/foxy) | only fr
 Galactic | Edifice | [galactic](https://github.com/gazebosim/ros_gz/tree/galactic) | https://packages.ros.org
 Galactic | Fortress | [galactic](https://github.com/gazebosim/ros_gz/tree/galactic) | only from source
 Humble | Fortress | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | https://packages.ros.org
-Humble | Garden | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | only from source
+Humble | Garden | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | [gazebo packages](https://gazebosim.org/docs/latest/ros_installation#gazebo-garden-with-ros-2-humble-iron-or-rolling-use-with-caution-)[^1]
+Humble | Harmonic | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | only from source
 Rolling | Edifice | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source
 Rolling | Fortress | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | https://packages.ros.org
 Rolling | Garden | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source
+Rolling | Harmonic | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source
+
+[^1]: Binaries for these pairings are provided from a the packages.osrfoundation.org repository. Refer to https://gazebosim.org/docs/latest/ros_installation for installation instructions.
 
 For information on ROS 2 and Gazebo compatibility, refer to the [melodic branch README](https://github.com/gazebosim/ros_gz/tree/melodic)
 

diff --git a/ros_gz_bridge/CMakeLists.txt b/ros_gz_bridge/CMakeLists.txt
@@ -41,6 +41,15 @@ elseif("$ENV{GZ_VERSION}" STREQUAL "garden")
   set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})
 
   message(STATUS "Compiling against Gazebo Garden")
+elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+  find_package(gz-transport13 REQUIRED)
+  find_package(gz-msgs10 REQUIRED)
+
+  set(GZ_TARGET_PREFIX gz)
+  set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
+  set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Gazebo Harmonic")
 # Default to Fortress
 else()
   find_package(ignition-transport11 REQUIRED)

diff --git a/ros_gz_bridge/include/ros_gz_bridge/convert/actuator_msgs.hpp b/ros_gz_bridge/include/ros_gz_bridge/convert/actuator_msgs.hpp
@@ -16,7 +16,7 @@
 #define ROS_GZ_BRIDGE__CONVERT__ACTUATOR_MSGS_HPP_
 
 // Gazebo Msgs
-#include <ignition/msgs/actuators.pb.h>
+#include <gz/msgs/actuators.pb.h>
 
 // ROS 2 messages
 #include <actuator_msgs/msg/actuators.hpp>
@@ -30,12 +30,12 @@ template<>
 void
 convert_ros_to_gz(
   const actuator_msgs::msg::Actuators & ros_msg,
-  ignition::msgs::Actuators & gz_msg);
+  gz::msgs::Actuators & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::Actuators & gz_msg,
+  const gz::msgs::Actuators & gz_msg,
   actuator_msgs::msg::Actuators & ros_msg);
 
 }  // namespace ros_gz_bridge

diff --git a/ros_gz_bridge/include/ros_gz_bridge/convert/builtin_interfaces.hpp b/ros_gz_bridge/include/ros_gz_bridge/convert/builtin_interfaces.hpp
@@ -15,7 +15,7 @@
 #ifndef ROS_GZ_BRIDGE__CONVERT__BUILTIN_INTERFACES_HPP_
 #define ROS_GZ_BRIDGE__CONVERT__BUILTIN_INTERFACES_HPP_
 
-#include <ignition/msgs/time.pb.h>
+#include <gz/msgs/time.pb.h>
 
 #include <builtin_interfaces/msg/time.hpp>
 
@@ -28,12 +28,12 @@ template<>
 void
 convert_ros_to_gz(
   const builtin_interfaces::msg::Time & ros_msg,
-  ignition::msgs::Time & gz_msg);
+  gz::msgs::Time & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::Time & gz_msg,
+  const gz::msgs::Time & gz_msg,
   builtin_interfaces::msg::Time & ros_msg);
 
 }  // namespace ros_gz_bridge

diff --git a/ros_gz_bridge/include/ros_gz_bridge/convert/geometry_msgs.hpp b/ros_gz_bridge/include/ros_gz_bridge/convert/geometry_msgs.hpp
@@ -16,14 +16,14 @@
 #define ROS_GZ_BRIDGE__CONVERT__GEOMETRY_MSGS_HPP_
 
 // Gazebo Msgs
-#include <ignition/msgs/quaternion.pb.h>
-#include <ignition/msgs/vector3d.pb.h>
-#include <ignition/msgs/pose.pb.h>
-#include <ignition/msgs/pose_with_covariance.pb.h>
-#include <ignition/msgs/pose_v.pb.h>
-#include <ignition/msgs/twist.pb.h>
-#include <ignition/msgs/twist_with_covariance.pb.h>
-#include <ignition/msgs/wrench.pb.h>
+#include <gz/msgs/quaternion.pb.h>
+#include <gz/msgs/vector3d.pb.h>
+#include <gz/msgs/pose.pb.h>
+#include <gz/msgs/pose_with_covariance.pb.h>
+#include <gz/msgs/pose_v.pb.h>
+#include <gz/msgs/twist.pb.h>
+#include <gz/msgs/twist_with_covariance.pb.h>
+#include <gz/msgs/wrench.pb.h>
 
 // ROS 2 messages
 #include <geometry_msgs/msg/point.hpp>
@@ -48,156 +48,156 @@ template<>
 void
 convert_ros_to_gz(
   const geometry_msgs::msg::Quaternion & ros_msg,
-  ignition::msgs::Quaternion & gz_msg);
+  gz::msgs::Quaternion & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::Quaternion & gz_msg,
+  const gz::msgs::Quaternion & gz_msg,
   geometry_msgs::msg::Quaternion & ros_msg);
 
 template<>
 void
 convert_ros_to_gz(
   const geometry_msgs::msg::Vector3 & ros_msg,
-  ignition::msgs::Vector3d & gz_msg);
+  gz::msgs::Vector3d & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::Vector3d & gz_msg,
+  const gz::msgs::Vector3d & gz_msg,
   geometry_msgs::msg::Vector3 & ros_msg);
 
 template<>
 void
 convert_ros_to_gz(
   const geometry_msgs::msg::Point & ros_msg,
-  ignition::msgs::Vector3d & gz_msg);
+  gz::msgs::Vector3d & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::Vector3d & gz_msg,
+  const gz::msgs::Vector3d & gz_msg,
   geometry_msgs::msg::Point & ros_msg);
 
 template<>
 void
 convert_ros_to_gz(
   const geometry_msgs::msg::Pose & ros_msg,
-  ignition::msgs::Pose & gz_msg);
+  gz::msgs::Pose & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::Pose & gz_msg,
+  const gz::msgs::Pose & gz_msg,
   geometry_msgs::msg::Pose & ros_msg);
 
 template<>
 void
 convert_ros_to_gz(
   const geometry_msgs::msg::PoseArray & ros_msg,
-  ignition::msgs::Pose_V & gz_msg);
+  gz::msgs::Pose_V & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::Pose_V & gz_msg,
+  const gz::msgs::Pose_V & gz_msg,
   geometry_msgs::msg::PoseArray & ros_msg);
 
 template<>
 void
 convert_ros_to_gz(
   const geometry_msgs::msg::PoseWithCovariance & ros_msg,
-  ignition::msgs::PoseWithCovariance & gz_msg);
+  gz::msgs::PoseWithCovariance & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::PoseWithCovariance & gz_msg,
+  const gz::msgs::PoseWithCovariance & gz_msg,
   geometry_msgs::msg::PoseWithCovariance & ros_msg);
 
 template<>
 void
 convert_ros_to_gz(
   const geometry_msgs::msg::PoseStamped & ros_msg,
-  ignition::msgs::Pose & gz_msg);
+  gz::msgs::Pose & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::Pose & gz_msg,
+  const gz::msgs::Pose & gz_msg,
   geometry_msgs::msg::PoseStamped & ros_msg);
 
 template<>
 void
 convert_ros_to_gz(
   const geometry_msgs::msg::Transform & ros_msg,
-  ignition::msgs::Pose & gz_msg);
+  gz::msgs::Pose & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::Pose & gz_msg,
+  const gz::msgs::Pose & gz_msg,
   geometry_msgs::msg::Transform & ros_msg);
 
 template<>
 void
 convert_ros_to_gz(
   const geometry_msgs::msg::TransformStamped & ros_msg,
-  ignition::msgs::Pose & gz_msg);
+  gz::msgs::Pose & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::Pose & gz_msg,
+  const gz::msgs::Pose & gz_msg,
   geometry_msgs::msg::TransformStamped & ros_msg);
 
 template<>
 void
 convert_ros_to_gz(
   const geometry_msgs::msg::Twist & ros_msg,
-  ignition::msgs::Twist & gz_msg);
+  gz::msgs::Twist & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::Twist & gz_msg,
+  const gz::msgs::Twist & gz_msg,
   geometry_msgs::msg::Twist & ros_msg);
 
 template<>
 void
 convert_ros_to_gz(
   const geometry_msgs::msg::TwistWithCovariance & ros_msg,
-  ignition::msgs::TwistWithCovariance & gz_msg);
+  gz::msgs::TwistWithCovariance & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::TwistWithCovariance & gz_msg,
+  const gz::msgs::TwistWithCovariance & gz_msg,
   geometry_msgs::msg::TwistWithCovariance & ros_msg);
 
 template<>
 void
 convert_ros_to_gz(
   const geometry_msgs::msg::Wrench & ros_msg,
-  ignition::msgs::Wrench & gz_msg);
+  gz::msgs::Wrench & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::Wrench & gz_msg,
+  const gz::msgs::Wrench & gz_msg,
   geometry_msgs::msg::Wrench & ros_msg);
 
 template<>
 void
 convert_ros_to_gz(
   const geometry_msgs::msg::WrenchStamped & ros_msg,
-  ignition::msgs::Wrench & gz_msg);
+  gz::msgs::Wrench & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::Wrench & gz_msg,
+  const gz::msgs::Wrench & gz_msg,
   geometry_msgs::msg::WrenchStamped & ros_msg);
 
 }  // namespace ros_gz_bridge

diff --git a/ros_gz_bridge/include/ros_gz_bridge/convert/nav_msgs.hpp b/ros_gz_bridge/include/ros_gz_bridge/convert/nav_msgs.hpp
@@ -16,8 +16,8 @@
 #define ROS_GZ_BRIDGE__CONVERT__NAV_MSGS_HPP_
 
 // Gazebo Msgs
-#include <ignition/msgs/odometry.pb.h>
-#include <ignition/msgs/odometry_with_covariance.pb.h>
+#include <gz/msgs/odometry.pb.h>
+#include <gz/msgs/odometry_with_covariance.pb.h>
 
 // ROS 2 messages
 #include <nav_msgs/msg/odometry.hpp>
@@ -31,24 +31,24 @@ template<>
 void
 convert_ros_to_gz(
   const nav_msgs::msg::Odometry & ros_msg,
-  ignition::msgs::Odometry & gz_msg);
+  gz::msgs::Odometry & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::Odometry & gz_msg,
+  const gz::msgs::Odometry & gz_msg,
   nav_msgs::msg::Odometry & ros_msg);
 
 template<>
 void
 convert_ros_to_gz(
   const nav_msgs::msg::Odometry & ros_msg,
-  ignition::msgs::OdometryWithCovariance & gz_msg);
+  gz::msgs::OdometryWithCovariance & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::OdometryWithCovariance & gz_msg,
+  const gz::msgs::OdometryWithCovariance & gz_msg,
   nav_msgs::msg::Odometry & ros_msg);
 
 }  // namespace ros_gz_bridge

diff --git a/ros_gz_bridge/include/ros_gz_bridge/convert/rcl_interfaces.hpp b/ros_gz_bridge/include/ros_gz_bridge/convert/rcl_interfaces.hpp
@@ -16,7 +16,7 @@
 #define ROS_GZ_BRIDGE__CONVERT__RCL_INTERFACES_HPP_
 
 // Ignition messages
-#include <ignition/msgs/any.pb.h>
+#include <gz/msgs/any.pb.h>
 
 // ROS 2 messages
 #include <rcl_interfaces/msg/parameter.hpp>
@@ -32,12 +32,12 @@ template<>
 void
 convert_ros_to_gz(
   const rcl_interfaces::msg::ParameterValue & ros_msg,
-  ignition::msgs::Any & ign_msg);
+  gz::msgs::Any & ign_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::Any & ign_msg,
+  const gz::msgs::Any & ign_msg,
   rcl_interfaces::msg::ParameterValue & ros_msg);
 
 }  // namespace ros_gz_bridge