ros2 humble with gazebo harmonic, any binarys, that not depend on other gazebo versions

[LaneaLucy]

im developing with ros2 humble and gazebo harmonic. i would like to play a little bit with rmf and see, what i can do with it. but all binarys i find depend on other gazebo versions, which break my other projects. so what would be the best way? make a issue to ask for humble with harmonic support, for example, depend not on only one version, or maybe build from source, but would this even work?

thx

[Yadunund]

You can build all of main from source with ROS 2 Humble and run sims with Harmonic also built from source on Ubuntu 22.04.

[LaneaLucy]

What about gz-harmonic from apt, not build from source?

[Yadunund]

Looks like harmonic binaries are now available for Ubuntu 22.04 so that should work https://gazebosim.org/docs/harmonic/install_ubuntu/#binary-installation-on-ubuntu

[LaneaLucy]

I already have harmonic installed from apt for some time. But what is with rmf? Does it need any headers from harmonic or just build main and run it as long as harmonic is installed?

[LaneaLucy]

@Yadunund i tried to build rmf today. i used https://gazebosim.org/docs/jetty/ros_installation/#gazebo-harmonic-with-ros-2-humble-iron-or-rolling-use-with-caution gazebo packages, humble-release branch of rmf and am stuck at rosdep / colcon build step.
the output of rosdep:

ERROR: the following rosdeps failed to install
  apt: command [sudo -H apt-get install ros-humble-gazebo-dev] failed
  apt: command [sudo -H apt-get install ros-humble-gazebo-ros] failed
  apt: command [sudo -H apt-get install ros-humble-gazebo-plugins] failed
  apt: command [sudo -H apt-get install ros-humble-ros-ign-bridge] failed
  apt: Failed to detect successful installation of [ros-humble-gazebo-dev]
  apt: Failed to detect successful installation of [ros-humble-gazebo-ros]
  apt: Failed to detect successful installation of [ros-humble-gazebo-plugins]
  apt: Failed to detect successful installation of [ros-humble-ros-ign-bridge]

the output of colcon build:

--- stderr: rmf_robot_sim_gz_classic_plugins                                                                                                                        
CMake Error at CMakeLists.txt:22 (find_package):
  By not providing "Findgazebo_ros.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "gazebo_ros", but CMake did not find one.

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

    gazebo_rosConfig.cmake
    gazebo_ros-config.cmake

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


---
Failed   <<< rmf_robot_sim_gz_classic_plugins [58.6s, exited with code 1]

so something is definitely still missing.
do you have any ideas?
i would really want to use the gazebo binary packages, but i cant use fortress, because of some other software needs harmonic or garden...
so any ideas?

[luca-della-vedova]

Hi @LaneaLucy

I think the root of the issue is that Fortress could be co-installed with gz classic while Harmonic cannot, if you try to compile the humble branches these will include both gz and gz classic plugins so that won't quite work.

Now this is really not supported but if you are installing harmonic I would actually recommend to try build Open-RMF from main, that will make sure that you don't try to build any sort of gz classic plugins, as well as run on Harmonic by default.
The main breakage from Humble -> Jazzy was just dropping gz classic and moving to Harmonic, the rest of the libraries should be still OK.

[LaneaLucy]

Could I also use the jazzy release branch then too?

[luca-della-vedova]

Yep!