Add support for both Gazebo Harmonic (gz-sim8) and Gazebo Ionic (gz-sim9) #208
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traversaro
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A bunch of tests are passing fine on macos in I can try at some point to run them locally on my mac mini. |
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The error message (at least for some tests) is: Note that all the newlines are not an error, it seems that somehow gz-rendering is trying to load the plugin
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In ogre-next 2.3.3 indeed the file |
These 3D graphics issues will kill me someday 😭 |
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The problematic call seems https://github.com/gazebosim/gz-rendering/blob/gz-rendering9_9.0.0/ogre2/src/Ogre2RenderEngine.cc#L685, where for some reason |
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I think I was barking at the wrong tree. Even by loading is printed, probably because the hardcoded plugin path in code is malformed or not working somehow, but then the engine is actually loaded correctly, probably thanks to the |
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My guess is that there is some race condition between the rendering and sensor systems, this is the bt for the failing lasertest: |
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Almost all tests that crash crash with final message: so I guess that there is some problem in trying to stop the sensors if the "Rendering Thread initialized" state of the sensors system was not reached. |
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The failure in Ionic/macOS may not be immediate to fix. As most users are on Linux, I think we can disable the tests on macOS for now and track fixing the actual tests in a separate issue. |
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I think this is ready for review, we can track future work in |
xela-95
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Oct 4, 2024
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Thanks a lot @traversaro ! Amazing work both on CMake and pixi!
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Fix #209 .
Requires #214 to be merged before (and eventually rebased).
The
defaultpixi environment still uses Harmonic/gz-sim8, while theionicenvironment usedIonic/gz-sim9. If both gz-sim8 and gz-sim9 are available in the system, at the moment CMake prefers gz-sim8, unless the users does not explicitly select the 9 by setting theGZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSIONto 9 during CMake configuration.