Migration to Humble

[Yadunund]

Fix #76

🛑 Package renaming 🛑

• rmf_building_sim_gazebo_plugins -> rmf_building_sim_gz_classic_plugins
• rmf_building_sim_ignition_plugins -> rmf_building_sim_gz_plugins
• rmf_robot_sim_gazebo_plugins -> rmf_robot_sim_gz_classic_plugins
• rmf_robot_sim_ignition_plugins -> rmf_robot_sim_gz_plugins

This PR also switches to unique node names required for gazebo_ros nodes in humble. It effectively makes main compatible with humble and breaks behavior with galactic builds. A separate galactic-devel branch has been created which will support galactic builds.

humble_plugins.mp4

This should be merged in after all other changes that are compatible with galactic are merged into main and then subsequently merging main into galactic-devel

Merge checklist:

• Fixes #75 by using ignition ecm instead of traversing sdformat parents #80
• Fixes potential segfault #79
• merge main into galactic-devel
• Update vcs file in ci to open-rm/rmf/main after this is merged in Update docker image to humble rmf#165

Caveat

The changes here should still compile with galactic but the behaviour might be different since the node name string passed in will be processed as the namespace as seen here. I haven't tested the runtime behavior on galactic but I'd expect the node to now be namespaced and hence also the topics published and subscribed to. If that is the case, then this would break demo behavior and we should consider creating a galactic tag of this repo before merging into main.

Signed-off-by: Yadunund [email protected]

[youliangtan]

Thanks for the fix. I was facing this issue when running with humble too.

I just tested this on galactic. however, this is giving me an error printout of:

[Processing: rmf_building_sim_gazebo_plugins, rmf_robot_sim_gazebo_plugins]                                                            
--- stderr: rmf_robot_sim_gazebo_plugins                                                                                                   
/home/youliang/openrmf_ws/src/rmf/rmf_simulation/rmf_robot_sim_gazebo_plugins/src/readonly.cpp: In member function ‘virtual void ReadonlyPlugin::Load(gazebo::physics::ModelPtr, sdf::v9::ElementPtr)’:
/home/youliang/openrmf_ws/src/rmf/rmf_simulation/rmf_robot_sim_gazebo_plugins/src/readonly.cpp:63:62: error: no matching function for call to ‘gazebo_ros::Node::Get(sdf::v9::ElementPtr&, const string&)’
   63 |   _readonly_common->init(gazebo_ros::Node::Get(sdf, node_name));
      |                                                              ^
In file included from /home/youliang/openrmf_ws/src/rmf/rmf_simulation/rmf_robot_sim_gazebo_plugins/src/readonly.cpp:21:
/opt/ros/galactic/include/gazebo_ros/node.hpp:53:20: note: candidate: ‘static gazebo_ros::Node::SharedPtr gazebo_ros::Node::Get()’
   53 |   static SharedPtr Get();
      |                    ^~~
/opt/ros/galactic/include/gazebo_ros/node.hpp:53:20: note:   candidate expects 0 arguments, 2 provided
/opt/ros/galactic/include/gazebo_ros/node.hpp:87:20: note: candidate: ‘static gazebo_ros::Node::SharedPtr gazebo_ros::Node::Get(sdf::v9::ElementPtr)’
   87 |   static SharedPtr Get(sdf::ElementPtr _sdf);
      |                    ^~~
/opt/ros/galactic/include/gazebo_ros/node.hpp:87:20: note:   candidate expects 1 argument, 2 provided
/home/youliang/openrmf_ws/src/rmf/rmf_simulation/rmf_robot_sim_gazebo_plugins/src/TeleportDispenser.cpp: In member function ‘virtual void rmf_robot_sim_gazebo_plugins::TeleportDispenserPlugin::Load(gazebo::physics::ModelPtr, sdf::v9::ElementPtr)’:
/home/youliang/openrmf_ws/src/rmf/rmf_simulation/rmf_robot_sim_gazebo_plugins/src/TeleportDispenser.cpp:201:42: error: no matching function for call to ‘gazebo_ros::Node::Get(sdf::v9::ElementPtr&, const string&)’
  201 |     gazebo_ros::Node::Get(_sdf, node_name));

From here, ros_gazebo's galactic branch consists of the overload function. Yet this isn't working.

After checking further the ros_gazebo header via cat /opt/ros/galactic/include/gazebo_ros/node.hpp i noticed that api doesnt have the function:

SharedPtr Get(
    sdf::ElementPtr _sdf,
    const std::string & _defaultNamespace);

This missing api can be validated by checking the branch new rmf docker img with galactic tag.

docker run -it ghcr.io/open-rmf/rmf_deployment_template/rmf-simulation:galactic
cat /opt/ros/galactic/include/gazebo_ros/node.hpp

In this case, I believe the apt bin package for gazebo_ros isnt up to date?

[Yadunund]

Thanks for trying this out @youliangtan! I guess the changes in galactic have not been released yet.

I suspect even when it does get released, namespacing the nodes would lead to other problems. I just checked and there is already a galactic branch for this repo. So I'm thinking if the best option we have is to first merge the latest main into galactic. And then merge this into main while acknowledging that main will no longer build with galactic.

Edit: galactic branch is for cutting releases. Have created galactic-devel to merge non-breaking changes into from main.

[Yadunund]

Dispensers now work 🎉

[luca-della-vedova]

Reminder to self, revert this

[Yadunund]

Its one of the checkboxes in the PR description.

[luca-della-vedova]

Alright let's do it! Will make a followup PR to change the github action back to main once the main RMF repo is updated.