Fixes related with building simulation on Jazzy

husarion · Jan 9, 2025 · 8d510a1 · 8d510a1
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Showing 16 changed files with 147 additions and 149 deletions.
diff --git a/README.md b/README.md
@@ -87,7 +87,7 @@ Launch arguments are largely common to both simulation and physical robot. Howev
 | --- | --- | ---------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
 | ❌   | ✅   | `add_world_transform`        | Adds a world frame that connects the tf trees of individual robots (useful when running multiple robots). <br/> ***bool:*** `False`                                                                                                                                                                                |
 | ✅   | ✅   | `animations_config_path`     | Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations. <br/> ***string:*** [`{robot_model}_animations.yaml`](./husarion_ugv_lights/config)                                                                           |
-| ❌   | ✅   | `battery_config_path`        | Path to the Ignition LinearBatteryPlugin configuration file. This configuration is intended for use in simulations only. <br/> ***string:*** `None`                                                                                                                                                                |
+| ❌   | ✅   | `battery_config_path`        | Path to the Gazebo `LinearBatteryPlugin` configuration file. This configuration is intended for use in simulations only. <br/> ***string:*** `None`                                                                                                                                                                |
 | ✅   | ✅   | `components_config_path`     | Additional components configuration file. Components described in this file are dynamically included in robot's URDF. Available options are described in [the manual](https://husarion.com/manuals/panther/panther-options). <br/> ***string:*** [`components.yaml`](./husarion_ugv_description/config/components.yaml) |
 | ✅   | ✅   | `controller_config_path`     | Path to controller configuration file. A path to custom configuration can be specified here. <br/> ***string:*** [`{wheel_type}_controller.yaml`](./husarion_ugv_controller/config/)                                                                                                                               |
 | ✅   | ✅   | `disable_manager`            | Enable or disable manager_bt_node. <br/> ***bool:*** `False`                                                                                                                                                                                                                                                       |

diff --git a/ROS_API.md b/ROS_API.md
@@ -58,7 +58,7 @@ Below is information about the physical robot API. For the simulation, topics an
 | ✅   | ✅   | `lights_controller`       | This node is responsible for processing animations and publishing frames to `light_driver` node. <br/> [*husarion_ugv_lights/LightsControllerNode*](./husarion_ugv_lights/include/husarion_ugv_lights/lights_controller_node.hpp)                                                                                                                                                                                                                                                                                                     |
 | ✅   | ❌   | `lights_driver`           | This node is responsible for displaying frames on the robot's lights. <br/> [*husarion_ugv_lights/LightsDriverNode*](./husarion_ugv_lights/include/husarion_ugv_lights/lights_driver_node.hpp)                                                                                                                                                                                                                                                                                                                                        |
 | ✅   | ✅   | `lights_manager`          | Node responsible for managing lights animation scheduling. <br/> [husarion_ugv_manager/lights_manager](./husarion_ugv_manager/include/husarion_ugv_manager/lights_manager_node.hpp)                                                                                                                                                                                                                                                                                                                                                   |
-| ✅   | ✅   | ⚙️ `navsat_transform`  ⚙️   | It converts raw GPS data into odometry data and publishes corrected GPS positions based on sensor data at a higher frequency. <br/> *[robot_localization/navsat_transform](https://github.com/cra-ros-pkg/robot_localization)*                                                                                                                                                                                                                                                                                                        |
+| ✅   | ✅   | ⚙️ `navsat_transform` ⚙️   | It converts raw GPS data into odometry data and publishes corrected GPS positions based on sensor data at a higher frequency. <br/> *[robot_localization/navsat_transform](https://github.com/cra-ros-pkg/robot_localization)*                                                                                                                                                                                                                                                                                                        |
 | ✅   | ✅   | `robot_state_publisher`   | Broadcasts a robot's state to tf2 using a provided URDF model and joint states. It updates the model and broadcasts poses for fixed and movable joints to tf2 topics. <br/> *[robot_state_publisher/robot_state_publisher](https://github.com/ros/robot_state_publisher)*                                                                                                                                                                                                                                                             |
 | ✅   | ❌   | `safety_manager`          | Node responsible for managing safety features, and software shutdown of components. <br/> *[husarion_ugv_manager/safety_manager_node](./husarion_ugv_manager/include/husarion_ugv_manager/safety_manager_node.hpp)*                                                                                                                                                                                                                                                                                                                   |
 | ✅   | ❌   | `system_monitor`          | Publishes system state of the Built-in Computer such as CPU usage, RAM memory usage, disk usage and  CPU temperature. <br/> *[husarion_ugv_diagnostics/system_monitor_node](./husarion_ugv_diagnostics/include/husarion_ugv_diagnostics/system_monitor_node.hpp)*                                                                                                                                                                                                                                                                     |

diff --git a/husarion_ugv/hardware_deps.repos b/husarion_ugv/hardware_deps.repos
@@ -6,12 +6,12 @@ repositories:
   husarion_controllers:
     type: git
     url: https://github.com/husarion/husarion_controllers
-    version: d184d9b5936ec3f51084b70dc7d3825fa5ecaee0
+    version: 053c5b1320352c496ac2d02c8bc44c695d8dd4ad
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git
-    version: 517350ac672b7383c3377e63244353a104096c39
+    version: d34d27edb3abc12ee6d197d0d513e00fe9a5604e
   ros2_controllers: # Caused by two error: 1. https://github.com/ros-controls/ros2_controllers/pull/1104 2. There is no nice way to change `sensor_name` imu_bradcaster param when spawning multiple robots -> ros2_control refer only to single imu entity
     type: git
     url: https://github.com/husarion/ros2_controllers/
-    version: 9da42a07a83bbf3faf5cad11793fff22f25068af
+    version: 0784c2c7c9bad6566c994fb1cb7efe8a06db1df5
diff --git a/husarion_ugv/simulation_deps.repos b/husarion_ugv/simulation_deps.repos
@@ -6,16 +6,16 @@ repositories:
   husarion_controllers:
     type: git
     url: https://github.com/husarion/husarion_controllers
-    version: d184d9b5936ec3f51084b70dc7d3825fa5ecaee0
+    version: 053c5b1320352c496ac2d02c8bc44c695d8dd4ad
   husarion_gz_worlds:
     type: git
     url: https://github.com/husarion/husarion_gz_worlds.git
-    version: 9d514a09c74bca2afbfba76cf2c87134918bbf97
+    version: 8bda52a5048816bd14779a2b2e15591d5597f841
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git
-    version: 517350ac672b7383c3377e63244353a104096c39
+    version: d34d27edb3abc12ee6d197d0d513e00fe9a5604e
   ros2_controllers: # Caused by two error: 1. https://github.com/ros-controls/ros2_controllers/pull/1104 2. There is no nice way to change `sensor_name` imu_bradcaster param when spawning multiple robots -> ros2_control refer only to single imu entity
     type: git
     url: https://github.com/husarion/ros2_controllers/
-    version: 9da42a07a83bbf3faf5cad11793fff22f25068af
+    version: 0784c2c7c9bad6566c994fb1cb7efe8a06db1df5
diff --git a/husarion_ugv_description/urdf/common/gazebo.urdf.xacro b/husarion_ugv_description/urdf/common/gazebo.urdf.xacro
@@ -10,7 +10,7 @@
 
     <!-- Sim Battery -->
     <gazebo>
-      <plugin filename="ignition-gazebo-linearbatteryplugin-system"
+      <plugin filename="gz-sim-linearbatteryplugin-system"
         name="gz::sim::systems::LinearBatteryPlugin">
         <battery_name>${ns}battery</battery_name>
         <voltage>41.4</voltage>
@@ -33,7 +33,7 @@
   <!-- Controller -->
   <xacro:macro name="controller" params="config_file namespace:=''">
     <gazebo>
-      <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+      <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
         <parameters>${config_file}</parameters>
         <ros>
           <namespace>${namespace}</namespace>

diff --git a/husarion_ugv_gazebo/CMakeLists.txt b/husarion_ugv_gazebo/CMakeLists.txt
@@ -8,11 +8,11 @@ endif()
 set(PACKAGE_DEPENDENCIES
     ament_cmake
     hardware_interface
-    ignition-gazebo6
-    ignition-msgs8
-    ignition-plugin1
-    ignition-transport11
-    ign_ros2_control
+    gz-sim8
+    gz-msgs10
+    gz-plugin2
+    gz-transport13
+    gz_ros2_control
     pluginlib
     rclcpp
     realtime_tools
@@ -32,12 +32,12 @@ add_library(estop_system SHARED src/estop_system.cpp)
 ament_target_dependencies(
   estop_system
   hardware_interface
-  ign_ros2_control
+  gz_ros2_control
   rclcpp
   rclcpp_lifecycle
   std_msgs
   std_srvs)
-target_link_libraries(estop_system ignition-gazebo6)
+target_link_libraries(estop_system gz-sim8)
 
 set(CMAKE_AUTOMOC ON)
 qt5_add_resources(resources_rcc src/gui/EStop.qrc)
@@ -47,17 +47,17 @@ add_library(EStop SHARED include/husarion_ugv_gazebo/gui/e_stop.hpp
 ament_target_dependencies(EStop rclcpp std_srvs)
 target_link_libraries(
   EStop
-  ignition-gazebo6
-  ignition-plugin1
+  gz-sim8
+  gz-plugin2
   ${Qt5Core_LIBRARIES}
   ${Qt5Qml_LIBRARIES}
   ${Qt5Quick_LIBRARIES}
   ${Qt5QuickControls2_LIBRARIES})
 
 add_library(LEDStrip SHARED src/led_strip.cpp)
 ament_target_dependencies(LEDStrip realtime_tools)
-target_link_libraries(LEDStrip ignition-gazebo6 ignition-msgs8 ignition-plugin1
-                      ignition-transport11)
+target_link_libraries(LEDStrip gz-sim8 gz-msgs10 gz-plugin2
+                      gz-transport13)
 
 install(
   TARGETS estop_system
@@ -86,7 +86,7 @@ endif()
 
 ament_export_include_directories(include)
 
-pluginlib_export_plugin_description_file(ign_ros2_control plugins.xml)
+pluginlib_export_plugin_description_file(gz_ros2_control plugins.xml)
 
 ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/setup_envs.sh.in")
 

diff --git a/husarion_ugv_gazebo/config/gz_bridge.yaml b/husarion_ugv_gazebo/config/gz_bridge.yaml
@@ -3,28 +3,28 @@
 
 - topic_name: /clock
   ros_type_name: rosgraph_msgs/msg/Clock
-  gz_type_name: ignition.msgs.Clock
+  gz_type_name: gz.msgs.Clock
   direction: GZ_TO_ROS
 
 - ros_topic_name: battery/battery_status
   gz_topic_name: /model/<model_name>/battery/<namespace>/battery/state
   ros_type_name: sensor_msgs/msg/BatteryState
-  gz_type_name: ignition.msgs.BatteryState
+  gz_type_name: gz.msgs.BatteryState
   direction: GZ_TO_ROS
 
 - topic_name: cmd_vel
   ros_type_name: geometry_msgs/msg/Twist
-  gz_type_name: ignition.msgs.Twist
+  gz_type_name: gz.msgs.Twist
   direction: GZ_TO_ROS
 
 - ros_topic_name: lights/channel_1_frame
   gz_topic_name: <namespace>/lights/channel_1_frame
   ros_type_name: sensor_msgs/msg/Image
-  gz_type_name: ignition.msgs.Image
+  gz_type_name: gz.msgs.Image
   direction: ROS_TO_GZ
 
 - ros_topic_name: lights/channel_2_frame
   gz_topic_name: <namespace>/lights/channel_2_frame
   ros_type_name: sensor_msgs/msg/Image
-  gz_type_name: ignition.msgs.Image
+  gz_type_name: gz.msgs.Image
   direction: ROS_TO_GZ