Gazebo: support Gazebo Harmonic and Garden

CMakeLists.txt

@@ -16,11 +16,28 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 # --------------------------------------------------------------------------- #
 # Find gz-sim and dependencies.
-find_package(gz-cmake3 REQUIRED)
-set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})
 
-gz_find_package(gz-sim7 REQUIRED)
-set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
+# Harmonic
+if("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+  find_package(gz-cmake3 REQUIRED)
+  set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})
+
+  gz_find_package(gz-sim8 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Gazebo Harmonic")
+# Garden (default)
+elseif("$ENV{GZ_VERSION}" STREQUAL "garden" OR NOT DEFINED "ENV{GZ_VERSION}")
+  find_package(gz-cmake3 REQUIRED)
+  set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})
+
+  gz_find_package(gz-sim7 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Gazebo Garden")
+else()  
+  message(FATAL_ERROR "Unsupported GZ_VERSION: $ENV{GZ_VERSION}")
+endif()
 
 # --------------------------------------------------------------------------- #
 # Find RapidJSON.

README.md

@@ -4,11 +4,11 @@
 [![ccplint](https://github.com/ArduPilot/ardupilot_gazebo/actions/workflows/ccplint.yml/badge.svg)](https://github.com/ArduPilot/ardupilot_gazebo/actions/workflows/ccplint.yml)
 [![cppcheck](https://github.com/ArduPilot/ardupilot_gazebo/actions/workflows/ccpcheck.yml/badge.svg)](https://github.com/ArduPilot/ardupilot_gazebo/actions/workflows/ccpcheck.yml)
 
-This is the official ArduPilot plugin for [Gazebo Sim](https://gazebosim.org/home).
+This is the official ArduPilot plugin for [Gazebo](https://gazebosim.org/home).
 It replaces the previous
 [`ardupilot_gazebo`](https://github.com/khancyr/ardupilot_gazebo)
-plugin and provides support for the latest release of the Gazebo simulator
-[(Gazebo Garden)](https://gazebosim.org/docs/garden/install).
+plugin and provides support for the recent releases of the Gazebo simulator
+[(Gazebo Garden)](https://gazebosim.org/docs/garden/install) and [(Gazebo Harmonic)](https://gazebosim.org/docs/harmonic/install).
 
 It also adds the following features:
 
@@ -18,19 +18,19 @@ It also adds the following features:
   the Gazebo time for debugging.
 - Improved 3D rendering using the `ogre2` rendering engine.
 
-The project comprises a Gazebo Sim plugin to connect to ArduPilot SITL
+The project comprises a Gazebo plugin to connect to ArduPilot SITL
 (Software In The Loop) and some example models and worlds.
 
 ## Prerequisites
 
-Gazebo Sim Garden is supported on Ubuntu 20.04 (Focal) and 22.04 (Jammy).
+Gazebo Garden or Harmonic is supported on Ubuntu 22.04 (Jammy).
 If you are running Ubuntu as a virtual machine you will need at least
 Ubuntu 20.04 in order to have the OpenGL support required for the
-`ogre2` render engine. Gazebo Sim and ArduPilot SITL will also run on macOS
-(Big Sur and Monterey; Intel and M1 devices).
+`ogre2` render engine. Gazebo and ArduPilot SITL will also run on macOS
+(Big Sur, Monterey and Venturua; Intel and M1 devices).
 
-Follow the instructions for a
-[binary install of Gazebo Garden](https://gazebosim.org/docs/garden/install)
+Follow the instructions for a binary install of
+[Gazebo Garden](https://gazebosim.org/docs/garden/install) or [Gazebo Harmonic](https://gazebosim.org/docs/harmonic/install)
 and verify that Gazebo is running correctly.
 
 Set up an [ArduPilot development environment](https://ardupilot.org/dev/index.html).
@@ -43,18 +43,30 @@ Install additional dependencies:
 
 ### Ubuntu
 
+Gazebo Garden:
+
 ```bash
 sudo apt update
 sudo apt install libgz-sim7-dev rapidjson-dev
 ```
 
+Or Gazebo Harmonic:
+
+```bash
+sudo apt update
+sudo apt install libgz-sim8-dev rapidjson-dev
+```
+
 ### macOS
 
 ```bash
 brew update
 brew install rapidjson
 ```
 
+Ensure the `GZ_VERSION` environment variable is set to either
+`garden` or `harmonic`.
+
 Clone the repo and build:
 
 ```bash
@@ -233,4 +245,4 @@ Click on the images to see further details.
 ## Troubleshooting
 
 For issues concerning installing and running Gazebo on your platform please
-consult the Gazebo Sim documentation for [troubleshooting frequent issues](https://gazebosim.org/docs/garden/troubleshooting#ubuntu).
+consult the Gazebo documentation for [troubleshooting frequent issues](https://gazebosim.org/docs/harmonic/troubleshooting#ubuntu).

package.xml

@@ -11,8 +11,15 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>rapidjson-dev</build_depend>  
-  <build_depend>libgz-cmake3-dev</build_depend>
-  <build_depend>libgz-sim7-dev</build_depend>
+
+  <!-- Harmonic -->
+  <depend condition="$GZ_VERSION == harmonic">gz-cmake3</depend>
+  <depend condition="$GZ_VERSION == harmonic">gz-sim8</depend>
+  <!-- Garden (default) -->
+  <depend condition="$GZ_VERSION == garden">gz-cmake3</depend>
+  <depend condition="$GZ_VERSION == garden">gz-sim7</depend>
+  <depend condition="$GZ_VERSION == ''">gz-cmake3</depend>
+  <depend condition="$GZ_VERSION == ''">gz-sim7</depend>
 
   <test_depend>ament_lint_auto</test_depend>
 

src/ArduPilotPlugin.cc

@@ -19,14 +19,16 @@
 #include <rapidjson/stringbuffer.h>
 #include <rapidjson/writer.h>
 
+#include <gz/msgs/imu.pb.h>
+#include <gz/msgs/laserscan.pb.h>
+
 #include <chrono>
 #include <functional>
 #include <mutex>
 #include <string>
 #include <sstream>
 #include <vector>
 
-
 #include <gz/common/SignalHandler.hh>
 #include <gz/msgs/Utility.hh>
 #include <gz/sim/components/CustomSensor.hh>

src/ParachutePlugin.cc

@@ -17,6 +17,8 @@
 
 #include "ParachutePlugin.hh"
 
+#include <gz/msgs/entity_factory.pb.h>
+
 #include <string>
 
 #include <gz/plugin/Register.hh>