Use gz_vendor packages (#531)

Signed-off-by: Addisu Z. Taddese <[email protected]>

.github/workflows/build-and-test.sh

@@ -10,32 +10,15 @@ export ROS_PYTHON_VERSION=3
 apt update -qq
 apt install -qq -y lsb-release wget curl build-essential
 
-if [ "$GZ_VERSION" == "garden" ]; then
-  echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
-  wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
-
-  GZ_DEPS="libgz-sim7-dev"
-
-  ROSDEP_ARGS="--skip-keys='sdformat-urdf'"
-elif [ "$GZ_VERSION" == "harmonic" ]; then
-  echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
-  echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-prerelease `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-prerelease.list
-  wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
-
-  GZ_DEPS="libgz-sim8-dev"
-
-  ROSDEP_ARGS="--skip-keys='sdformat-urdf'"
-fi
-
-# Fortress comes through rosdep for Focal and Jammy
+echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
+wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
 
 # Dependencies.
 echo "deb http://packages.ros.org/ros2-testing/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-testing.list
 curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
 apt-get update -qq
-apt-get install -y $GZ_DEPS \
-                       python3-colcon-common-extensions \
-                       python3-rosdep
+apt-get install -y python3-colcon-common-extensions \
+                   python3-rosdep
 
 rosdep init
 rosdep update

.github/workflows/ros2-ci.yml

@@ -10,10 +10,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - docker-image: "ubuntu:22.04"
-            gz-version: "garden"
-            ros-distro: "rolling"
-          - docker-image: "ubuntu:22.04"
+          - docker-image: "ubuntu:24.04"
             gz-version: "harmonic"
             ros-distro: "rolling"
     container:
@@ -27,10 +24,3 @@ jobs:
           DOCKER_IMAGE: ${{ matrix.docker-image }}
           GZ_VERSION: ${{ matrix.gz-version  }}
           ROS_DISTRO: ${{ matrix.ros-distro }}
-          ROSDISTRO_INDEX_URL: https://raw.githubusercontent.com/ros/rosdistro/rolling/2024-02-28/index-v4.yaml # Temporarily pin rosdep to fix rolling on Jammy
-      - name: Build sdformat_urdf from source
-        uses: actions/checkout@v4
-        if: ${{ matrix.gz-version  }} == "garden"
-        with:
-          repository: ros/sdformat_urdf
-          ref: ros2

ros_gz_bridge/CMakeLists.txt

@@ -14,38 +14,15 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
+find_package(yaml-cpp REQUIRED)
 
-if(NOT DEFINED ENV{GZ_VERSION})
-  set(ENV{GZ_VERSION} "garden")
-endif()
-
-# Garden
-if("$ENV{GZ_VERSION}" STREQUAL "garden")
-  find_package(gz-transport12 REQUIRED)
-  find_package(gz-msgs9 REQUIRED)
+find_package(gz_transport_vendor REQUIRED)
+find_package(gz-transport REQUIRED)
 
-  set(GZ_TARGET_PREFIX gz)
-  set(GZ_MSGS_VER ${gz-msgs9_VERSION_MAJOR})
-  set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})
+find_package(gz_msgs_vendor REQUIRED)
+find_package(gz-msgs REQUIRED)
 
-  message(STATUS "Compiling against Gazebo Garden")
-elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
-  find_package(gz-transport13 REQUIRED)
-  find_package(gz-msgs10 REQUIRED)
-
-  set(GZ_TARGET_PREFIX gz)
-  set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
-  set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
-
-  message(STATUS "Compiling against Gazebo Harmonic")
-else()
-  message(FATAL_ERROR "This branch is only compatible with Gazebo Garden forward.")
-endif()
-
-set(GZ_MSGS_VERSION_MAJOR ${${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}_VERSION_MAJOR})
-set(GZ_MSGS_VERSION_MINOR ${${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}_VERSION_MINOR})
-set(GZ_MSGS_VERSION_PATCH ${${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}_VERSION_PATCH})
-set(GZ_MSGS_VERSION_FULL ${GZ_MSGS_VERSION_MAJOR}.${GZ_MSGS_VERSION_MINOR}.${GZ_MSGS_VERSION_PATCH})
+set(GZ_MSGS_VERSION_FULL ${gz-msgs_VERSION})
 
 set(BRIDGE_MESSAGE_TYPES
   builtin_interfaces
@@ -118,15 +95,18 @@ add_library(${bridge_lib}
 )
 
 target_link_libraries(${bridge_lib}
-  ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
-  ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
+  PUBLIC
+    gz-msgs::core
+    gz-transport::core
+  PRIVATE
+    yaml-cpp::yaml-cpp
 )
 
 ament_target_dependencies(${bridge_lib}
-  rclcpp
-  rclcpp_components
-  yaml_cpp_vendor
-  ${BRIDGE_MESSAGE_TYPES}
+  PUBLIC
+    rclcpp
+    rclcpp_components
+    ${BRIDGE_MESSAGE_TYPES}
 )
 
 target_include_directories(${bridge_lib}
@@ -138,11 +118,6 @@ target_include_directories(${bridge_lib}
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/generated>"
 )
 
-target_link_libraries(${bridge_lib}
-  ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
-  ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
-)
-
 rclcpp_components_register_node(
   ${bridge_lib}
   PLUGIN ros_gz_bridge::RosGzBridge
@@ -193,7 +168,7 @@ if(BUILD_TESTING)
     ${PROJECT_SOURCE_DIR}/src/convert/rcl_interfaces_TEST.cpp
   )
   target_link_libraries(test_rcl_interfaces
-    ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
+    gz-msgs::core
     ${rcl_interfaces_TARGETS}
     gtest
     gtest_main
@@ -228,8 +203,8 @@ if(BUILD_TESTING)
   )
   target_link_libraries(test_utils
     ${GTEST_LIBRARIES}
-    ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
-    ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
+    gz-msgs::core
+    gz-transport::core
   )
   ament_target_dependencies(test_utils
     rclcpp
@@ -341,9 +316,10 @@ ament_export_targets(export_${PROJECT_NAME})
 # specific order: dependents before dependencies
 ament_export_dependencies(rclcpp)
 ament_export_dependencies(rclcpp_components)
-ament_export_dependencies(${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER})
-ament_export_dependencies(${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER})
-ament_export_dependencies(yaml_cpp_vendor)
+ament_export_dependencies(gz_msgs_vendor)
+ament_export_dependencies(gz-msgs)
+ament_export_dependencies(gz_transport_vendor)
+ament_export_dependencies(gz-transport)
 ament_export_dependencies(${BRIDGE_MESSAGE_TYPES})
 
 ament_package()

ros_gz_bridge/package.xml

@@ -31,12 +31,8 @@
   <depend>yaml_cpp_vendor</depend>
   <depend>vision_msgs</depend>
 
-  <!-- Garden (default) -->
-  <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-msgs9</depend>
-  <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-transport12</depend>
-  <!-- Harmonic -->
-  <depend condition="$GZ_VERSION == harmonic">gz-msgs10</depend>
-  <depend condition="$GZ_VERSION == harmonic">gz-transport13</depend>
+  <depend>gz_msgs_vendor</depend>
+  <depend>gz_transport_vendor</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>

ros_gz_bridge/src/factory.hpp

@@ -107,8 +107,7 @@ class Factory : public FactoryInterface
   {
     std::function<void(const GZ_T &,
       const gz::transport::MessageInfo &)> subCb =
-      [this, ros_pub](const GZ_T & _msg,
-        const gz::transport::MessageInfo & _info)
+      [this, ros_pub](const GZ_T & _msg, const gz::transport::MessageInfo & _info)
       {
         // Ignore messages that are published from this bridge.
         if (!_info.IntraProcess()) {

ros_gz_image/CMakeLists.txt

@@ -16,32 +16,11 @@ find_package(ros_gz_bridge REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 
-if(NOT DEFINED ENV{GZ_VERSION})
-  set(ENV{GZ_VERSION} "garden")
-endif()
-
-# Garden
-if("$ENV{GZ_VERSION}" STREQUAL "garden")
-  find_package(gz-transport12 REQUIRED)
-  find_package(gz-msgs9 REQUIRED)
-
-  set(GZ_TARGET_PREFIX gz)
-  set(GZ_MSGS_VER ${gz-msgs9_VERSION_MAJOR})
-  set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})
+find_package(gz_transport_vendor REQUIRED)
+find_package(gz-transport REQUIRED)
 
-  message(STATUS "Compiling against Gazebo Garden")
-elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
-  find_package(gz-transport13 REQUIRED)
-  find_package(gz-msgs10 REQUIRED)
-
-  set(GZ_TARGET_PREFIX gz)
-  set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
-  set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
-
-  message(STATUS "Compiling against Gazebo Garden")
-else()
-  message(FATAL_ERROR "This branch is only compatible with Gazebo Garden forward.")
-endif()
+find_package(gz_msgs_vendor REQUIRED)
+find_package(gz-msgs REQUIRED)
 
 include_directories(include)
 
@@ -54,8 +33,8 @@ add_executable(${executable}
 )
 
 target_link_libraries(${executable}
-  ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
-  ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
+  gz-msgs::core
+  gz-transport::core
 )
 
 ament_target_dependencies(${executable}
@@ -89,8 +68,8 @@ if(BUILD_TESTING)
   #   )
   #   target_link_libraries(${test_publisher}_image
   #     ${catkin_LIBRARIES}
-  #     ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
-  #     ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
+  #     $gz-msgs$::core
+  #     $gz-transport::core
   #     gtest
   #     gtest_main
   #   )
@@ -102,8 +81,8 @@ if(BUILD_TESTING)
   #     test/subscribers/${test_subscriber}.cpp)
   #   target_link_libraries(test_${test_subscriber}_image
   #     ${catkin_LIBRARIES}
-  #     ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
-  #     ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
+  #     $gz-msgs::core
+  #     $gz-transport::core
   #   )
   # endforeach(test_subscriber)
 endif()

ros_gz_image/package.xml

@@ -16,13 +16,8 @@
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
 
-  <!-- Garden (default) -->
-  <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-msgs9</depend>
-  <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-transport12</depend>
-
-  <!-- Harmonic -->
-  <depend condition="$GZ_VERSION == harmonic">gz-msgs10</depend>
-  <depend condition="$GZ_VERSION == harmonic">gz-transport13</depend>
+  <depend>gz_msgs_vendor</depend>
+  <depend>gz_transport_vendor</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

ros_gz_sim/CMakeLists.txt

@@ -14,45 +14,19 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 
-if(NOT DEFINED ENV{GZ_VERSION})
-  set(ENV{GZ_VERSION} "garden")
-endif()
-
-if("$ENV{GZ_VERSION}" STREQUAL "garden")
-  find_package(gz-math7 REQUIRED)
-  set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR})
-
-  find_package(gz-transport12 REQUIRED)
-  set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})
-
-  find_package(gz-msgs9 REQUIRED)
-  set(GZ_MSGS_VER ${gz-msgs9_VERSION_MAJOR})
-
-  find_package(gz-sim7 REQUIRED)
-  set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
+find_package(gz_math_vendor REQUIRED)
+find_package(gz-math REQUIRED)
 
-  set(GZ_TARGET_PREFIX gz)
+find_package(gz_transport_vendor REQUIRED)
+find_package(gz-transport REQUIRED)
 
-  message(STATUS "Compiling against Gazebo Garden")
-elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
-  find_package(gz-math7 REQUIRED)
-  set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR})
+find_package(gz_msgs_vendor REQUIRED)
+find_package(gz-msgs REQUIRED)
 
-  find_package(gz-transport13 REQUIRED)
-  set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
-
-  find_package(gz-msgs10 REQUIRED)
-  set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
-
-  find_package(gz-sim8 REQUIRED)
-  set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
-
-  set(GZ_TARGET_PREFIX gz)
-
-  message(STATUS "Compiling against Gazebo Harmonic")
-else()
-  message(FATAL_ERROR "This branch is only compatible with Gazebo Garden forward.")
-endif()
+find_package(gz_sim_vendor REQUIRED)
+find_package(gz-sim REQUIRED)
+# Needed in launch/gz_sim.launch.py.in
+set(GZ_SIM_VER ${gz-sim_VERSION_MAJOR})
 
 gz_find_package(gflags
     REQUIRED
@@ -66,9 +40,9 @@ ament_target_dependencies(create
 )
 target_link_libraries(create
   gflags
-  ${GZ_TARGET_PREFIX}-math${GZ_MATH_VER}::core
-  ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
-  ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
+  gz-math::core
+  gz-msgs::core
+  gz-transport::core
 )
 ament_target_dependencies(create std_msgs)
 
@@ -144,7 +118,7 @@ if(BUILD_TESTING)
     ${PROJECT_NAME}
   )
   target_link_libraries(test_create
-    ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
+    gz-transport::core
   )
 
   install(

ros_gz_sim/package.xml

@@ -19,17 +19,10 @@
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
 
-  <!-- Garden -->
-  <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-math7</depend>
-  <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-msgs9</depend>
-  <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-sim7</depend>
-  <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-transport12</depend>
-
-  <!-- Harmonic -->
-  <depend condition="$GZ_VERSION == harmonic">gz-math7</depend>
-  <depend condition="$GZ_VERSION == harmonic">gz-msgs10</depend>
-  <depend condition="$GZ_VERSION == harmonic">gz-sim8</depend>
-  <depend condition="$GZ_VERSION == harmonic">gz-transport13</depend>
+  <depend>gz_math_vendor</depend>
+  <depend>gz_msgs_vendor</depend>
+  <depend>gz_sim_vendor</depend>
+  <depend>gz_transport_vendor</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

ros_gz_sim_demos/package.xml

@@ -10,8 +10,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <!-- Garden -->
-  <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-sim7</depend>
+  <depend>gz_sim_vendor</depend>
 
   <exec_depend>image_transport_plugins</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>