Add harmonic CI (#447)

* Add harmonic CI Signed-off-by: Michael Carroll <[email protected]> * Include garden options Signed-off-by: Michael Carroll <[email protected]> * Add harmonic stanza Signed-off-by: Michael Carroll <[email protected]> * Additional message headers Signed-off-by: Michael Carroll <[email protected]> --------- Signed-off-by: Michael Carroll <[email protected]>
gazebosim · Nov 14, 2023 · e7b1824 · e7b1824
1 parent 55eebea
commit e7b1824
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Showing 9 changed files with 72 additions and 11 deletions.
diff --git a/.github/workflows/build-and-test.sh b/.github/workflows/build-and-test.sh
@@ -18,6 +18,14 @@ if [ "$GZ_VERSION" == "garden" ]; then
 
   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-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list
+  wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
+
+  GZ_DEPS="libgz-sim8-dev"
+
   ROSDEP_ARGS="--skip-keys='sdformat-urdf'"
 fi
 

diff --git a/.github/workflows/ros2-ci.yml b/.github/workflows/ros2-ci.yml
@@ -22,6 +22,9 @@ jobs:
           - docker-image: "ubuntu:22.04"
             gz-version: "garden"
             ros-distro: "rolling"
+          - docker-image: "ubuntu:22.04"
+            gz-version: "harmonic"
+            ros-distro: "rolling"
     container:
       image: ${{ matrix.docker-image }}
     steps:

diff --git a/ros_gz_bridge/CMakeLists.txt b/ros_gz_bridge/CMakeLists.txt
@@ -41,6 +41,15 @@ elseif("$ENV{GZ_VERSION}" STREQUAL "garden")
   set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})
 
   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")
 # Default to Fortress
 else()
   find_package(ignition-transport11 REQUIRED)

diff --git a/ros_gz_bridge/package.xml b/ros_gz_bridge/package.xml
@@ -30,6 +30,9 @@
   <!-- Garden -->
   <depend condition="$GZ_VERSION == garden or $IGNITION_VERSION == garden">gz-msgs9</depend>
   <depend condition="$GZ_VERSION == garden or $IGNITION_VERSION == garden">gz-transport12</depend>
+  <!-- Harmonic -->
+  <depend condition="$GZ_VERSION == harmonic">gz-msgs10</depend>
+  <depend condition="$GZ_VERSION == harmonic">gz-transport13</depend>
   <!-- Fortress (default) -->
   <depend condition="$GZ_VERSION == fortress or $IGNITION_VERSION == fortress">ignition-msgs8</depend>
   <depend condition="$GZ_VERSION == fortress or $IGNITION_VERSION == fortress">ignition-transport11</depend>

diff --git a/ros_gz_image/CMakeLists.txt b/ros_gz_image/CMakeLists.txt
@@ -43,6 +43,15 @@ elseif("$ENV{GZ_VERSION}" STREQUAL "garden")
 
   set(GZ_TARGET_PREFIX gz)
 
+  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")
 # Default to Fortress
 else()

diff --git a/ros_gz_image/package.xml b/ros_gz_image/package.xml
@@ -25,6 +25,10 @@
   <depend condition="$GZ_VERSION == edifice or $IGNITION_VERSION == edifice">ignition-msgs7</depend>
   <depend condition="$GZ_VERSION == edifice or $IGNITION_VERSION == edifice">ignition-transport10</depend>
 
+  <!-- Harmonic -->
+  <depend condition="$GZ_VERSION == harmonic">gz-msgs10</depend>
+  <depend condition="$GZ_VERSION == harmonic">gz-transport13</depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <export>

diff --git a/ros_gz_sim/CMakeLists.txt b/ros_gz_sim/CMakeLists.txt
@@ -54,6 +54,22 @@ elseif("$ENV{GZ_VERSION}" STREQUAL "garden")
   set(GZ_TARGET_PREFIX gz)
 
   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-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")
 # Default to Fortress
 else()
   find_package(ignition-math6 REQUIRED)

diff --git a/ros_gz_sim/package.xml b/ros_gz_sim/package.xml
@@ -29,6 +29,11 @@
   <!-- Edifice -->
   <depend condition="$GZ_VERSION == edifice or $IGNITION_VERSION == edifice">ignition-gazebo5</depend>
   <depend condition="$GZ_VERSION == edifice or $IGNITION_VERSION == edifice">ignition-math6</depend>
+  <!-- Harmonic -->
+  <depend condition="$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>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

diff --git a/ros_gz_sim/src/create.cpp b/ros_gz_sim/src/create.cpp
@@ -13,14 +13,18 @@
 // limitations under the License.
 
 #include <gflags/gflags.h>
-#include <ignition/msgs/entity_factory.pb.h>
+
+#include <gz/msgs/boolean.pb.h>
+#include <gz/msgs/entity.pb.h>
+#include <gz/msgs/entity_factory.pb.h>
+#include <gz/msgs/stringmsg_v.pb.h>
 
 #include <sstream>
 #include <string>
 
-#include <ignition/math/Pose3.hh>
-#include <ignition/msgs/Utility.hh>
-#include <ignition/transport/Node.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/msgs/Utility.hh>
+#include <gz/transport/Node.hh>
 
 #include <rclcpp/rclcpp.hpp>
 #include <std_msgs/msg/string.hpp>
@@ -59,13 +63,13 @@ int main(int _argc, char ** _argv)
   std::string world_name = FLAGS_world;
   if (world_name.empty()) {
     // If caller doesn't provide a world name, get list of worlds from gz-sim server
-    ignition::transport::Node node;
+    gz::transport::Node node;
 
     bool executed{false};
     bool result{false};
     unsigned int timeout{5000};
     std::string service{"/gazebo/worlds"};
-    ignition::msgs::StringMsg_V worlds_msg;
+    gz::msgs::StringMsg_V worlds_msg;
 
     // This loop is here to allow the server time to download resources.
     while (rclcpp::ok() && !executed) {
@@ -88,7 +92,7 @@ int main(int _argc, char ** _argv)
   std::string service{"/world/" + world_name + "/create"};
 
   // Request message
-  ignition::msgs::EntityFactory req;
+  gz::msgs::EntityFactory req;
 
   // File
   if (!FLAGS_file.empty()) {
@@ -142,8 +146,8 @@ int main(int _argc, char ** _argv)
   }
 
   // Pose
-  ignition::math::Pose3d pose{FLAGS_x, FLAGS_y, FLAGS_z, FLAGS_R, FLAGS_P, FLAGS_Y};
-  ignition::msgs::Set(req.mutable_pose(), pose);
+  gz::math::Pose3d pose{FLAGS_x, FLAGS_y, FLAGS_z, FLAGS_R, FLAGS_P, FLAGS_Y};
+  gz::msgs::Set(req.mutable_pose(), pose);
 
   // Name
   if (!FLAGS_name.empty()) {
@@ -155,8 +159,8 @@ int main(int _argc, char ** _argv)
   }
 
   // Request
-  ignition::transport::Node node;
-  ignition::msgs::Boolean rep;
+  gz::transport::Node node;
+  gz::msgs::Boolean rep;
   bool result;
   unsigned int timeout = 5000;
   bool executed = node.Request(service, req, timeout, rep, result);