Imported upstream version '0.244.12' of 'upstream'

ros2-gbp · Dec 14, 2023 · d0f2285 · d0f2285
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diff --git a/.github/workflows/build-and-test.sh b/.github/workflows/build-and-test.sh
@@ -10,14 +10,19 @@ export ROS_PYTHON_VERSION=3
 apt update -qq
 apt install -qq -y lsb-release wget curl build-essential
 
-# Garden only has nightlies for now
 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
-  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-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
+  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
@@ -12,10 +12,22 @@ jobs:
         include:
           - docker-image: "ubuntu:22.04"
             gz-version: "fortress"
-            ros-distro: "iron"
+            ros-distro: "humble"
           - docker-image: "ubuntu:22.04"
             gz-version: "garden"
-            ros-distro: "iron"
+            ros-distro: "humble"
+          - docker-image: "ubuntu:22.04"
+            gz-version: "harmonic"
+            ros-distro: "humble"
+          - docker-image: "ubuntu:22.04"
+            gz-version: "fortress"
+            ros-distro: "rolling"
+          - 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/README.md b/README.md
@@ -7,12 +7,14 @@ Foxy | Edifice | [foxy](https://github.com/gazebosim/ros_gz/tree/foxy) | only fr
 Galactic | Edifice | [galactic](https://github.com/gazebosim/ros_gz/tree/galactic) | https://packages.ros.org
 Galactic | Fortress | [galactic](https://github.com/gazebosim/ros_gz/tree/galactic) | only from source
 Humble | Fortress | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | https://packages.ros.org
-Humble | Garden | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | only from source
-Iron | Fortress | [humble](https://github.com/gazebosim/ros_gz/tree/iron) | https://packages.ros.org
-Iron | Garden | [humble](https://github.com/gazebosim/ros_gz/tree/iron) | only from source
+Humble | Garden | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | [gazebo packages](https://gazebosim.org/docs/latest/ros_installation#gazebo-garden-with-ros-2-humble-iron-or-rolling-use-with-caution-)[^1]
+Humble | Harmonic | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | only from source
 Rolling | Edifice | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source
 Rolling | Fortress | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | https://packages.ros.org
 Rolling | Garden | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source
+Rolling | Harmonic | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source
+
+[^1]: Binaries for these pairings are provided from a the packages.osrfoundation.org repository. Refer to https://gazebosim.org/docs/latest/ros_installation for installation instructions.
 
 For information on ROS 2 and Gazebo compatibility, refer to the [melodic branch README](https://github.com/gazebosim/ros_gz/tree/melodic)
 
@@ -53,11 +55,11 @@ This repository holds packages that provide integration between
 
 ## Install
 
-This branch supports ROS Iron. See above for other ROS versions.
+This branch supports ROS Humble. See above for other ROS versions.
 
 ### Binaries
 
-Iron binaries are available for Fortress.
+Humble binaries are available for Fortress.
 They are hosted at https://packages.ros.org.
 
 1. Add https://packages.ros.org
@@ -68,14 +70,14 @@ They are hosted at https://packages.ros.org.
 
 1. Install `ros_gz`
 
-        sudo apt install ros-iron-ros-gz
+        sudo apt install ros-humble-ros-gz
 
 ### From source
 
 #### ROS
 
 Be sure you've installed
-[ROS Iron](https://docs.ros.org/en/iron/Installation.html)
+[ROS Humble](https://docs.ros.org/en/humble/Installation.html)
 (at least ROS-Base). More ROS dependencies will be installed below.
 
 #### Gazebo
@@ -85,7 +87,7 @@ Install either [Edifice, Fortress, or Garden](https://gazebosim.org/docs).
 Set the `GZ_VERSION` environment variable to the Gazebo version you'd
 like to compile against. For example:
 
-    export GZ_VERSION=edifice
+    export GZ_VERSION=edifice # IMPORTANT: Replace with correct version
 
 > You only need to set this variable when compiling, not when running.
 
@@ -101,7 +103,7 @@ The following steps are for Linux and OSX.
     cd ~/ws/src
 
     # Download needed software
-    git clone https://github.com/gazebosim/ros_gz.git -b ros2
+    git clone https://github.com/gazebosim/ros_gz.git -b humble
     ```
 
 1. Install dependencies (this may also install Gazebo):
@@ -124,6 +126,22 @@ The following steps are for Linux and OSX.
     colcon build
     ```
 
+    If `colcon build` fails with [this issue](https://github.com/gazebosim/ros_gz/issues/401)
+
+    ```
+    CMake Error at CMakeLists.txt:81 (find_package):
+      By not providing "Findactuator_msgs.cmake" in CMAKE_MODULE_PATH this
+      project has asked CMake to find a package configuration file provided by
+      "actuator_msgs", but CMake did not find one.
+    ```
+
+    ```bash
+    cd src
+    git clone [email protected]:rudislabs/actuator_msgs.git
+    cd ../
+    colcon build
+    ```
+
 ## ROSCon 2022
 
 [![](img/video_img.png)](https://vimeo.com/showcase/9954564/video/767127300)

diff --git a/ros_gz/CHANGELOG.rst b/ros_gz/CHANGELOG.rst
@@ -2,11 +2,8 @@
 Changelog for package ros_gz
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.247.0 (2023-11-02)
---------------------
-
-0.245.0 (2023-05-23)
---------------------
+0.244.12 (2023-12-13)
+---------------------
 
 0.244.11 (2023-05-23)
 ---------------------

diff --git a/ros_gz/package.xml b/ros_gz/package.xml
@@ -4,7 +4,7 @@
   <!-- TODO: Make this a metapackage, see
        https://github.com/ros2/ros2/issues/408 -->
   <name>ros_gz</name>
-  <version>0.247.0</version>
+  <version>0.244.12</version>
   <description>Meta-package containing interfaces for using ROS 2 with <a href="https://gazebosim.org">Gazebo</a> simulation.</description>
   <maintainer email="[email protected]">Louise Poubel</maintainer>
   <license>Apache 2.0</license>

diff --git a/ros_gz_bridge/CHANGELOG.rst b/ros_gz_bridge/CHANGELOG.rst
@@ -2,25 +2,17 @@
 Changelog for package ros_gz_bridge
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.247.0 (2023-11-02)
---------------------
-* Fix double wait in ros_gz_bridge (`#347 <https://github.com/gazebosim/ros_gz/issues/347>`_) (`#449 <https://github.com/gazebosim/ros_gz/issues/449>`_)
-  Co-authored-by: ymd-stella <[email protected]>
-* [backport iron] SensorNoise msg bridging (`#417 <https://github.com/gazebosim/ros_gz/issues/417>`_) (`#425 <https://github.com/gazebosim/ros_gz/issues/425>`_)
-  Co-authored-by: Aditya Pande <[email protected]>
-* Merge pull request `#420 <https://github.com/gazebosim/ros_gz/issues/420>`_ from gazebosim/ahcorde/iron/backport/411
-  [backport iron] Update README.md (`#411 <https://github.com/gazebosim/ros_gz/issues/411>`_)
-* Merge branch 'iron' into ahcorde/iron/backport/411
-* [backport Iron] Added Altimeter msg bridging (`#413 <https://github.com/gazebosim/ros_gz/issues/413>`_) (`#414 <https://github.com/gazebosim/ros_gz/issues/414>`_)
-  Co-authored-by: Aditya Pande <[email protected]>
-* Update README.md (`#411 <https://github.com/gazebosim/ros_gz/issues/411>`_)
+0.244.12 (2023-12-13)
+---------------------
+* Backport: Add conversion for geometry_msgs/msg/TwistStamped <-> gz.msgs.Twist (`#468 <https://github.com/gazebosim/ros_gz/issues/468>`_) (`#470 <https://github.com/gazebosim/ros_gz/issues/470>`_)
+* Add support for Harmonic/Humble pairing (`#462 <https://github.com/gazebosim/ros_gz/issues/462>`_)
+* Added messages for 2D Bounding Boxes to ros_gz_bridge (`#458 <https://github.com/gazebosim/ros_gz/issues/458>`_)
+* Fix double wait in ros_gz_bridge (`#347 <https://github.com/gazebosim/ros_gz/issues/347>`_) (`#450 <https://github.com/gazebosim/ros_gz/issues/450>`_)
+* [backport humble] SensorNoise msg bridging (`#417 <https://github.com/gazebosim/ros_gz/issues/417>`_)
+* [backport humble] Added Altimeter msg bridging (`#413 <https://github.com/gazebosim/ros_gz/issues/413>`_) (`#414 <https://github.com/gazebosim/ros_gz/issues/414>`_) (`#426 <https://github.com/gazebosim/ros_gz/issues/426>`_)
+* [backport humble] Update README.md (`#411 <https://github.com/gazebosim/ros_gz/issues/411>`_)
   The ROS type for gz.msgs.NavSat messages should be **sensor_msgs/msg/NavSatFix** instead of **sensor_msgs/msg/NavSatFixed**
-* Contributors: Alejandro Hernández Cordero, Arjun K Haridas
-
-0.245.0 (2023-05-23)
---------------------
-* Backport: Add missing rosidl_cmake dep to ros_gz_bridge (`#391 <https://github.com/gazebosim/ros_gz/issues/391>`_) (`#396 <https://github.com/gazebosim/ros_gz/issues/396>`_)
-* Contributors: Michael Carroll, Yadu, Chris Lalancette
+* Contributors: Addisu Z. Taddese, Alejandro Hernández Cordero, Arjun K Haridas, wittenator
 
 0.244.11 (2023-05-23)
 ---------------------

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)
@@ -70,6 +79,7 @@ set(BRIDGE_MESSAGE_TYPES
   std_msgs
   tf2_msgs
   trajectory_msgs
+  vision_msgs
 )
 
 set(generated_path "${CMAKE_BINARY_DIR}/generated")
@@ -247,6 +257,7 @@ if(BUILD_TESTING)
     std_msgs
     tf2_msgs
     trajectory_msgs
+    vision_msgs
   )
 
   set(generated_path "${CMAKE_BINARY_DIR}/generated/test")

diff --git a/ros_gz_bridge/README.md b/ros_gz_bridge/README.md
@@ -29,6 +29,7 @@ The following message types can be bridged for topics:
 | geometry_msgs/msg/Transform          | ignition::msgs::Pose                   |
 | geometry_msgs/msg/TransformStamped   | ignition::msgs::Pose                   |
 | geometry_msgs/msg/Twist              | ignition::msgs::Twist                  |
+| geometry_msgs/msg/TwistStamped       | ignition::msgs::Twist                  |
 | geometry_msgs/msg/TwistWithCovariance| ignition::msgs::TwistWithCovariance    |
 | nav_msgs/msg/Odometry                | ignition::msgs::Odometry               |
 | nav_msgs/msg/Odometry                | ignition::msgs::OdometryWithCovariance |

diff --git a/ros_gz_bridge/bin/ros_gz_bridge_markdown_table b/ros_gz_bridge/bin/ros_gz_bridge_markdown_table
@@ -42,7 +42,7 @@ def main(argv=sys.argv[1:]):
 
     for mapping in mappings(msgs_ver):
         rows.append('| {:32}| {:32}|'.format(
-            mapping.ros2_package_name + '/' + mapping.ros2_message_name,
+            mapping.ros2_package_name + '/msg/' + mapping.ros2_message_name,
             mapping.gz_string()))
     print('\n'.join(rows))
 

diff --git a/ros_gz_bridge/include/ros_gz_bridge/convert/actuator_msgs.hpp b/ros_gz_bridge/include/ros_gz_bridge/convert/actuator_msgs.hpp
@@ -16,7 +16,7 @@
 #define ROS_GZ_BRIDGE__CONVERT__ACTUATOR_MSGS_HPP_
 
 // Gazebo Msgs
-#include <ignition/msgs/actuators.pb.h>
+#include <gz/msgs/actuators.pb.h>
 
 // ROS 2 messages
 #include <actuator_msgs/msg/actuators.hpp>
@@ -30,12 +30,12 @@ template<>
 void
 convert_ros_to_gz(
   const actuator_msgs::msg::Actuators & ros_msg,
-  ignition::msgs::Actuators & gz_msg);
+  gz::msgs::Actuators & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::Actuators & gz_msg,
+  const gz::msgs::Actuators & gz_msg,
   actuator_msgs::msg::Actuators & ros_msg);
 
 }  // namespace ros_gz_bridge

diff --git a/ros_gz_bridge/include/ros_gz_bridge/convert/builtin_interfaces.hpp b/ros_gz_bridge/include/ros_gz_bridge/convert/builtin_interfaces.hpp
@@ -15,7 +15,7 @@
 #ifndef ROS_GZ_BRIDGE__CONVERT__BUILTIN_INTERFACES_HPP_
 #define ROS_GZ_BRIDGE__CONVERT__BUILTIN_INTERFACES_HPP_
 
-#include <ignition/msgs/time.pb.h>
+#include <gz/msgs/time.pb.h>
 
 #include <builtin_interfaces/msg/time.hpp>
 
@@ -28,12 +28,12 @@ template<>
 void
 convert_ros_to_gz(
   const builtin_interfaces::msg::Time & ros_msg,
-  ignition::msgs::Time & gz_msg);
+  gz::msgs::Time & gz_msg);
 
 template<>
 void
 convert_gz_to_ros(
-  const ignition::msgs::Time & gz_msg,
+  const gz::msgs::Time & gz_msg,
   builtin_interfaces::msg::Time & ros_msg);
 
 }  // namespace ros_gz_bridge