Port gazebo_ros_pkgs to ROS 2.0 #512

j-rivero · 2016-11-29T13:14:30Z

Interest into porting gazebo_ros_pkgs to ROS 2.0 is starting to appear within the ROS Community, this post tries to server a tracker for suggestion, status and discussions on how to do it.

Update 29 Nov 2016
The ROS team currently warns about implementations at this point since the API is still unstable an future changes could require a big amount of work to update the code. Even with API instability a possible suggestion to start the works could be some time after the Beta1 (release planned in the next weeks), late January if the feedback regarding to the Beta1 is good at that moment.

Update 2nd Jun 2018
The branch ros2 is ready in this repository to start merging changes related to port the code to ROS2.

Update 19 July 2018
Written by @ironmig
Some packages have been ported and plans/designs for the remaining features will be tracked on this wiki page. If you are interested in gazebo_ros_pkgs in ROS2, please read the plans on that page and comment if you have other ideas or approve.

Update 19 July 2018
Written by @chapulina

📈 Status

Package		Status
gazebo_dev		✔️ #770
gazebo_msgs		✔️ #769
gazebo_plugins
	gazebo_ros_block_laser	⚠️ Deprecated, use `ray_sensor`
	gazebo_ros_bumper	✔️ #943
	gazebo_ros_camera	✔️ #827
	gazebo_ros_camera_utils	✔️ #827
	gazebo_ros_depth_camera	✔️ #932
	gazebo_ros_diff_drive	✔️ #806
	gazebo_ros_elevator	✔️ #945
	gazebo_ros_f3d	✔️ #921
	gazebo_ros_force	✔️ #784
	gazebo_ros_ft_sensor	✔️ #921
	gazebo_ros_gpu_laser	⚠️ Deprecated, use `ray_sensor`
	gazebo_ros_hand_of_god	✔️ #957
	gazebo_ros_harness	✔️ #944
	gazebo_ros_imu	⚠️ Deprecated, use `imu_sensor`
	gazebo_ros_imu_sensor	✔️ #793
	gazebo_ros_joint_pose_trajectory	✔️ #955
	gazebo_ros_joint_state_publisher	✔️ #795
	gazebo_ros_joint_trajectory	⚠️ Deprecated, use `joint_pose_trajectory`
	gazebo_ros_laser	⚠️ Deprecated, use `ray_sensor`
	gazebo_ros_multicamera	✔️ #939
	gazebo_ros_openni_kinect	⚠️ Deprecated, use `depth_camera`
	gazebo_ros_p3d	✔️ #845
	gazebo_ros_planar_move	✔️ #958
	gazebo_ros_projector	✔️ #956
	gazebo_ros_prosilica	⚠️ Deprecated, use `camera`
	gazebo_ros_range	⚠️ Deprecated, use `ray_sensor`
	gazebo_ros_skid_steer_drive	✔️ #927
	🆕 gazebo_ros_ray_sensor	✔️ #785
	gazebo_ros_template	✔️ #783
	gazebo_ros_tricycle_drive	✔️ #917
	gazebo_ros_triggered_camera	✔️ #827
	gazebo_ros_triggered_multicamera	✔️ #939
	gazebo_ros_utils	⚠️ Deprecated
	gazebo_ros_vacuum_gripper	✔️ #960
	gazebo_ros_video	✔️ #899
	MultiCameraPlugin	✔️ #939
	PubQueue
	vision_reconfigure
	gazebo_model	⚠️ Deprecated, use `spawn_entity`
	set_pose
	set_wrench
gazebo_ros
	🆕 node	✔️ #771
	🆕 executor	✔️ #771
	🆕 conversions	✔️ #784
	🆕 utils	✔️ #787
	gazebo_ros_api_plugin
	├── 🆕 gazebo_ros_init	✔️ #776 #794 #866
	├── 🆕 gazebo_ros_factory	✔️ #808
	├── 🆕 gazebo_ros_properties	🚧 #868 #973
	├── 🆕 gazebo_ros_state	✔️ #839 #968 #969
	├── 🆕 gazebo_ros_force_system	✔️ #941
	└── 🆕 ...
	gazebo_ros_paths_plugin	✔️ #925
	gazebo_interface.py
	elevator_world.launch	⚠️ Deprecated, use `gazebo.launch`
	empty_world.launch(.py)	✔️ #776 (args missing due to ros2/launch#107)
	mud_world.launch	⚠️ Deprecated, use `gazebo.launch`
	range_world.launch	⚠️ Deprecated, use `gazebo.launch`
	rubble_world.launch	⚠️ Deprecated, use `gazebo.launch`
	shapes_world.launch	⚠️ Deprecated, use `gazebo.launch`
	willowgarage_world.launch	⚠️ Deprecated, use `gazebo.launch`
	debug	✔️ #962
	gazebo	✔️ #962
	gdbrun	✔️ #962
	gzclient	✔️ #962
	gzserver	✔️ #962
	libcommon.sh	⚠️ Deprecated
	perf	✔️ #962
	spawn_model	✔️ #948
gazebo_ros_control		https://github.com/ros-simulation/gazebo_ros2_control
	default_robot_hw_sim
	gazebo_ros_control_plugin
	robot_hw_sim
gazebo_ros_pkgs		✔️ #777

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richmattes · 2017-08-17T20:44:19Z

ROS 2 1.0 is currently slated to be released sometime before the beginning of next year - is gazebo working towards support in that timeframe? There's been some interest in ROS 2 support for gazebo early next year, but I don't see it anywhere on gazebo's roadmap.

CC @bponsler

j-rivero · 2017-08-17T21:55:50Z

ROS 2 1.0 is currently slated to be released sometime before the beginning of next year - is gazebo working towards support in that timeframe? There's been some interest in ROS 2 support for gazebo early next year, but I don't see it anywhere on gazebo's roadmap.

As far as I know, there is no current plan at this moment to port gazebo_ros_pkgs to ROS 2 by the OSRF although some people, as you mention, has been doing some code to support it (the friends of Erle might have something working cc @vmayoral) . I did not receive any notification during these last months but many people tend far from the public scope.

vmayoral · 2017-08-18T06:46:49Z

Hello @j-rivero! We're indeed interested in this feature but haven't put time into it just yet. For now, all the tests we've done have made use of the bridges.

j-rivero · 2018-06-02T13:42:29Z

Update: the branch ros2 (based on kinetic-devel) will be used to import the changes related to ROS2 port. The first pull request is #735.

kev-the-dev · 2018-07-10T00:24:06Z

As nothing has been merged in yet, I'm gonna reset ros2 to the latest melodic-devel

kev-the-dev · 2018-07-11T17:15:56Z

I've been doing some work on this and have some ideas for the design I'd like to put to the community for discussion:

Port gazebo_msgs to ROS2 (see gazebo_msgs: converted messages to ros2 format. #735)
- Add headers to messages LinkState(s), ModelState(s), etc should include a timestamp #535 that we have been reluctant to change for API compatibility

Create a base class (GazeboRosNode?), which inherits from rclcpp::Node but also adds itself to a global executor (callback threads) to provide parity to the ROS1 implementation where plugins don't worry about spinning.

GazeboRosNode can optionally be given an SDF element for construction (like for Model/World plugins), which will configure the Node based on the sdf. This will address the confusion over namespaces and lack of remapping functionality in the current repo

 <!-- Optional configurations for a plugin's Node -->
 <ros>
   <!-- Name of node, only use if plugin is one node -->
   <node_name></node_name>
   <!-- Namespace of the node -->
   <namespace></namespace>
   <!-- Command line arguments sent to Node's contructor for remappings -->
   <arguments>
      <argument>my_topic:=new_topic</argument>
      <argument>__name:=super_cool_node</argument>
   </arguments>
   <!-- Initial ROS params set for node -->
   <parameters>
      <parameter name="max_velocity">55</parameter>
      <parameter name="publish_odom">True</parameter>
   </parameters>
 </ros>

Port gazebo_ros_api plugin (the one that does ModelStates, spawn model, /clock, etc), and initializes ROS
Port gazebo_ros_paths_plugin (which adds ROS packages to the Gazebo paths for models/textures/etc)
Port the scripts/launch files in gazebo_ros used to open gazebo with the above ROS plugins
Port the other most used plugins (Camera, IMU, laser, DepthCamera)
- Note the Camera plugins will be blocked until image_transport is ported to ROS2
As plugins are ported over, follow ROS2 style guidelines including doxygen style commenting
Lowest priority is porting gazebo_ros_control, as ros_control is not present in ROS2

Some early work on this is on my branch (beware: debug prints, uncommented sections, etc).

kev-the-dev · 2018-07-13T03:29:33Z

Implementations for (1) and (2), besides for the SDF configuration, are in #769

chapulina · 2018-07-19T23:02:21Z

The design is being placed on this wiki page, comments are welcome in this issue. We'll keep the status table above up-to-date.

mkhansenbot · 2018-10-09T00:30:23Z

Is there an update on this, it looks like ros2_control is done, (ros-controls/ros2_control#1) so gazebo_ros_control should be unblocked, right?

chapulina · 2018-10-09T00:41:56Z

Is there an update on this, it looks like ros2_control is done, (ros-controls/ros2_control#1) so gazebo_ros_control should be unblocked, right?

There's currently no plan to port gazebo_ros_control. A pre-requisite would be to get ros_control into ros2.repos.

bmagyar · 2018-11-12T11:45:05Z

I currently don't have time to maintain ros2_control. I'd be happy to welcome a maintainer onboard for moving the current proof of concept forward which should then enable proper gazebo integration.

chapulina · 2018-12-08T02:35:57Z

Added a wiki page with a few guidelines for peeps interested in helping migrating plugins to ROS 2: https://github.com/ros-simulation/gazebo_ros_pkgs/wiki/ROS-2-migration-contribution-guide

DhruvKoolRajamani · 2019-03-12T22:51:11Z

Redirected here from the GSoC osrf Wiki. Which plugins are still waiting to get ported?

chapulina · 2019-03-12T23:25:51Z

@DhruvKoolRajamani , I just updated this issue above, as well as #779. Thanks for the interest!

mkhansenbot · 2019-03-18T23:49:42Z

Is there a status update on gazebo_ros_depth_camera? It doesn't look from this issue like it has been ported yet. If it has, great I'd like to use it.

chapulina · 2019-03-18T23:52:05Z

Is there a status update on gazebo_ros_depth_camera?

No work has started on it yet, AFAIK.

mkhansenbot · 2019-03-19T22:03:37Z

No work has started on it yet, AFAIK.

Any ETA on when?

chapulina · 2019-03-19T22:57:58Z

Any ETA on when?

There's no one assigned to work on this right now. We may get a GSoC intern during the summer, but I could also review a PR if someone else works on it before that.

shiveshkhaitan · 2019-03-20T01:38:49Z

I would like to work on this. Will try to get it done as soon as possible.

bmagyar · 2019-03-20T11:09:05Z

I can't really dedicate any time to porting the ros_control plugin but would be happy to review one!

yeshasvitirupachuri · 2019-03-30T15:16:03Z

@chapulina which is the current stable branch for gazebo_ros_pkgs for ros2 crystal?

I tried the branches crystal and ros2 as documented here against ros2 master but the gazebo_ros_pkgs could not be build.

chapulina · 2019-03-31T17:22:01Z

Crystal:

Crystal debs or ros2.repos from the crystal branch + the correct branches from image_common and vision_opencv
gazebo_ros_pkgs crystal branch

Dashing:

ros2.repos master branch + these extra repos (which include gazebo_ros_pkgs's ros2 branch)

yeshasvitirupachuri · 2019-03-31T19:34:51Z

@chapulina Thanks for the update.
It was a bit unclear with the current documentation available. I created installation notes that may help developers of GsoC2019 to get started with setting up the code base. Please review it and let me know if you notice some mistakes.

chapulina · 2019-04-01T04:56:57Z

@Yeshasvitvs , that all looks right for me, thanks for taking the time to write it. You're welcome to add the detailed instructions to the installation tutorial.

yeshasvitirupachuri · 2019-04-01T16:01:35Z

@chapulina I opened a PR

shivaang12 · 2020-02-19T03:12:34Z

@chapulina I read some where that gazebo/get_world_properties service will be ported in gazebo_ros_properties. But haven't seen this service in eloquent branch. Can you shed some light on it's update? Also, curious to know why gazebo_ros_properties is absent from ros2 branch?

Thanks!

chapulina · 2020-02-19T03:30:02Z

I read some where that gazebo/get_world_properties service will be ported in gazebo_ros_properties

That seems to be missing on the migration guide. The new service is now get_model_list, provided by the gazebo_ros_factory plugin.

curious to know why gazebo_ros_properties is absent from ros2 branch?

I just made a pull request today forward-porting gazebo_ros_properties from dashing to eloquent, see #1049. Now someone needs to make a PR from eloquent to ros2 (i.e. foxy).

guru-florida · 2020-09-27T05:59:20Z

What is the latest plans for porting gazebo_ros_control? I see in the Roadmap repo that it is showing "Blocked by ros-controls/ros2_control#1" which I believe is ready, yes? Has any work started on it that I can jump into?

If ros2_control is ready, briefly, what work would remain to complete the port?

Derive from ros_gazebo/Node
move existing code from ROS1 gazebo_ros_control over and convert the rclcpp pub/sub setup/callbacks
Are there any special simulated parts of ROS1 gazebo_ros_control that depend on parts of ros_control that have been overhauled? Such as trajectory computation, trapezoidal stuff, effort, position, velocity controllers, etc?

FYI Wrote a related post on ROS Answers.

chapulina · 2020-09-28T21:37:12Z

@guru-florida , I updated the table with a link to the repository where that work is happening: https://github.com/ros-simulation/gazebo_ros2_control

guru-florida · 2020-09-28T23:56:32Z

Thanks @chapulina! I can't believe I didnt find that repo, it was right beside the gazebo_ros_pkgs..how!?!?! I'm blind. lol. I will check it out. 👍

chapulina · 2021-02-19T17:46:13Z

With the release of gazebo_ros2_control into Foxy, I believe this issue can be closed 🎉

j-rivero added the enhancement label Nov 29, 2016

vdiluoffo added a commit to vdiluoffo/gazebo_ros_pkgs that referenced this issue Jan 9, 2017

Reference to Issue ros-simulation#512

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vdiluoffo added a commit to vdiluoffo/gazebo_ros_pkgs that referenced this issue Jan 9, 2017

Reference issue ros-simulation#512

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vdiluoffo added a commit to vdiluoffo/gazebo_ros_pkgs that referenced this issue Jan 9, 2017

Reference issue ros-simulation#512

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vdiluoffo added a commit to vdiluoffo/gazebo_ros_pkgs that referenced this issue Jan 9, 2017

Reference issue ros-simulation#512

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vdiluoffo added a commit to vdiluoffo/gazebo_ros_pkgs that referenced this issue Jan 9, 2017

Reference issue ros-simulation#512

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kev-the-dev mentioned this issue Jul 11, 2018

gazebo_ros_pkgs ros2/ros2#532

Closed

dhood added the ros2 label Aug 22, 2018

dmiklic mentioned this issue Apr 1, 2019

Add ros2 compatibility on ros2 branch romb-technologies/ariac_environment#4

Open

chapulina mentioned this issue Jul 9, 2019

alternative for libgazebo_ros_control.so in ROS1 ? #946

Closed

chapulina mentioned this issue Aug 8, 2019

JointStateController with Gazebo ros-controls/ros2_control#17

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ruffsl mentioned this issue Apr 16, 2020

Release for ROS2 Foxy #1080

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chapulina closed this as completed Feb 19, 2021

PrasadNR mentioned this issue Aug 23, 2021

Will there be other "cross-platform" simulator support/custom simulator support? PrasadNR/Webots-Quadcopter-Python-SITL#4

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Port gazebo_ros_pkgs to ROS 2.0 #512

Port gazebo_ros_pkgs to ROS 2.0 #512

j-rivero commented Nov 29, 2016 •

edited by chapulina

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Port gazebo_ros_pkgs to ROS 2.0 #512

Port gazebo_ros_pkgs to ROS 2.0 #512

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j-rivero commented Nov 29, 2016 • edited by chapulina Loading

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