Merge branch 'gazebosim:ros2' into pr-camera-track

.github/CODEOWNERS

@@ -1,4 +1,5 @@
 # More info:
 # https://help.github.com/en/github/creating-cloning-and-archiving-repositories/about-code-owners
 
-*                     @chapulina
+*                     @adityapande-1995
+*                     @ahcorde

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

@@ -10,31 +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
-  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

@@ -10,38 +10,17 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - docker-image: "ubuntu:22.04"
-            gz-version: "fortress"
-            ros-distro: "humble"
-          - docker-image: "ubuntu:22.04"
-            gz-version: "garden"
-            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"
+          - docker-image: "ubuntu:24.04"
             gz-version: "harmonic"
             ros-distro: "rolling"
     container:
       image: ${{ matrix.docker-image }}
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
       - name: Build and Test
         run: .github/workflows/build-and-test.sh
         env:
           DOCKER_IMAGE: ${{ matrix.docker-image }}
           GZ_VERSION: ${{ matrix.gz-version  }}
           ROS_DISTRO: ${{ matrix.ros-distro }}
-      - name: Build sdformat_urdf from source
-        uses: actions/checkout@v2
-        if: ${{ matrix.gz-version  }} == "garden"
-        with:
-          repository: ros/sdformat_urdf
-          ref: ros2

.github/workflows/triage.yml

@@ -10,10 +10,8 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Add ticket to inbox
-        uses: technote-space/create-project-card-action@v1
+        uses: actions/add-to-project@v0.5.0
         with:
-          PROJECT: Core development
-          COLUMN: Inbox
-          GITHUB_TOKEN: ${{ secrets.TRIAGE_TOKEN }}
-          CHECK_ORG_PROJECT: true
+          project-url: https://github.com/orgs/gazebosim/projects/7
+          github-token: ${{ secrets.TRIAGE_TOKEN }}
 

README.md

@@ -8,15 +8,21 @@ Galactic | Edifice | [galactic](https://github.com/gazebosim/ros_gz/tree/galacti
 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) | [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
+Humble | Harmonic | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | [gazebo packages](https://gazebosim.org/docs/harmonic/ros_installation#-gazebo-harmonic-with-ros-2-humble-iron-or-rolling-use-with-caution-)[^1]
+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
+Iron | Harmonic | [humble](https://github.com/gazebosim/ros_gz/tree/iron) | only from source
+Jazzy* | Garden | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source
+Jazzy* | Harmonic | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | https://packages.ros.org
+Rolling | Fortress | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | 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)
+* ROS 2 Jazzy Jalisco is slated for release on May 23rd, 2024. [Full ROS 2 release information is available in REP-2000.]
+
+For information on ROS(1) and Gazebo compatibility, refer to the [noetic branch README](https://github.com/gazebosim/ros_gz/tree/noetic)
 
 > Please [ticket an issue](https://github.com/gazebosim/ros_gz/issues/) if you'd like support to be added for some combination.
 
@@ -55,11 +61,11 @@ This repository holds packages that provide integration between
 
 ## Install
 
-This branch supports ROS Humble. See above for other ROS versions.
+This branch supports ROS Rolling. See above for other ROS versions.
 
 ### Binaries
 
-Humble binaries are available for Fortress.
+Rolling binaries are available for Fortress.
 They are hosted at https://packages.ros.org.
 
 1. Add https://packages.ros.org
@@ -70,14 +76,14 @@ They are hosted at https://packages.ros.org.
 
 1. Install `ros_gz`
 
-        sudo apt install ros-humble-ros-gz
+        sudo apt install ros-rolling-ros-gz
 
 ### From source
 
 #### ROS
 
 Be sure you've installed
-[ROS Humble](https://docs.ros.org/en/humble/Installation.html)
+[ROS Rolling](https://index.ros.org/doc/ros2/Installation/)
 (at least ROS-Base). More ROS dependencies will be installed below.
 
 #### Gazebo
@@ -103,7 +109,7 @@ The following steps are for Linux and OSX.
     cd ~/ws/src
 
     # Download needed software
-    git clone https://github.com/gazebosim/ros_gz.git -b humble
+    git clone https://github.com/gazebosim/ros_gz.git -b ros2
     ```
 
 1. Install dependencies (this may also install Gazebo):
@@ -130,22 +136,6 @@ The following steps are for Linux and OSX.
   > try building with `colcon build --parallel-workers=1 --executor sequential`. You might also have to set `export MAKEFLAGS="-j 1"` before running `colcon build` to limit
   > the number of processors used to build a single package.
 
-    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 git@github.com:rudislabs/actuator_msgs.git
-    cd ../
-    colcon build
-    ```
-
 ## ROSCon 2022
 
 [![](img/video_img.png)](https://vimeo.com/showcase/9954564/video/767127300)

README_RENAME.md

@@ -7,7 +7,7 @@ This allows users to do either of these and get equivalent behavior:
 
 ```bash
 ros2 run ros_gz parameter_bridge [...]
-ros2 run ros_ign parameter_bridge [...]  # Will emit deprecation warning
+ros2 run ros_gz parameter_bridge [...]  # Will emit deprecation warning
 ```
 
 Additionally, installed files like launch files, message interfaces etc. are **duplicated** versions of the ones in `ros_gz` (but renamed as appropriate), and point to `ros_gz` dependencies as well (e.g. launch files pointing to `ros_gz` nodes.)

ros_gz/CHANGELOG.rst

@@ -2,11 +2,49 @@
 Changelog for package ros_gz
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.244.12 (2023-12-13)
----------------------
+2.0.0 (2024-07-22)
+------------------
 
-0.244.11 (2023-05-23)
----------------------
+1.0.1 (2024-07-03)
+------------------
+* Prepare for 1.0.0 Release (`#495 <https://github.com/gazebosim/ros_gz//issues/495>`_)
+* 0.244.14
+* Changelog
+* 0.244.13
+* Changelog
+* 0.244.12
+* Changelog
+* 0.246.0
+* Update changelogs
+* Port: humble to ros2 (`#386 <https://github.com/gazebosim/ros_gz//issues/386>`_)
+* Merge branch 'humble' into mjcarroll/humble_to_ros2
+* Update maintainers (`#376 <https://github.com/gazebosim/ros_gz//issues/376>`_)
+* Humble ➡️ ROS2 (`#323 <https://github.com/gazebosim/ros_gz//issues/323>`_)
+  Humble ➡️ ROS2
+* Merge branch 'humble' into ports/humble_to_ros2
+* 0.245.0
+* Changelog
+* humble to ros2 (`#311 <https://github.com/gazebosim/ros_gz//issues/311>`_)
+  Co-authored-by: Michael Carroll <michael@openrobotics.org>
+* Merge remote-tracking branch 'origin/humble' into ahcorde/humble_to_ros2
+* Contributors: Addisu Z. Taddese, Aditya Pande, Alejandro Hernández Cordero, Jose Luis Rivero, Michael Carroll, ahcorde
+
+1.0.0 (2024-04-24)
+------------------
+
+0.246.0 (2023-08-31)
+--------------------
+* Port: humble to ros2 (`#386 <https://github.com/gazebosim/ros_gz/issues/386>`_)
+* Update maintainers (`#376 <https://github.com/gazebosim/ros_gz/issues/376>`_)
+* Humble ➡️ ROS2 (`#323 <https://github.com/gazebosim/ros_gz/issues/323>`_)
+* Contributors: Aditya Pande, Alejandro Hernández Cordero, Michael Carroll, ahcorde
+
+0.245.0 (2022-10-12)
+--------------------
+* humble to ros2 (`#311 <https://github.com/gazebosim/ros_gz/issues/311>`_)
+  Co-authored-by: Michael Carroll <michael@openrobotics.org>
+* Merge remote-tracking branch 'origin/humble' into ahcorde/humble_to_ros2
+* Contributors: Alejandro Hernández Cordero, ahcorde
 
 0.244.10 (2023-05-03)
 ---------------------

ros_gz/package.xml

@@ -4,11 +4,14 @@
   <!-- TODO: Make this a metapackage, see
        https://github.com/ros2/ros2/issues/408 -->
   <name>ros_gz</name>
-  <version>0.244.12</version>
+  <version>2.0.0</version>
   <description>Meta-package containing interfaces for using ROS 2 with <a href="https://gazebosim.org">Gazebo</a> simulation.</description>
-  <maintainer email="louise@openrobotics.org">Louise Poubel</maintainer>
+  <maintainer email="adityapande@intrinsic.ai">Aditya Pande</maintainer>
+  <maintainer email="ahcorde@openrobotics.org">Alejandro Hernandez</maintainer>
   <license>Apache 2.0</license>
 
+  <author>Louise Poubel</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>ros_gz_bridge</exec_depend>