Repository navigation
Package request: ros-humble-ros-gz on Windows #68
Description
Package name
ros-humble-ros-gz
Operating System(s)
- linux-64
- linux-aarch64
- osx-64
- osx-arm64
- win-64
Additional context (optional)
Hi, I'm sorry if this is not the correct way of requesting the addition of a package, it's the first time I do this.
I have to compile a ROS2 workspace that has as a dependency ros-humble-ros-gz (and also ros-humble-gazebo-ros2-control, but this I will request in another issue) and when running rosdep, it cannot find the package.
Is it possible to add it to RoboStack?
Thanks!
Links and references (optional)
The repository of the ros-gz package can be found here
Activity
traversaro commentedon May 23, 2023
If you want to use gz-sim with robostack, pay attention that you may also hit the error: conda-forge/gz-sim-feedstock#6 . The fix for that is available at gazebosim/gz-sim#1968 . It is taking some time as it needs to be accepted upstream before being backported (as it introduces new ABI symbols), but hopefully we should be done with it soon(ish).
icosac commentedon May 23, 2023
Thanks for pointing me to this issues! I will have them monitor and see if there is any progress.
mkarklins commentedon Jun 5, 2023
Awesome to see progress on this front!
It looks like I have some spare time available. Does it make sense to take a stab at adding the
ros-gzpackage now before thegz-simPR is merged? Since thegz-sim*things can be installed separately, relatively easy on mac with homebrew.traversaro commentedon Jun 5, 2023
In general you can't mix homebrew and conda-forge packages, as they have different ABIs. Anyhow, even if conda-forge/gz-sim-feedstock#6 is present, probably you can work around it by manually copying
$CONDA_PREFIX/share/gz/gz-sim7/gui/gui.configto~/.gz/sim/7/gui.config. Furthermore, as this problem is just at runtime, there should be no problem in already working on addingros-humble-ros-gzto robostack, see https://github.com/RoboStack/ros-humble/blob/main/CONTRIBUTING.md#adding-new-packages-via-pull-requests for docs on that.traversaro commentedon Jun 5, 2023
A more tricky issue is that apparently the Humble version of ros-gz packages depend on Gazebo (Ignition) Fortress (see https://github.com/gazebosim/ros_gz). However, all relocatability work is going on Gazebo Garden. While it may be possible to have some simpler workaround/fix to solve conda-forge/gz-sim-feedstock#6, I am not sure if Gazebo Fortress packages work at all on macOS. Probably the easiest way to check is to first build from source ros-gz packages to check if they work.
mkarklins commentedon Jun 5, 2023
Is there an inherent requirement to support
Fortressrelease ( a side from it being an LTS version )? It seems at least initially we can focus onGarden.traversaro commentedon Jun 5, 2023
Fine for me (if it is ok for @@Tobias-Fischer) if you are able to do that, to be honest I tought it was difficult to override the metadata in the package.xml, but apparently there is an handy env variable to do so:https://github.com/gazebosim/ros_gz/blob/humble/ros_gz_bridge/package.xml#L30 . So probably you also need to add Garden packages to the rosdep keys in https://github.com/RoboStack/ros-humble/blob/main/robostack.yaml .
Tobias-Fischer commentedon Jun 5, 2023
Sounds good to me :)
Tobias-Fischer commentedon Jun 5, 2023
By the way, I can’t recall how exactly vinca parses the package.xml, and I’m not sure if it would respect the environment variables. In the past I’ve simply remapped within the robostack.yaml /conda.yaml to whichever gazebo version I want. Not nice but works.
traversaro commentedon Jul 8, 2023
For anyone just monitoring this issue and not that one, the problems on gz-sim on Linux were solved some weeks ago, see conda-forge/gz-sim-feedstock#6 (comment) .
Tobias-Fischer commentedon Feb 19, 2024
Hi @traversaro - I am a bit lost when it comes to Gazebo support for ROS2. I'm happy to look into it, but would appreciate a bit of guidance. What is the overall status of Classic-Gazebo and Ignition-Gazebo both standalone and in conjunction with RoboStack/ROS2? Which version of Classic-Gazebo / Ignition-Gazebo should we use?
We just got asked this in our Gitter:
"z4ziad
Ok, I am new to Robostack. So far, I like what I have read about it and would like to use it in the classroom in an engineering program. I wonder what route I should take to install ROS2 Humble and a basic Gazebo simulator (i.e., what packages should I install for Windows and MacOS)?"
traversaro commentedon Feb 19, 2024
Ok, let's try to recap. Sorry for the complexity, hopefully it will go away in the long term. In the following I will refer to "Classic gazebo" to refer to the "old" Gazebo that has been developed from ~2004 and will be not be supported upstream anymore in 2025, and with "Modern gz-sim" for the modern simulator (that used to be called "Ignition Gazebo") that is being actively developed and it is recommended for new developments. Unfortunately, both are being called "Gazebo", so I prefer to avoid using just "Gazebo" as it is ambiguous. It is important to distinguish the two, as even if they share the possibilities of loading models in URDF and SDF formats, the API for their plugins is completely different, so effectively two different simulators.
First of all, historically each version of ROS/ROS2 is associated to a corresponding release of both "Gazebo classic" and "Modern gz-sim". Using a different version may be working, but it is typically not supported in binary packages. For ROS2 Humble, the corresponding releases are:
ros-humble-gazebo-ros-pkgsros-humble-ros-gz(it used to be called ros-ign, but it was retroactively renamed to ros-gz to simplify the life of users migrating to the future release of Modern gz-sim called "gz" instead of "ign").Regarding robostack, it seems that
ros-humble-gazebo-ros-pkgswas compiled recently, while in the latest rebuild, whileros-humble-ros-gzis missing, I will open a PR to build it: #146 .Tobias-Fischer commentedon Feb 19, 2024
Many thanks @traversaro! I’ll reopen here to keep track of the Windows issue. I guess it would be resolved if we move to a newer ROS2 distribution (e.g. Iron) which supports a newer Modern go-sim?
traversaro commentedon Feb 19, 2024
Kind of. The packages for gz-sim on Windows on conda-forge are available and basic simulations are working, but the GUI still does not work, but that's an upstream issue (see gazebosim/gz-sim#2089).
[-]Package request: ros-humble-ros-gz[/-][+]Package request: ros-humble-ros-gz on Windows[/+]fix: stop excluding rosidl_typesupport_fastrtps_c/cpp on Windows
Tobias-Fischer commentedon Oct 18, 2026
Mostly covered in the RoboStack monorepo, RoboStack/robostack, where all ROS 2 distributions are now built:
ros_gz,ros_gz_bridge,ros_gz_imageandros_gz_interfacesare now built for win-64.ros-humble-ros-gzfor win-64 has been published since 2026-09-29, and the humble rebuild there (RoboStack/robostack#62) updates it to 0.244.26.ros_gz_sim(and its demos) stays excluded on Windows, because Ignition Fortress (libignition-gazebo6) isn't installable on win-64 from conda-forge: its last win-64 build is 6.12.0 from 2023. That part would need fixing in conda-forge first.🤖 Claude (AI assistant), on behalf of @Tobias-Fischer