Jazzy & gz8 support

[Juancams]

Hi!

I'm adding mocap4ros2_gazebo support for the new ROS 2 Jazzy and Gz8 Harmonic versions. This PR resolves the issue #6

I have kept the same for ROS 2, and for the plugin part, it is quite similar to humble implementation, with the necessary modifications for operation in newer versions of gazebo.

Before merging, create a new branch of jazzy-devel.

Greetings

[jmguerreroh]

Please @aaggj, check this PR.

[aaggj]

Hi!

Thank you for the PR.

I tried to execute following the steps, but I get this error:

[gz-4] [Err] [SystemLoader.cc:92] Failed to load system plugin [libgz_ros_mocap.so] : Could not find shared library.

It is weird because I have the library installed:

aaggj@ROS:~/ros/2ros/mocap_ws/install/gz_mocap4r2_plugin/lib/gz_ros_mocap$ ls
libgz_ros_mocap.so.

Best regards.

[Juancams]

The error you have is because it is necessary to export the path to the library,

GZ_SIM_SYSTEM_PLUGIN_PATH=~/<path-to-ws>/install/gz_mocap4r2_plugin/lib/gz_ros_mocap/

but with these latest changes f6641b0 it is no longer necessary.

[aaggj]

Hi!

I tried in my computer and it works, but I tried in a docker with jazzy and it throws me this error and warnings:

CMake Warning at /opt/ros/jazzy/opt/gz_cmake_vendor/share/cmake/gz-cmake3/cmake3/GzFindPackage.cmake:243 (find_package):

By not providing "Findgz-plugin2.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"gz-plugin2", but CMake did not find one.

Could not find a package configuration file provided by "gz-plugin2" with
any of the following names:

gz-plugin2Config.cmake
gz-plugin2-config.cmake

Add the installation prefix of "gz-plugin2" to CMAKE_PREFIX_PATH or set
"gz-plugin2_DIR" to a directory containing one of the above files. If
"gz-plugin2" provides a separate development package or SDK, be sure it has
been installed.
Call Stack (most recent call first):
CMakeLists.txt:12 (gz_find_package)

CMake Warning at /opt/ros/jazzy/opt/gz_cmake_vendor/share/cmake/gz-cmake3/cmake3/GzFindPackage.cmake:243 (find_package):
By not providing "Findgz-sim8.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "gz-sim8", but
CMake did not find one.

Could not find a package configuration file provided by "gz-sim8" with any
of the following names:

gz-sim8Config.cmake
gz-sim8-config.cmake

Add the installation prefix of "gz-sim8" to CMAKE_PREFIX_PATH or set
"gz-sim8_DIR" to a directory containing one of the above files. If
"gz-sim8" provides a separate development package or SDK, be sure it has
been installed.
Call Stack (most recent call first):
CMakeLists.txt:13 (gz_find_package)

CMake Warning at /opt/ros/jazzy/opt/gz_cmake_vendor/share/cmake/gz-cmake3/cmake3/GzFindPackage.cmake:243 (find_package):
By not providing "Findgz-rendering8.cmake" in CMAKE_MODULE_PATH this
project has asked CMake to find a package configuration file provided by
"gz-rendering8", but CMake did not find one.

Could not find a package configuration file provided by "gz-rendering8"
with any of the following names:

gz-rendering8Config.cmake
gz-rendering8-config.cmake

Add the installation prefix of "gz-rendering8" to CMAKE_PREFIX_PATH or set
"gz-rendering8_DIR" to a directory containing one of the above files. If
"gz-rendering8" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
CMakeLists.txt:14 (gz_find_package)

CMake Warning at /opt/ros/jazzy/opt/gz_cmake_vendor/share/cmake/gz-cmake3/cmake3/GzFindPackage.cmake:243 (find_package):
By not providing "Findgz-sensors8.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"gz-sensors8", but CMake did not find one.

Could not find a package configuration file provided by "gz-sensors8" with
any of the following names:

gz-sensors8Config.cmake
gz-sensors8-config.cmake

Add the installation prefix of "gz-sensors8" to CMAKE_PREFIX_PATH or set
"gz-sensors8_DIR" to a directory containing one of the above files. If
"gz-sensors8" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
CMakeLists.txt:15 (gz_find_package)

CMake Error at CMakeLists.txt:35 (target_link_libraries):
Target "mocap_gz_ros" links to:

gz-plugin::gz-plugin

but the target was not found. Possible reasons include:

'* There is a typo in the target name.
'* A find_package call is missing for an IMPORTED target.
'* An ALIAS target is missing.

Best,

[Juancams]

Please check that you are following the steps in this link correctly.

Everything compiles correctly, the CI is telling you so.

[fmrico]

What is the status of this?

[aaggj]

It is proven and it works, the only thing is that I have to publish a tf static from base_link to base_mocap in order to make robot_gt work

[Juancams]

Hi @aaggj

Is this necessary because robot_gt subscribes to base_mocap?

Because just for the example that is uploaded, the urdf does not contain any base_mocap, so if robot_gt only subscribes to the base_mocap, both the link and the joint would have to be added.

[aaggj]

Yes, robot_gt looks for the transform from base_mocap to base_footprint

[Juancams]

And wouldn't it be better if robot_gt looked at the transformation between a link you specify and base_footprint? Does the urdf necessarily have to contain a link called base_mocap?