Switch to Humble/Garden on 22.04 (#22)

* Upgrade to Humble + Garden Signed-off-by: Louise Poubel <louise@openrobotics.org> * gz Signed-off-by: Louise Poubel <louise@openrobotics.org> * Temporarily override versions for CI Signed-off-by: Michael Carroll <michael@openrobotics.org> * add instructions for pythonpath building gz-sim from source Signed-off-by: Michael Anderson <anderson@mbari.org> * typo Signed-off-by: Michael Anderson <anderson@mbari.org> * Update README.md * use cyclonedds in dockerfile Signed-off-by: Michael Anderson <anderson@mbari.org> * typo Signed-off-by: Michael Anderson <anderson@mbari.org> * swap branches to main in vcs yaml Signed-off-by: Michael Anderson <anderson@mbari.org> Signed-off-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: Michael Carroll <michael@openrobotics.org> Signed-off-by: Michael Anderson <anderson@mbari.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Dharini Dutia <dharini@openrobotics.org> Co-authored-by: Michael Carroll <michael@openrobotics.org>
osrf · Jan 21, 2023 · 4444143 · 4444143
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diff --git a/README.md b/README.md
@@ -21,13 +21,29 @@ These are the repositories for the project:
 ## Install
 ### On Host System
 ##### Requirements
-At the moment, only source installation is supported. Use Ubuntu Focal.
+At the moment, only source installation is supported. Use Ubuntu Jammy.
 
-1. Install [ROS 2 Galactic](https://docs.ros.org/en/galactic/index.html)
+1. Install [ROS 2 Humble](https://docs.ros.org/en/humble/index.html)
 
-1. Install [Gazebo Fortress](https://ignitionrobotics.org/docs/fortress)
+Buoy Sim is tested against cyclonedds rmw implementation (default changed from Galactic to Humble)
+```
+sudo apt install -y ros-humble-rmw-cyclonedds-cpp
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+```
+
+2. Install [Gazebo Garden](https://gazebosim.org/docs/garden)
+
+Currently, in order to use added mass, it is necessary to build gz-sim Garden from source.
+
+When building from source, it is necessary to export the `PYTHONPATH` for gz-math python bindings when building buoy_sim
+```
+export PYTHONPATH=$PYTHONPATH:<path to your gz-sim workspace>/install/lib/python`
+```
+
+See [gz-math Python Get Started tutorial](https://github.com/gazebosim/gz-math/blob/gz-math7/tutorials/pythongetstarted.md). This step is needed until `PYTHONPATH` is automatically exported upstream, tracked in [this issue](https://github.com/osrf/buoy_sim/issues/81)
 
-1. Install necessary tools
+
+3. Install necessary tools
 
     ```
     sudo apt install python3-vcstool python3-colcon-common-extensions python3-pip git wget
@@ -50,12 +66,11 @@ At the moment, only source installation is supported. Use Ubuntu Focal.
     cd ~/buoy_ws
     ```
 
-1. Set the Gazebo version to Fortress. This is needed because we're not using an
+1. Set the Gazebo version to Garden. This is needed because we're not using an
    official ROS + Gazebo combination:
 
     ```
-    export IGNITION_VERSION=fortress
-    export GZ_VERSION=fortress
+    export GZ_VERSION=garden
     ```
 
 1. Install ROS dependencies
@@ -70,7 +85,7 @@ At the moment, only source installation is supported. Use Ubuntu Focal.
 1. Build and install
 
     ```
-    source /opt/ros/galactic/setup.bash
+    source /opt/ros/humble/setup.bash
     cd ~/buoy_ws
     colcon build
     ```
@@ -107,7 +122,7 @@ At the moment, only source installation is supported. Use Ubuntu Focal.
     ```
 
 1. Build the docker image
-    
+
     ```
     ./build.bash buoy
     ```
@@ -137,5 +152,5 @@ At the moment, only source installation is supported. Use Ubuntu Focal.
 Inside the docker container, run:
 
 ```
-ign gazebo mbari_wec.sdf -r
+gz sim mbari_wec.sdf -r
 ```
diff --git a/buoy_all.yaml b/buoy_all.yaml
@@ -8,12 +8,12 @@ repositories:
     type: git
     url: https://github.com/osrf/buoy_sim
     version: main
-  # Must compile ros_ign from source because Galactic + Fortress is not an official combination
-  ros_ign:
+  # Must compile ros_gz from source because Humble + Garden is not an official combination
+  ros_gz:
     type: git
-    url: https://github.com/osrf/ros_ign
-    version: galactic
+    url: https://github.com/gazebosim/ros_gz
+    version: ros2
   sdformat_urdf:
     type: git
     url: https://github.com/ros/sdformat_urdf
-    version: galactic
+    version: ros2
diff --git a/docker/buoy/Dockerfile b/docker/buoy/Dockerfile
@@ -1,15 +1,27 @@
-FROM ros:galactic-ros-base
+FROM ros:humble-ros-base
 ENV DEBIAN_FRONTEND=noninteractive
 
+# Need to use cyclonedds rather than default rmw provider
+RUN apt update \
+ && apt install -y \
+        ros-humble-rmw-cyclonedds-cpp
+ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
+
 # Necessary tools
 RUN apt update \
  && apt install -y \
         apt-utils \
         wget
 
 # Using non-official Gazebo + ROS combination, set it explicitly
-ENV IGNITION_VERSION fortress
-ENV GZ_VERSION fortress
+ENV GZ_VERSION garden
+
+# Garden only has nightlies for now
+RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
+ && /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list' \
+ && /bin/sh -c 'wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -' \
+ && apt-get update \
+ && apt-get install -y gz-garden
 
 # Create project directory and import packages
 RUN mkdir -p /tmp/buoy_ws/src \