Upgrade to Humble + Garden

[chapulina]

• Part of Upgrade to Humble + Garden #81

WIP

[srmainwaring]

@chapulina I missed this PR while getting a version to build for macOS and duplicated the bulk of the work in #89 🙄.

I've closed that PR and extracted the main differences (which mostly have to do with dependencies on ros_gz_bridge and ros_gz_sim) into this commit srmainwaring@8c886be which was obtained after merging a fork of chapulina/humble_garden with main and resolving conflicts, so it should be suitable for cherry-picking into this branch once main has been merged in.

Happy to help with testing for macOS if you need it.

[quarkytale]

Updated with your commit @srmainwaring, made some small changes to fix the errors I was getting. This should be now ready, will iterate as required after Gazebo Garden release.

[mjcarroll]

@andermi I'm down to one test that times out. The sc_commands_ros_feedback doesn't want to pass locally or in CI. In CI, I'm seeing a timeout. Locally, I'm seeing:

34: [sc_commands_ros_feedback-1] /home/mjcarroll/workspaces/mbari/src/buoy_sim/buoy_tests/tests/sc_commands_ros_feedback.cpp:412: Failure
34: [sc_commands_ros_feedback-1] Value of: static_cast<bool>(node->status_ & buoy_interfaces::msg::SCRecord::PUMP_TOGGLE)
34: [sc_commands_ros_feedback-1]   Actual: true
34: [sc_commands_ros_feedback-1] Expected: false
34: [sc_commands_ros_feedback-1] SC Pump Toggle should be OFF
34: [sc_commands_ros_feedback-1] /home/mjcarroll/workspaces/mbari/src/buoy_sim/buoy_tests/tests/sc_commands_ros_feedback.cpp:412: Failure
34: [sc_commands_ros_feedback-1] Value of: static_cast<bool>(node->status_ & buoy_interfaces::msg::SCRecord::PUMP_TOGGLE)
34: [sc_commands_ros_feedback-1]   Actual: true
34: [sc_commands_ros_feedback-1] Expected: false
34: [sc_commands_ros_feedback-1] SC Pump Toggle should be OFF

[mjcarroll]

The only test failures here appear to be timeouts now @andermi

[andermi]

The only test failures here appear to be timeouts now @andermi

I'll try the do-release-upgrade tomorrow and help you diagnose

[srmainwaring]

@mjcarroll this is looking good on macOS as well. There is one catch which is that the header for gnuplot-iostream is not found on macOS - and this is now required for the build.

As a workaround I've created a ros2 / ament build of https://github.com/dstahlke/gnuplot-iostream on this branch
https://github.com/srmainwaring/gnuplot-iostream/tree/srmainwaring/ros2. With this package included in the workspace and a minor tweak in the form of srmainwaring@6ec250f the humble-garden branch builds on macOS (provided the other ros2 humble dependencies are all built).

I may have missed a ros2 package for gnuplot-iostream elsewhere, but if it's not available is there any interest in upstreaming one?

[chapulina]

To be followed up on another PR