Update to gazebo harmonic

Author: NoahMollerstuen

src/surface/rov_gazebo/description/body.xacro

@@ -122,8 +122,8 @@
 
     <gazebo>
         <plugin
-            filename="ignition-gazebo-hydrodynamics-system"
-            name="ignition::gazebo::systems::Hydrodynamics">
+            filename="gz-sim-hydrodynamics-system"
+            name="gz::sim::systems::Hydrodynamics">
             <link_name>body</link_name>
             <water_density>1000</water_density>
             <!-- Added mass -->

src/surface/rov_gazebo/description/thruster.xacro

@@ -121,8 +121,8 @@
 
     <gazebo>
       <plugin
-          filename="ignition-gazebo-thruster-system"
-          name="ignition::gazebo::systems::Thruster">
+          filename="gz-sim-gazebo-thruster-system"
+          name="gz::sim::systems::Thruster">
           <namespace>rov</namespace>
           <joint_name>${thruster_name}_body_blade_joint</joint_name>
           <thrust_coefficient>0.004422</thrust_coefficient>

src/surface/rov_gazebo/launch/sim_launch.py

@@ -21,7 +21,7 @@ def generate_launch_description() -> LaunchDescription:
 
     # TODO: gz_sim launch might be nice
     start_gazebo = ExecuteProcess(
-        cmd=['ign', 'gazebo', '-v', '3', '-r', world_path], output='screen'
+        cmd=['gz', 'sim', '-v', '3', '-r', world_path], output='screen'
     )
 
     start_ardusub = ExecuteProcess(

src/surface/rov_gazebo/models/rov24/model.sdf

@@ -131,8 +131,8 @@
 
     <!-- Hydrodynamics plugin -->
     <plugin
-        filename="ignition-gazebo-hydrodynamics-system"
-        name="ignition::gazebo::systems::Hydrodynamics">
+        filename="gz-sim-hydrodynamics-system"
+        name="gz::sim::systems::Hydrodynamics">
       <link_name>base_link</link_name>
       <water_density>1000.0</water_density>
       <!-- Added mass: -->
@@ -407,8 +407,8 @@
     </joint>
 
     <plugin
-        filename="ignition-gazebo-thruster-system"
-        name="ignition::gazebo::systems::Thruster">
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
       <namespace>rov24</namespace>
       <joint_name>thruster1_joint</joint_name>
       <thrust_coefficient>0.02</thrust_coefficient>
@@ -421,8 +421,8 @@
     </plugin>
 
     <plugin
-        filename="ignition-gazebo-thruster-system"
-        name="ignition::gazebo::systems::Thruster">
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
       <namespace>rov24</namespace>
       <joint_name>thruster2_joint</joint_name>
       <thrust_coefficient>0.02</thrust_coefficient>
@@ -435,8 +435,8 @@
     </plugin>
 
     <plugin
-        filename="ignition-gazebo-thruster-system"
-        name="ignition::gazebo::systems::Thruster">
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
       <namespace>rov24</namespace>
       <joint_name>thruster3_joint</joint_name>
       <!-- Reverse spin to balance torque -->
@@ -450,8 +450,8 @@
     </plugin>
 
     <plugin
-        filename="ignition-gazebo-thruster-system"
-        name="ignition::gazebo::systems::Thruster">
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
       <namespace>rov24</namespace>
       <joint_name>thruster4_joint</joint_name>
       <!-- Reverse spin to balance torque -->
@@ -465,8 +465,8 @@
     </plugin>
 
     <plugin
-        filename="ignition-gazebo-thruster-system"
-        name="ignition::gazebo::systems::Thruster">
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
       <namespace>rov24</namespace>
       <joint_name>thruster5_joint</joint_name>
       <thrust_coefficient>0.02</thrust_coefficient>
@@ -479,8 +479,8 @@
     </plugin>
 
     <plugin
-        filename="ignition-gazebo-thruster-system"
-        name="ignition::gazebo::systems::Thruster">
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
       <namespace>rov24</namespace>
       <joint_name>thruster6_joint</joint_name>
       <!-- Reverse spin to balance torque -->
@@ -494,8 +494,8 @@
     </plugin>
 
     <plugin
-        filename="ignition-gazebo-thruster-system"
-        name="ignition::gazebo::systems::Thruster">
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
       <namespace>rov24</namespace>
       <joint_name>thruster7_joint</joint_name>
       <!-- Reverse spin to balance torque -->
@@ -509,8 +509,8 @@
     </plugin>
 
     <plugin
-        filename="ignition-gazebo-thruster-system"
-        name="ignition::gazebo::systems::Thruster">
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
       <namespace>rov24</namespace>
       <joint_name>thruster8_joint</joint_name>
       <thrust_coefficient>0.02</thrust_coefficient>

src/surface/rov_gazebo/scripts/add_models_and_worlds.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 # Add GZ_SIM_SYSTEM_PLUGIN_PATH to .bashrc only if it isn't already there
-ROS_LINE="export IGN_GAZEBO_RESOURCE_PATH=$(pwd)/src/surface/rov_gazebo/models:$(pwd)/src/surface/rov_gazebo/models/props:$(pwd)/src/surface/rov_gazebo/worlds:$IGN_GAZEBO_RESOURCE_PATH"
+ROS_LINE='export GZ_SIM_RESOURCE_PATH=$(pwd)/src/surface/rov_gazebo/models:$(pwd)/src/surface/rov_gazebo/models/props:$(pwd)/src/surface/rov_gazebo/worlds:$GZ_SIM_RESOURCE_PATH'
 if ! grep -qF "$ROS_LINE" ~/.bashrc ;
     then echo "$ROS_LINE" >> ~/.bashrc ;
 fi

src/surface/rov_gazebo/scripts/ardupilot_gazebo.sh

@@ -1,17 +1,24 @@
 #!/bin/bash
 
+export GZ_VERSION="harmonic"
+
+sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
 sudo apt-get update
-sudo apt-get install rapidjson-dev libignition-gazebo6-dev -y
+sudo apt-get install gz-harmonic -y
+sudo apt install libopencv-dev libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
+wget -q -O - https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | sudo bash
+
 # Can't be ssh clone because that breaks docker.
 # Can either make a second file or just hope that our fork does not need lots of dev work
-git clone -b fortress  https://github.com/CWRUbotix/rov-ardupilot-gazebo-fortress.git ~/ardupilot_gazebo
+git clone https://github.com/ArduPilot/ardupilot_gazebo ~/ardupilot_gazebo
 cd ~/ardupilot_gazebo
 mkdir build && cd build
 cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
 make -j4
 
 # Add IGN_GAZEBO_SYSTEM_PLUGIN_PATH to .bashrc only if it isn't already there
-ROS_LINE='export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:$IGN_GAZEBO_SYSTEM_PLUGIN_PATH'
+ROS_LINE='export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH'
 if ! grep -qF "$ROS_LINE" ~/.bashrc ;
     then echo "$ROS_LINE" >> ~/.bashrc ;
 fi

src/surface/rov_gazebo/worlds/rov24_coral.sdf

@@ -4,31 +4,31 @@
 
     <!-- Base Gazebo plugins -->
     <plugin
-        filename="ignition-gazebo-physics-system"
-        name="ignition::gazebo::systems::Physics">
+        filename="gz-sim-physics-system"
+        name="gz::sim::systems::Physics">
     </plugin>
     <plugin
-        filename="ignition-gazebo-user-commands-system"
-        name="ignition::gazebo::systems::UserCommands">
+        filename="gz-sim-user-commands-system"
+        name="gz::sim::systems::UserCommands">
     </plugin>
     <plugin
-        filename="ignition-gazebo-scene-broadcaster-system"
-        name="ignition::gazebo::systems::SceneBroadcaster">
+        filename="gz-sim-scene-broadcaster-system"
+        name="gz::sim::systems::SceneBroadcaster">
     </plugin>
 
     <!-- IMU plugin manages all IMU sensors -->
     <plugin filename="libgz-sim-imu-system.so"
-            name="ignition::gazebo::systems::Imu">
+            name="gz::sim::systems::Imu">
     </plugin>
 
-    <plugin filename="ignition-gazebo-sensors-system"
-            name="ignition::gazebo::systems::Sensors">
+    <plugin filename="gz-sim-sensors-system"
+            name="gz::sim::systems::Sensors">
     </plugin>
 
     <!-- Buoyancy plugin manages buoyancy for all models -->
     <plugin
-        filename="ignition-gazebo-buoyancy-system"
-        name="ignition::gazebo::systems::Buoyancy">
+        filename="gz-sim-buoyancy-system"
+        name="gz::sim::systems::Buoyancy">
       <!-- Fluid density is 1 (air) above 0 and 1000 (water) below 0 -->
       <graded_buoyancy>
         <default_density>1000</default_density>

src/surface/rov_gazebo/worlds/world.sdf

@@ -7,37 +7,37 @@
       <real_time_factor>1.0</real_time_factor>
     </physics>
     <plugin
-      filename="ignition-gazebo-physics-system"
-      name="ignition::gazebo::systems::Physics">
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
     </plugin>
     <plugin
-      filename="ignition-gazebo-sensors-system"
-      name="ignition::gazebo::systems::Sensors">
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
       <render_engine>ogre</render_engine>
     </plugin>
     <plugin
-      filename="ignition-gazebo-user-commands-system"
-      name="ignition::gazebo::systems::UserCommands">
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
     </plugin>
     <plugin
-      filename="ignition-gazebo-scene-broadcaster-system"
-      name="ignition::gazebo::systems::SceneBroadcaster">
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
     </plugin>
     <plugin
-      filename="ignition-gazebo-buoyancy-system"
-      name="ignition::gazebo::systems::Buoyancy">
+      filename="gz-sim-buoyancy-system"
+      name="gz::sim::systems::Buoyancy">
       <uniform_fluid_density>1000</uniform_fluid_density>
     </plugin>
 
     <gui fullscreen="0">
 
       <!-- 3D scene -->
       <plugin filename="GzScene3D" name="3D View">
-        <ignition-gui>
+        <gz-gui>
           <title>3D View</title>
           <property type="bool" key="showTitleBar">true</property>
           <property type="string" key="state">docked</property>
-        </ignition-gui>
+        </gz-gui>
 
         <engine>ogre</engine>
         <scene>scene</scene>
@@ -48,7 +48,7 @@
 
       <!-- World control -->
       <plugin filename="WorldControl" name="World control">
-        <ignition-gui>
+        <gz-gui>
           <title>World control</title>
           <property type="bool" key="showTitleBar">true</property>
           <property type="bool" key="resizable">true</property>
@@ -61,7 +61,7 @@
             <line own="left" target="left"/>
             <line own="bottom" target="bottom"/>
           </anchors>
-        </ignition-gui>
+        </gz-gui>
 
         <play_pause>true</play_pause>
         <step>true</step>
@@ -71,7 +71,7 @@
 
       <!-- World statistics -->
       <plugin filename="WorldStats" name="World stats">
-        <ignition-gui>
+        <gz-gui>
           <title>World stats</title>
           <property type="bool" key="showTitleBar">false</property>
           <property type="bool" key="resizable">false</property>
@@ -84,7 +84,7 @@
             <line own="right" target="right"/>
             <line own="bottom" target="bottom"/>
           </anchors>
-        </ignition-gui>
+        </gz-gui>
 
         <sim_time>true</sim_time>
         <real_time>true</real_time>
@@ -93,9 +93,9 @@
       </plugin>
 
       <plugin filename="ImageDisplay" name="Image Display">
-        <ignition-gui>
+        <gz-gui>
           <property key="state" type="string">docked</property>
-        </ignition-gui>
+        </gz-gui>
       </plugin>
     </gui>