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Is it possible to use ROS (gazebo_ros) with the recent nightly builds of Gazebo8?

Hi

I want to use actors in Gazebo as described in this tutorial:

http://gazebosim.org/tutorials?tut=actor&cat=build_robot

As far as I know actors are not properly supported in the gazebo version before gazebo8, that's why I use a nightly build of gazebo8. This works so far.

Now my problem is, that I have to include these actors in a project which is also using ROS. Connecting gazebo8 to ROS does not work for me since the gazebo_ros package does not support gazebo 8 yet.

Is this right or can somebody think of a way to make this work? Is there maybe a late version of gazebo7 which already properly supports actors but still works with ROS kinetic?

Best regards, lumeier

Asked by lumeier on 2017-01-04 06:40:34 UTC

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Answers

Can you try compiling gazebo_ros from source? I think you can setup a catkin workspace with both gazebo and gazebo_ros in it.

Asked by nkoenig on 2017-01-04 10:25:58 UTC

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Yes -- mostly. I have this building and running. However I am having issues with launch files. I'm doing it in a Docker container running Ubuntu 16.04 and ROS Kinetic.

Install dependencies 

apt-get install -y libignition-math3 
apt-get install -y libsdformat5 \
        libgazebo8 \
        gazebo8 \
        libgazebo8-dev \
        ros-kinetic-ros-control \
        ros-kinetic-ros-controllers

Create a catkin workspace. In the source folder, pull the gazebo_ros package:

git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git -b kinetic-devel

then catkin_make it and source devel/setup.bash

Asked by Ben B on 2017-02-08 16:54:49 UTC

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