When will Gazebo be catkin-ized in ROS?

asked 2013-01-04 15:10:49 -0600

davetcoleman
369 ●10 ●17 ●25

In ROS Groovy, the Gazebo debian is still currently using rosbuild, and the Gazebo installation instructions say that ROS users should not install from source. Additionally, Gazebo for ROS is still on version 1.2 instead of 1.3. The reason I need Gazebo to be catkinized is because I tried following your animate joint tutorial and CMake can't find Gazebo. I assume that is because Gazebo on my computer is installed here:

/opt/ros/groovy/stacks/simulator_gazebo/gazebo/gazebo/share/gazebo-1.2/

I tried sourcing the setup.sh in the above folder but it didn't help CMake. I also tried catkinizing the animate joint tutorial but realized it wouldn't work because Gazebo is still a dry package.

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answered 2013-01-09 16:02:27 -0600

nkoenig
7676 ●8 ●44 ●71 http://gazebosim.org/

updated 2013-01-09 16:03:27 -0600

Gazebo is a standalone package. ROS will eventually use our binary installation. So, Gazebo won't be catkin-ized because it's not a ROS package or stack.

The proper way to use Gazebo is to install the standalone version of Gazebo, and use pkg-config to find it.

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This seems to run counter to what this website says: "ROS Users: Never install Gazebo from here. Use these instructions." On this page: http://gazebosim.org/wiki/1.2/install

davetcoleman ( 2013-01-14 18:15:47 -0600 )edit

dave, this changed with version 1.3. The installation instructions for that version state what nate posted. I found that quite confusing, so I've asked for recommendations for ros users here: http://answers.gazebosim.org/question/782/recommended-way-of-using-gazebo-with-ros-groovy/

bit-pirate ( 2013-01-14 20:50:27 -0600 )edit

Gazebo 1.3 install instructions are correct.

nkoenig ( 2013-01-14 22:17:28 -0600 )edit

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answered 2013-01-09 18:37:04 -0600

hsu
1873 ●14 ●19

at some point, simulator_gazebo stack will no longer contain a gazebo binary within it, instead, it will depend on gazebo as a system dependency. simulator_gazebo stack will contain just the plugins and tools for interfacing ROS with gazebo.

In latest groovy trunk, gazebo binary in simulator_gazebo has caught up-to-date with gazebo version 1.3, but with a minor difference, it still depends on parser_deprecated.cc library. The very last hurdle to cross before switching to system installed gazebo is to tic-toc out of the dependency on pre-gazebo-1.0 XML, requiring any existing urdf with old gazebo XML format to be converted to SDF 1.3+.

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I have created a SDF version of my robot (this was very time-consuming) and so am ready for the switch. However, I am very curious: is there a discussion about getting rid of URDF all together in the ROS community? SDF does seem much more powerful (yay parallel linkages) but now I have 2 files

davetcoleman ( 2013-01-10 11:39:03 -0600 )edit

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When will Gazebo be catkin-ized in ROS?

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