Unable to complete turtlebot3_simulations - new-branch "Migrating ROS 2 Packages that use Gazebo Classic"

[ARLunan]

Environment

• OS Version: <Ubuntu 22.04 on MAC M1 arm64arm64 -->
• Source
  turtlebot3_simulations 2.2.6 new_gazebo latest commit "last week i/.e Feb 10

Description

After following procedure in https://gazebosim.org/docs/harmonic/migrating_gazebo_classic_ros2_packages, successful rosdep, clone https://github.com/azeey/turtlebot3_simulations.git

• Expected behavior: successful colcon build of turlebot3_simulations

• Actual behavior:

• buntutbc@macvm-ub22h-bv:~/turtlebot3_ws$ colcon build --symlink-install
  Starting >>> turtlebot3_fake_node
  Starting >>> turtlebot3_gazebo
  --- stderr: turtlebot3_gazebo
  CMake Error at CMakeLists.txt:23 (find_package):
  By not providing "Findgazebo.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "gazebo", but
  CMake did not find one.

  Could not find a package configuration file provided by "gazebo" with any
  of the following names:

  gazeboConfig.cmake
  gazebo-config.cmake

  Add the installation prefix of "gazebo" to CMAKE_PREFIX_PATH or set
  "gazebo_DIR" to a directory containing one of the above files. If "gazebo"
  provides a separate development package or SDK, be sure it has been
  installed.

---

Failed <<< turtlebot3_gazebo [0.38s, exited with code 1]
Aborted <<< turtlebot3_fake_node [0.50s]

Summary: 0 packages finished [1.08s]
1 package failed: turtlebot3_gazebo
1 package aborted: turtlebot3_fake_node
1 package had stderr output: turtlebot3_gazebo
1 package not processed
ubuntutbc@macvm-ub22h-bv:~/turtlebot3_ws$

[azeey]

I think the issue is that rosdep doesn't know how to install Gazebo classic. Did you get any errors when running rosdep install? You might have to install Gazebo classic manually.

[ARLunan]

Yes, I concur, but we do not want nor need Classic on our machines. I thought the whole point of the migration activity was to deploy the actively supported Gazebo Harmonic and later versions on our systems, including to use existing tutorials such as Turtlebot3. I am also in the group of users with arm64 machines, I.e. Linux Virtual Desktop on a MAC M1 for which it is impossible to install Classic due missing depandancies. I am very pleased that I can install Harmonic gz-sim (binary install) and ros-gz (source install), and able to migrate my existing “Classic” gazebo robot simulations packages to use Harmonic. For example, with assistance with other developers, I have successfully done this with the popular linorobot2 robot packages. So is there something I could try to get this new TB3 package to compile & work with gz-sim / ros-gz Harminic?

[azeey]

Ah, I see. I thought you were running the first part of the tutorial where it builds the Gazebo classic example just to check everything is working as expected. If you only need the new Gazebo version, you'll have to checkout the new_gazebo branch from https://github.com/azeey/turtlebot3_simulations.git. That branch wasn't the default branch, so when you did git clone, you got the original turtlebot3_simulation package with Gazebo classic. I went ahead and made new_gazebo the default branch now so just doing git clone should work from now on, but if you've already cloned it, you'll need to do checkout the new_gazebo branch manually.

[ARLunan]

Thanks, but I confirmed that I believe my a colcon build was against the "new_gazebo" branch, see the log following. Did forget something before doing the build?

ubuntutbc@macvm-ub22h-bv:/turtlebot3_ws/src$ ls
turtlebot3_simulations
ubuntutbc@macvm-ub22h-bv:/turtlebot3_ws/src$ cd turtlebot3_simulations
ubuntutbc@macvm-ub22h-bv:~/turtlebot3_ws/src/turtlebot3_simulations$ git status
On branch new_gazebo
Your branch is up to date with 'origin/new_gazebo'.

nothing to commit, working tree clean
ubuntutbc@macvm-ub22h-bv:~/turtlebot3_ws/src/turtlebot3_simulations$ git branch
master

• new_gazebo
  ubuntutbc@macvm-ub22h-bv:/turtlebot3_ws/src/turtlebot3_simulations$ git checkout new_gazebo
  Already on 'new_gazebo'
  Your branch is up to date with 'origin/new_gazebo'.
  ubuntutbc@macvm-ub22h-bv:/turtlebot3_ws/src/turtlebot3_simulations$ cd ..
  ubuntutbc@macvm-ub22h-bv:/turtlebot3_ws/src$ cd ..
  ubuntutbc@macvm-ub22h-bv:/turtlebot3_ws$ colcon build
  Starting >>> turtlebot3_fake_node
  Starting >>> turtlebot3_gazebo
  --- stderr: turtlebot3_gazebo
  CMake Error at CMakeLists.txt:23 (find_package):
  By not providing "Findgazebo.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "gazebo", but
  CMake did not find one.

  Could not find a package configuration file provided by "gazebo" with any
  of the following names:

  gazeboConfig.cmake
  gazebo-config.cmake

  Add the installation prefix of "gazebo" to CMAKE_PREFIX_PATH or set
  "gazebo_DIR" to a directory containing one of the above files. If "gazebo"
  provides a separate development package or SDK, be sure it has been
  installed.

---

Failed <<< turtlebot3_gazebo [0.31s, exited with code 1]
Aborted <<< turtlebot3_fake_node [1.12s]

Summary: 0 packages finished [1.59s]
1 package failed: turtlebot3_gazebo
1 package aborted: turtlebot3_fake_node
1 package had stderr output: turtlebot3_gazebo
1 package not processed
ubuntutbc@macvm-ub22h-bv:~/turtlebot3_ws$