Gazebo Ionic Tutorial Party

Welcome! The purpose of this repository is to guide the testing of various functionalities of Gazebo Ionic prior to official release. In other words, welcome to the Tutorial Party!

Who can contribute?

Everyone, all contributions are welcome!

Don't have a compatible platform?

Ionic on Ubuntu is only supported on the Noble version of Ubuntu (24.04). If you don't have this plaform, there are docker images and instructions ready to use.

How to contribute?

The Issues page has several tickets each containing specific instructions to test a particular functionality of Gazebo Ionic. Each ticket will have the following sections:

1. Setup: Details on the desired hardware and software setup for this test. The following combinations are possible.
   1. BuildType:
      • binary: pre-built debian packages from the apt repository
      • source: building your own workspace from source
   2. Os: Ubuntu Noble, Windows and MacOS
2. Links: Any relevant references for this test.
3. Checks: A list of functionalities to validate.

To contribute, first ensure if you have the relevant setup as described in the ticket. If you don't have the setup, you can find the installation instructions at https://gazebosim.org/docs/ionic/install. Next, assign the ticket to yourself via the Assignees option or comment on the ticket indicating your interest. Then follow the instructions to perform the necessary checks.

All checks passed? Great! Please tick the checkboxes if you can or else leave a comment indicating your successful testing. Attaching your terminal output (codeblock comment or gist file) as a form of verification is greatly appreciated. If you have the necessary permission, go ahead and close the ticket by clicking Close as completed.

Encountered failures? If one or more checks fail, please provide the error message in a codeblock comment or as a gist file attachment.

ROS Integration Tests

Since binaries of Ionic are not released on Rolling, you'll need to build the gz_vendor packages after installing gz-ionic according to the following instructions (adapted from https://gazebosim.org/docs/ionic/ros2_gz_vendor_pkgs/):

1. Install gz-ionic from packages.osrfoundation.org following the Binary Ubuntu Install instructions.
2. To ensure the vendor packages do not build DART from source, install the following packages:

sudo apt install libdart6.13-collision-bullet-dev libdart6.13-collision-ode-dev libdart6.13-dev libdart6.13-external-ikfast-dev libdart6.13-external-odelcpsolver-dev libdart6.13-utils-urdf-dev

1. Clone the set of vendor packages included in gz_vendor.repos in your workspace using vcstool.

vcs import --input https://raw.githubusercontent.com/gazebo-tooling/gz_vendor/main/gz_vendor.repos

1. Add any additional packages you need that also depend on Gazebo, such as ros_gz and gz_ros2_control. This depends on the tutorial you're testing.
2. export GZ_RELAX_VERSION_MATCH=1. By default, the vendor packages look for an exact version match of the vendored library to be available in the system. If the exact version is not found, the sources are fetched and built. This environment variable causes the vendor package to match just the major version number. Since gz-ionic is already installed, the vendor packages will simply install shims that point to the Ionic Gazebo libraries.
3. Build the workspace using colcon

Windows Tests

Binaries for the prereleases are not availalbe for Windows, therefore, it is necessary to build all Gazebo packages from source following the Install from source instructions.

MacOS Tests

Homebrew has removed support for Monterey (macOS 12) recently, so only Ventura (macOS 13) is supported.

What if I want to test something else?

If you would like to test the functionality of any other package or extend the capabilities tested above, please open additional tickets while following the format described above.

Questions

Questions related to testing may be posted on the Discussions board. Kindly ensure to link the relevant issue ticket when starting a new discussion.

Tickets filtered by Setup

• os: Ubuntu Noble
• buildType: Source, os: Ubuntu Noble
• buildType: Binary, os: Ubuntu Noble
• os: MacOS
• buildType: Source, os: MacOS
• os: Windows
• buildType: Source, os: Windows
• os: Any
• buildType: Binary, os: MacOS

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