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Robotic-Decision-Making-Lab / alpha

ROS 2 interface for the Reach Alpha 5 manipulator.
MIT License
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[FEATURE]: Migrate to Gazebo Garden for simulation #45

Closed evan-palmer closed 1 year ago

evan-palmer commented 1 year ago

Feature Type

Changing existing functionality in the Alpha driver

Problem Description

The current implementation uses the old version of Gazebo. While this is fine and works well for the system, it becomes challenging to integrate the existing implementation into a system which depends on at least Gazebo Garden (namely ardupilot_gazebo).

Feature Description

Migrate from the current version of Gazebo to Gazebo Garden. This will require manual installation of roz_gz; however, previous work has done this without any issues (see here).

Alternative Solutions

No response

Additional Context

No response

evan-palmer commented 1 year ago

Unfortunately this won't be possible as gazebo_ros2_contro is intended only for classic Gazebo. I am considering removing Gazebo as a dependency here as support for it is pretty sparse at the moment and is mostly broken (see #12).

evan-palmer commented 1 year ago

Unfortunately this won't be possible as gazebo_ros2_contro is intended only for classic Gazebo. I am considering removing Gazebo as a dependency here as support for it is pretty sparse at the moment and is mostly broken (see #12).

I was wrong about this not being available for Gazebo Ignition, but regardless, support for Gazebo at the time was minimal and needs full attention prior to being integrated into the project