Package Gazebo Harmonic for ROS 2 Jazzy

[azeey]

This ticket tracks the work we're doing to package Gazebo Harmonic for ROS 2 Rolling which will eventually become Jazzy.

Options for packaging Gazebo for ROS 2:

• Add package.xml to all Gazebo libraries and release them into the ROS buildfarm. Create vendor packages for Ogre2 and DART
• Create vendor packages for all Gazebo libraries, Ogre2, and DART
• Import Gazebo packages as well as Ogre2 and DART into the bootstrap repo.
• Statically link DART into gz-physics so we only have to worry about Ogre2
• Create a bespoke DART binary distribution (no headers) that gz-physics depends on.

[azeey]

https://github.com/azeey/gz_vendor (forked https://github.com/mjcarroll/gz_vendor) from has some vendor packages as well as scripts to generate/update vendor packages from upstream package.xml files.

cc @mjcarroll @j-rivero

[azeey]

@j-rivero I've created all of the vendor packages:

• gz_dartsim_vendor: https://github.com/gazebo-release/gz_dartsim_vendor
• gz_ogre_next_vendor: https://github.com/gazebo-release/gz_ogre_next_vendor
• gz_cmake_vendor: https://github.com/gazebo-release/gz_cmake_vendor
• gz_common_vendor: https://github.com/gazebo-release/gz_common_vendor
• gz_fuel_tools_vendor: https://github.com/gazebo-release/gz_fuel_tools_vendor
• gz_gui_vendor: https://github.com/gazebo-release/gz_gui_vendor
• gz_launch_vendor: https://github.com/gazebo-release/gz_launch_vendor
• gz_math_vendor: https://github.com/gazebo-release/gz_math_vendor
• gz_msgs_vendor: https://github.com/gazebo-release/gz_msgs_vendor
• gz_physics_vendor: https://github.com/gazebo-release/gz_physics_vendor
• gz_plugin_vendor: https://github.com/gazebo-release/gz_plugin_vendor
• gz_rendering_vendor: https://github.com/gazebo-release/gz_rendering_vendor
• gz_sensors_vendor: https://github.com/gazebo-release/gz_sensors_vendor
• gz_sim_vendor: https://github.com/gazebo-release/gz_sim_vendor
• gz_tools_vendor: https://github.com/gazebo-release/gz_tools_vendor
• gz_transport_vendor: https://github.com/gazebo-release/gz_transport_vendor
• gz_utils_vendor: https://github.com/gazebo-release/gz_utils_vendor
• sdformat_vendor: https://github.com/gazebo-release/sdformat_vendor

Could you please review them? You can use this collection file to clone all of them with vcstool.

The following rosdep keys will need to be added:

• libx11-xcb-dev: gazebo_ogre_next_vendor
• libxcb-randr0-dev: gazebo_ogre_next_vendor
• libshaderc-dev: gazebo_ogre_next_vendor
• glslc: gazebo_ogre_next_vendor
• glslang-dev: gazebo_ogre_next_vendor
• qtquickcontrols2-5-dev: gz-gui
• qml-module-qtpositioning: gz-gui
• qml-module-qtlocation: gz-gui
• qml-module-qt-labs-platform: gz-gui
• qml-module-charts: gz-gui
• rubocop: gz-tools

Edit: added qml-module-charts and changed libshaderc to libshaderc-dev.

[azeey]

I've created PRs for the rosdep keys:

• https://github.com/ros/rosdistro/pull/40291
• https://github.com/ros/rosdistro/pull/40290
• https://github.com/ros/rosdistro/pull/40289
• https://github.com/ros/rosdistro/pull/40288
• https://github.com/ros/rosdistro/pull/40287
• https://github.com/ros/rosdistro/pull/40286
• https://github.com/ros/rosdistro/pull/40285
• https://github.com/ros/rosdistro/pull/40284
• https://github.com/ros/rosdistro/pull/40283
• https://github.com/ros/rosdistro/pull/40282
• https://github.com/ros/rosdistro/pull/40281