Include arm64 machines as used in MAC M1 Virtual, Raspberry Pi & Nvidia machine as a gz-sim supported platform

[ARLunan]

Required Info Operating System: Ubuntu 22.04.3 arm64 ROS2 Version: Iron Binary

Desired behavior Install Gazebo Harmonic and ros-gz on arm64 platforms such as MAC M1 Virtual (NOT native MAC functionality), Raspberry Pi or Nvidia machines used as a ROS 2 Desktop,

[azeey]

Running bash terminal-dashboard/table.bash harmonic shows that arm64 packages are available, so it should be possible to build ros-gz from source on arm64.

[ARLunan]

Tnx: On my MAC M1 arm64 Ubuntu 22.05 Machine (that currently also has ign gazebo installed and working), successfully Binary ( I use Synaptic) installed gz-cmake3 gz-tools2 gz-utils2 gz-math7 gz-common5 gz-msgs10 sdformat14 gz-fuel_tools9 gz-plugin2 gz-transport13 gui8 launch7 sim8 sensors8 gz-physics7 gz-harmonic .

[ARLunan]

Then tried Source install ros_gz branch ros2 (default),: rosdep completed. But Build failed due missing gz-transport12, just noticed a Pull request #473 in ros_gz that is in process to support Harminc . This should fix this?

[jpgtzg]

Hi, have there been any fixes to this issue?

[ARLunan]

Pertaining to gz_sim, yes. Following Installation from Binary , (https://gazebosim.org/api/sim/8/install.html) on my Ubuntu 22.04 MAC M1 arm64 Parallels 18 VM (and I believe would be the case on a native x86-64 also), successfully installed gz_sim. executing $ gz sim --version displays : Gazebo Sim, version 8.0.0 . This includes libgz-sim8-dev and the set of gz_sim packages gz-cmake3 gz-tools2 gz-utils2 gz-math7 gz-common5 gz-msgs10 sdformat14 gz-fuel_tools9 gz-plugin2 gz-transport13 gui8 launch7 sim8 sensors8 gz-physics7 gz-harmonic. I actually installed these 16 packages manually with Synaptic (GUI dpkg) .

However, there remains an issue with Source install of ros_gz on Humble (even provided executing $ export GZ_VERSION=harmonic as necessary dependency ros2/ros2 rosidl_pycommon doesn't exist in Humble. ( https://github.com/ros2/rosidl/issues/777 ). I posted a bug issue (https://github.com/gazebosim/ros_gz/issues/474) which was moved to github-project-automation Inbox in Core development, to release availability of Binary install for Native Ubuntu 22.04 x86-64 and Native or VM arm64 machines.

[jpgtzg]

Yesterday I installed Gazebo Fortress from this link: https://gazebosim.org/docs/fortress/install_ubuntu

And ran it with ign gazebo --render-engine ogre and had no problems. Then I installed ros_gz through sudo apt install ros-humble-ros-gz and had no issues.

What's the difference between my method to install gazebo and yours?

Thanks for helping by sharing your information @ARLunan , if I get more issues or comments to help fixing this, I will.

[ARLunan]

To answer your install method question: I have a Ubuntu 22.04 arm64 machine (MAC M1 with Parallels VM), vs your x86-64 Intel machine. I can binary install gz_sim but not ros_gz. A ros_gz Source that I must use now that fails, install requires a ros2 dependency with is not available on Humble. I hope that is fixed by adding an arm64 Binary install to the already available x86-64 install, (https://github.com/gazebosim/ros_gz/issues/474) .

[jpgtzg]

Thanks for replying!

I have a Mac m1 with Asahi ubuntu, so I'm on a similar situation as you. I am running ros2 humble without any issues. I didn't have any issues downloading ros_gz. I installed through sudo apt install ros-humble-ros-gz. Not sure if I'm missing something here.

Maybe try using Gazebo Fortress with ign_ros_gz ?

[ARLunan]

Andromeda, Here’s a capture of my Ubuntu 22.04 VM Terminal, that has both Gazebo Ignition and Gazebo Harmonic Installed, but no ros_gz.

Note the error that is generated by the non-available humble rosicl-pycommon package. Ross

@.:~$ uname -a Linux macvm-ub22h-bv 6.5.0-14-generic #14~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Mon Nov 20 20:26:31 UTC 2 aarch64 aarch64 aarch64 GNU/Linux @.:~$ ign gazebo --version Gazebo Sim, version 6.15.0 Copyright (C) 2018 Open Source Robotics Foundation. Released under the Apache 2.0 License.

@.***:~$ gz sim --version Gazebo Sim, version 8.0.0 Copyright (C) 2018 Open Source Robotics Foundation. Released under the Apache 2.0 License.

@.:~$ printenv|grep GZ GZ_VERSION=harmonic @.:~$ sudo apt install ros-humble-ros-gz [sudo] password for ubuntutbc: Reading package lists... Done Building dependency tree... Done Reading state information... Done Some packages could not be installed. This may mean that you have requested an impossible situation or if you are using the unstable distribution that some required packages have not yet been created or been moved out of Incoming. The following information may help resolve the situation:

The following packages have unmet dependencies: libdart6.13-collision-bullet-dev : Breaks: libdart-collision-bullet-dev (< 6.14.0) but 6.12.1+dfsg4-11build2 is to be installed libdart6.13-collision-ode-dev : Breaks: libdart-collision-ode-dev (< 6.14.0) but 6.12.1+dfsg4-11build2 is to be installed libdart6.13-dev : Breaks: libdart-dev (< 6.14.0) but 6.12.1+dfsg4-11build2 is to be installed libdart6.13-external-convhull-3d-dev : Breaks: libdart-external-convhull-3d-dev (< 6.14.0) but 6.12.1+dfsg4-11build2 is to be installed libdart6.13-external-ikfast-dev : Breaks: libdart-external-ikfast-dev (< 6.14.0) but 6.12.1+dfsg4-11build2 is to be installed libdart6.13-external-odelcpsolver-dev : Breaks: libdart-external-odelcpsolver-dev (< 6.14.0) but 6.12.1+dfsg4-11build2 is to be installed libdart6.13-utils-dev : Breaks: libdart-utils-dev (< 6.14.0) but 6.12.1+dfsg4-11build2 is to be installed libdart6.13-utils-urdf-dev : Breaks: libdart-utils-urdf-dev (< 6.14.0) but 6.12.1+dfsg4-11build2 is to be installed E: Error, pkgProblemResolver::Resolve generated breaks, this may be caused by held packages. @.***:~$

On Dec 29, 2023, at 7:10 AM, Andromeda @.***> wrote:

Thanks for replying!

I have a Mac m1 with Asahi ubuntu, so I'm on a similar situation as you. I am running ros2 humble without any issues. I didn't have any issues downloading ros_gz. I installed through sudo apt install ros-humble-ros-gz. Not sure if I'm missing something here.

Maybe try using Gazebo Fortress with ign_ros_gz ?

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[azeey]

As mentioned in https://github.com/gazebosim/ros_gz/issues/474#issuecomment-1874364563, you need to use the humble branch when building ros_gz from source with with ROS 2 Humble. The ros2 branch is equivalent to rolling.

We currently provide binary packages for the ROS 2 Humble / Gazebo Fortress combination. That's what ros-humble-ros-gz is. Other binaries are available (eg. ros-humble-ros-gzgarden, see https://gazebosim.org/docs/harmonic/ros_installation), but these are not available for arm64.

[ARLunan]

Andromeda. As I mentioned in https://github.com/gazebosim/ros_gz/issues/474#issuecomment-1876045861 , Success compiling ros_gz from Source : Summary: 12 packages finished [37 secs] with the allocating 4 Cores CPU /8 GB Memory and export MAKEFLAGS="-j 1". Thank you.

So the ros_gz Harmonic (Humble branch) Install on a ROS 2 Humble from Source on a suitably powerful arm64 machine works . Thank you (and Azeey) for assistance.

[jpgtzg]

Perfect, I'm glad you've managed to compile it from source

Thanks for the help as well

[ARLunan]

For ros_rz and ros_gz_project_template source build, suggest adding these parameters to the READ.ME (such as on arm64 machines) , namely use the humble branch, before running colcon build in a Terminal: $ export MAKEFLAGS="-j 1"
$ workspace/colcon build —executor sequential —parallel-workers=1, and in ros_gz_sim_demos/hooks/ros_gz_demos.dev.in , revise IGN_GAZEBO_RESOURCE_PATH to GZ_SIM_RESOURCE_PATH.

Finally consider release a arm64 Binary Install for ros_gz and ros_gz_project_template.