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moveit / moveit2

:robot: MoveIt for ROS 2
https://moveit.ai/
BSD 3-Clause "New" or "Revised" License
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Migrate to modern Gazebo #2630

Open azeey opened 6 months ago

azeey commented 6 months ago

As you may know, Gazebo-classic (aka Gazebo11, see Terminology) is no longer being actively developed and will not be available on ROS Jazzy (REP 2000). I noticed that this project still uses Gazebo-classic, mainly in the setup assistant. Are there any plans to migrate to modern Gazebo (previously known as Ignition)?

sea-bass commented 5 months ago

Thanks for sharing this -- I was not aware that Gazebo classic was approaching EOL, and we should probably address this -- even if, short term, it's removing the Gazebo classic stuff in Setup Assistant for Jazzy.

We do have some examples of new Gazebo hanging around, most notably the Panda arm setup we did for World MoveIt Day last year: https://github.com/henningkayser/moveit2_tutorials/blob/panda_gz/doc/examples/motion_planning_python_api/motion_planning_python_api_tutorial.rst#running-the-tutorial-in-a-gazebo-simulation -- so that could be a starting point.

henningkayser commented 4 months ago

I'll take a look at this fairly soon. Especially in preparation for and possibly during GSoC, we should have a clear migration strategy.

github-actions[bot] commented 2 months ago

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

orfvl commented 1 month ago

Any updates of removing gazebo classic? I installed moveit and it is still a dependency.