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neobotix / neo_simulation2

ROS 2 simulation packages for the Neobotix robots
MIT License
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Add support to new version of Gazebo (formerly known as Ignition) #24

Open padhupradheep opened 2 years ago

padhupradheep commented 2 years ago

Open Robotics have already launched the successor to Gazebo named as ignition. It would benefit the community to build, develop plugins based on our robots!

padhupradheep commented 2 years ago

https://ignitionrobotics.org/docs/citadel/comparison Time to move towards Ignition Gazebo.

Why do we need to move to Ignition ? Here is a nice post on Gazebo Discourse

padhupradheep commented 1 year ago

Initial work can be found in this branch https://github.com/neobotix/neo_simulation2/tree/fortress-migration

Waiting for issue https://github.com/gazebosim/gz-sim/issues/1672#issuecomment-1258931850 to be fixed by open robotics for moving further

padhupradheep commented 1 year ago

The issue specified above is fixed. Need to give a full throttle to get the package up.

padhupradheep commented 1 year ago

Towards the first release:

azeey commented 6 months ago

Any progress on this? 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). These might be helpful resources if you weren't aware:

padhupradheep commented 6 months ago

Hey @azeey

First of all sorry for the late response, was out on vacation. On behalf of everyone from our team, we wish you and your team a fantastic 2024.

As far as with the progress. We are almost done with the initial migration. We are well aware about the Gazebo 11 and we hope to make the first release of new version soon.

We have hit a bump currently with the new world that we created for the modern Gazebo setup. The real time factor is oscillating from 0.78 - 0.9. As you can see in the fortress migration branch, we have 2 worlds, namely:

neo_workshop.sdf has some simulated cardboard boxes and the other one has just the walls without the cardboard boxes. Apparently, the RTF in the later is around 0.99 whereas for the former, it is oscillating as mentioned above. I suspect it's somehow related to the boxes that we created. I'd probably open a question in the robot stack exchange forum, if we couldn't figure it out. (Edit: Could be also because of the GPU lidar, https://github.com/gazebosim/ros_gz/issues/368)

Apart from this, everything else seems to work as expected. Thank you for following up.

azeey commented 5 months ago

Thanks for the update! We are aware of the GPU lidar issue and planning to improve it's performance. In the meantime, you could set the rending Sensors system to use ogre.