Build without --merge-install flag

[mvanlobensels]

Is it possible to build vrx without the --merge-install flag? This flag is not compatible with the rest of my ROS workspace, and mainly external sensor drivers. With the flag, other parts of my repo do not build.

When I build without the --merge-install flag, the following errors occur: see screenshots.

To Reproduce List the steps to reproduce the problem:

1. colcon build
2. source install setup.bash
3. ros2 launch vrx_gz competition.launch.py world:=sydney_regatta

System Configuration:

• OS: PopOS 22.04
• ROS Version: ROS2 Humble
• Gazebo Version: Gazebo 7.6.0
• Graphics Card: Nvidia 4060
• Are you using VRX or VRX Classic? VRX

Screenshots

[mvanlobensels]

From https://github.com/osrf/vrx/issues/732, it seems that the GZ_SIM_RESOURCE_PATH has to be set correctly. With the --merge-install flag, it points to vrx_ws/install/share/wamv_description/models, which is indeed where the files are installed.

Without the --merge-install flag, the wamv_description package is installed in vrx_ws/install/wamv_description/share/wamv_description/models. So I add this path to the GZ_SIM_RESOURCE_PATH environment variable, but Gazebo can still not find the files. If I manually move the files from vrx_ws/install/wamv_description/share/wamv_description/models to vrx_ws/install/share/wamv_description/models, Gazebo does find them.

How can I make Gazebo search for the files in the correct folder?

[mvanlobensels]

@caguero Do you know if this can be accomplished?

[abdullah-zmoosa]

@caguero Do you know if this can be accomplished?

From #732, it seems that the GZ_SIM_RESOURCE_PATH has to be set correctly. With the --merge-install flag, it points to vrx_ws/install/share/wamv_description/models, which is indeed where the files are installed.

Without the --merge-install flag, the wamv_description package is installed in vrx_ws/install/wamv_description/share/wamv_description/models. So I add this path to the GZ_SIM_RESOURCE_PATH environment variable, but Gazebo can still not find the files. If I manually move the files from vrx_ws/install/wamv_description/share/wamv_description/models to vrx_ws/install/share/wamv_description/models, Gazebo does find them.

How can I make Gazebo search for the files in the correct folder?

did you get it to work?

[mvanlobensels]

Nope, I built my own Gazebo sim lol. VRX was too complex for my use case

[abdullah-zmoosa]

Nope, I built my own Gazebo sim lol. VRX was too complex for my use case

Really, was it good? I am building a USV to pick up trash autonomously (sensors, YOLO etc.) , and i want to simulate it on ROS2 before building and deploying , though im a complete beginner , any advice on how i can make my USV simulation?

(no need for physics simulation, just need the USV behavior )