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srmainwaring / asv_wave_sim

This package contains plugins that support the simulation of waves and surface vessels in Gazebo.
GNU General Public License v3.0
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Incompatible Gazebo libraries after update #168

Open OlegARinchov opened 3 days ago

OlegARinchov commented 3 days ago

On Gazebo Harmonic, after updating to the latest version, I get errors of the following type:

[ruby $(which gz) sim-1] gz sim server: symbol lookup error: /usr/lib/x86_64-linux-gnu/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so: undefined symbol: _ZNK3sdf3v148Geometry9ConeShapeEv

Recompiling works without issues, but during runtime, Gazebo crashes with the above error as the combination of the new library versions with OGRE-2.3.1 seems not to work any longer. Using it with OGRE-2.3.3 works for Gazebo, but then asv_wave_sim doesn't work (see issue #164 ).

OlegARinchov commented 1 day ago

This works for ROS2 Jazzy Jalisco on Ubuntu 24.04 LTS with Gazebo Harmonic to get your plugins running: I removed the non-standard Gazebo completely and just sticked with the ROS2 standard Gazebo installation:

$ sudo apt install ros-jazzy-ros-gz

However, as the structure of the OGRE installation is different from earlier versions and many of the libs weren't found during compile time, I created a new master CMakeLists.txt (in the gz-waves directory). If you replace the original one by this one, everything else works as usual.

I attached it here. Note that it isn't as sophisticated as yours and will likely work only with the setup I have which is the standard for ROS2 Jazzy, however. CMakeLists.txt

srmainwaring commented 1 day ago

Thanks @OlegARinchov - I'll take a look.

If the standalone and ROS 2 integrated Gazebo installations are inconsistent on Ubuntu 24.04 that is an issue that should be raised with OSRF. I imagine that is going to cause problems for others as well.

OlegARinchov commented 1 day ago

I believe, it was changed intentionally given the statement in the ROS2 Jazzy release notes: https://docs.ros.org/en/jazzy/Releases/Release-Jazzy-Jalisco.html#changes-to-how-ros-2-and-gazebo-integrate While it might be simpler and more elegant, it also limits backwards compatibility. I suspect that this is the source of all the trouble.