Humble + Garden

[federicociresola]

Hi,
I noticed that there is only support for Fortress with Humble but not for Garden, why? What is the problem to make a porting gz_ros2_control in Garden with Humble? Because I am working with PX4 and it works only with Gazebo Garden

[ahcorde]

Hi @federicociresola if you compile the package from source you can use the combination that you want

[federicociresola]

@ahcorde I have tried it but I obtained this error during the compilation

--- stderr: gz_ros2_control                               
/home/toshi/projects/SPARCS/locobot/ws_gz_control/src/gz_ros2_control/gz_ros2_control/src/gz_ros2_control_plugin.cpp: In member function ‘virtual void gz_ros2_control::GazeboSimROS2ControlPlugin::Configure(const Entity&, const std::shared_ptr<const sdf::v13::Element>&, gz::sim::v7::EntityComponentManager&, gz::sim::v7::EventManager&)’:
/home/toshi/projects/SPARCS/locobot/ws_gz_control/src/gz_ros2_control/gz_ros2_control/src/gz_ros2_control_plugin.cpp:424:67: error: ‘__gnu_cxx::__alloc_traits<std::allocator<hardware_interface::HardwareInfo>, hardware_interface::HardwareInfo>::value_type’ {aka ‘struct hardware_interface::HardwareInfo’} has no member named ‘hardware_plugin_name’
  424 |     std::string robot_hw_sim_type_str_ = control_hardware_info[i].hardware_plugin_name;
      |                                                                   ^~~~~~~~~~~~~~~~~~~~
gmake[2]: *** [CMakeFiles/gz_ros2_control-system.dir/build.make:76: CMakeFiles/gz_ros2_control-system.dir/src/gz_ros2_control_plugin.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:139: CMakeFiles/gz_ros2_control-system.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake: *** [Makefile:146: all] Error 2

OS: Ubuntu Desktop 22.04
ROS_VERSION: Humble
GAZEBO_VERSION: Garden

[ahcorde]

did you checkout the right branch in gz_ros2_control? You should use humble

[federicociresola]

This error is showed in the main branch instead in humble didn't appear but in humble branch the folders are also with
ignition hence them can not work with Garden or am I making a mistake?

The same thing it is written in the compile section of the readme

[federicociresola]

@ahcorde I discovered that from humble to iron, the package ros2_control has changed the internal API with this PR where it changed the variable name hardware_class_type with hardware_plugin_nameinside the struct called HardwareInfo

I tried to move into the branch iron and I changed the code here

gz_ros2_control/gz_ros2_control/src/gz_ros2_control_plugin.cpp

Line 417 in 1cee33d

std::string robot_hw_sim_type_str_ = control_hardware_info[i].hardware_plugin_name;

with the old variable name hardware_class_type and it seems that it works with Humble+Garden but I would like to have a your opinion about this workaround. Is it a good thing if I create a PR for the humble branch and I add the feature to work with Garden?

[yschulz]

Same issue with Humble + Harmonic. Thank you for the fix @federicociresola !

[mitanshu-2004]

Same issue with Humble + Harmonic. Thank you for the fix @federicociresola !

Hey, I am also trying Humble+harmonic but not able to setup gz_ros2_control. I didn't understand what is the fix