Default to harmonic

* And clean up instructions * rosdep now resolves correctly Signed-off-by: Ryan Friedman <[email protected]>
ArduPilot · May 29, 2024 · 4779c72 · 4779c72
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commit 4779c72
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diff --git a/README.md b/README.md
@@ -20,29 +20,31 @@ The project is adapted from the [`ros_gz_project_template`](https://github.com/g
 ## Prerequisites
 
 - Install [ROS 2 Humble](https://docs.ros.org/en/humble/index.html)
-- Install [Gazebo Garden](https://gazebosim.org/docs/garden)
+- Install [Gazebo Harmonic (recommended)](https://gazebosim.org/docs/harmonic) or [Gazebo Garden](https://gazebosim.org/docs/garden)
 - Follow the [`Installing Build Dependencies`](https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_DDS#installing-build-dependencies) section of `AP_DDS`'s README
 
 ## Install
 
 #### 1. Create a workspace folder
 
 ```bash
-mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
+mkdir -p ~/ros2_ws/src && cd ~/ros2_ws
 ```
 
 #### 2. Get the project source
 
 ```bash
-cd ~/ros2_ws/src
-wget https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos
-vcs import --recursive < ros2_gz.repos
+cd ~/ros2_ws
+mkdir src
+vcs import --input https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos --recursive src
 ```
 
-#### 3. Set the Gazebo version to Garden:
+#### 3. Set the Gazebo version to Harmonic or Garden:
+
+It is recommended to put this in your `~/.bashrc` or equivalent file.
 
 ```bash
-export GZ_VERSION=garden
+export GZ_VERSION=harmonic
 ```
 
 #### 4. Update ROS dependencies
@@ -52,14 +54,14 @@ cd ~/ros2_ws
 source /opt/ros/humble/setup.bash
 sudo apt update
 rosdep update
-rosdep install --rosdistro $ROS_DISTRO --from-paths src -i -r -y
+rosdep install --from-paths src --ignore-src -y
 ```
 
 #### 5. Build
 
 ```bash
 cd ~/ros2_ws
-colcon build --cmake-args -DBUILD_TESTING=ON
+colcon build
 ```
 
 #### 6. Test

diff --git a/ardupilot_gz_bringup/package.xml b/ardupilot_gz_bringup/package.xml
@@ -16,9 +16,9 @@
   <exec_depend>ardupilot_sitl_models</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
-  <exec_depend>ros_gz_bridge</exec_depend>
   <exec_depend>ros_gz_sim</exec_depend>
-  <exec_depend>ros_gz_bridge</exec_depend>
+  <!-- TODO this installs ignition -->
+  <exec_depend>ros_gz_bridge</exec_depend>  
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>sdformat_urdf</exec_depend>
   <exec_depend>topic_tools</exec_depend>

diff --git a/ardupilot_gz_gazebo/CMakeLists.txt b/ardupilot_gz_gazebo/CMakeLists.txt
@@ -17,14 +17,14 @@ set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 find_package(gz-common5 REQUIRED COMPONENTS profiler)
 set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
 
-# Garden (default)
-if("$ENV{GZ_VERSION}" STREQUAL "garden" OR NOT DEFINED "ENV{GZ_VERSION}")
+# Garden
+if("$ENV{GZ_VERSION}" STREQUAL "garden")
   gz_find_package(gz-sim7 REQUIRED)
   set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
 
   message(STATUS "Compiling against Gazebo Garden")
-# Harmonic
-elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+# Harmonic (default)
+elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic" OR NOT DEFINED "ENV{GZ_VERSION}")
   gz_find_package(gz-sim8 REQUIRED)
   set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
 

diff --git a/ardupilot_gz_gazebo/package.xml b/ardupilot_gz_gazebo/package.xml
@@ -12,10 +12,10 @@
   <depend>gz-cmake3</depend>
   <depend>gz-plugin2</depend>
 
-  <!-- Garden (default) -->
+  <!-- Garden -->
   <depend condition="$GZ_VERSION == garden">gz-sim7</depend>
-  <depend condition="$GZ_VERSION == ''">gz-sim7</depend>
-  <!-- Harmonic -->
+  <!-- Harmonic (default) -->
+  <depend condition="$GZ_VERSION == ''">gz-sim8</depend>
   <depend condition="$GZ_VERSION == harmonic">gz-sim8</depend>
 
   <test_depend>ament_lint_auto</test_depend>