gazebosim/ros_gz

Installing ros-iron-ros-gz installs Gazebo Garden instead of Fortress

wittenator opened this issue · 9 comments

wittenator commented

Environment

  • OS Version: 22.04
  • Source or binary build?
    Binary

Description

  • Expected behavior: Gazebo Fortress should be installed
  • Actual behavior: Gazebo Garden gets installed

Steps to reproduce

  1. Execute sudo apt-get install ros-iron-ros-gz

Output

sudo apt install ros-iron-ros-gz
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
  gz-plugin2-cli gz-sim7-cli gz-tools2 gz-transport12-cli libgz-cmake3-dev libgz-common5 libgz-common5-av libgz-common5-av-dev libgz-common5-core-dev
  libgz-common5-dev libgz-common5-events libgz-common5-events-dev libgz-common5-geospatial libgz-common5-geospatial-dev libgz-common5-graphics
  libgz-common5-graphics-dev libgz-common5-io libgz-common5-io-dev libgz-common5-profiler libgz-common5-profiler-dev libgz-common5-testing libgz-common5-testing-dev
  libgz-fuel-tools8 libgz-fuel-tools8-dev libgz-gui7 libgz-gui7-dev libgz-math7 libgz-math7-dev libgz-math7-eigen3-dev libgz-msgs9 libgz-msgs9-dev libgz-physics6
  libgz-physics6-bullet libgz-physics6-bullet-dev libgz-physics6-core-dev libgz-physics6-dartsim libgz-physics6-dartsim-dev libgz-physics6-dev
  libgz-physics6-heightmap-dev libgz-physics6-mesh-dev libgz-physics6-sdf-dev libgz-physics6-tpe libgz-physics6-tpe-dev libgz-physics6-tpelib
  libgz-physics6-tpelib-dev libgz-plugin2 libgz-plugin2-dev libgz-rendering7 libgz-rendering7-core-dev libgz-rendering7-dev libgz-rendering7-ogre1
  libgz-rendering7-ogre1-dev libgz-rendering7-ogre2 libgz-rendering7-ogre2-dev libgz-sensors7 libgz-sensors7-air-pressure libgz-sensors7-air-pressure-dev
  libgz-sensors7-air-speed libgz-sensors7-air-speed-dev libgz-sensors7-altimeter libgz-sensors7-altimeter-dev libgz-sensors7-boundingbox-camera
  libgz-sensors7-boundingbox-camera-dev libgz-sensors7-camera libgz-sensors7-camera-dev libgz-sensors7-core-dev libgz-sensors7-depth-camera
  libgz-sensors7-depth-camera-dev libgz-sensors7-dev libgz-sensors7-force-torque libgz-sensors7-force-torque-dev libgz-sensors7-gpu-lidar
  libgz-sensors7-gpu-lidar-dev libgz-sensors7-imu libgz-sensors7-imu-dev libgz-sensors7-lidar libgz-sensors7-lidar-dev libgz-sensors7-logical-camera
  libgz-sensors7-logical-camera-dev libgz-sensors7-magnetometer libgz-sensors7-magnetometer-dev libgz-sensors7-navsat libgz-sensors7-navsat-dev
  libgz-sensors7-rendering libgz-sensors7-rendering-dev libgz-sensors7-rgbd-camera libgz-sensors7-rgbd-camera-dev libgz-sensors7-segmentation-camera
  libgz-sensors7-segmentation-camera-dev libgz-sensors7-thermal-camera libgz-sensors7-thermal-camera-dev libgz-sensors7-wide-angle-camera
  libgz-sensors7-wide-angle-camera-dev libgz-sim7 libgz-sim7-dev libgz-sim7-plugins libgz-tools2-dev libgz-transport12 libgz-transport12-core-dev
  libgz-transport12-dev libgz-transport12-log libgz-transport12-log-dev libgz-transport12-parameters libgz-transport12-parameters-dev libgz-utils2
  libgz-utils2-cli-dev libgz-utils2-dev libogre-next-2.3-dev libogre-next-2.3.0 libsdformat13 libsdformat13-dev ros-iron-actuator-msgs
  ros-iron-compressed-depth-image-transport ros-iron-compressed-image-transport ros-iron-image-transport-plugins ros-iron-ros-gzgarden-bridge
  ros-iron-ros-gzgarden-image ros-iron-ros-gzgarden-interfaces ros-iron-ros-gzgarden-sim ros-iron-ros-gzgarden-sim-demos ros-iron-sdformat-urdf
  ros-iron-theora-image-transport ros-iron-xacro sdformat13-sdf
Suggested packages:
  ogre-next-2.3-doc
The following NEW packages will be installed:
  gz-plugin2-cli gz-sim7-cli gz-tools2 gz-transport12-cli libgz-cmake3-dev libgz-common5 libgz-common5-av libgz-common5-av-dev libgz-common5-core-dev
  libgz-common5-dev libgz-common5-events libgz-common5-events-dev libgz-common5-geospatial libgz-common5-geospatial-dev libgz-common5-graphics
  libgz-common5-graphics-dev libgz-common5-io libgz-common5-io-dev libgz-common5-profiler libgz-common5-profiler-dev libgz-common5-testing libgz-common5-testing-dev
  libgz-fuel-tools8 libgz-fuel-tools8-dev libgz-gui7 libgz-gui7-dev libgz-math7 libgz-math7-dev libgz-math7-eigen3-dev libgz-msgs9 libgz-msgs9-dev libgz-physics6
  libgz-physics6-bullet libgz-physics6-bullet-dev libgz-physics6-core-dev libgz-physics6-dartsim libgz-physics6-dartsim-dev libgz-physics6-dev
  libgz-physics6-heightmap-dev libgz-physics6-mesh-dev libgz-physics6-sdf-dev libgz-physics6-tpe libgz-physics6-tpe-dev libgz-physics6-tpelib
  libgz-physics6-tpelib-dev libgz-plugin2 libgz-plugin2-dev libgz-rendering7 libgz-rendering7-core-dev libgz-rendering7-dev libgz-rendering7-ogre1
  libgz-rendering7-ogre1-dev libgz-rendering7-ogre2 libgz-rendering7-ogre2-dev libgz-sensors7 libgz-sensors7-air-pressure libgz-sensors7-air-pressure-dev
  libgz-sensors7-air-speed libgz-sensors7-air-speed-dev libgz-sensors7-altimeter libgz-sensors7-altimeter-dev libgz-sensors7-boundingbox-camera
  libgz-sensors7-boundingbox-camera-dev libgz-sensors7-camera libgz-sensors7-camera-dev libgz-sensors7-core-dev libgz-sensors7-depth-camera
  libgz-sensors7-depth-camera-dev libgz-sensors7-dev libgz-sensors7-force-torque libgz-sensors7-force-torque-dev libgz-sensors7-gpu-lidar
  libgz-sensors7-gpu-lidar-dev libgz-sensors7-imu libgz-sensors7-imu-dev libgz-sensors7-lidar libgz-sensors7-lidar-dev libgz-sensors7-logical-camera
  libgz-sensors7-logical-camera-dev libgz-sensors7-magnetometer libgz-sensors7-magnetometer-dev libgz-sensors7-navsat libgz-sensors7-navsat-dev
  libgz-sensors7-rendering libgz-sensors7-rendering-dev libgz-sensors7-rgbd-camera libgz-sensors7-rgbd-camera-dev libgz-sensors7-segmentation-camera
  libgz-sensors7-segmentation-camera-dev libgz-sensors7-thermal-camera libgz-sensors7-thermal-camera-dev libgz-sensors7-wide-angle-camera
  libgz-sensors7-wide-angle-camera-dev libgz-sim7 libgz-sim7-dev libgz-sim7-plugins libgz-tools2-dev libgz-transport12 libgz-transport12-core-dev
  libgz-transport12-dev libgz-transport12-log libgz-transport12-log-dev libgz-transport12-parameters libgz-transport12-parameters-dev libgz-utils2
  libgz-utils2-cli-dev libgz-utils2-dev libogre-next-2.3-dev libogre-next-2.3.0 libsdformat13 libsdformat13-dev ros-iron-actuator-msgs
  ros-iron-compressed-depth-image-transport ros-iron-compressed-image-transport ros-iron-image-transport-plugins ros-iron-ros-gz ros-iron-ros-gzgarden-bridge
  ros-iron-ros-gzgarden-image ros-iron-ros-gzgarden-interfaces ros-iron-ros-gzgarden-sim ros-iron-ros-gzgarden-sim-demos ros-iron-sdformat-urdf
  ros-iron-theora-image-transport ros-iron-xacro sdformat13-sdf
0 upgraded, 125 newly installed, 0 to remove and 1 not upgraded.
Need to get 0 B/33,1 MB of archives.
After this operation, 201 MB of additional disk space will be used.
Do you want to continue? [Y/n]
mjcarroll commented

Do you have any other PPAs or repositories installed? To me, it looks like you are using one of the "unofficial" binaries that we have packaged here: https://build.osrfoundation.org/job/ros_gzgarden_bridge-install-pkg_iron-ci-jammy-amd64/4/

Those should not be aviailable on packages.ros.org by default, though.

wittenator commented

I previously had Gazebo installed separately. Am I supposed to remove the Gazebo PPAs before trying to install Gazebo via ros-gz? As far as I see e.g. ros-iron-ros-gzgarden-image comes from the PPA: http://packages.osrfoundation.org/gazebo/ubuntu-stable jammy/main.

mjcarroll commented

When you want to use the ros_gz packages from a ros distribution (such as humble/iron/rolling), that will source the gazebo packages from packages.ros.org. This is to provide maximum compatibility for ROS users without having to fuss with PPAs. As a result, the gazebo packages may lag behind, as they are pinned to LTS versions (in this case fortress rather than garden).

The newest gazebo packages are always available from packages.osrfoundation.org, which is the package mirror for gazebo.

The ros-iron-ros-gz-garden package that you used from packages.osrfoundation.org is an unofficial convenience package that we provide for users who want to use unsupported binary combinations. This allows you to skip building the bridge from source.

azeey commented

I think ros-iron-ros-gz should only install the version of Gazebo in Fortress. The unofficial versions have a suffix (gzgarden or gzharmonic). I just did a quick check with apt-cache show ros-iron-ros-gz and I get

Package: ros-iron-ros-gz
Version: 0.245.0-1002jammy
Architecture: amd64
Maintainer: Louise Poubel <louise@openrobotics.org>
Installed-Size: 43
Depends: ros-iron-ros-gzgarden-bridge, ros-iron-ros-gzgarden-image, ros-iron-ros-gzgarden-sim, ros-iron-ros-gzgarden-sim-demos, ros-iron-ros-workspace
Priority: optional
Section: misc
Filename: pool/main/r/ros-iron-ros-gz/ros-iron-ros-gz_0.245.0-1002jammy_amd64.deb
Size: 6790
SHA256: 8abbdbe70724de061007ae656817f53915e4846a76fff9b49949b1e6da428b7e
SHA1: bbeee5a86b9e0f4787d6ab2760c4ff16f1a6ccb0
MD5sum: 0aa953b8e75e91204ea4c8cde5609f77
Description: Meta-package containing interfaces for using ROS 2 with Gazebo simulation.
Description-md5: 7c163df521e3acf63ef2167539969298

Package: ros-iron-ros-gz
Version: 0.245.0-1jammy.20230908.202510
Architecture: amd64
Maintainer: Louise Poubel <louise@openrobotics.org>
Installed-Size: 43
Depends: ros-iron-ros-gz-bridge, ros-iron-ros-gz-image, ros-iron-ros-gz-sim, ros-iron-ros-gz-sim-demos, ros-iron-ros-workspace
Priority: optional
Section: misc
Filename: pool/main/r/ros-iron-ros-gz/ros-iron-ros-gz_0.245.0-1jammy.20230908.202510_amd64.deb
Size: 6892
SHA256: e6ce382ed8f33f5c5962156208ca90c0e38f0a5a2c78781ed9d36b8904078bce
SHA1: 57a3160cd836161859837be90a22d8aa1fa7be88
MD5sum: 97e5e3215bb308d975f67d0dd342495b
Description: Meta-package containing interfaces for using ROS 2 with Gazebo simulation.
Description-md5: 7c163df521e3acf63ef2167539969298

And apt-cache policy ros-iron-ros-gz shows:

ros-iron-ros-gz:
  Installed: (none)
  Candidate: 0.245.0-1002jammy
  Version table:
     0.245.0-1002jammy 500
        500 http://packages.osrfoundation.org/gazebo/ubuntu-prerelease jammy/main amd64 Packages
     0.245.0-1jammy.20230908.202510 500
        500 http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages

This shows that there's a ros-iron-ros-gz in the ubuntu-prerelease repo that brings us Garden. @wittenator do you happen to have prereleases enabled on your system?

Anyways, we should remove the version in our prereleases to avoid any confusion. cc @j-rivero

j-rivero commented

Installing ros-iron-ros-gz installs Gazebo Garden instead of Fortress

This is a bug if this it is happening combining {ros,osrfoundation}.packages.org.

I think ros-iron-ros-gz should only install the version of Gazebo in Fortress. The unofficial versions have a suffix (gzgarden or gzharmonic). I just did a quick check with apt-cache show ros-iron-ros-gz and I get

This is correct. We are not generating packages with the same name than official ROS Iron ros_gz packages but change the name to use gzgarden or gzharmonic release.

Anyways, we should remove the version in our prereleases to avoid any confusion. cc @j-rivero

Seems a bug indeed while I was producing the prerelease packages. I would prefer not to remove packages but override them with newer versions so the upgrade path is easier. There are some changes in ros_gz upstream that we can potentially release.

  • 👍1
wittenator commented

The weird thing is that I didn't enable pre-releases on my system. If I run apt-cache depends ros-iron-ros-gz, I also get this:
ros-iron-ros-gz Depends: ros-iron-ros-gzgarden-bridge Depends: ros-iron-ros-gzgarden-image Depends: ros-iron-ros-gzgarden-sim Depends: ros-iron-ros-gzgarden-sim-demos Depends: ros-iron-ros-workspace ,

but for humble I get

ros-humble-ros-gz Depends: ros-humble-ros-gz-bridge Depends: ros-humble-ros-gz-image Depends: ros-humble-ros-gz-sim Depends: ros-humble-ros-gz-sim-demos Depends: ros-humble-ros-workspace

j-rivero commented

The weird thing is that I didn't enable pre-releases on my system. If I run apt-cache depends ros-iron-ros-gz, I also get this:
ros-iron-ros-gz Depends: ros-iron-ros-gzgarden-bridge Depends: ros-iron-ros-gzgarden-image Depends: ros-iron-ros-gzgarden-sim Depends: ros-iron-ros-gzgarden-sim-demos Depends: ros-iron-ros-workspace ,

This is wrong indeed. Could you please attach: apt-cache policy ros-iron-ros-gz

wittenator commented

I missed the pre-release PPA in my sources list. After removing the offending PPA, I indeed get
ros-iron-ros-gz: Installed: 0.245.0-1jammy.20230908.202510 Candidate: 0.245.0-1jammy.20230908.202510 Version table: *** 0.245.0-1jammy.20230908.202510 500 500 http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages 100 /var/lib/dpkg/status as an output of apt-cache policy ros-iron-ros-gz

and the output of apt-cache depends ros-iron-ros-gz is
ros-iron-ros-gz Depends: ros-iron-ros-gz-bridge Depends: ros-iron-ros-gz-image Depends: ros-iron-ros-gz-sim Depends: ros-iron-ros-gz-sim-demos Depends: ros-iron-ros-workspace

I think that having the prerelease PPA active and trying to install ros-iron-ros-gz without any modifier should not install the harmonic or garden version despite this, right?

j-rivero commented

I think that having the prerelease PPA active and trying to install ros-iron-ros-gz without any modifier should not install the harmonic or garden version despite this, right?

You are right, the prerelease repository can host code that is not completely stable but should have not generated these kind of errors.