Gazebo ros plugins within sphinx under Ubuntu 18.04 and ROS melodic?

#1

Hi,

I’d like to use the libgazebo_camera_ros plugins within a sphinx simulation. But I think it will probably be cumbersome and I want to share my analysis with you to see if I’m right or wrong.

I’m under Ubuntu 18.04 with ROS Melodic, Sphinx 0.29.1 (which embeds gazebo 7).

For using a camera published to ROS, I need to use the libgazebo_ros_camera.so plugin. But I cannot install it from the repo because the repo hosts the plugins compiled for Gazebo9 (http://gazebosim.org/tutorials/?tut=ros_wrapper_versions).

So I need to compile it on my system with the gazebo 7 libs installed in /opt/parrot-sphinx/usr/libs for example. But I may run into issues because the source codes of the ROS gazebo plugins (https://github.com/ros-simulation/gazebo_ros_pkgs) for gazebo7 are supposed to be compiled with versions before ROS melodic (kinetic or lunar) and the API may have changed from kinetic/lunar to melodic.

So ,in summary, the best ROS option for Sphinx 0.29.1 is ROS kinetic.
But then, Kinetic is not easily installable with Ubuntu 18.04 .

Jeremy.

1 Like
#2

Hello Jeremy,

We plan to migrate Sphinx to the latest version of Gazebo. In the meantime, I don’t see a better solution than to find a way to install ROS kinetic on Ubuntu 18.04.

#3

In the meantime I will try to have a docker container with parrot-sphinx. Will follow this thread : Running Sphinx inside Docker container

Jeremy.