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sauk2sauk2
authoredDec 9, 2024
Updated documentation with new release tag (#100)
* Updated documentation with new version, added more examples for ros_gz * Updated action.yml with gazebo and ros distros list * Removed garden from examples --------- Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>
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‎README.md

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@@ -58,7 +58,7 @@ The `setup-gazebo` GitHub action can be run using GitHub-hosted Ubuntu runners o
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> [!NOTE]
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>
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> The available GitHub-hosted runners can be found [here](https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners/about-github-hosted-runners#standard-github-hosted-runners-for-public-repositories). It should be noted that the `ubuntu-24.04` runner image is a beta release. An alternative approach is using a docker container as shown in the following sections.
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> The available GitHub-hosted runners can be found [here](https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners/about-github-hosted-runners#standard-github-hosted-runners-for-public-repositories). An alternative approach is using a docker container as shown in the following sections.
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#### Setting up worker and installing a compatible Gazebo and Ubuntu combination
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with:
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node-version: '20.x'
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- name: 'Setup Gazebo'
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uses: gazebo-tooling/setup-gazebo@v0.2.0
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uses: gazebo-tooling/setup-gazebo@v0.3.0
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with:
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required-gazebo-distributions: harmonic
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- name: 'Test Gazebo installation'
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with:
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node-version: '20.x'
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- name: 'Setup Gazebo'
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uses: gazebo-tooling/setup-gazebo@v0.2.0
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uses: gazebo-tooling/setup-gazebo@v0.3.0
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with:
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required-gazebo-distributions: harmonic
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- name: 'Test Gazebo installation'
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gazebo_distribution:
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- citadel
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- fortress
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- garden
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- harmonic
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- ionic
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include:
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# Gazebo Citadel (Dec 2019 - Dec 2024)
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- ubuntu_distribution: ubuntu-20.04
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- ubuntu_distribution: ubuntu-20.04
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gazebo_distribution: fortress
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# Gazebo Garden (Sep 2022 - Nov 2024)
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- ubuntu_distribution: ubuntu-20.04
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gazebo_distribution: garden
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# Gazebo Harmonic (Sep 2023 - Sep 2028)
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- ubuntu_distribution: ubuntu-22.04
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gazebo_distribution: harmonic
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# Gazebo Ionic (Sep 2024 - Sep 2026)
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- ubuntu_distribution: ubuntu-24.04
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gazebo_distribution: ionic
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-node@v4.0.2
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with:
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node-version: '20.x'
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- name: 'Check Gazebo installation on Ubuntu runner'
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uses: gazebo-tooling/setup-gazebo@v0.2.0
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uses: gazebo-tooling/setup-gazebo@v0.3.0
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with:
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required-gazebo-distributions: ${{ matrix.gazebo_distribution }}
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- name: 'Test Gazebo installation'
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```yaml
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jobs:
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test_gazebo:
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runs-on: ubuntu-latest
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container:
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image: ${{ matrix.docker_image }}
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strategy:
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fail-fast: false
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matrix:
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gazebo_distribution:
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- citadel
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- fortress
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- garden
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- harmonic
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include:
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# Gazebo Citadel (Dec 2019 - Dec 2024)
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- docker_image: ubuntu:focal
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gazebo_distribution: citadel
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# Gazebo Fortress (Sep 2021 - Sep 2026)
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- docker_image: ubuntu:focal
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gazebo_distribution: fortress
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# Gazebo Garden (Sep 2022 - Nov 2024)
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- docker_image: ubuntu:focal
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gazebo_distribution: garden
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# Gazebo Harmonic (Sep 2023 - Sep 2028)
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- docker_image: ubuntu:jammy
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gazebo_distribution: harmonic
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-node@v4.0.3
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with:
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node-version: '20.x'
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- name: 'Check Gazebo installation on Ubuntu runner'
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uses: gazebo-tooling/setup-gazebo@v0.2.0
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with:
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required-gazebo-distributions: ${{ matrix.gazebo_distribution }}
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- name: 'Test Gazebo installation'
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run: |
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if command -v ign > /dev/null; then
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ign gazebo --versions
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elif command -v gz > /dev/null; then
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gz sim --versions
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else
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echo "Neither ign nor gz command found"
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exit 1
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fi
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runs-on: ubuntu-latest
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container:
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image: ${{ matrix.docker_image }}
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strategy:
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fail-fast: false
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matrix:
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gazebo_distribution:
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- citadel
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- fortress
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- harmonic
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- ionic
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include:
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# Gazebo Citadel (Dec 2019 - Dec 2024)
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- docker_image: ubuntu:focal
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gazebo_distribution: citadel
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# Gazebo Fortress (Sep 2021 - Sep 2026)
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- docker_image: ubuntu:focal
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gazebo_distribution: fortress
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# Gazebo Harmonic (Sep 2023 - Sep 2028)
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- docker_image: ubuntu:jammy
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gazebo_distribution: harmonic
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# Gazebo Ionic (Sep 2024 - Sep 2026)
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- docker_image: ubuntu:noble
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gazebo_distribution: ionic
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-node@v4.0.3
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with:
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node-version: '20.x'
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- name: 'Check Gazebo installation on Ubuntu runner'
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uses: gazebo-tooling/setup-gazebo@v0.3.0
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with:
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required-gazebo-distributions: ${{ matrix.gazebo_distribution }}
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- name: 'Test Gazebo installation'
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run: |
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if command -v ign > /dev/null; then
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ign gazebo --versions
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elif command -v gz > /dev/null; then
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gz sim --versions
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else
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echo "Neither ign nor gz command found"
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exit 1
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fi
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```
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#### Using pre-release and/or nightly Gazebo binaries
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```yaml
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jobs:
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test_gazebo:
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runs-on: ubuntu-latest
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container:
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image: ubuntu:noble
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-node@v4.0.2
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with:
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node-version: '20.x'
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- name: 'Check Gazebo installation on Ubuntu runner'
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uses: gazebo-tooling/setup-gazebo@v0.2.0
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with:
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required-gazebo-distributions: 'ionic'
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use-gazebo-prerelease: 'true'
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use-gazebo-nightly: 'true'
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- name: 'Test Gazebo installation'
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run: 'gz sim --versions'
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runs-on: ubuntu-latest
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container:
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image: ubuntu:noble
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-node@v4.0.2
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with:
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node-version: '20.x'
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- name: 'Check Gazebo installation on Ubuntu runner'
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uses: gazebo-tooling/setup-gazebo@v0.3.0
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with:
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required-gazebo-distributions: 'ionic'
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use-gazebo-prerelease: 'true'
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use-gazebo-nightly: 'true'
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- name: 'Test Gazebo installation'
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run: 'gz sim --versions'
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```
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#### Installing ROS 2 and Gazebo side-by-side along with `ros_gz`
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Starting with ROS 2 Jazzy, Gazebo is also available to be installed from ROS packages via [vendor packages]. When using `install-ros-gz` this action will check for availability of these Gazebo vendor packages and install them if available for the specified ROS 2 distribution. Only the default (recommended) Gazebo release is currently available for the ROS 2 releases using the vendor packages (i.e if ROS 2 Jazzy is used, only Gazebo Harmonic is the valid option). More information on vendor packages can be found in the [official documentation].
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- *Installing a ROS-Gazebo combination*
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This example shows the installation of ROS 2 Iron and Gazebo Harmonic which is a supported ROS-Gazebo combination.
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```yaml
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jobs:
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test_gazebo:
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env:
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ROS_DISTROS: 'iron'
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runs-on: ubuntu-latest
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container:
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image: ubuntu:jammy
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-node@v4.0.3
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with:
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node-version: '20.x'
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- name: 'Install ROS 2 Iron'
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uses: ros-tooling/setup-ros@v0.7
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with:
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required-ros-distributions: ${{ env.ROS_DISTROS }}
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- name: 'Install Gazebo Harmonic with ros_gz'
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uses: gazebo-tooling/setup-gazebo@v0.2.0
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with:
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required-gazebo-distributions: 'harmonic'
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install-ros-gz: ${{ env.ROS_DISTROS }}
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- name: Test Iron ros_gz installation
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run: |
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source /opt/ros/iron/setup.bash
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ros2 pkg list | grep ros_gz
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gz sim --version | grep 'version 8.[0-9*].[0-9*]'
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env:
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ROS_DISTROS: 'iron'
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runs-on: ubuntu-latest
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container:
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image: ubuntu:jammy
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-node@v4.0.3
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with:
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node-version: '20.x'
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- name: 'Install ROS 2 Iron'
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uses: ros-tooling/setup-ros@v0.7
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with:
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required-ros-distributions: ${{ env.ROS_DISTROS }}
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- name: 'Install Gazebo Harmonic with ros_gz'
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uses: gazebo-tooling/setup-gazebo@v0.3.0
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with:
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required-gazebo-distributions: 'harmonic'
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install-ros-gz: ${{ env.ROS_DISTROS }}
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- name: Test Iron ros_gz installation
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run: |
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source /opt/ros/iron/setup.bash
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ros2 pkg list | grep ros_gz
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gz sim --version | grep 'version 8.[0-9*].[0-9*]'
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```
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- *Installing Gazebo through vendor packages*
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This example shows the installation of ROS 2 Jazzy and Gazebo Harmonic which is a recommended ROS-Gazebo combination. In this case, Gazebo libraries are will be installed as ROS packages.
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```yaml
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jobs:
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test_gazebo:
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env:
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ROS_DISTROS: 'jazzy'
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runs-on: ubuntu-latest
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container:
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image: ubuntu:noble
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-node@v4.0.3
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with:
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node-version: '20.x'
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- name: 'Install ROS 2 Jazzy'
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uses: ros-tooling/setup-ros@v0.7
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with:
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required-ros-distributions: ${{ env.ROS_DISTROS }}
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- name: 'Install Gazebo with ros_gz'
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uses: gazebo-tooling/setup-gazebo@v0.3.0
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with:
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required-gazebo-distributions: 'harmonic'
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install-ros-gz: ${{ env.ROS_DISTROS }}
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- name: Test Jazzy ros_gz installation
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run: |
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source /opt/ros/jazzy/setup.bash
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! [ $(apt list --installed gz-harmonic) ]
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ros2 pkg list | grep ros_gz
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gz sim --version | grep 'version 8.[0-9*].[0-9*]'
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```
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### macOS
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with:
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- name: 'Check Gazebo installation on MacOS runner'
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uses: gazebo-tooling/setup-gazebo@v0.2.0
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uses: gazebo-tooling/setup-gazebo@v0.3.0
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with:
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required-gazebo-distributions: 'harmonic'
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- name: 'Test Gazebo installation'
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node-version: '20.x'
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- uses: conda-incubator/setup-miniconda@v3
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- name: 'Check Gazebo installation on Windows runner'
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uses: gazebo-tooling/setup-gazebo@v0.2.0
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uses: gazebo-tooling/setup-gazebo@v0.3.0
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with:
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required-gazebo-distributions: 'harmonic'
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- name: 'Test Gazebo installation'

‎action.yml

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Allowed Gazebo distributions
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- citadel
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- fortress
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- garden
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- harmonic
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- ionic
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Multiple values can be passed using a whitespace delimited list
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"fortress garden".
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"fortress harmonic".
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required: false
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default: ''
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use-gazebo-prerelease:
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Allowed ROS 2 distributions
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- humble
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- iron
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- jazzy
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- rolling
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Multiple values can be passed using a whitespace delimited list
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"humble iron".

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