added ur_simulation_gz

[mebbaid]

Only caveat: if one using this package, the gz related env variable should be properly set

export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$CONDA_PREFIX/lib
export LD_LIBRARY_PATH=$CONDA_PREFIX/lib:$LD_LIBRARY_PATH

before doing ros2 launch ur_simulation_gz ur_sim_control.launch.py

Not sure if (and how) I should automate that to be frank. Maybe patching the python launch script ? Let me know, thanks !

[mebbaid]

If it is ok, I can limit this to only linux for now so that we also bypass libcamera issues on windows/macos ?
Otherwise, I can spend sometime to understand if I can fix this for other platforms.

[traversaro]

If it is ok, I can limit this to only linux for now so that we also bypass libcamera issues on windows/macos ? Otherwise, I can spend sometime to understand if I can fix this for other platforms.

Thanks! The underlying issue is described in #343 . If you are only interested in Linux, I think we can just add it on Linux for now.

Not sure if (and how) I should automate that to be frank. Maybe patching the python launch script ? Let me know, thanks !

Interesting, I wonder how regular apt Humble packages do that, I think we can check how they do it and do something similar.

[mebbaid]

If you are only interested in Linux, I think we can just add it on Linux for now.

Thanks. I limited it only to linux in ab3579a

Interesting, I wonder how regular apt Humble packages do that, I think we can check how they do it and do something similar.

will check and see what can be done

[traversaro]

Interesting, I tried in a docker image:

docker run --rm -it ros:humble-ros-base bash
sudo apt update
sudo apt install ros-humble-ur-simulation-gz
source /opt/ros/humble/setup.sh

and it does not seem that any env variable is set, I wonder how gazebo is able to find the system plugins. I wonder if we should patch the ign-gazebo/gz-sim activation scripts to also add $CONDA_PREFIX/lib in https://github.com/conda-forge/libignition-gazebo-feedstock/blob/main/recipe/activate.msh .

[mebbaid]

Yeah, I tried to modify the launch python script of this package it self to set the env variables if it is able to find $CONDA_PREFIX/lib. But that requires import os which is not good.

At this point I think, as you suggested the solution, is outside this particular ur_simulation_gz package?

[traversaro]

At this point I think, as you suggested the solution, is outside this particular ur_simulation_gz package?

Yes, I suspect that. Probably we can merge this and open a different issue related to the need of understanding how the system plugins of ur_simulation_gz are supposed to be found, as anyhow there is a workaround to make it work?

[mebbaid]

Agreed.

[traversaro]

Agreed.

Perfect, I opened one in #347 .