nav2_system_tests Build Fails: gazebo_ros_pkgs Not Found

[abdul-mannan-khan]

I encountered a build failure when trying to compile nav2_system_tests on ROS 2 Humble. The error indicates that gazebo_ros_pkgs cannot be found.

--- stderr: nav2_system_tests                            
CMake Error at CMakeLists.txt:17 (find_package):
  By not providing "Findgazebo_ros_pkgs.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "gazebo_ros_pkgs", but CMake did not find one.

  Could not find a package configuration file provided by "gazebo_ros_pkgs"
  with any of the following names:

    gazebo_ros_pkgsConfig.cmake
    gazebo_ros_pkgs-config.cmake

  Add the installation prefix of "gazebo_ros_pkgs" to CMAKE_PREFIX_PATH or
  set "gazebo_ros_pkgs_DIR" to a directory containing one of the above files.
  If "gazebo_ros_pkgs" provides a separate development package or SDK, be
  sure it has been installed.

---
Failed   <<< nav2_system_tests [1.67s, exited with code 1]

Tried installing gazebo_ros_pkgs with:

sudo apt install ros-humble-gazebo-ros-pkgs
But received an "Unable to locate package" error.

Installed ros-humble-ros-gz with:

sudo apt-get install ros-humble-ros-gz

Actual Behavior: The build fails due to missing gazebo_ros_pkgs.

Request for Help:
Is gazebo_ros_pkgs still supported for ROS 2 Humble?
Should nav2_system_tests be updated to use an alternative package?
Are there any additional installation steps required for gazebo_ros_pkgs?
Thank you in advance for your help!

[ewak]

See https://community.gazebosim.org/t/gazebo-classic-end-of-life/2563

I migrated to harmonic on ubuntu 22.04 circa August 2024.
Here is my ansible playbook you might get some mileage from.

---
- hosts: ros_humble_gazebo
  tasks:
    - name: Add osrf foundation GPG key
      ansible.builtin.get_url:
        url: https://packages.osrfoundation.org/gazebo.gpg
        dest: /etc/apt/keyrings/pkgs-osrf-archive-keyring.gpg
        mode: '0644'
        force: true
      become: yes

    - name: Add osrf gazebo repo
      ansible.builtin.apt_repository:
        filename: 'gazebo-stable'
        repo: 'deb [signed-by=/etc/apt/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable jammy main'
        update_cache: yes
      become: yes

    - name: Install simulation gazebo related humble packages
      apt:
        pkg: "{{ packages }}"
      become: yes
      vars:
        packages:
          - ros-humble-ros-gzharmonic
          - ros-humble-ros-gzharmonic-bridge
          - ros-humble-ros-gzharmonic-image
          - ros-humble-ros-gzharmonic-interfaces
          - ros-humble-ros-gzharmonic-sim
          - ros-humble-ros-gzharmonic-sim-demos
          - libgz-sensors6-dev
          - gz-harmonic
          - libgz-sim8-dev
          - rapidjson-dev
          - libopencv-dev
          - libgstreamer1.0-dev
          - libgstreamer-plugins-base1.0-dev
          - gstreamer1.0-plugins-bad
          - gstreamer1.0-libav
          - gstreamer1.0-gl

[SteveMacenski]

I seem to still be able to find them & still in rosdistro: https://github.com/ros/rosdistro/blob/master/humble/distribution.yaml#L2929

steve@reese:~$ sudo apt install ros-humble-gazebo-ros-pkgs
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following packages were automatically installed and are no longer required:
  libfreenect0.5 libfyaml0 libncurses5-dev libopts25 libwxbase3.0-0v5
  libwxgtk3.0-gtk3-0v5 ros-humble-gtsam ros-iron-behaviortree-cpp-v3
  ros-iron-dwb-msgs ros-iron-nav-2d-msgs sntp
Use 'sudo apt autoremove' to remove them.
The following packages will be upgraded:
  ros-humble-gazebo-ros-pkgs
1 upgraded, 0 newly installed, 0 to remove and 192 not upgraded.
Need to get 7,000 B of archives.
After this operation, 0 B of additional disk space will be used.
Get:1 http://packages.ros.org/ros2/ubuntu jammy/main amd64 ros-humble-gazebo-ros-pkgs amd64 3.7.0-1jammy.20250114.181732 [7,000 B]
Fetched 7,000 B in 0s (23.7 kB/s)                     
(Reading database ... 484305 files and directories currently installed.)
Preparing to unpack .../ros-humble-gazebo-ros-pkgs_3.7.0-1jammy.20250114.181732_
amd64.deb ...
Unpacking ros-humble-gazebo-ros-pkgs (3.7.0-1jammy.20250114.181732) over (3.7.0-
1jammy.20241128.064720) ...
Setting up ros-humble-gazebo-ros-pkgs (3.7.0-1jammy.20250114.181732) ...

But I also updated my rosdistro to be tagged about a year ago before the Jazzy/Rolling move to 24.04 so that may be why (and may work for you):

steve@reese:~$ cat /etc/ros/rosdep/sources.list.d/20-default.list 
# os-specific listings first
yaml https://raw.githubusercontent.com/ros/rosdistro/rolling/2024-02-28/rosdep/osx-homebrew.yaml osx

# generic
yaml https://raw.githubusercontent.com/ros/rosdistro/rolling/2024-02-28/rosdep/base.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/rolling/2024-02-28/rosdep/python.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/rolling/2024-02-28/rosdep/ruby.yaml
gbpdistro https://raw.githubusercontent.com/ros/rosdistro/rolling/2024-02-28/releases/fuerte.yaml fuerte

# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead