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Building Gazebo from Source

In order to make rebuilds faster, we suggest creating two colcon workspaces: one for this project (vehicle_gateway) and one for Gazebo Garden. The Gazebo workspace will take much longer to compile, but it only needs to be recompiled when changes are incorporated from Gazebo. The overlaid vehicle_gateway workspace is where we expect most debug-recompile cycles to occur.

To keep paths short, vg stands for "Vehicle Gateway". After these steps, you'll have two workspaces in the ~/vg directory, like this:

vg
├── gz_ws
│   ├── build
│   ├── install
│   ├── log
│   └── src
└── vg_ws
    ├── build
    ├── install
    ├── log
    └── src

First, install ROS 2 Humble using the .deb packages using APT according to these instructions

Next, install a few dependencies and set up our workspace source directories:

sudo apt install python3-kconfiglib python3-jinja2 python3-jsonschema ros-humble-gps-msgs gcc-arm-none-eabi libfuse2
pip3 install pyros-genmsg
mkdir -p ~/vg/vg_ws/src
cd ~/vg/vg_ws/src
git clone https://github.com/osrf/vehicle_gateway
cd ~/vg/vg_ws
vcs import src < src/vehicle_gateway/dependencies.repos

Next, install Gazebo Garden. The full instructions are here, and summarized as follows.

sudo apt-get update
sudo apt-get install lsb-release wget gnupg
sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
mkdir -p ~/vg/gz_ws/src
cd ~/vg/gz_ws
wget https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/collection-garden.yaml
vcs import src < ../vg_ws/src/vehicle_gateway/collection-garden.yaml
sudo apt install -y $(sort -u $(find . -iname 'packages-'`lsb_release -cs`'.apt' -o -iname 'packages.apt' | grep -v '/\.git/') | sed '/gz\|sdf/d' | tr '\n' ' ')

Now we can compile Gazebo Garden:

cd ~/vg/gz_ws
colcon build --merge-install

Now you should have Gazebo available in ~/vg/gz_ws.

We can now build the Vehicle Gateway itself, by overlaying its workspace on top of the Gazebo Garden workspace as well as the ROS 2 Humble system install. The Vehicle Gateway build will also download and build the PX4 firmware, to allow software-in-the-loop (SITL) simulation:

cd ~/vg/vg_ws
rosdep update && rosdep install --from-paths src --ignore-src -y
source ~/vg/gz_ws/install/setup.bash
source /opt/ros/humble/setup.bash
colcon build --event-handlers console_direct+