Windows support
traversaro opened this issue · comments
gazebo-yarp-plugins has nothing preventing Windows support, but for now Windows is not supported by Gazebo upstream:
https://bitbucket.org/osrf/gazebo/issue/193/make-gazebo-windows-compatible ,
https://bitbucket.org/osrf/gazebo/issues?component=os%3A%3Awindows .
Just opening this issue to track the upstream evolution of the issue .
Work has started upstream to support Windows, check https://bitbucket.org/osrf/gazebo/issue/193/make-gazebo-windows-compatible .
cc @j-rivero
We are heavily working on this during these days, I will keep you updated Silvio. Thanks very much for the interest and the support :)
Awesome n z
On Tue, Dec 2, 2014, 00:17 Jose Luis Rivero notifications@github.com
wrote:
We are heavily working on this during these days, I will keep you updated
Silvio. Thanks very much for the interest and the support :)—
Reply to this email directly or view it on GitHub
#74 (comment)
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👍
Good news!
A first working (at least running the main window) prototype of Gazebo on Windows will soon be merged in the Gazebo development repository [1], video : https://www.youtube.com/watch?v=tNnFxSRQmi8 ). The compilation is a bit of an adventure, but it should be doable.
This can be a starting point for tryng to port gazebo-yarp-plugins to Windows.
The main point to be addressed at the moment are:
- I don't know if the Gazebo plugin system have been already ported on Windows (it need to be patched at least to address naming aspects of plugin loading). If this cause problems, we can get inspiration from https://github.com/apaikan/sharedlibpp for a working multiplatform (*nix,Windows) plugin system, that is reliably working on Yarp. Update Oct 2018: This has been solved (even with a workaround) in https://bitbucket.org/osrf/gazebo/pull-requests/2311/ensure-plugin-and-plugin-macros-are-always/diff .
- I guess that, at least on Windows and probably also on other platform, the plugins should be compiled as
MODULE[2] - For sure a number of crazy compatibility issue will arise, so we should be ready to solve them. : )
[1] : https://bitbucket.org/osrf/gazebo/pull-request/1687/windows-final
[2] : https://bitbucket.org/osrf/gazebo/issue/800/plugin-loading-on-os-x
For several years, Gazebo compiled on Windows, but the lack of availability of binaries and actual testing made its use almost impossible. Microsoft itself is now porting ROS1 to Windows, and as part of this effort it should also port Gazebo and make Gazebo binaries available, see https://ms-iot.github.io/ROSOnWindows/Porting/PortingStatus.html .
Some steps on this direction:
The Windows installer for the 2020.05 distribution of the robotology-superbuild, available at https://github.com/robotology/robotology-superbuild/releases/tag/v2020.05 and that soon will be announced as part of the 2020.05 release, includes a copy of Gazebo for Windows.
This can be used to simulate the iCub on Gazebo out of the box, see an example of use of yarpmotorgui on Windows:
For users that want to compile gazebo-yarp-plugins from source, Gazebo is available without all the IIT-developed software as part of the "dependencies" installer, also available from https://github.com/robotology/robotology-superbuild/releases/tag/v2020.05, or using the archives vcpkg-robotology-with-gazebo.zip available from https://github.com/robotology/robotology-superbuild-dependencies-vcpkg .
Given that this make the Gazebo-based simulation of the iCub accessible to all Windows users of the robotology-superbuild without any strange workaround, I think we can finally close this issue, as any specific bug that will emerge can be tracked in separate issues.
Thanks a lot for everyone that worked on this and all the related issues over the years, enabling us to close an issue that we opened in 2014 : ), including:
- iCub Tech/Dynamic Interaction Control/Humanoid Sensing and Perception research lines at the Italian Institute of Technology
- Gazebo dev team at Open Robotics
- The vcpkg team and the ROSOnWindows team at Microsoft (in particular @seanyen)