Standalone gz sim executable (Jetty) #2849

j-rivero · 2025-04-10T18:13:33Z

🎉 New feature

Comes from #2809. Related to gazebosim/gz-tools#7 and #2737.

Summary

This PR introduces a standalone executable for gz sim by following a similar approach to #2724. The new executable is integrated into cmdsim.rb.in, replacing the existing functionality. It is also a step in the direction of decoupling the server from GUI components, allowing us to build gz-sim library without GUI support.

#2809 should give a full context of the work. This PR changes the target branch name to main not to include the work in Ionic but in the upcoming Jetty.

To port #2809 here I made the following commits:

39573e7 is the result of applying the diff from Standalone gz sim executable #2809 almost cleanly
39296e8 adapt the changes to use the unversioned gz-sim Remove major version from package name #2726
31bd100 renamed the executable gz-sim-gui since this new executable in this branch conflicts with the gui component at src/gui in this repository. In the gz-sim9 branch it is known as gz-sim9-gui but now that we are not using version numbers generates a conflict. I choosed gz-sim-gui-client but we can use a better name.

Include here the list of things broken or for testing:

~~Manual testing in Mac [blocker]~~
gz-sim continue not working on Mac [non-merge-blocker]
~~Initial world selection screen in Windows do not work properly [non-merge-blocker]~~ Fixed in Fix for GUI wait screen bug in standalone executable #2905
gz-sim-gui-client displays the world initial selection screen [non-merge-blocker]
gz-sim-gui-client input parameters referenced SDF files [non-merge-blocker]
Parameters are duplicated between gz-sim-gui-client / gz-sim-main [non-merge-blocker]
~~[updated] Version arguments -v 4 to gz-sim-gui-client says it is not expected~~ Fixed in Fix for GUI wait screen bug in standalone executable #2905

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

…he gui unversioned component Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

j-rivero · 2025-04-11T16:28:57Z

@osrf-jenkins run tests

Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>

j-rivero · 2025-04-24T15:44:05Z

@osrf-jenkins run tests

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

j-rivero · 2025-04-24T17:33:18Z

The gz command tests are failing. Need to fix these before merging.
There is a failure in the Mac version also in the command test:

135: [ 50%] Linking CXX executable command_TEST
135: dyld[34618]: Symbol not found: __ZN2gz3sim3v1010components7Factory8InstanceEv
135:   Referenced from: <04E4F5FD-583F-3D32-8098-6E46F747E67F> /private/var/folders/ng/v8gtqrqs1sj3dzz5pvh558mh0000gp/T/gz/temp_dirdaDezq/command_TEST
135:   Expected in:     <no uuid> unknown
135: CMake Error at /usr/local/share/cmake/Modules/GoogleTestAddTests.cmake:132 (message):
135:   Error running test executable.
135: 
135:     Path: '/private/var/folders/ng/v8gtqrqs1sj3dzz5pvh558mh0000gp/T/gz/temp_dirdaDezq/command_TEST'
135:     Working directory: '/private/var/folders/ng/v8gtqrqs1sj3dzz5pvh558mh0000gp/T/gz/temp_dirdaDezq'
135:     Result: Subprocess aborted
135:     Output:
135:       
135: 
135: Call Stack (most recent call first):
135:   /usr/local/share/cmake/Modules/GoogleTestAddTests.cmake:275 (gtest_discover_tests_impl)
135: 
135: 
135: make[3]: *** [command_TEST] Error 1
135: make[3]: *** Deleting file `command_TEST'

scpeters · 2025-04-25T00:49:49Z

I'm testing this on a Mac laptop. I first built it in a colcon workspace containing only gz-tools2 and this branch of gz-sim, with all the other dependencies built from brew formulae.

I'm able to run in server-only mode with install/libexec/gz/sim10/gz-sim-main -v 4 -s
I'm getting dyld[37202]: Library not loaded: @rpath/libgz-sim-gui.10.dylib errors when trying to open the gui in a separate terminal with -g. I'm currently debugging by building this branch through the brew formula (by replacing main on this line of gz-sim10.rb with the name of this pull request's branch). I will keep you updated on my progress

iche033 · 2025-04-25T02:28:28Z

The gz command tests are failing. Need to fix these before merging. There is a failure in the Mac version also in the command test:

135: [ 50%] Linking CXX executable command_TEST
135: dyld[34618]: Symbol not found: __ZN2gz3sim3v1010components7Factory8InstanceEv
135:   Referenced from: <04E4F5FD-583F-3D32-8098-6E46F747E67F> /private/var/folders/ng/v8gtqrqs1sj3dzz5pvh558mh0000gp/T/gz/temp_dirdaDezq/command_TEST
135:   Expected in:     <no uuid> unknown
135: CMake Error at /usr/local/share/cmake/Modules/GoogleTestAddTests.cmake:132 (message):
135:   Error running test executable.
135: 
135:     Path: '/private/var/folders/ng/v8gtqrqs1sj3dzz5pvh558mh0000gp/T/gz/temp_dirdaDezq/command_TEST'
135:     Working directory: '/private/var/folders/ng/v8gtqrqs1sj3dzz5pvh558mh0000gp/T/gz/temp_dirdaDezq'
135:     Result: Subprocess aborted
135:     Output:
135:       
135: 
135: Call Stack (most recent call first):
135:   /usr/local/share/cmake/Modules/GoogleTestAddTests.cmake:275 (gtest_discover_tests_impl)
135: 
135: 
135: make[3]: *** [command_TEST] Error 1
135: make[3]: *** Deleting file `command_TEST'

I noticed this homebrew test failure recently and it's also happening in other builds as well, e.g. in #2870. May or may not be related

iche033 · 2025-04-25T02:30:14Z

I'm getting dyld[37202]: Library not loaded: @rpath/libgz-sim-gui.10.dylib errors when trying to open the gui in a separate terminal with -g. I'm currently debugging by building this branch through the brew formula (by replacing main on this line of gz-sim10.rb with the name of this pull request's branch). I will keep you updated on my progress

I get the same error with all gz packages built from source in a colcon workspace.

I tried setting DYLD_LIBRARY_PATH and using popen instead of std::system to launch the gui process but the result is the same. Looks like it doesn't launch the exe with the same environment.

Note I built the packages with -DCMAKE_MACOSX_RPATH=FALSE

here's my otool output:

otool -L ./install/libexec/gz/sim10/gz-sim-main | grep gz-sim`
./install/libexec/gz/sim10/gz-sim-main:
   libgz-sim-gui.10.dylib (compatibility version 10.0.0, current version 10.0.0)
   libgz-sim.10.dylib (compatibility version 10.0.0, current version 10.0.0)

Other notes:

Running gz-sim-gui-client with an existing server works but it brings up the quick start dialog (the dialog for selecting what world to launch)
I couldn't pass the -v 4 arg to gz-sim-gui-client. It says arg was not expected.

scpeters · 2025-04-25T08:27:59Z

I'm testing this on a Mac laptop. I first built it in a colcon workspace containing only gz-tools2 and this branch of gz-sim, with all the other dependencies built from brew formulae.

I'm able to run in server-only mode with install/libexec/gz/sim10/gz-sim-main -v 4 -s

I'm getting dyld[37202]: Library not loaded: @rpath/libgz-sim-gui.10.dylib errors when trying to open the gui in a separate terminal with -g. I'm currently debugging by building this branch through the brew formula (by replacing main on this line of gz-sim10.rb with the name of this pull request's branch). I will keep you updated on my progress

I am able to run gz-sim-main -s and gz-sim-main -g in separate terminals after compiling with brew and adding an additional rpath configuration in osrf/homebrew-simulation#3025 (and changing the target branch from main to this branch). Out of curiosity, I tried launching gz-sim-main without -s or -g to see if it could launch both server and gui at the same time, but it didn't work in my limited testing. This didn't work before either, but I was just curious to see if it was fixed

j-rivero · 2025-04-25T16:03:08Z

Thanks for the test !

Running gz-sim-gui-client with an existing server works but it brings up the quick start dialog (the dialog for selecting what world to launch)

I think we already captured this problem in the description.

* I couldn't pass the `-v 4` arg to `gz-sim-gui-client`. It says arg was not expected.

Oh this is new, to be fixed IMHO without being a blocker for the PR.

I tried launching gz-sim-main without -s or -g to see if it could launch both server and gui at the same time, but it didn't work in my limited testing. This didn't work before either, but I was just curious to see if it was fixed

Iit works on Linux and Windows as far as I can tell. Seems like we will need more work on Mac. Not a blocker since we are not introducing a regression.

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

Signed-off-by: Jose Luis Rivero <jrivero@openrobotics.com>

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

scpeters

I'm partially done reviewing this; here are a few comments for now

src/cmd/gz_TEST.cc

test/plugins/CMakeLists.txt

scpeters · 2025-05-12T21:00:08Z

src/cmd/gz.cc

-  // console output with zero verbosity.
-  if (verbosity == 0)
+  // Check if passed string is valid
+  if(!_file.empty())


should there be an else branch that returns -1 if _file is empty?

the whole thing did not work since the logic behind this and your next comment was to run checksdf and parsesdf functions even if the input file was empty and return ok if that case. I changed the logic not to pass the files in f8d454e. There are some problems in that code (gz-main-gui should not accept sdf inputs) but I prefer not to change this PR more and create new ones. The problem is registered in the PR description.

src/cmd/gz.hh

scpeters · 2025-05-12T21:08:46Z

src/cmd/gz.cc

 {
-  static std::string worldInstallDir = gz::sim::getWorldInstallDir();
-  return worldInstallDir.c_str();
+  if(!_parsedSdfFile.empty())


I don't understand this check. It looks like an empty std::string is passed to this function at src/cmd/sim_main.cc:450-451 and src/cmd/sim_main.cc:507-508, but this function is a no-op for empty strings

I agree. Seems like a mistake, removed in 9dd80aa

affected by #2849 (comment)

src/cmd/gz.cc

src/cmd/CMakeLists.txt

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

Co-authored-by: Steve Peters <scpeters@openrobotics.org> Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

j-rivero · 2025-05-14T18:10:06Z

There are a couple of Wrench related tests that fail on Linux that seems unrelated. I think that we should be in a good position to merge and address the fixes and improvements detailed in the description in new PRs.

scpeters · 2025-05-14T20:31:38Z

There are a couple of Wrench related tests that fail on Linux that seems unrelated. I think that we should be in a good position to merge and address the fixes and improvements detailed in the description in new PRs.

the tests passed on a retry

scpeters

two minor nits that can be addressed in separate pull requests

scpeters · 2025-05-14T19:01:39Z

src/cmd/gui_main.cc

+                  "   - vulkan (beta)\n"
+                  "   - metal (Apple only. Default for Apple)\n"
+                  "Note: If Vulkan is being in the GUI and gz-gui was\n"
+                  "built against Qt < 5.15.2, it may be very slow")


nit: we can probably remove this comment since we are now on Qt 6

this can be addressed later

thanks! I'll get them in a new PR or please remind that to me if I won't :)

scpeters · 2025-05-14T19:05:56Z

src/cmd/sim_main.cc

+    "   - vulkan (beta)\n"
+    "   - metal (Apple only. Default for Apple)\n"
+    "Note: If Vulkan is being in the GUI and gz-gui was\n"
+    "built against Qt < 5.15.2, it may be very slow")


nit: this comment can probably be removed since we are now using Qt 6

j-rivero · 2025-05-14T21:51:21Z

The time has come. Great work @sauk2 and thanks to @iche033 and @scpeters for the feedback. Merging !

traversaro · 2025-05-22T07:48:33Z

Thanks a lot to everyone involved, this was a great result!

j-rivero added 3 commits April 10, 2025 15:34

Standalone gz sim executable (Jetty)

39573e7

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

Use non-versioned lib names

39296e8

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

Need to rename gz-sim-gui to gz-sim-gui-client not to conflict with t…

31bd100

…he gui unversioned component Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

j-rivero requested review from azeey and mjcarroll as code owners April 10, 2025 18:13

github-actions bot added the 🪵 jetty Gazebo Jetty label Apr 10, 2025

azeey added this to Core development Apr 10, 2025

github-project-automation bot moved this to Inbox in Core development Apr 10, 2025

j-rivero added 3 commits April 15, 2025 12:03

Merge branch 'main' into jetty/standalone_execs

d138d69

Merge branch 'main' into jetty/standalone_execs

a970eeb

Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>

Merge branch 'main' into jetty/standalone_execs

f8e74af

Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>

j-rivero added 2 commits April 24, 2025 17:48

Make pre-commit happy

43c179a

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

Relocate the gui linking

b8b022f

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

scpeters mentioned this pull request Apr 25, 2025

gz-sim10: configure rpath for standalone execs osrf/homebrew-simulation#3025

Merged

traversaro mentioned this pull request Apr 26, 2025

Windows runtime problems on Gz #168

Open

18 tasks

j-rivero and others added 3 commits May 5, 2025 16:52

Merge branch 'main' into jetty/standalone_execs

85ff7f3

Merge branch 'main' into jetty/standalone_execs

3a7fd00

Run gui_system test only under ENABLE_GUI installations

52d66cc

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

j-rivero force-pushed the jetty/standalone_execs branch from a7560d0 to 52d66cc Compare May 6, 2025 18:00

j-rivero added 3 commits May 6, 2025 20:19

Fix UNIT_gz_TEST

465f8e8

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

Do not run pre-commit again

c1016e8

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

Explicit use of Unicode CreateProcess

94bffb9

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

Right setup for UNIT_gz_TEST on Windows

0948663

Signed-off-by: Jose Luis Rivero <jrivero@openrobotics.com>

j-rivero mentioned this pull request May 7, 2025

Standalone gz sim executable #2809

Closed

9 tasks

j-rivero added 2 commits May 7, 2025 22:18

Reduce and fix testSystem plugin

f937aaa

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

Remove plugin ALIAS

13a7d46

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

scpeters reviewed May 12, 2025

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scpeters reviewed May 12, 2025

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j-rivero and others added 6 commits May 13, 2025 17:24

Fix path test on Windows

fb73007

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

Apply suggestions from code review

80f7e9a

Co-authored-by: Steve Peters <scpeters@openrobotics.org> Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>

Merge branch 'main' into jetty/standalone_execs

dc577fb

Fail if file is empty

c5c40b4

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

Allow output variable to be empty in parseSdfile

9dd80aa

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

Return -1 on error

cef74ed

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

j-rivero requested a review from scpeters May 14, 2025 15:32

j-rivero added 2 commits May 14, 2025 17:59

Add error code return to createServerConfig

94db746

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

Rework the sdf checking and parsing

f8d454e

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>

scpeters approved these changes May 14, 2025

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j-rivero merged commit 0b89dee into main May 14, 2025
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j-rivero deleted the jetty/standalone_execs branch May 14, 2025 21:53

github-project-automation bot moved this from In review to Done in Core development May 14, 2025

sauk2 mentioned this pull request May 15, 2025

Fix for GUI wait screen bug in standalone executable #2905

Merged

8 tasks

This was referenced May 16, 2025

Decoupling the server from the client libraries #2737

Open

Make it possible to install gz-sim without the GUI components gazebo-release/gz-sim8-release#8

Open

scpeters mentioned this pull request May 19, 2025

Consider binaries to implement the functionality offered by gz gazebosim/gz-tools#7

Open

20 tasks

j-rivero mentioned this pull request Jun 11, 2025

Using robostack to run Gazebo and ROS 2 on Windows gazebo-tooling/release-tools#1333

Open

Standalone gz sim executable (Jetty) #2849

Standalone gz sim executable (Jetty) #2849

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j-rivero commented Apr 10, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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🎉 New feature

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