Implement ROS standard simulation interfaces (backport #790)

[mergify]

🎉 New feature

Toward #732

Summary

Set up

In order to test this, you'll need a source build of gz-sim with the following PRs:

• Expose APIs for clearing the ECMs internal state tracking addition and removal gz-sim#3002
• Add EntitySemantics system that enables setting categories and tags gz-sim#3005
• Refactor Transport service handlers UserCommands gz-sim#2996
• Fix UserCommands services so that they return the actual status the executed command gz-sim#2999

I have removed all Gazebo ROS vendor packages temporarily since those are currently pinned to Ionic. With the recent changes removing the version numbers from the packages, having gz-jetty installed, either from binaries or from source, should be sufficient to build this PR.

Test it

1. Install ROS 2 Rolling

2. Add Gazebo nightlies to your apt sources. Follow https://gazebosim.org/docs/jetty/install_ubuntu/, but use ubuntu-nightly instead of ubuntu-stable.

   deb [arch=amd64 signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-nightly noble main
   

3. Install gz-jetty

   sudo apt install gz-jetty
   

4. Create a new workspace and use vcs to checkout standard_interfaces.repos

   mkdir -p ~/ros_gz_ws/src
   cd ~/ros_gz_ws/src
   vcs import --input https://raw.githubusercontent.com/gazebo-tooling/gz_vendor/refs/heads/main/gz_vendor.repos
   touch gz_dartsim_vendor/COLCON_IGNORE
   touch gz_ogre_next_vendor/COLCON_IGNORE
   
   git clone https://github.com/azeey/ros_gz -b standard_interfaces
   cd ..
   

5. Source rolling and install dependencies

   source /opt/ros/rolling/setup.bash
   export GZ_BUILD_FROM_SOURCE=1
   rosdep install -i -y -r --from-paths src --skip-keys="rviz2 sdformat_urdf"
   
   

6. Build workspace

   colcon build
   

7. Run tests
   colcon test --packages-select ros_gz_sim

8. If you want to run just the tests introduced in this PR, in a new terminal:

   source ~/ros_gz_ws/install/setup.bash
   cd ~/ros_gz/ws/build/ros_gz_sim
   ctest -R gz_simulation
   

Tip

If the build fails with c++: fatal error, it likely ran out of memory. Try building with colcon build --parallel-workers=1 --executor sequential

Note

If the build fails due to missing APIs. It is likely that somehow, ros_gz_sim is being build against the Gazebo install in the system instead of the one we are building from source. If this happens, uninstall libgz-sim10, remove the build/ros_gz_sim directory and build again.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers
• Was GenAI used to generate this PR? If so, make sure to add "Generated-by" to your commits. (See this policy for more info.)

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by and Generated-by messages.

---

This is an automatic backport of pull request #790 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of ae92d97 has failed:

On branch mergify/bp/jazzy/pr-790
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit ae92d97.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   ros_gz_sim/CMakeLists.txt
	new file:   ros_gz_sim/include/ros_gz_sim/gz_simulation_interfaces.hpp
	modified:   ros_gz_sim/package.xml
	new file:   ros_gz_sim/src/gz_simulation_interfaces/actions/simulate_steps.cpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/actions/simulate_steps.hpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/gazebo_proxy.cpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/gazebo_proxy.hpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/gz_entity_filters.cpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/gz_entity_filters.hpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/gz_simulation_interfaces.cpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/handler_base.hpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/delete_entity.cpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/delete_entity.hpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/get_entities.cpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/get_entities.hpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/get_entities_states.cpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/get_entities_states.hpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/get_entity_info.cpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/get_entity_info.hpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/get_entity_state.cpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/get_entity_state.hpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/get_simulation_state.cpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/get_simulation_state.hpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/get_simulator_features.cpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/get_simulator_features.hpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/reset_simulation.cpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/reset_simulation.hpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/set_entity_state.cpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/set_entity_state.hpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/set_simulation_state.cpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/set_simulation_state.hpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/spawn_entity.cpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/spawn_entity.hpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/step_simulation.cpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/services/step_simulation.hpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/utils.cpp
	new file:   ros_gz_sim/src/gz_simulation_interfaces/utils.hpp
	new file:   ros_gz_sim/test/sdf/gz_simulation_interfaces.sdf
	new file:   ros_gz_sim/test/test_gz_simulation_interfaces.launch.py

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   ros_gz_sim/src/gzserver.cpp

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