Standalone gz sim executable (Jetty)

[j-rivero]

🎉 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]
• Initial world selection screen in Windows do not work properly [non-merge-blocker]
• 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.

[j-rivero]

@osrf-jenkins run tests

[j-rivero]

@osrf-jenkins run tests

[j-rivero]

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]

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]

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]

• 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]

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]

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.