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trajectory_msgs.msg.JointTrajectory(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id=''), joint_names=['motor1', 'motor2', 'motor3', 'motor4', 'motor5', 'motor6'], points=[trajectory_msgs.msg.JointTrajectoryPoint(positions=[0.3521591126918793, 0.3673589825630188, 1.3940757513046265, 0.5712053179740906, -0.441368967294693, -0.19781996309757233], velocities=[], accelerations=[], effort=[], time_from_start=builtin_interfaces.msg.Duration(sec=0, nanosec=1000000))])

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alias setup_mara='source /opt/ros/crystal/setup.bash ; source ~/ros2_mara_ws/install/setup.bash ; source /usr/share/gazebo/setup.sh ; export PYTHONPATH=$PYTHONPATH:~/ros2_mara_ws/install/lib/python3/dist-packages ; export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/ros2_mara_ws/src/MARA ; export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:~/ros2_mara_ws/src/MARA/mara_gazebo_plugins/build/'

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source ~/ros2_ws/install/local_setup.bash 
not found: "/home/erle/ros2_ws/install/ament_clang_format
ament_copyright
ament_cppcheck
ament_cpplint
ament_flake8
ament_index_cpp
ament_index_python
ament_lint_cmake
ament_package

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cv_bridge fails:

opencv for python3 not available in Ubuntu 16.04

wget https://github.com/milq/milq/blob/master/scripts/bash/install-opencv.sh
bash install-opencv.sh
rm ~/install-opencv.sh

image_transport fails:
sudo apt install libpcre3-dev

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nestor@n-pc:~/ros2_mara_ws2$ colcon build --merge-install
[0.449s] ERROR:colcon:colcon build: Duplicate package names not supported:
- hrim_sensor_force_msgs:
  - /home/nestor/ros2_mara_ws2/src/HRIM/generated/force/hrim_sensor_force_msgs
  - /home/nestor/ros2_mara_ws2/src/HRIM/sensor/force/hrim_sensor_force_msgs
- hrim_sensor_forcetorque_msgs:
  - /home/nestor/ros2_mara_ws2/src/HRIM/generated/forcetorque/hrim_sensor_forcetorque_msgs
  - /home/nestor/ros2_mara_ws2/src/HRIM/sensor/forcetorque/hrim_sensor_forcetorque_msgs
- hrim_sensor_hygrometer_msgs:
  - /home/nestor/ros2_mara_ws2/src/HRIM/generated/hygrometer/hrim_sensor_hygrometer_msgs

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Ep: 0 Step: 13 Time: 0:00:07
Ep: 0 Step: 14 Time: 0:00:07
Can't complete trajectory, setting new trajectory: initial_positions
Can't complete trajectory, setting new trajectory: initial_positions
Can't complete trajectory, setting new trajectory: initial_positions
Can't complete trajectory, setting new trajectory: initial_positions
Can't complete trajectory, setting new trajectory: initial_positions
Can't complete trajectory, setting new trajectory: initial_positions
Can't complete trajectory, setting new trajectory: initial_positions
Can't complete trajectory, setting new trajectory: initial_positions

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void GazeboRosFactoryPrivate::GetModelList(
  gazebo_msgs::srv::GetModelList::Response::SharedPtr res)
{
  res->model_names.clear();
  res->sim_time = world_->SimTime().Double();
  for (unsigned int i = 0; i < world_->ModelCount(); i ++)
    res->model_names.push_back(world_->ModelByIndex(i)->GetName());
  gzerr << "disablign rendering has not been implemented, rendering is always enabled\n";
  res->success = true;
  res->status_message = "GetWorldProperties: got properties";

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nestor@n-pc:~/gz_ws_ros2$ colcon build --merge-install --packages-select gazebo_ros
Starting >>> gazebo_ros
--- stderr: gazebo_ros                             
In file included from /usr/include/sdformat-6.1/sdf/Param.hh:30:0,
                 from /usr/include/sdformat-6.1/sdf/Element.hh:25,
                 from /usr/include/sdformat-6.1/sdf/sdf.hh:4,
                 from /usr/include/gazebo-9/gazebo/common/Plugin.hh:42,
                 from /home/nestor/gz_ws_ros2/src/gazebo_ros_pkgs/gazebo_ros/include/gazebo_ros/gazebo_ros_factory.hpp:18,
                 from /home/nestor/gz_ws_ros2/src/gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros_factory.cpp:15:
/usr/include/c++/7/functional: In instantiation of ‘struct std::_Bind_check_arity<void (gazebo_ros::GazeboRosFactoryPrivate::*)(std::shared_ptr<gazebo_msgs::srv::GetModelList_Response_<std::allocator<void> > >), gazebo_ros::GazeboRosFactoryPrivate*, const std::_Placeholder<1>&, const std::_Placeholder<2>&>’:

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[ 91%] Building CXX object test/CMakeFiles/test_gazebo_ros_factory.dir/test_gazebo_ros_factory.cpp.o
In file included from /opt/ros/crystal/src/gtest_vendor/include/gtest/internal/gtest-internal.h:39:0,
                 from /opt/ros/crystal/src/gtest_vendor/include/gtest/gtest.h:58,
                 from /usr/include/gazebo-9/gazebo/test/ServerFixture.hh:31,
                 from /home/nestor/gz_ws_ros2/src/gazebo_ros_pkgs/gazebo_ros/test/test_gazebo_ros_factory.cpp:15:
/home/nestor/gz_ws_ros2/src/gazebo_ros_pkgs/gazebo_ros/test/test_gazebo_ros_factory.cpp: In member function ‘virtual void GazeboRosFactoryTest_SpawnDelete_Test::TestBody()’:
/opt/ros/crystal/src/gtest_vendor/include/gtest/internal/gtest-port.h:856:40: error: expected ‘;’ before ‘switch’
 # define GTEST_AMBIGUOUS_ELSE_BLOCKER_ switch (0) case 0: default:  // NOLINT
                                        ^
/opt/ros/crystal/src/gtest_vendor/include/gtest/gtest_pred_impl.h:73:3: note: in expansion of macro ‘GTEST_AMBIGUOUS_ELSE_BLOCKER_’

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ros2 service call /demo/set_light_properties 'gazebo_msgs/SetLightProperties' '{light_name: "sun", diffuse: {r: 0.8, g: 0.9, b: 0.8, a: 1.0}, attenuation_constant: 0.9, attenuation_linear: 0.01, attenuation_quadratic: 0.001}'
requester: making request: gazebo_msgs.srv.SetLightProperties_Request(light_name='sun', diffuse=std_msgs.msg.ColorRGBA(r=0.8, g=0.9, b=0.8, a=1.0), attenuation_constant=0.9, attenuation_linear=0.01, attenuation_quadratic=0.001)

Error in gzserver:
gzserver: symbol lookup error: /home/nestor/gz_ws_ros2/install/lib/libgazebo_ros_properties.so: undefined symbol: _ZN22rosidl_typesupport_cpp31get_message_type_support_handleIN6gazebo4msgs5LightEEEPK29rosidl_message_type_support_tv