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Port #93 to ros2 branch #99

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merged 2 commits into from
Jun 24, 2024
Merged

Port #93 to ros2 branch #99

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b5d6c41
Default to gazebo harmonic
Ryanf55 Apr 27, 2024
2cbf8df
Change defaults, have rosdep instructions last
Ryanf55 May 7, 2024
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8 changes: 4 additions & 4 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,8 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
# --------------------------------------------------------------------------- #
# Find gz-sim and dependencies.

# Harmonic
if("$ENV{GZ_VERSION}" STREQUAL "harmonic")
# Harmonic (default)
if("$ENV{GZ_VERSION}" STREQUAL "harmonic" OR NOT DEFINED "ENV{GZ_VERSION}")
find_package(gz-cmake3 REQUIRED)
set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})

Expand All @@ -32,8 +32,8 @@ if("$ENV{GZ_VERSION}" STREQUAL "harmonic")
set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})

message(STATUS "Compiling against Gazebo Harmonic")
# Garden (default)
elseif("$ENV{GZ_VERSION}" STREQUAL "garden" OR NOT DEFINED "ENV{GZ_VERSION}")
# Garden
elseif("$ENV{GZ_VERSION}" STREQUAL "garden")
find_package(gz-cmake3 REQUIRED)
set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})

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24 changes: 22 additions & 2 deletions README.md
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Expand Up @@ -24,6 +24,7 @@ The project comprises a Gazebo plugin to connect to ArduPilot SITL
## Prerequisites

Gazebo Garden or Harmonic is supported on Ubuntu 22.04 (Jammy).
Harmonic is recommended.
If you are running Ubuntu as a virtual machine you will need at least
Ubuntu 20.04 in order to have the OpenGL support required for the
`ogre2` render engine. Gazebo and ArduPilot SITL will also run on macOS
Expand All @@ -43,20 +44,39 @@ Install additional dependencies:

### Ubuntu

Gazebo Garden:
#### Garden (apt)

Manual - Gazebo Garden Dependencies:

```bash
sudo apt update
sudo apt install libgz-sim7-dev rapidjson-dev
```

Or Gazebo Harmonic:
#### Harmonic (apt)

Manual - Gazebo Harmonic Dependencies:

```bash
sudo apt update
sudo apt install libgz-sim8-dev rapidjson-dev
```

#### Rosdep

Use rosdep with
[osrf's rosdep rules](https://github.com/osrf/osrf-rosdep?tab=readme-ov-file#1-use-rosdep-to-resolve-gazebo-libraries)
to manage all dependencies. This is driven off of the environment variable `GZ_VERSION`.

```bash
export GZ_VERSION=harmonic # or garden
sudo bash -c 'wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list -O /etc/ros/rosdep/sources.list.d/00-gazebo.list'
rosdep update
rosdep resolve gz-harmonic # or gz-garden
# Navigate to your ROS workspace before the next command.
rosdep install --from-paths src --ignore-src -y
```

### macOS

```bash
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8 changes: 4 additions & 4 deletions package.xml
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Expand Up @@ -12,14 +12,14 @@

<build_depend>rapidjson-dev</build_depend>

<!-- Harmonic -->
<!-- Harmonic (default) -->
<depend condition="$GZ_VERSION == harmonic">gz-cmake3</depend>
<depend condition="$GZ_VERSION == harmonic">gz-sim8</depend>
<!-- Garden (default) -->
<depend condition="$GZ_VERSION == ''">gz-cmake3</depend>
<depend condition="$GZ_VERSION == ''">gz-sim8</depend>
<!-- Garden -->
<depend condition="$GZ_VERSION == garden">gz-cmake3</depend>
<depend condition="$GZ_VERSION == garden">gz-sim7</depend>
<depend condition="$GZ_VERSION == ''">gz-cmake3</depend>
<depend condition="$GZ_VERSION == ''">gz-sim7</depend>

<test_depend>ament_lint_auto</test_depend>

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