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Add harmonic CI #447

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merged 4 commits into from
Aug 29, 2023
Merged

Add harmonic CI #447

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ce95056
Add harmonic CI
mjcarroll Aug 28, 2023
55f082a
Include garden options
mjcarroll Aug 28, 2023
cc70efd
Add harmonic stanza
mjcarroll Aug 28, 2023
85b4800
Additional message headers
mjcarroll Aug 28, 2023
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8 changes: 8 additions & 0 deletions .github/workflows/build-and-test.sh
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Expand Up @@ -18,6 +18,14 @@ if [ "$GZ_VERSION" == "garden" ]; then

GZ_DEPS="libgz-sim7-dev"

ROSDEP_ARGS="--skip-keys='sdformat-urdf'"
elif [ "$GZ_VERSION" == "harmonic" ]; then
echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list
wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -

GZ_DEPS="libgz-sim8-dev"

ROSDEP_ARGS="--skip-keys='sdformat-urdf'"
fi

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3 changes: 3 additions & 0 deletions .github/workflows/ros2-ci.yml
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Expand Up @@ -16,6 +16,9 @@ jobs:
- docker-image: "ubuntu:22.04"
gz-version: "garden"
ros-distro: "rolling"
- docker-image: "ubuntu:22.04"
gz-version: "harmonic"
ros-distro: "rolling"
container:
image: ${{ matrix.docker-image }}
steps:
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9 changes: 9 additions & 0 deletions ros_gz_bridge/CMakeLists.txt
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Expand Up @@ -29,6 +29,15 @@ if("$ENV{GZ_VERSION}" STREQUAL "garden")
set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})

message(STATUS "Compiling against Gazebo Garden")
elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
find_package(gz-transport13 REQUIRED)
find_package(gz-msgs10 REQUIRED)

set(GZ_TARGET_PREFIX gz)
set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})

message(STATUS "Compiling against Gazebo Harmonic")
else()
message(FATAL_ERROR "This branch is only compatible with Gazebo Garden forward.")
endif()
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3 changes: 3 additions & 0 deletions ros_gz_bridge/package.xml
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Expand Up @@ -33,6 +33,9 @@
<!-- Garden (default) -->
<depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-msgs9</depend>
<depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-transport12</depend>
<!-- Harmonic -->
<depend condition="$GZ_VERSION == harmonic">gz-msgs10</depend>
<depend condition="$GZ_VERSION == harmonic">gz-transport13</depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_lint_auto</test_depend>
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9 changes: 9 additions & 0 deletions ros_gz_image/CMakeLists.txt
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Expand Up @@ -29,6 +29,15 @@ if("$ENV{GZ_VERSION}" STREQUAL "garden")
set(GZ_MSGS_VER ${gz-msgs9_VERSION_MAJOR})
set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})

message(STATUS "Compiling against Gazebo Garden")
elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
find_package(gz-transport13 REQUIRED)
find_package(gz-msgs10 REQUIRED)

set(GZ_TARGET_PREFIX gz)
set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})

message(STATUS "Compiling against Gazebo Garden")
else()
message(FATAL_ERROR "This branch is only compatible with Gazebo Garden forward.")
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4 changes: 4 additions & 0 deletions ros_gz_image/package.xml
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Expand Up @@ -20,6 +20,10 @@
<depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-msgs9</depend>
<depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-transport12</depend>

<!-- Harmonic -->
<depend condition="$GZ_VERSION == harmonic">gz-msgs10</depend>
<depend condition="$GZ_VERSION == harmonic">gz-transport13</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
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16 changes: 16 additions & 0 deletions ros_gz_sim/CMakeLists.txt
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Expand Up @@ -34,6 +34,22 @@ if("$ENV{GZ_VERSION}" STREQUAL "garden")
set(GZ_TARGET_PREFIX gz)

message(STATUS "Compiling against Gazebo Garden")
elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
find_package(gz-math7 REQUIRED)
set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR})

find_package(gz-transport13 REQUIRED)
set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})

find_package(gz-msgs10 REQUIRED)
set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})

find_package(gz-sim8 REQUIRED)
set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})

set(GZ_TARGET_PREFIX gz)

message(STATUS "Compiling against Gazebo Harmonic")
else()
message(FATAL_ERROR "This branch is only compatible with Gazebo Garden forward.")
endif()
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10 changes: 9 additions & 1 deletion ros_gz_sim/package.xml
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Expand Up @@ -20,8 +20,16 @@
<depend>std_msgs</depend>

<!-- Garden -->
<depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-sim7</depend>
<depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-math7</depend>
<depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-msgs9</depend>
<depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-sim7</depend>
<depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-transport12</depend>

<!-- Harmonic -->
<depend condition="$GZ_VERSION == harmonic">gz-math7</depend>
<depend condition="$GZ_VERSION == harmonic">gz-msgs10</depend>
<depend condition="$GZ_VERSION == harmonic">gz-sim8</depend>
<depend condition="$GZ_VERSION == harmonic">gz-transport13</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
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4 changes: 4 additions & 0 deletions ros_gz_sim/src/create.cpp
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Expand Up @@ -13,7 +13,11 @@
// limitations under the License.

#include <gflags/gflags.h>

#include <gz/msgs/boolean.pb.h>
#include <gz/msgs/entity.pb.h>
#include <gz/msgs/entity_factory.pb.h>
#include <gz/msgs/stringmsg_v.pb.h>

#include <sstream>
#include <string>
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