Auto download messages lib

CMakeLists.txt

@@ -27,10 +27,17 @@ if(NOT ${gz-transport13_VERSION} EQUAL 13.1.0)
   message(FATAL_ERROR "gz-transport13 must be version 13.1.0. You have ${gz-transport13_VERSION}")
 endif ()
 
-find_library(GZ_CUSTOM_MSGS NAMES gz_custom_messages PATHS /usr/local/bin)
-if (NOT GZ_CUSTOM_MSGS)
-  message(FATAL_ERROR "Please install messages library from https://github.com/tiiuae/TASFMessages")
-endif ()
+include(FetchContent)
+message(STATUS "Download TASFMessages library")
+
+FetchContent_Declare(
+        TASFMessages
+        GIT_REPOSITORY "[email protected]:tiiuae/TASFMessages.git"
+        GIT_TAG main
+        SOURCE_DIR ${CMAKE_SOURCE_DIR}/dependency/TASFMessages
+)
+FetchContent_Populate(TASFMessages)
+add_subdirectory(${tasfmessages_SOURCE_DIR})
 
 if(gz-msgs10_FOUND)
   set(GZ_MSG_VER 10)
@@ -50,6 +57,7 @@ include_directories(${CMAKE_BINARY_DIR})
 include_directories(
   include
   ${Boost_INCLUDE_DIR}
+  ${tasfmessages_BINARY_DIR}
 #  ${MAVLINK_INCLUDE_DIRS}
 )
 
@@ -75,11 +83,11 @@ add_library(collision_plugin SHARED src/harmonic_collision.cpp)
 set_property(TARGET collision_plugin PROPERTY CXX_STANDARD 17)
 target_link_libraries(collision_plugin
         PRIVATE gz-sim${GAZEBO_VERSION}::gz-sim${GAZEBO_VERSION}
-        PRIVATE ${GZ_CUSTOM_MSGS}
+        PRIVATE gz_custom_messages
 )
 
 add_library(groundtruth_plugin SHARED src/groundtruth_plugin.cpp)
 target_link_libraries(groundtruth_plugin
         PRIVATE gz-sim${GAZEBO_VERSION}::gz-sim${GAZEBO_VERSION}
-        PRIVATE ${GZ_CUSTOM_MSGS}
+        PRIVATE gz_custom_messages
 )

include/groundtruth_plugin.h

@@ -7,7 +7,7 @@
 #include <gz/msgs.hh>
 #include <gz/sim/Model.hh>
 #include "common.h"
-#include "gz_custom_messages/Groundtruth.pb.h"
+#include "Groundtruth.pb.h"
 
 namespace gz {
     namespace sim {

include/harmonic_collision.h

@@ -5,7 +5,7 @@
 #include <gz/transport/Node.hh>
 #include <gz/sim/Model.hh>
 
-#include "gz_custom_messages/CollisionObject.pb.h"
+#include "CollisionObject.pb.h"
 
 namespace gz {
     using namespace sim;

src/groundtruth_plugin.cpp

@@ -190,7 +190,7 @@ GZ_ADD_PLUGIN(GroundtruthPlugin,
               GroundtruthPlugin::ISystemPostUpdate)
 
 GZ_ADD_PLUGIN_ALIAS(GroundtruthPlugin,
-                    "gz::sim::systems::GroundtruthPlugin")
+                    "gz::GroundtruthPlugin")
 
 bool GroundtruthPlugin::responseCallback(const gz::msgs::StringMsg &, gz::msgs::Groundtruth &rep)
 {

src/harmonic_collision.cpp

@@ -31,7 +31,7 @@ void CollisionPlugin::Load(const EntityComponentManager &_ecm,
         }
     }
 
-    if (_sdf->HasElement("updateRate")) { ;
+    if (_sdf->HasElement("updateRate")) {
         publish_rate_ = _sdf->GetElement("updateRate")->Get<int32_t>();
         gzmsg << "Publish rate set to " << publish_rate_ << std::endl;
     }