From 2f4fc8fde3883eca67c7d377bc0df737c3bea354 Mon Sep 17 00:00:00 2001
From: KiselevIlia <ilia.kiselev@tii.ae>
Date: Fri, 29 Mar 2024 22:45:34 +0400
Subject: [PATCH] Auto download messages lib

---
 CMakeLists.txt               | 20 ++++++++++++++------
 include/groundtruth_plugin.h |  2 +-
 include/harmonic_collision.h |  2 +-
 src/groundtruth_plugin.cpp   |  2 +-
 src/harmonic_collision.cpp   |  2 +-
 5 files changed, 18 insertions(+), 10 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f2563c9..f9c403c 100644
--- a/CMakeLists.txt
+++ b/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 "git@github.com: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
 )
\ No newline at end of file
diff --git a/include/groundtruth_plugin.h b/include/groundtruth_plugin.h
index 758cb07..b8f0dfe 100644
--- a/include/groundtruth_plugin.h
+++ b/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 {
diff --git a/include/harmonic_collision.h b/include/harmonic_collision.h
index 62efc4d..7c2df37 100644
--- a/include/harmonic_collision.h
+++ b/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;
diff --git a/src/groundtruth_plugin.cpp b/src/groundtruth_plugin.cpp
index 7395f4a..1f2cea6 100644
--- a/src/groundtruth_plugin.cpp
+++ b/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)
 {
diff --git a/src/harmonic_collision.cpp b/src/harmonic_collision.cpp
index 1de8d4b..6dbbd67 100644
--- a/src/harmonic_collision.cpp
+++ b/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;
     }