From 777edda7e108f80d954d2501484d3007d05315ac Mon Sep 17 00:00:00 2001
From: KiselevIlia <ilia.kiselev@tii.ae>
Date: Fri, 29 Mar 2024 20:07:57 +0400
Subject: [PATCH] Use TASFMessage library

---
 CMakeLists.txt               | 11 +++++++++--
 include/groundtruth_plugin.h |  2 +-
 include/harmonic_collision.h |  2 +-
 msgs/CollisionObject.proto   | 11 -----------
 msgs/Groundtruth.proto       |  6 +-----
 5 files changed, 12 insertions(+), 20 deletions(-)
 delete mode 100644 msgs/CollisionObject.proto

diff --git a/CMakeLists.txt b/CMakeLists.txt
index bc17948..fd45e38 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,6 +27,11 @@ 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 ()
+
 if(gz-msgs10_FOUND)
   set(GZ_MSG_VER 10)
   set(Protobuf_IMPORT_DIRS ${gz-msgs10_INCLUDE_DIRS})
@@ -72,17 +77,19 @@ install(TARGETS
 set(CPACK_PACKAGE_CONTACT "Auterion")
 include(CPack)
 
-add_library(collision_plugin SHARED src/harmonic_collision.cpp ${PROTO_SRCS})
+add_library(collision_plugin SHARED src/harmonic_collision.cpp)
 set_property(TARGET collision_plugin PROPERTY CXX_STANDARD 17)
 target_link_libraries(collision_plugin
         PRIVATE gz-sim${GAZEBO_VERSION}::gz-sim${GAZEBO_VERSION}
+        PRIVATE ${GZ_CUSTOM_MSGS}
 )
 
-add_library(groundtruth_plugin SHARED src/groundtruth_plugin.cpp ${GT_PROTO_SRCS})
+add_library(groundtruth_plugin SHARED src/groundtruth_plugin.cpp)
 target_link_libraries(groundtruth_plugin
         PRIVATE gz-sim${GAZEBO_VERSION}::gz-sim${GAZEBO_VERSION}
         PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
         PRIVATE gz-msgs10::gz-msgs10
+        PRIVATE ${GZ_CUSTOM_MSGS}
 )
 # ln -s ./libgroundtruth_plugin.so /usr/lib/x86_64-linux-gnu/gz-sim-8/plugins
 # ln -s ./libcollision_plugin.so /usr/lib/x86_64-linux-gnu/gz-sim-8/plugins
\ No newline at end of file
diff --git a/include/groundtruth_plugin.h b/include/groundtruth_plugin.h
index b8f0dfe..758cb07 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 "Groundtruth.pb.h"
+#include "gz_custom_messages/Groundtruth.pb.h"
 
 namespace gz {
     namespace sim {
diff --git a/include/harmonic_collision.h b/include/harmonic_collision.h
index 7c2df37..62efc4d 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 "CollisionObject.pb.h"
+#include "gz_custom_messages/CollisionObject.pb.h"
 
 namespace gz {
     using namespace sim;
diff --git a/msgs/CollisionObject.proto b/msgs/CollisionObject.proto
deleted file mode 100644
index 3c1e2d9..0000000
--- a/msgs/CollisionObject.proto
+++ /dev/null
@@ -1,11 +0,0 @@
-syntax = "proto2";
-
-package gz.msgs;
-
-message CollisionObject
-{
-    required string object = 1;
-    required string device_name = 2;
-    required int32 sequence_id = 3;
-    optional int32 threshold = 4 [default = 255];
-}
\ No newline at end of file
diff --git a/msgs/Groundtruth.proto b/msgs/Groundtruth.proto
index b27b1c7..0341cd9 100644
--- a/msgs/Groundtruth.proto
+++ b/msgs/Groundtruth.proto
@@ -1,12 +1,8 @@
 syntax = "proto3";
 package gz.msgs;
-option java_package = "com.gz.msgs";
-option java_outer_classname = "GroundtruthProtos";
 
-/// \ingroup gz.msgs
-/// \interface Groundtruth
 /// \brief Data from a Groundtruth plugin
-/// This is for GPS message.
+/// For use gz::msgs::Groundtruth
 
 message Groundtruth
 {