Gazebo: add support for Harmonic

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring · Dec 17, 2023 · 63c31c6 · 63c31c6
1 parent 962b33a
commit 63c31c6
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Showing 2 changed files with 82 additions and 26 deletions.
diff --git a/gz-waves/CMakeLists.txt b/gz-waves/CMakeLists.txt
@@ -51,35 +51,73 @@ gz_find_package(gz-common5
 )
 set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
 
-#--------------------------------------
-# Find gz-msgs
-gz_find_package(gz-msgs9 REQUIRED)
-set(GZ_MSGS_VER ${gz-msgs9_VERSION_MAJOR})
-
-#--------------------------------------
-# Find gz-transport
-gz_find_package(gz-transport12 REQUIRED)
-set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})
-
 #--------------------------------------
 # Find gz-plugin
 gz_find_package(gz-plugin2 REQUIRED COMPONENTS loader register)
 set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 
-#--------------------------------------
-# Find gz-rendering
-gz_find_package(gz-rendering7 REQUIRED)
-set(GZ_RENDERING_VER ${gz-rendering7_VERSION_MAJOR})
-
-#--------------------------------------
-# Find gz-sim
-gz_find_package(gz-sim7 REQUIRED)
-set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
-
-#--------------------------------------
-# Find SDFormat
-gz_find_package(sdformat13 REQUIRED)
-set(SDF_VER ${sdformat13_VERSION_MAJOR})
+# Garden (default)
+if("$ENV{GZ_VERSION}" STREQUAL "garden" OR NOT DEFINED "ENV{GZ_VERSION}")
+
+  #--------------------------------------
+  # Find gz-msgs
+  gz_find_package(gz-msgs9 REQUIRED)
+  set(GZ_MSGS_VER ${gz-msgs9_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-transport
+  gz_find_package(gz-transport12 REQUIRED)
+  set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-rendering
+  gz_find_package(gz-rendering7 REQUIRED)
+  set(GZ_RENDERING_VER ${gz-rendering7_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-sim
+  gz_find_package(gz-sim7 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find SDFormat
+  gz_find_package(sdformat13 REQUIRED)
+  set(SDF_VER ${sdformat13_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Gazebo Garden")
+
+# Harmonic
+elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+
+  #--------------------------------------
+  # Find gz-msgs
+  gz_find_package(gz-msgs10 REQUIRED)
+  set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-transport
+  gz_find_package(gz-transport13 REQUIRED)
+  set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-rendering
+  gz_find_package(gz-rendering8 REQUIRED)
+  set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-sim
+  gz_find_package(gz-sim8 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find SDFormat
+  gz_find_package(sdformat14 REQUIRED)
+  set(SDF_VER ${sdformat14_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Gazebo Harmonic")
+else()  
+  message(FATAL_ERROR "Unsupported GZ_VERSION: $ENV{GZ_VERSION}")
+endif()
 
 #--------------------------------------
 # Find OGRE

diff --git a/gz-waves/src/gui/plugins/waves_control/CMakeLists.txt b/gz-waves/src/gui/plugins/waves_control/CMakeLists.txt
@@ -8,7 +8,25 @@ project(WavesControl)
 
 set(CMAKE_AUTOMOC ON)
 
-find_package(gz-sim7 REQUIRED COMPONENTS gui)
+# Garden (default)
+if("$ENV{GZ_VERSION}" STREQUAL "garden" OR NOT DEFINED "ENV{GZ_VERSION}")
+
+  find_package(gz-sim7 REQUIRED COMPONENTS gui)
+  set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Gazebo Garden")
+
+# Harmonic
+elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+
+  find_package(gz-sim8 REQUIRED COMPONENTS gui)
+  set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Gazebo Harmonic")
+else()  
+  message(FATAL_ERROR "Unsupported GZ_VERSION: $ENV{GZ_VERSION}")
+endif()
+
 
 QT5_ADD_RESOURCES(resources_RCC ${PROJECT_NAME}.qrc)
 
@@ -17,5 +35,5 @@ add_library(${PROJECT_NAME} SHARED
   ${resources_RCC}
 )
 target_link_libraries(${PROJECT_NAME}
-  PRIVATE gz-sim7::gui
+  PRIVATE gz-sim${GZ_SIM_VER}::gui
 )