From 2d7838329602f163b24d4eefbeb91ac947568186 Mon Sep 17 00:00:00 2001
From: jmackay2 <jmackay2@gmail.com>
Date: Tue, 10 Oct 2023 23:39:05 -0400
Subject: [PATCH] Add the capability to use Gazebo Harmonic if it is installed

---
 src/modules/simulation/gz_bridge/CMakeLists.txt    | 14 +++++++-------
 .../simulation/gz_bridge/GZMixingInterfaceESC.hpp  |  1 +
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/src/modules/simulation/gz_bridge/CMakeLists.txt b/src/modules/simulation/gz_bridge/CMakeLists.txt
index 8462dec6d3..6c7a11b7a1 100644
--- a/src/modules/simulation/gz_bridge/CMakeLists.txt
+++ b/src/modules/simulation/gz_bridge/CMakeLists.txt
@@ -32,13 +32,13 @@
 ############################################################################
 
 # Find the gz_Transport library
-find_package(gz-transport
-	#REQUIRED COMPONENTS core
-	NAMES
-		#ignition-transport11 # IGN (Fortress and earlier) no longer supported
-		gz-transport12
-	#QUIET
-)
+# First look for GZ Harmonic libraries
+find_package(gz-transport NAMES gz-transport13)
+
+# If Harmonic not found, look for GZ Garden libraries
+if(NOT gz-transport_FOUND)
+	find_package(gz-transport NAMES gz-transport12)
+endif()
 
 if(gz-transport_FOUND)
 
diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.hpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.hpp
index e8e3c5a244..316ff6195a 100644
--- a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.hpp
+++ b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.hpp
@@ -35,6 +35,7 @@
 
 #include <lib/mixer_module/mixer_module.hpp>
 
+#include <gz/msgs.hh>
 #include <gz/transport.hh>
 
 #include <uORB/PublicationMulti.hpp>