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Support Gazebo Jetty (#25521)

Browse Source 
* Support Gazebo Jetty

* Gazebo jetty cmake spelling fix

---------

Co-authored-by: jmackay2 <jmackay2@gmail.com>
This commit is contained in:
jmackay2
2025-09-11 23:30:27 -04:00
committed by GitHub
parent 1aad8b6ec9
commit 8669947bcb
10 changed files with 52 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/simulation/gz_bridge/CMakeLists.txt
+7 -2
View File
@@ -32,7 +32,7 @@
############################################################################
if(NOT DEFINED ENV{GZ_DISTRO} OR NOT "$ENV{GZ_DISTRO}" STREQUAL "harmonic")
find_package(gz-transport NAMES gz-transport14 gz-transport13)
find_package(gz-transport NAMES gz-transport gz-transport14 gz-transport13)
else()
find_package(gz-transport NAMES gz-transport13)
endif()
@@ -41,6 +41,11 @@ file(GLOB gz_worlds ${PX4_SOURCE_DIR}/Tools/simulation/gz/worlds/*.sdf)
file(GLOB gz_airframes ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gz_*)
if (gz-transport_FOUND)
if (gz-transport_VERSION VERSION_LESS "15")
set(GZ_TRANSPORT_TARGET "gz-transport${gz-transport_VERSION_MAJOR}::core")
else()
set(GZ_TRANSPORT_TARGET "gz-transport::core")
endif()
px4_add_module(
MODULE modules__simulation__gz_bridge
MAIN gz_bridge
@@ -60,7 +65,7 @@ if (gz-transport_FOUND)
DEPENDS
mixer_module
px4_work_queue
gz-transport${gz-transport_VERSION_MAJOR}::core
${GZ_TRANSPORT_TARGET}
MODULE_CONFIG
module.yaml
)
src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp
+2
View File
@@ -33,6 +33,8 @@
#include "GZMixingInterfaceServo.hpp"
#include <gz/msgs/double.pb.h>
float
GZMixingInterfaceServo::get_servo_angle_max(const size_t index)
src/modules/simulation/gz_plugins/CMakeLists.txt
+15 -4
View File
@@ -34,10 +34,10 @@
project(px4_gz_plugins)
if(NOT DEFINED ENV{GZ_DISTRO} OR NOT "$ENV{GZ_DISTRO}" STREQUAL "harmonic")
find_package(gz-transport NAMES gz-transport14 gz-transport13)
find_package(gz-sim NAMES gz-sim9 gz-sim8)
find_package(gz-sensors NAMES gz-sensors9 gz-sensors8)
find_package(gz-plugin NAMES gz-plugin3 gz-plugin2 COMPONENTS register)
find_package(gz-transport NAMES gz-transport gz-transport14 gz-transport13)
find_package(gz-sim NAMES gz-sim gz-sim9 gz-sim8)
find_package(gz-sensors NAMES gz-sensors gz-sensors9 gz-sensors8)
find_package(gz-plugin NAMES gz-plugin gz-plugin3 gz-plugin2 COMPONENTS register)
else()
find_package(gz-transport NAMES gz-transport13)
find_package(gz-sim NAMES gz-sim8)
@@ -46,6 +46,17 @@ else()
endif()
if (gz-transport_FOUND)
if (gz-transport_VERSION VERSION_LESS "15")
set(GZ_TRANSPORT_TARGET "gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}")
set(GZ_SIM_TARGET "gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}")
set(GZ_SENSORS_TARGET "gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}")
set(GZ_PLUGIN_TARGET "gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}")
else()
set(GZ_TRANSPORT_TARGET "gz-transport::gz-transport")
set(GZ_SIM_TARGET "gz-sim::gz-sim")
set(GZ_SENSORS_TARGET "gz-sensors::gz-sensors")
set(GZ_PLUGIN_TARGET "gz-plugin::gz-plugin")
endif()
# Create a flat output directory for all plugin libraries
set(PX4_GZ_PLUGIN_OUTPUT_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE PATH "Directory for all Gazebo plugin libraries")
file(MAKE_DIRECTORY ${PX4_GZ_PLUGIN_OUTPUT_DIR})
src/modules/simulation/gz_plugins/buoyancy/CMakeLists.txt
+4 -4
View File
@@ -48,10 +48,10 @@ add_library(${PROJECT_NAME} SHARED
target_link_libraries(${PROJECT_NAME}
PUBLIC px4_gz_msgs
PUBLIC gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}
PUBLIC gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}
PUBLIC gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}
PUBLIC gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}
PUBLIC ${GZ_SENSORS_TARGET}
PUBLIC ${GZ_PLUGIN_TARGET}
PUBLIC ${GZ_SIM_TARGET}
PUBLIC ${GZ_TRANSPORT_TARGET}
# Add other dependencies as needed
# PUBLIC ${OtherLib_LIBS}
)
src/modules/simulation/gz_plugins/generic_motor/CMakeLists.txt
+4 -4
View File
@@ -48,10 +48,10 @@ add_library(${PROJECT_NAME} SHARED
target_link_libraries(${PROJECT_NAME}
PUBLIC px4_gz_msgs
PUBLIC gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}
PUBLIC gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}
PUBLIC gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}
PUBLIC gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}
PUBLIC ${GZ_SENSORS_TARGET}
PUBLIC ${GZ_PLUGIN_TARGET}
PUBLIC ${GZ_SIM_TARGET}
PUBLIC ${GZ_TRANSPORT_TARGET}
# Add other dependencies as needed
# PUBLIC ${OtherLib_LIBS}
)
src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt
+4 -4
View File
@@ -47,10 +47,10 @@ else()
target_link_libraries(${PROJECT_NAME}
PUBLIC px4_gz_msgs
PUBLIC gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}
PUBLIC gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}
PUBLIC gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}
PUBLIC gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}
PUBLIC ${GZ_SENSORS_TARGET}
PUBLIC ${GZ_PLUGIN_TARGET}
PUBLIC ${GZ_SIM_TARGET}
PUBLIC ${GZ_TRANSPORT_TARGET}
PUBLIC ${GSTREAMER_LIBRARIES}
PUBLIC ${GSTREAMER_APP_LIBRARIES}
)
src/modules/simulation/gz_plugins/moving_platform_controller/CMakeLists.txt
+4 -4
View File
@@ -39,10 +39,10 @@ add_library(${PROJECT_NAME} SHARED
target_link_libraries(${PROJECT_NAME}
PUBLIC px4_gz_msgs
PUBLIC gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}
PUBLIC gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}
PUBLIC gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}
PUBLIC gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}
PUBLIC ${GZ_SENSORS_TARGET}
PUBLIC ${GZ_PLUGIN_TARGET}
PUBLIC ${GZ_SIM_TARGET}
PUBLIC ${GZ_TRANSPORT_TARGET}
)
target_include_directories(${PROJECT_NAME}
src/modules/simulation/gz_plugins/optical_flow/CMakeLists.txt
+4 -4
View File
@@ -46,10 +46,10 @@ add_library(${PROJECT_NAME} SHARED
target_link_libraries(${PROJECT_NAME}
PUBLIC px4_gz_msgs
PUBLIC gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}
PUBLIC gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}
PUBLIC gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}
PUBLIC gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}
PUBLIC ${GZ_SENSORS_TARGET}
PUBLIC ${GZ_PLUGIN_TARGET}
PUBLIC ${GZ_SIM_TARGET}
PUBLIC ${GZ_TRANSPORT_TARGET}
PUBLIC ${OpenCV_LIBS}
PUBLIC ${OpticalFlow_LIBS}
)
src/modules/simulation/gz_plugins/spacecraft_thruster/CMakeLists.txt
+4 -4
View File
@@ -48,10 +48,10 @@ add_library(${PROJECT_NAME} SHARED
target_link_libraries(${PROJECT_NAME}
PUBLIC px4_gz_msgs
PUBLIC gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}
PUBLIC gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}
PUBLIC gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}
PUBLIC gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}
PUBLIC ${GZ_SENSORS_TARGET}
PUBLIC ${GZ_PLUGIN_TARGET}
PUBLIC ${GZ_SIM_TARGET}
PUBLIC ${GZ_TRANSPORT_TARGET}
# Add other dependencies as needed
# PUBLIC ${OtherLib_LIBS}
)
src/modules/simulation/gz_plugins/template_plugin/CMakeLists.txt
+4 -4
View File
@@ -48,10 +48,10 @@ add_library(${PROJECT_NAME} SHARED
target_link_libraries(${PROJECT_NAME}
PUBLIC px4_gz_msgs
PUBLIC gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}
PUBLIC gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}
PUBLIC gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}
PUBLIC gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}
PUBLIC ${GZ_SENSORS_TARGET}
PUBLIC ${GZ_PLUGIN_TARGET}
PUBLIC ${GZ_SIM_TARGET}
PUBLIC ${GZ_TRANSPORT_TARGET}
# Add other dependencies as needed
# PUBLIC ${OtherLib_LIBS}
)