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Gz cmake cleanup (#24518)

Browse Source 
* clean up cmakelists

* cleanup

---------

Co-authored-by: jmackay2 <jmackay2@gmail.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
This commit is contained in:
jmackay2
2025-03-17 14:02:10 -04:00
committed by GitHub
parent d2c049ec93
commit fced29da59
4 changed files with 24 additions and 80 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/simulation/gz_bridge/CMakeLists.txt
+5 -35
View File
@@ -31,43 +31,13 @@
#
############################################################################
if(NOT DEFINED ENV{GZ_DISTRO})
set(GZ_DISTRO "harmonic" CACHE STRING "Gazebo distribution to use")
if(NOT DEFINED ENV{GZ_DISTRO} OR NOT "$ENV{GZ_DISTRO}" STREQUAL "harmonic")
find_package(gz-transport NAMES gz-transport14 gz-transport13)
else()
set(GZ_DISTRO $ENV{GZ_DISTRO})
find_package(gz-transport NAMES gz-transport13)
endif()
# Define library version combinations for different Gazebo distributions
# https://github.com/gazebo-tooling/gazebodistro/blob/master/collection-harmonic.yaml
if(GZ_DISTRO STREQUAL "harmonic")
set(GZ_CMAKE_VERSION "3")
set(GZ_MSGS_VERSION "10")
set(GZ_TRANSPORT_VERSION "13")
set(GZ_PLUGIN_VERSION "2")
set(GZ_SIM_VERSION "8")
set(GZ_SENSORS_VERSION "8")
message(STATUS "Using Gazebo Harmonic (cmake:${GZ_CMAKE_VERSION}, msgs:${GZ_MSGS_VERSION}, transport:${GZ_TRANSPORT_VERSION})")
elseif(GZ_DISTRO STREQUAL "ionic")
set(GZ_CMAKE_VERSION "4")
set(GZ_MSGS_VERSION "11")
set(GZ_TRANSPORT_VERSION "14")
set(GZ_PLUGIN_VERSION "3")
set(GZ_SIM_VERSION "9")
set(GZ_SENSORS_VERSION "9")
message(STATUS "Using Gazebo Ionic (cmake:${GZ_CMAKE_VERSION}, msgs:${GZ_MSGS_VERSION}, transport:${GZ_TRANSPORT_VERSION})")
else()
message(FATAL_ERROR "Unknown Gazebo distribution: ${GZ_DISTRO}. Valid options are: harmonic or ionic")
endif()
# Use gz-transport as litmus test for prescence of gz
find_package(gz-transport${GZ_TRANSPORT_VERSION})
if (gz-transport${GZ_TRANSPORT_VERSION}_FOUND)
find_package(gz-cmake${GZ_CMAKE_VERSION} REQUIRED)
find_package(gz-msgs${GZ_MSGS_VERSION} REQUIRED)
find_package(Protobuf REQUIRED)
if (gz-transport_FOUND)
px4_add_module(
MODULE modules__simulation__gz_bridge
MAIN gz_bridge
@@ -87,7 +57,7 @@ if (gz-transport${GZ_TRANSPORT_VERSION}_FOUND)
DEPENDS
mixer_module
px4_work_queue
gz-transport${GZ_TRANSPORT_VERSION}::core
gz-transport${gz-transport_VERSION_MAJOR}::core
MODULE_CONFIG
module.yaml
)
src/modules/simulation/gz_plugins/CMakeLists.txt
+10 -36
View File
@@ -33,45 +33,19 @@
project(px4_gz_plugins)
if(NOT DEFINED ENV{GZ_DISTRO})
set(GZ_DISTRO "harmonic" CACHE STRING "Gazebo distribution to use")
if(NOT DEFINED ENV{GZ_DISTRO} OR NOT "$ENV{GZ_DISTRO}" STREQUAL "harmonic")
find_package(gz-transport NAMES gz-transport14 gz-transport13 gz-transport12)
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)
else()
set(GZ_DISTRO $ENV{GZ_DISTRO})
find_package(gz-transport NAMES gz-transport13)
find_package(gz-sim NAMES gz-sim8)
find_package(gz-sensors NAMES gz-sensors8)
find_package(gz-plugin NAMES gz-plugin2 COMPONENTS register)
endif()
# Define library version combinations for different Gazebo distributions
# https://github.com/gazebo-tooling/gazebodistro/blob/master/collection-harmonic.yaml
if(GZ_DISTRO STREQUAL "harmonic")
set(GZ_CMAKE_VERSION "3")
set(GZ_MSGS_VERSION "10")
set(GZ_TRANSPORT_VERSION "13")
set(GZ_PLUGIN_VERSION "2")
set(GZ_SIM_VERSION "8")
set(GZ_SENSORS_VERSION "8")
message(STATUS "Using Gazebo Harmonic (cmake:${GZ_CMAKE_VERSION}, msgs:${GZ_MSGS_VERSION}, transport:${GZ_TRANSPORT_VERSION})")
elseif(GZ_DISTRO STREQUAL "ionic")
set(GZ_CMAKE_VERSION "4")
set(GZ_MSGS_VERSION "11")
set(GZ_TRANSPORT_VERSION "14")
set(GZ_PLUGIN_VERSION "3")
set(GZ_SIM_VERSION "9")
set(GZ_SENSORS_VERSION "9")
message(STATUS "Using Gazebo Ionic (cmake:${GZ_CMAKE_VERSION}, msgs:${GZ_MSGS_VERSION}, transport:${GZ_TRANSPORT_VERSION})")
else()
message(FATAL_ERROR "Unknown Gazebo distribution: ${GZ_DISTRO}. Valid options are: harmonic or ionic")
endif()
# Use gz-transport as litmus test for presence of gz
find_package(gz-transport${GZ_TRANSPORT_VERSION})
if (gz-transport${GZ_TRANSPORT_VERSION}_FOUND)
find_package(gz-cmake${GZ_CMAKE_VERSION} REQUIRED)
find_package(gz-msgs${GZ_MSGS_VERSION} REQUIRED)
find_package(Protobuf REQUIRED)
find_package(gz-plugin${GZ_PLUGIN_VERSION} REQUIRED COMPONENTS register)
find_package(gz-sim${GZ_SIM_VERSION} REQUIRED)
find_package(gz-sensors${GZ_SENSORS_VERSION} REQUIRED)
if (gz-transport_FOUND)
# 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 ${PX4_GZ_PLUGIN_OUTPUT_DIR})
src/modules/simulation/gz_plugins/optical_flow/CMakeLists.txt
+5 -5
View File
@@ -37,7 +37,7 @@ project(OpticalFlowSystem)
include(${CMAKE_CURRENT_SOURCE_DIR}/optical_flow.cmake)
# Find OpenCV
find_package(OpenCV REQUIRED)
find_package(OpenCV REQUIRED COMPONENTS core imgproc)
add_library(${PROJECT_NAME} SHARED
OpticalFlowSensor.cpp
@@ -46,10 +46,10 @@ add_library(${PROJECT_NAME} SHARED
target_link_libraries(${PROJECT_NAME}
PUBLIC px4_gz_msgs
PUBLIC gz-sensors${GZ_SENSORS_VERSION}::gz-sensors${GZ_SENSORS_VERSION}
PUBLIC gz-plugin${GZ_PLUGIN_VERSION}::gz-plugin${GZ_PLUGIN_VERSION}
PUBLIC gz-sim${GZ_SIM_VERSION}::gz-sim${GZ_SIM_VERSION}
PUBLIC gz-transport${GZ_TRANSPORT_VERSION}::gz-transport${GZ_TRANSPORT_VERSION}
PUBLIC gz-sensors${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 ${OpenCV_LIBS}
PUBLIC ${OpticalFlow_LIBS}
)
src/modules/simulation/gz_plugins/template_plugin/CMakeLists.txt
+4 -4
View File
@@ -48,10 +48,10 @@ add_library(${PROJECT_NAME} SHARED
target_link_libraries(${PROJECT_NAME}
PUBLIC px4_gz_msgs
PUBLIC gz-sensors${GZ_SENSORS_VERSION}::gz-sensors${GZ_SENSORS_VERSION}
PUBLIC gz-plugin${GZ_PLUGIN_VERSION}::gz-plugin${GZ_PLUGIN_VERSION}
PUBLIC gz-sim${GZ_SIM_VERSION}::gz-sim${GZ_SIM_VERSION}
PUBLIC gz-transport${GZ_TRANSPORT_VERSION}::gz-transport${GZ_TRANSPORT_VERSION}
PUBLIC gz-sensors${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}
# Add other dependencies as needed
# PUBLIC ${OtherLib_LIBS}
)