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Merged
ivanperez-keera merged 1 commit into from
Jul 7, 2026
Merged

Restrict humble packages to humble builds (#41). #42

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147 changes: 79 additions & 68 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,71 +1,80 @@
cmake_minimum_required(VERSION 3.8)
project(simulation)

if(DEFINED ENV{ROS_DISTRO})
set(ROS_DISTRO $ENV{ROS_DISTRO})
endif()

# Find required packages
find_package(ament_cmake REQUIRED)
find_package(ignition-plugin1 REQUIRED COMPONENTS register)
find_package(ignition-gazebo6 REQUIRED)
find_package(ignition-physics5 REQUIRED)
find_package(ignition-common4 REQUIRED)
find_package(ignition-rendering6 REQUIRED)

# Set Gazebo plugin and sim versions
set(IGNITION_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
set(IGNITION_SIM_VER ${ignition-gazebo6_VERSION_MAJOR})
set(IGNITION_COMMON_VER ${ignition-common4_VERSION_MAJOR})
set(IGNITION_RENDERING_VER ${ignition-rendering6_VERSION_MAJOR})
set(IGNITION_SENSORS_VER ${ignition-sensors6_VERSION_MAJOR})

# Add the plugins directory to the include path
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/Plugins)

# Add the SolarPanelPlugin library
add_library(SolarPanelPlugin SHARED
plugins/SolarPanelPlugin.cc
)

# Link the SolarPanelPlugin library with required dependencies
target_link_libraries(SolarPanelPlugin
PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
PRIVATE ignition-common${IGNITION_COMMON_VER}::ignition-common${IGNITION_COMMON_VER}
PRIVATE ignition-rendering${IGNITION_RENDERING_VER}::ignition-rendering${IGNITION_RENDERING_VER}
PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
)

# Add the RadioisotopeThermalGeneratorPlugin library
add_library(RadioisotopeThermalGeneratorPlugin SHARED
plugins/RadioisotopeThermalGeneratorPlugin.cc
)

# Link the RadioisotopeThermalGeneratorPlugin library with required dependencies
target_link_libraries(RadioisotopeThermalGeneratorPlugin
PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
)

# Add the RechargeableBatteryPlugin library
add_library(RechargeableBatteryPlugin SHARED
plugins/RechargeableBatteryPlugin.cc
)

# Link the RechargeableBatteryPlugin library with required dependencies
target_link_libraries(RechargeableBatteryPlugin
PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
)

# add the SensorPowerSystemPlugin library
add_library(SensorPowerSystemPlugin SHARED
plugins/SensorPowerSystemPlugin.cc
)

# Link the SensorPowerSystemPlugin library with required dependencies
target_link_libraries(SensorPowerSystemPlugin
PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
PRIVATE ignition-gazebo${IGNITION_SIM_VER}::ignition-gazebo${IGNITION_SIM_VER}
PRIVATE ignition-sensors${IGNITION_SENSORS_VER}::ignition-sensors${IGNITION_SENSORS_VER}
)
if(ROS_DISTRO STREQUAL "humble")
# Find required packages
find_package(ignition-plugin1 REQUIRED COMPONENTS register)
find_package(ignition-gazebo6 REQUIRED)
find_package(ignition-physics5 REQUIRED)
find_package(ignition-common4 REQUIRED)
find_package(ignition-rendering6 REQUIRED)

# Set Gazebo plugin and sim versions
set(IGNITION_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
set(IGNITION_SIM_VER ${ignition-gazebo6_VERSION_MAJOR})
set(IGNITION_COMMON_VER ${ignition-common4_VERSION_MAJOR})
set(IGNITION_RENDERING_VER ${ignition-rendering6_VERSION_MAJOR})
set(IGNITION_SENSORS_VER ${ignition-sensors6_VERSION_MAJOR})

# Add the plugins directory to the include path
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/Plugins)

# Add the SolarPanelPlugin library
add_library(SolarPanelPlugin SHARED
plugins/SolarPanelPlugin.cc
)

# Link the SolarPanelPlugin library with required dependencies
target_link_libraries(SolarPanelPlugin
PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
PRIVATE ignition-common${IGNITION_COMMON_VER}::ignition-common${IGNITION_COMMON_VER}
PRIVATE ignition-rendering${IGNITION_RENDERING_VER}::ignition-rendering${IGNITION_RENDERING_VER}
PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
)

# Add the RadioisotopeThermalGeneratorPlugin library
add_library(RadioisotopeThermalGeneratorPlugin SHARED
plugins/RadioisotopeThermalGeneratorPlugin.cc
)

# Link the RadioisotopeThermalGeneratorPlugin library with required dependencies
target_link_libraries(RadioisotopeThermalGeneratorPlugin
PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
)

# Add the RechargeableBatteryPlugin library
add_library(RechargeableBatteryPlugin SHARED
plugins/RechargeableBatteryPlugin.cc
)

# Link the RechargeableBatteryPlugin library with required dependencies
target_link_libraries(RechargeableBatteryPlugin
PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
)

# add the SensorPowerSystemPlugin library
add_library(SensorPowerSystemPlugin SHARED
plugins/SensorPowerSystemPlugin.cc
)

# Link the SensorPowerSystemPlugin library with required dependencies
target_link_libraries(SensorPowerSystemPlugin
PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
PRIVATE ignition-gazebo${IGNITION_SIM_VER}::ignition-gazebo${IGNITION_SIM_VER}
PRIVATE ignition-sensors${IGNITION_SENSORS_VER}::ignition-sensors${IGNITION_SENSORS_VER}
)

endif()

# Create the models directory
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/models/curiosity_path)
Expand All @@ -77,12 +86,14 @@ install(DIRECTORY
DESTINATION share/${PROJECT_NAME}/
)

# Install the plugin library
install(TARGETS SolarPanelPlugin RadioisotopeThermalGeneratorPlugin RechargeableBatteryPlugin SensorPowerSystemPlugin
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
if(ROS_DISTRO STREQUAL "humble")
# Install the plugin library
install(TARGETS SolarPanelPlugin RadioisotopeThermalGeneratorPlugin RechargeableBatteryPlugin SensorPowerSystemPlugin
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
endif()

ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")

Expand Down
15 changes: 8 additions & 7 deletions package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,19 +7,20 @@
<maintainer email="dharini@openrobotics.org">Dharini Dutia</maintainer>
<license>Apache-2.0</license>

<buildtool_depend>ros_environment</buildtool_depend>
<buildtool_depend>ament_cmake</buildtool_depend>
Comment thread
JWhitleyWork marked this conversation as resolved.

<depend>ign-cmake2</depend>
<depend>ign-plugin1</depend>
<depend>ign-common4</depend>
<depend>ign-gazebo6</depend>
<depend>ign-rendering6</depend>
<depend>ign-sensors6</depend>
<depend condition="$ROS_DISTRO == 'humble'">ign-cmake2</depend>
<depend condition="$ROS_DISTRO == 'humble'">ign-plugin1</depend>
<depend condition="$ROS_DISTRO == 'humble'">ign-common4</depend>
<depend condition="$ROS_DISTRO == 'humble'">ign-gazebo6</depend>
<depend condition="$ROS_DISTRO == 'humble'">ign-rendering6</depend>
<depend condition="$ROS_DISTRO == 'humble'">ign-sensors6</depend>

<exec_depend>xacro</exec_depend>

<export>
<build_type>ament_cmake</build_type>
<gazebo_ros gazebo_plugin_path="${prefix}/lib"/>
<gazebo_ros condition="$ROS_DISTRO == 'humble'" gazebo_plugin_path="${prefix}/lib"/>
</export>
</package>
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