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Fix dependencies on macOS #354

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merged 9 commits into from
Oct 22, 2019
Merged

Fix dependencies on macOS #354

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529947b
cmake: fix GStreamer and Qt deps for macOS
julianoes Oct 14, 2019
cd10414
cmake: link to glib-2.0 and gobject-2.0
julianoes Oct 14, 2019
059649a
travis: install GStreamer using brew
julianoes Oct 14, 2019
07f76b5
CMake: fix Qt5 find in MacOS
TSC21 Oct 5, 2019
086254e
cmake: fix Qt prefix path for macOS
julianoes Oct 21, 2019
7814f38
Travis CI: Cleanup scripts and add more MacOSX build pipelines
TSC21 Oct 11, 2019
40eef45
models: fix reported validation errors
julianoes Oct 21, 2019
9a1730e
travis: install gstreamer using brew
julianoes Oct 22, 2019
b5fbceb
travis: let's not bother about macOS Sierra
julianoes Oct 22, 2019
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80 changes: 46 additions & 34 deletions .travis.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,11 @@ env:
global:
- CCACHE_DIR=$HOME/.ccache
- CMAKE_BUILD="mkdir Build; cd Build; cmake ..; make -j$(nproc) -l$(nproc)"
- CMAKE_UNIT_TEST_BUILD="mkdir Build; cd Build; cmake -DENABLE_UNIT_TESTS=On ..; make -j$(nproc) -l$(nproc); make -j$(nproc) test"
- CATKIN_BUILD="mkdir -p ~/catkin_ws/src; cd ~/catkin_ws; catkin init; ln -s ${TRAVIS_BUILD_DIR} src; catkin build -j$(nproc) -l$(nproc) -DBUILD_ROS_INTERFACE=ON; cd build/mavlink_sitl_gazebo/; catkin run_tests"
- CMAKE_UNIT_TEST_BUILD="mkdir Build; cd Build; cmake -DENABLE_UNIT_TESTS=On ..;
make -j$(nproc) -l$(nproc); make -j$(nproc) test"
- CATKIN_BUILD="mkdir -p ~/catkin_ws/src; cd ~/catkin_ws; catkin init;
ln -s ${TRAVIS_BUILD_DIR} src; catkin build -j$(nproc) -l$(nproc) -DBUILD_ROS_INTERFACE=ON;
cd build/mavlink_sitl_gazebo/; catkin run_tests"
- KINETIC="source /opt/ros/kinetic/setup.bash; ${CATKIN_BUILD}"
- MELODIC="source /opt/ros/melodic/setup.bash; ${CATKIN_BUILD}"

Expand Down Expand Up @@ -79,51 +82,60 @@ matrix:
env:
- PX4_DOCKER_REPO=px4io/px4-dev-simulation-bionic:2019-10-04
- BUILD="source ./scripts/validate_sdf.bash"
- name: MacOSX 10.14 (Xcode 11.0) build with Gazebo 9
- name: macOS High Sierra (Xcode 10.1)
os: osx
osx_image: xcode11
osx_image: xcode10.1
language: cpp
cache:
ccache: true
- name: macOS Mojave (Xcode 11.2)
os: osx
osx_image: xcode11.2
language: cpp
cache:
ccache: true
env:
- GAZEBO_VERSION="gazebo9"

before_install:
- if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
brew update;
curl https://gstreamer.freedesktop.org/data/pkg/osx/1.0.10/gstreamer-1.0-1.0.10-universal.pkg -LO /tmp/gstreamer-1.0-1.0.10-universal.pkg;
curl https://gstreamer.freedesktop.org/data/pkg/osx/1.0.10/gstreamer-1.0-devel-1.0.10-universal.pkg -LO /tmp/gstreamer-1.0-devel-1.0.10-universal.pkg;
git clone --depth 1 https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink/v2.0;
rm -rf /usr/local/include/mavlink/v2.0/.git;
git clone https://github.com/google/googletest;
pushd googletest;
mkdir build;
pushd build;
cmake ..;
make;
make install;
popd;
popd;
brew update;
git clone https://github.com/google/googletest;
git clone --depth 1 https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink/v2.0;
fi

install:
- if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
brew tap PX4/px4;
brew install px4-dev pkg-config;
installer -allowUntrusted -verboseR -pkg /tmp/gstreamer-1.0-1.0.10-universal.pkg -target /;
installer -allowUntrusted -verboseR -pkg /tmp/gstreamer-1.0-devel-1.0.10-universal.pkg -target /;
export PKG_CONFIG_PATH="/Frameworks/GStreamer.framework/Versions/Current/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}";
brew tap osrf/simulation;
brew install opencv ${GAZEBO_VERSION};
brew cask reinstall xquartz java;
sudo -H pip2 install --upgrade pip setuptools;
sudo -H pip2 install rospkg pyserial empy toml numpy pandas jinja2;
sudo -H pip2 install --upgrade --force-reinstall numpy;
pushd googletest;
mkdir build;
pushd build;
cmake ..;
make;
make install;
popd;
popd;
brew install gstreamer gst-plugins-base gst-plugins-good glib;
brew tap PX4/px4;
brew install px4-dev;
brew tap osrf/simulation;
brew install opencv gazebo9;
sudo -H pip2 install --upgrade pip setuptools;
sudo -H pip2 install rospkg pyserial empy toml numpy pandas jinja2;
fi

after_install:
- if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
brew cleanup;
rm -rf /usr/local/include/mavlink/v2.0/.git googletest/.git;
fi

script:
- if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
mkdir Build;
cd Build && cmake -DENABLE_UNIT_TESTS=On .. && make -j$(sysctl -n hw.physicalcpu) -l$(sysctl -n hw.physicalcpu); make test;
else docker run -it --rm -w ${TRAVIS_BUILD_DIR} --env=CCACHE_DIR="${CCACHE_DIR}" --volume=${CCACHE_DIR}:${CCACHE_DIR}:rw --volume=${TRAVIS_BUILD_DIR}:${TRAVIS_BUILD_DIR}:rw ${PX4_DOCKER_REPO} /bin/bash -e -c "${BUILD}";
mkdir build;
(cd build && cmake -DENABLE_UNIT_TESTS=On .. &&
make -j$(sysctl -n hw.physicalcpu) -l$(sysctl -n hw.physicalcpu) &&
make test);
else
docker run -it --rm -w ${TRAVIS_BUILD_DIR} --env=CCACHE_DIR="${CCACHE_DIR}"
--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw
--volume=${TRAVIS_BUILD_DIR}:${TRAVIS_BUILD_DIR}:rw
${PX4_DOCKER_REPO} /bin/bash -e -c "${BUILD}";
fi
18 changes: 13 additions & 5 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -16,8 +16,6 @@ include(GNUInstallDirs)
## Find Dependencies ##
#######################

# Add search directory for CMake on OS X
list(APPEND CMAKE_MODULE_PATH /usr/local/share/cmake/Modules)
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")

option(BUILD_GSTREAMER_PLUGIN "enable gstreamer plugin" ON)
Expand All @@ -39,14 +37,22 @@ find_package(OpenCV REQUIRED)
find_package(TinyXML REQUIRED)
if (BUILD_GSTREAMER_PLUGIN)
set(GStreamer_FIND_VERSION "1.0")
find_package(GStreamer)
find_package(GStreamer REQUIRED)
if (GSTREAMER_FOUND)
if("${GAZEBO_VERSION}" VERSION_LESS "8.0")
find_package (Qt4)
include (${QT_USE_FILE})
else()
find_package(Qt5Widgets REQUIRED)
find_package(Qt5Core REQUIRED)
# In order to find Qt5 in macOS, the Qt5 path needs to be added to the CMake prefix path.
if(APPLE)
execute_process(COMMAND brew --prefix qt5
ERROR_QUIET
OUTPUT_VARIABLE QT5_PREFIX_PATH
OUTPUT_STRIP_TRAILING_WHITESPACE
)
list(APPEND CMAKE_PREFIX_PATH "${QT5_PREFIX_PATH}/lib/cmake")
endif()
find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
endif()
endif()
endif()
Expand Down Expand Up @@ -176,6 +182,8 @@ link_libraries(
if (GSTREAMER_FOUND)
link_libraries(
${GSTREAMER_LIBRARIES}
glib-2.0
gobject-2.0
)
endif()

Expand Down
15 changes: 0 additions & 15 deletions cmake/FindGStreamer.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -48,19 +48,6 @@
# OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

if (APPLE)
find_library(GSTREAMER NAMES GStreamer)
if (NOT GSTREAMER)
message(FATAL_ERROR "GStreamer not found")
else()
message(STATUS "GStreamer found")
endif()

SET(GSTREAMER_INCLUDE_DIRS ${GSTREAMER}/Headers)
SET(GSTREAMER_LIBRARIES "-framework GStreamer")
SET(GSTREAMER_FOUND true)

else()
find_package(PkgConfig)


Expand Down Expand Up @@ -143,5 +130,3 @@ mark_as_advanced(
GSTREAMER_VIDEO_INCLUDE_DIRS
GSTREAMER_VIDEO_LIBRARIES
)

endif()
24 changes: 7 additions & 17 deletions models/realsense_camera/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<sdf version="1.6">
<model name="realsense_camera">
<plugin name="realsense_plugin" filename="libRealSensePlugin.so"/>
<pose frame="">0 0 0.015 0 0 0</pose>
<pose>0 0 0.015 0 0 0</pose>
<link name="link">
<inertial>
<mass>0.0615752</mass>
Expand All @@ -14,10 +14,9 @@
<iyz>0</iyz>
<izz>8.931e-05</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
</inertial>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<gravity>1</gravity>
<visual name="visual">
Expand All @@ -30,7 +29,7 @@
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.0078 0.130 0.0192</size>
Expand All @@ -45,15 +44,6 @@
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
Expand Down Expand Up @@ -83,7 +73,7 @@
</surface>
</collision>
<sensor name="color" type="camera">
<pose frame="">0 -0.046 0.004 0 0 0</pose>
<pose>0 -0.046 0.004 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.047</horizontal_fov>
<image>
Expand All @@ -106,7 +96,7 @@
<visualize>1</visualize>
</sensor>
<sensor name="ired1" type="camera">
<pose frame="">0 -0.06 0.004 0 0 0</pose>
<pose>0 -0.06 0.004 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.047</horizontal_fov>
<image>
Expand All @@ -129,7 +119,7 @@
<visualize>0</visualize>
</sensor>
<sensor name="ired2" type="camera">
<pose frame="">0 0.01 0.004 0 0 0</pose>
<pose>0 0.01 0.004 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.047</horizontal_fov>
<image>
Expand All @@ -152,7 +142,7 @@
<visualize>0</visualize>
</sensor>
<sensor name="depth" type="depth">
<pose frame="">0 -0.03 0.004 0 0 0</pose>
<pose>0 -0.03 0.004 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.047</horizontal_fov>
<image>
Expand Down