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Fix finding DART on macOS #1469

Merged
merged 3 commits into from
May 3, 2022
Merged

Fix finding DART on macOS #1469

merged 3 commits into from
May 3, 2022

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scpeters
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@scpeters scpeters commented May 3, 2022

🦟 Bug fix

Fixes cmake logic for finding DART for purposes of Physics System test.

Summary

There are some tests in the physics system that depend on the version of DART available on the system. In particular, Ubuntu 20.04 has DART 6.9.2, so any tests requiring features from 6.10 need to be disabled. This is accomplished by calling ign_find_package(DART) in test/integration/CMakeLists.txt and checking the available version.

This logic is now working properly on macOS, which has DART 6.12.1 from homebrew-core, but still does not run the tests that require 6.10:

165: [  SKIPPED ] PhysicsSystemFixtureWithDart6_10.JointPositionLimitsCommandComponent
165: [  SKIPPED ] PhysicsSystemFixtureWithDart6_10.JointVelocityLimitsCommandComponent
165: [  SKIPPED ] PhysicsSystemFixtureWithDart6_10.JointEffortLimitsCommandComponent
165/237 Test #165: INTEGRATION_physics_system .............................   Passed    8.87 sec

This pull request does the following:

  • c8a463b: find DART without QUIET. It was failing to find DART the physics library and was using a FindDart cmake module for a different package, but QUIET was hiding that.
  • 2e4eced: use CONFIG keyword to actually find DART correctly on macOS
  • 9f8c3a2: fix a cmake warning that pops up

Checklist

  • Signed all commits for DCO
  • Added tests
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • Consider updating Python bindings (if the library has them)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

scpeters added 3 commits May 3, 2022 10:57
@scpeters
Find DART without QUIET
c8a463b 
Signed-off-by: Steve Peters <[email protected]>
@scpeters
Find DART with CONFIG, require ign-cmake 2.12
2e4eced 
On macOS, find_package(DART) will resolve to a find-module
for the Dart programming language. Use CONFIG to ensure
that the DART physics library is found. The CONFIG parameter
was added in igntion-cmake2 2.12.0.

Signed-off-by: Steve Peters <[email protected]>
@scpeters
Fix cmake CMP0074 warning
9f8c3a2 
Signed-off-by: Steve Peters <[email protected]>
@scpeters scpeters requested a review from adityapande-1995 May 3, 2022 18:53
@scpeters scpeters requested a review from chapulina as a code owner May 3, 2022 18:53
@github-actions github-actions bot added the 🏯 fortress Ignition Fortress label May 3, 2022
@scpeters scpeters mentioned this pull request May 3, 2022
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adityapande-1995
adityapande-1995 approved these changes May 3, 2022
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Looks good, waiting for CI to run the DART 6.10 tests.

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scpeters commented May 3, 2022

Looks good, waiting for CI to run the DART 6.10 tests.

https://build.osrfoundation.org/job/ignition_gazebo-ci-pr_any-homebrew-amd64/8155/testReport/(root)/PhysicsSystemFixtureWithDart6_10/

@scpeters scpeters merged commit 3b0f911 into ign-gazebo6 May 3, 2022
@scpeters scpeters deleted the scpeters/fix_finding_dart branch May 3, 2022 21:09
@chapulina chapulina added physics Involves Ignition Physics macOS macOS support labels May 4, 2022
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@adityapande-1995 adityapande-1995 adityapande-1995 approved these changes

@chapulina chapulina Awaiting requested review from chapulina

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@scpeters @adityapande-1995 @chapulina