From 5ec90db09b85fb79381958158cc9ff83ad3f11ec Mon Sep 17 00:00:00 2001 From: Aditya Date: Mon, 27 Jun 2022 14:32:22 -0700 Subject: [PATCH 1/3] Port package names in CMake to gz Signed-off-by: Aditya --- lrauv_ignition_plugins/CMakeLists.txt | 50 +++++++++---------- lrauv_ignition_plugins/proto/CMakeLists.txt | 4 +- .../src/comms/CMakeLists.txt | 4 +- .../src/comms/models/CMakeLists.txt | 2 +- lrauv_system_tests/CMakeLists.txt | 12 ++--- 5 files changed, 36 insertions(+), 36 deletions(-) diff --git a/lrauv_ignition_plugins/CMakeLists.txt b/lrauv_ignition_plugins/CMakeLists.txt index 02e75df3..c18f7c6e 100644 --- a/lrauv_ignition_plugins/CMakeLists.txt +++ b/lrauv_ignition_plugins/CMakeLists.txt @@ -20,32 +20,32 @@ endif() #============================================================================ # Find dependencies -find_package(ignition-cmake3 REQUIRED) +find_package(gz-cmake3 REQUIRED) -find_package(ignition-gazebo7 REQUIRED COMPONENTS gui) -set(IGN_GAZEBO_VER ${ignition-gazebo7_VERSION_MAJOR}) +find_package(gz-sim7 REQUIRED COMPONENTS gui) +set(IGN_GAZEBO_VER ${gz-sim7_VERSION_MAJOR}) -find_package(ignition-gui7 REQUIRED) -set(IGN_GUI_VER ${ignition-gui7_VERSION_MAJOR}) +find_package(gz-gui7 REQUIRED) +set(IGN_GUI_VER ${gz-gui7_VERSION_MAJOR}) -find_package(ignition-rendering7 REQUIRED) -set(IGN_RENDERING_VER ${ignition-rendering7_VERSION_MAJOR}) +find_package(gz-rendering7 REQUIRED) +set(IGN_RENDERING_VER ${gz-rendering7_VERSION_MAJOR}) -find_package(ignition-sensors7 REQUIRED) -set(IGN_SENSORS_VER ${ignition-sensors7_VERSION_MAJOR}) +find_package(gz-sensors7 REQUIRED) +set(IGN_SENSORS_VER ${gz-sensors7_VERSION_MAJOR}) -find_package(ignition-msgs9 REQUIRED) -set(IGN_MSGS_VER ${ignition-msgs9_VERSION_MAJOR}) -set(IGNITION_MSGS ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}) +find_package(gz-msgs9 REQUIRED) +set(IGN_MSGS_VER ${gz-msgs9_VERSION_MAJOR}) +set(IGNITION_MSGS gz-msgs${IGN_MSGS_VER}::gz-msgs${IGN_MSGS_VER}) -find_package(ignition-plugin2 REQUIRED COMPONENTS register) -set(IGN_PLUGIN_VER ${ignition-plugin2_VERSION_MAJOR}) +find_package(gz-plugin2 REQUIRED COMPONENTS register) +set(IGN_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR}) -find_package(ignition-utils2 REQUIRED) -set(IGN_UTILS_VER ${ignition-utils2_VERSION_MAJOR}) +find_package(gz-utils2 REQUIRED) +set(IGN_UTILS_VER ${gz-utils2_VERSION_MAJOR}) -find_package(ignition-common5 REQUIRED COMPONENTS profiler) -set(IGN_COMMON_VER ${ignition-common5_VERSION_MAJOR}) +find_package(gz-common5 REQUIRED COMPONENTS profiler) +set(IGN_COMMON_VER ${gz-common5_VERSION_MAJOR}) find_package (Eigen3 3.3 REQUIRED) @@ -102,9 +102,9 @@ function(add_lrauv_plugin PLUGIN) set_property(TARGET ${PLUGIN} PROPERTY CXX_STANDARD 17) target_link_libraries(${PLUGIN} PUBLIC - ignition-common${IGN_COMMON_VER}::profiler - ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER} - ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER} + gz-common${IGN_COMMON_VER}::profiler + gz-plugin${IGN_PLUGIN_VER}::gz-plugin${IGN_PLUGIN_VER} + gz-sim${IGN_GAZEBO_VER}::gz-sim${IGN_GAZEBO_VER} PRIVATE ${add_lrauv_plugin_PRIVATE_LINK_LIBS} ) @@ -127,7 +127,7 @@ function(add_lrauv_plugin PLUGIN) PUBLIC TINYXML2::TINYXML2 PRIVATE - ignition-gui${IGN_GUI_VER}::ignition-gui${IGN_GUI_VER} + gz-gui${IGN_GUI_VER}::gz-gui${IGN_GUI_VER} ) target_include_directories(${PLUGIN} @@ -138,7 +138,7 @@ function(add_lrauv_plugin PLUGIN) if (add_lrauv_plugin_RENDERING) target_link_libraries(${PLUGIN} PRIVATE - ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER} + gz-rendering${IGN_RENDERING_VER}::gz-rendering${IGN_RENDERING_VER} ) endif() @@ -171,7 +171,7 @@ add_lrauv_plugin(ReferenceAxis GUI RENDERING) add_lrauv_plugin(ScienceSensorsSystem PCL PRIVATE_LINK_LIBS - ignition-sensors${IGN_SENSORS_VER}::ignition-sensors${IGN_SENSORS_VER} + gz-sensors${IGN_SENSORS_VER}::gz-sensors${IGN_SENSORS_VER} ${PCL_LIBRARIES}) add_lrauv_plugin(SpawnPanelPlugin GUI PROTO @@ -212,7 +212,7 @@ foreach(EXAMPLE add_executable(${EXAMPLE_EXEC} example/${EXAMPLE}.cc) set_property(TARGET ${EXAMPLE_EXEC} PROPERTY CXX_STANDARD 17) target_link_libraries(${EXAMPLE_EXEC} PRIVATE - ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER} + gz-sim${IGN_GAZEBO_VER}::gz-sim${IGN_GAZEBO_VER} lrauv_acoustic_message lrauv_command lrauv_init lrauv_internal_comms lrauv_range_bearing_request lrauv_range_bearing_response lrauv_state) diff --git a/lrauv_ignition_plugins/proto/CMakeLists.txt b/lrauv_ignition_plugins/proto/CMakeLists.txt index 03b0d113..c95a3aeb 100644 --- a/lrauv_ignition_plugins/proto/CMakeLists.txt +++ b/lrauv_ignition_plugins/proto/CMakeLists.txt @@ -9,13 +9,13 @@ function(add_lrauv_message MESSAGE) add_library(${MESSAGE} SHARED ${PROJECT_NAME}/${MESSAGE}.proto) target_link_libraries(${MESSAGE} protobuf::libprotobuf - ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}) + gz-msgs${IGN_MSGS_VER}::gz-msgs${IGN_MSGS_VER}) file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/proto) protobuf_generate( TARGET ${MESSAGE} LANGUAGE cpp IMPORT_DIRS - ${ignition-msgs${IGN_MSGS_VER}_INCLUDE_DIRS} + ${gz-msgs${IGN_MSGS_VER}_INCLUDE_DIRS} ${CMAKE_BINARY_DIR}/proto PROTOC_OUT_DIR ${CMAKE_BINARY_DIR}/proto ) diff --git a/lrauv_ignition_plugins/src/comms/CMakeLists.txt b/lrauv_ignition_plugins/src/comms/CMakeLists.txt index 1117070b..2e4b0861 100644 --- a/lrauv_ignition_plugins/src/comms/CMakeLists.txt +++ b/lrauv_ignition_plugins/src/comms/CMakeLists.txt @@ -8,8 +8,8 @@ add_subdirectory(models/) add_library(acoustic_comms_support SHARED CommsPacket.cc) target_link_libraries(acoustic_comms_support PUBLIC - ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER} - ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER} + gz-plugin${IGN_PLUGIN_VER}::gz-plugin${IGN_PLUGIN_VER} + gz-sim${IGN_GAZEBO_VER}::gz-sim${IGN_GAZEBO_VER} lrauv_acoustic_message lrauv_internal_comms ) diff --git a/lrauv_ignition_plugins/src/comms/models/CMakeLists.txt b/lrauv_ignition_plugins/src/comms/models/CMakeLists.txt index cd51a0c6..970c64b0 100644 --- a/lrauv_ignition_plugins/src/comms/models/CMakeLists.txt +++ b/lrauv_ignition_plugins/src/comms/models/CMakeLists.txt @@ -6,7 +6,7 @@ add_library(simple_acoustic_model SHARED SimpleAcousticModel.cc) target_link_libraries(simple_acoustic_model PUBLIC - ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER} + gz-plugin${IGN_PLUGIN_VER}::gz-plugin${IGN_PLUGIN_VER} acoustic_comms_support ) diff --git a/lrauv_system_tests/CMakeLists.txt b/lrauv_system_tests/CMakeLists.txt index 11981485..003b3384 100644 --- a/lrauv_system_tests/CMakeLists.txt +++ b/lrauv_system_tests/CMakeLists.txt @@ -7,9 +7,9 @@ cmake_minimum_required(VERSION 3.5) project(lrauv_system_tests) -find_package(ignition-gazebo7 REQUIRED) -find_package(ignition-math7 REQUIRED) -find_package(ignition-transport12 REQUIRED) +find_package(gz-sim7 REQUIRED) +find_package(gz-math7 REQUIRED) +find_package(gz-transport12 REQUIRED) find_package(lrauv_ignition_plugins REQUIRED) # Build-time constants @@ -37,9 +37,9 @@ add_library(${PROJECT_NAME}_support target_include_directories(${PROJECT_NAME}_support PUBLIC include ${CMAKE_CURRENT_BINARY_DIR}/include) target_link_libraries(${PROJECT_NAME}_support PUBLIC - ignition-gazebo7::ignition-gazebo7 - ignition-math7::ignition-math7 - ignition-transport12::ignition-transport12 + gz-sim7::gz-sim7 + gz-math7::gz-math7 + gz-transport12::gz-transport12 lrauv_ignition_plugins::lrauv_command lrauv_ignition_plugins::lrauv_state gtest) From 9d7f5922bf9c5dee3afb0afecf950847647b9997 Mon Sep 17 00:00:00 2001 From: Aditya Date: Mon, 27 Jun 2022 15:31:52 -0700 Subject: [PATCH 2/3] Eigen fix Signed-off-by: Aditya --- lrauv_ignition_plugins/src/HydrodynamicsPlugin.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lrauv_ignition_plugins/src/HydrodynamicsPlugin.cc b/lrauv_ignition_plugins/src/HydrodynamicsPlugin.cc index cca1d599..444c9084 100644 --- a/lrauv_ignition_plugins/src/HydrodynamicsPlugin.cc +++ b/lrauv_ignition_plugins/src/HydrodynamicsPlugin.cc @@ -22,7 +22,7 @@ #include "HydrodynamicsPlugin.hh" -#include +#include #include From e1960c833e647c0494178a63addf3cb159155b68 Mon Sep 17 00:00:00 2001 From: Aditya Date: Mon, 27 Jun 2022 16:25:20 -0700 Subject: [PATCH 3/3] Updated Cmake variable names to GZ Signed-off-by: Aditya --- lrauv_ignition_plugins/CMakeLists.txt | 31 +++++++++---------- lrauv_ignition_plugins/proto/CMakeLists.txt | 4 +-- .../src/comms/CMakeLists.txt | 4 +-- .../src/comms/models/CMakeLists.txt | 2 +- 4 files changed, 20 insertions(+), 21 deletions(-) diff --git a/lrauv_ignition_plugins/CMakeLists.txt b/lrauv_ignition_plugins/CMakeLists.txt index c18f7c6e..20a77305 100644 --- a/lrauv_ignition_plugins/CMakeLists.txt +++ b/lrauv_ignition_plugins/CMakeLists.txt @@ -23,29 +23,28 @@ endif() find_package(gz-cmake3 REQUIRED) find_package(gz-sim7 REQUIRED COMPONENTS gui) -set(IGN_GAZEBO_VER ${gz-sim7_VERSION_MAJOR}) +set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR}) find_package(gz-gui7 REQUIRED) -set(IGN_GUI_VER ${gz-gui7_VERSION_MAJOR}) +set(GZ_GUI_VER ${gz-gui7_VERSION_MAJOR}) find_package(gz-rendering7 REQUIRED) -set(IGN_RENDERING_VER ${gz-rendering7_VERSION_MAJOR}) +set(GZ_RENDERING_VER ${gz-rendering7_VERSION_MAJOR}) find_package(gz-sensors7 REQUIRED) -set(IGN_SENSORS_VER ${gz-sensors7_VERSION_MAJOR}) +set(GZ_SENSORS_VER ${gz-sensors7_VERSION_MAJOR}) find_package(gz-msgs9 REQUIRED) -set(IGN_MSGS_VER ${gz-msgs9_VERSION_MAJOR}) -set(IGNITION_MSGS gz-msgs${IGN_MSGS_VER}::gz-msgs${IGN_MSGS_VER}) +set(GZ_MSGS_VER ${gz-msgs9_VERSION_MAJOR}) find_package(gz-plugin2 REQUIRED COMPONENTS register) -set(IGN_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR}) +set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR}) find_package(gz-utils2 REQUIRED) -set(IGN_UTILS_VER ${gz-utils2_VERSION_MAJOR}) +set(GZ_UTILS_VER ${gz-utils2_VERSION_MAJOR}) find_package(gz-common5 REQUIRED COMPONENTS profiler) -set(IGN_COMMON_VER ${gz-common5_VERSION_MAJOR}) +set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR}) find_package (Eigen3 3.3 REQUIRED) @@ -102,9 +101,9 @@ function(add_lrauv_plugin PLUGIN) set_property(TARGET ${PLUGIN} PROPERTY CXX_STANDARD 17) target_link_libraries(${PLUGIN} PUBLIC - gz-common${IGN_COMMON_VER}::profiler - gz-plugin${IGN_PLUGIN_VER}::gz-plugin${IGN_PLUGIN_VER} - gz-sim${IGN_GAZEBO_VER}::gz-sim${IGN_GAZEBO_VER} + gz-common${GZ_COMMON_VER}::profiler + gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} + gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER} PRIVATE ${add_lrauv_plugin_PRIVATE_LINK_LIBS} ) @@ -127,7 +126,7 @@ function(add_lrauv_plugin PLUGIN) PUBLIC TINYXML2::TINYXML2 PRIVATE - gz-gui${IGN_GUI_VER}::gz-gui${IGN_GUI_VER} + gz-gui${GZ_GUI_VER}::gz-gui${GZ_GUI_VER} ) target_include_directories(${PLUGIN} @@ -138,7 +137,7 @@ function(add_lrauv_plugin PLUGIN) if (add_lrauv_plugin_RENDERING) target_link_libraries(${PLUGIN} PRIVATE - gz-rendering${IGN_RENDERING_VER}::gz-rendering${IGN_RENDERING_VER} + gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} ) endif() @@ -171,7 +170,7 @@ add_lrauv_plugin(ReferenceAxis GUI RENDERING) add_lrauv_plugin(ScienceSensorsSystem PCL PRIVATE_LINK_LIBS - gz-sensors${IGN_SENSORS_VER}::gz-sensors${IGN_SENSORS_VER} + gz-sensors${GZ_SENSORS_VER}::gz-sensors${GZ_SENSORS_VER} ${PCL_LIBRARIES}) add_lrauv_plugin(SpawnPanelPlugin GUI PROTO @@ -212,7 +211,7 @@ foreach(EXAMPLE add_executable(${EXAMPLE_EXEC} example/${EXAMPLE}.cc) set_property(TARGET ${EXAMPLE_EXEC} PROPERTY CXX_STANDARD 17) target_link_libraries(${EXAMPLE_EXEC} PRIVATE - gz-sim${IGN_GAZEBO_VER}::gz-sim${IGN_GAZEBO_VER} + gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER} lrauv_acoustic_message lrauv_command lrauv_init lrauv_internal_comms lrauv_range_bearing_request lrauv_range_bearing_response lrauv_state) diff --git a/lrauv_ignition_plugins/proto/CMakeLists.txt b/lrauv_ignition_plugins/proto/CMakeLists.txt index c95a3aeb..3cc3c07a 100644 --- a/lrauv_ignition_plugins/proto/CMakeLists.txt +++ b/lrauv_ignition_plugins/proto/CMakeLists.txt @@ -9,13 +9,13 @@ function(add_lrauv_message MESSAGE) add_library(${MESSAGE} SHARED ${PROJECT_NAME}/${MESSAGE}.proto) target_link_libraries(${MESSAGE} protobuf::libprotobuf - gz-msgs${IGN_MSGS_VER}::gz-msgs${IGN_MSGS_VER}) + gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}) file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/proto) protobuf_generate( TARGET ${MESSAGE} LANGUAGE cpp IMPORT_DIRS - ${gz-msgs${IGN_MSGS_VER}_INCLUDE_DIRS} + ${gz-msgs${GZ_MSGS_VER}_INCLUDE_DIRS} ${CMAKE_BINARY_DIR}/proto PROTOC_OUT_DIR ${CMAKE_BINARY_DIR}/proto ) diff --git a/lrauv_ignition_plugins/src/comms/CMakeLists.txt b/lrauv_ignition_plugins/src/comms/CMakeLists.txt index 2e4b0861..f61fbd8c 100644 --- a/lrauv_ignition_plugins/src/comms/CMakeLists.txt +++ b/lrauv_ignition_plugins/src/comms/CMakeLists.txt @@ -8,8 +8,8 @@ add_subdirectory(models/) add_library(acoustic_comms_support SHARED CommsPacket.cc) target_link_libraries(acoustic_comms_support PUBLIC - gz-plugin${IGN_PLUGIN_VER}::gz-plugin${IGN_PLUGIN_VER} - gz-sim${IGN_GAZEBO_VER}::gz-sim${IGN_GAZEBO_VER} + gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} + gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER} lrauv_acoustic_message lrauv_internal_comms ) diff --git a/lrauv_ignition_plugins/src/comms/models/CMakeLists.txt b/lrauv_ignition_plugins/src/comms/models/CMakeLists.txt index 970c64b0..1c80635c 100644 --- a/lrauv_ignition_plugins/src/comms/models/CMakeLists.txt +++ b/lrauv_ignition_plugins/src/comms/models/CMakeLists.txt @@ -6,7 +6,7 @@ add_library(simple_acoustic_model SHARED SimpleAcousticModel.cc) target_link_libraries(simple_acoustic_model PUBLIC - gz-plugin${IGN_PLUGIN_VER}::gz-plugin${IGN_PLUGIN_VER} + gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} acoustic_comms_support )