Merge pull request #208 from robotology/pixisupportionic

Add support for both Gazebo Harmonic (gz-sim8) and Gazebo Ionic (gz-sim9)

.github/workflows/test-pixi.yml

@@ -6,16 +6,19 @@ on:
 
 jobs:
   pixi-test:
-    name: '[pixi:${{ matrix.os }}]'
+    name: '[pixi:${{ matrix.os }}:env:${{ matrix.pixi_env }}]'
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
         os: [
           ubuntu-22.04,
           macos-latest,
-          # Disabled until https://github.com/robotology/gz-sim-yarp-plugins/issues/205 is fixed
-          # windows-2019
+          windows-2019
+        ]
+        pixi_env: [
+          default,
+          ionic
         ]
 
     steps:
@@ -38,5 +41,11 @@ jobs:
     - name: Print pixi info
       run: pixi info
 
+    - name: Build the project
+      run: pixi run -e ${{ matrix.pixi_env }} build
+
+    # Windows disabled due to https://github.com/robotology/gz-sim-yarp-plugins/issues/205
+    # macOS on Ionic disabled due to https://github.com/robotology/gz-sim-yarp-plugins/issues/215
     - name: Run tests
-      run: pixi run test
+      if: "!contains(matrix.os, 'windows') && !(contains(matrix.os, 'macos') && matrix.pixi_env == 'ionic')"
+      run: pixi run -e ${{ matrix.pixi_env }} test

CMakeLists.txt

@@ -4,15 +4,38 @@ project(gz-sim-yarp-plugins
         LANGUAGES CXX C
         VERSION 0.3.0)
 
-find_package(gz-cmake3 REQUIRED)
 find_package(YARP REQUIRED COMPONENTS robotinterface os)
 find_package(YCM REQUIRED)
 
-gz_find_package(gz-plugin2 REQUIRED COMPONENTS register)
-set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+# Initial value of GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION is empty, and then is set to 8 or 9 depending if gz-sim8 or gz-sim9 are available
+set(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION_DOCS "Version of gz-sim used to compile gz-sim-yarp-plugins (either 8 or 9)")
+set(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION "" CACHE STRING ${GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION_DOCS})
+
+# If GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION is not set, try to guess a suitable value
+# based on the gz-sim version that can be found in the system
+if(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION STREQUAL "")
+    find_package(gz-sim8 QUIET)
+    if(gz-sim8_FOUND)
+        set(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION "8" CACHE STRING ${GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION_DOCS} FORCE)
+    else()
+        find_package(gz-sim9 REQUIRED)
+        set(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION "9" CACHE STRING ${GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION_DOCS} FORCE)
+    endif()
+endif()
 
-gz_find_package(gz-sim8 REQUIRED)
-set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+if(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION STREQUAL "8")
+    find_package(gz-sim8 REQUIRED)
+    set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+    find_package(gz-plugin2 REQUIRED COMPONENTS register)
+    set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+elseif(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION STREQUAL "9")
+    find_package(gz-sim9 REQUIRED)
+    set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+    find_package(gz-plugin3 REQUIRED COMPONENTS register)
+    set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
+else()
+    message(FATAL_ERROR "Unsupported GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION value ${GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION}, only 8 or 9 are supported.")
+endif()
 
 option(GZ_SIM_YARP_PLUGINS_BUILD_TOOLS "If enabled, build command line helper tools" ON)
 

docs/build-from-source.md

@@ -58,6 +58,12 @@ pixi shell
 
 and then run your commands as in a normal shell.
 
+The `default` environment of pixi uses Gazebo Harmonic (`gz-sim8`), if you want to use Gazebo Ionic (`gz-sim9`) just add `-e ionic` after `pixi run`, for example to run the tests under Ionic:
+
+~~~
+pixi run -e ionic test
+~~~
+
 ## Compile from source with conda on Linux, macOS or Windows
 
 If you are using conda, the dependencies of `gz-sim-yarp-plugins` can be installed with:
@@ -66,7 +72,7 @@ If you are using conda, the dependencies of `gz-sim-yarp-plugins` can be install
 conda install -c conda-forge libgz-sim8 yarp ycm-cmake-modules cmake ninja pkg-config cmake compilers gtest cli11
 ```
 
-This command should be executed in a terminal with the environment activated.
+This command should be executed in a terminal with the environment activated. If you want to use Gazebo Ionic (`gz-sim9`) in place of Gazebo Harmonic (`gz-sim8`), just change `libgz-sim8` to `libgz-sim9`.
 
 ### Build
 
@@ -101,7 +107,7 @@ sudo apt-get update
 sudo apt-get install lsb-release wget gnupg cmake pkg-config ninja-build build-essential libcli11-dev libgtest-dev
 ```
 
-and then install Gazebo Harmonic:
+and then install Gazebo:
 
 ```bash
 sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
@@ -110,6 +116,8 @@ sudo apt-get update
 sudo apt-get install gz-harmonic
 ```
 
+If you want to use Gazebo Ionic (`gz-sim9`) in place of Gazebo Harmonic (`gz-sim8`), just change `gz-harmonic` to `gz-ionic`.
+
 Then, you need to install [`ycm-cmake-modules`](https://github.com/robotology/ycm) and [`yarp`](https://github.com/robotology/yarp), for which no apt binaries are available. You can install them easily via the `robotology-superbuild`, or otherwise with the following commands:
 
 ```bash