Fix build for Gazebo Harmonic

LeoRover · Apr 27, 2024 · e97468e · e97468e
1 parent 7e4bd9b
commit e97468e
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Showing 3 changed files with 33 additions and 3 deletions.
diff --git a/leo_gz_plugins/CMakeLists.txt b/leo_gz_plugins/CMakeLists.txt
@@ -21,6 +21,19 @@ if(DEFINED ENV{GZ_VERSION} AND "$ENV{GZ_VERSION}" STREQUAL "garden")
     gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
     gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   )
+elseif(DEFINED ENV{GZ_VERSION} AND "$ENV{GZ_VERSION}" STREQUAL "harmonic")
+  find_package(gz-plugin2 REQUIRED COMPONENTS register)
+  set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+
+  find_package(gz-sim8 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+
+  target_link_libraries(leo_gz_differential_plugin
+    gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
+    gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
+  )
+
+  message(STATUS "Compiling against Gazebo Harmonic")
 else()
   #If GZ_VERSION is not set default to Fortress
   find_package(ignition-plugin1 REQUIRED COMPONENTS register)

diff --git a/leo_gz_plugins/package.xml b/leo_gz_plugins/package.xml
@@ -11,9 +11,15 @@
     <author email="janek@fictionlab.pl">Jan Hernas</author>
 
     <buildtool_depend>ament_cmake</buildtool_depend>
+
+    <!-- Harmonic -->
+    <depend condition="$GZ_VERSION == garden or $IGNITION_VERSION == garden">gz-plugin2</depend>
+    <depend condition="$GZ_VERSION == garden or $IGNITION_VERSION == garden">gz-sim8</depend>
+
     <!-- Garden -->
     <depend condition="$GZ_VERSION == garden or $IGNITION_VERSION == garden">gz-plugin2</depend>
     <depend condition="$GZ_VERSION == garden or $IGNITION_VERSION == garden">gz-sim7</depend>
+
     <!-- Fortress (default) -->
     <depend condition="$GZ_VERSION == fortress or $IGNITION_VERSION == fortress">gz-plugin</depend>
     <depend condition="$GZ_VERSION == fortress or $IGNITION_VERSION == fortress">gz-sim6</depend>

diff --git a/leo_gz_plugins/src/differential_system.cpp b/leo_gz_plugins/src/differential_system.cpp
@@ -18,16 +18,27 @@
 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 // THE SOFTWARE.
 
+#ifdef USE_IGNITION
 
-#define SUPPRESS_IGNITION_HEADER_DEPRECATION
 #include <ignition/gazebo/System.hh>
 #include <ignition/gazebo/Model.hh>
 #include <ignition/gazebo/components.hh>
 #include <ignition/plugin/Register.hh>
-#ifdef USE_IGNITION
+
 namespace gazebo = ignition::gazebo;
+
+#define GZ_ADD_PLUGIN IGNITION_ADD_PLUGIN
+
 #else
+
+#define SUPPRESS_IGNITION_HEADER_DEPRECATION
+#include <gz/sim/System.hh>
+#include <gz/sim/Model.hh>
+#include <gz/sim/components.hh>
+#include <gz/plugin/Register.hh>
+
 namespace gazebo = gz::sim;
+
 #endif
 
 namespace leo_gz
@@ -147,7 +158,7 @@ class DifferentialSystem
 
 }  // namespace leo_gz
 
-IGNITION_ADD_PLUGIN(
+GZ_ADD_PLUGIN(
   leo_gz::DifferentialSystem,
   gazebo::System,
   leo_gz::DifferentialSystem::ISystemConfigure,