-
Notifications
You must be signed in to change notification settings - Fork 276
/
CMakeLists.txt
281 lines (241 loc) · 8.91 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
#============================================================================
# Initialize the project
#============================================================================
project(gz-sim8 VERSION 8.0.0)
set (GZ_DISTRIBUTION "Harmonic")
#============================================================================
# Find gz-cmake
#============================================================================
# If you get an error at this line, you need to install gz-cmake
find_package(gz-cmake3 REQUIRED)
#============================================================================
# Configure the project
#============================================================================
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
gz_configure_project(VERSION_SUFFIX)
#============================================================================
# Set project-specific options
#============================================================================
option(ENABLE_PROFILER "Enable Gazebo Profiler" FALSE)
if(ENABLE_PROFILER)
add_definitions("-DGZ_PROFILER_ENABLE=1")
else()
add_definitions("-DGZ_PROFILER_ENABLE=0")
endif()
if (UNIX AND NOT APPLE)
set (EXTRA_TEST_LIB_DEPS stdc++fs)
else()
set (EXTRA_TEST_LIB_DEPS)
endif()
# We're disabling pybind11 by default on Windows because they
# don't have active CI on them for now.
set(skip_pybind11_default_value OFF)
if (MSVC)
set(skip_pybind11_default_value ON)
endif()
option(SKIP_PYBIND11
"Skip generating Python bindings via pybind11"
${skip_pybind11_default_value})
include(test/find_dri.cmake)
FindDRI()
include(CMakeDependentOption)
cmake_dependent_option(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION
"Install python modules in standard system paths in the system"
OFF "NOT SKIP_PYBIND11" OFF)
cmake_dependent_option(USE_DIST_PACKAGES_FOR_PYTHON
"Use dist-packages instead of site-package to install python modules"
OFF "NOT SKIP_PYBIND11" OFF)
#============================================================================
# Search for project-specific dependencies
#============================================================================
# Setting this policy enables using the protobuf_MODULE_COMPATIBLE
# set command in CMake versions older than 13.13
set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
# This option is needed to use the PROTOBUF_GENERATE_CPP
# in case protobuf is found with the CMake config files
# It needs to be set before any find_package(...) call
# as protobuf could be find transitively by any dependency
set(protobuf_MODULE_COMPATIBLE TRUE)
gz_find_package(sdformat14 REQUIRED)
set(SDF_VER ${sdformat14_VERSION_MAJOR})
#--------------------------------------
# Find gz-plugin
gz_find_package(gz-plugin2 REQUIRED COMPONENTS loader register)
set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
#--------------------------------------
# Find gz-transport
gz_find_package(gz-transport13 REQUIRED COMPONENTS log parameters)
set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
#--------------------------------------
# Find gz-msgs
gz_find_package(gz-msgs10 REQUIRED)
set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
#--------------------------------------
# Find gz-common
# Always use the profiler component to get the headers, regardless of status.
gz_find_package(gz-common5
COMPONENTS
av
events
graphics
io
profiler
REQUIRED
)
set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
#--------------------------------------
# Find gz-fuel_tools
gz_find_package(gz-fuel_tools9 REQUIRED)
set(GZ_FUEL_TOOLS_VER ${gz-fuel_tools9_VERSION_MAJOR})
#--------------------------------------
# Find gz-gui
gz_find_package(gz-gui8 REQUIRED)
set(GZ_GUI_VER ${gz-gui8_VERSION_MAJOR})
gz_find_package (Qt5
COMPONENTS
Core
Quick
QuickControls2
REQUIRED
PKGCONFIG "Qt5Core Qt5Quick Qt5QuickControls2")
#--------------------------------------
# Find gz-physics
gz_find_package(gz-physics7
COMPONENTS
heightmap
mesh
sdf
REQUIRED
)
set(GZ_PHYSICS_VER ${gz-physics7_VERSION_MAJOR})
#--------------------------------------
# Find gz-sensors
gz_find_package(gz-sensors8 REQUIRED
# component order is important
COMPONENTS
# non-rendering
air_pressure
air_speed
altimeter
imu
force_torque
logical_camera
magnetometer
navsat
# rendering
dvl
rendering
lidar
gpu_lidar
# cameras
camera
boundingbox_camera
segmentation_camera
depth_camera
rgbd_camera
thermal_camera
wide_angle_camera
)
set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR})
#--------------------------------------
# Find gz-rendering
gz_find_package(gz-rendering8 REQUIRED)
set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR})
#--------------------------------------
# Find gz-math
gz_find_package(gz-math7 REQUIRED COMPONENTS eigen3)
set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR})
#--------------------------------------
# Find if gz command is available
find_program(GZ_TOOLS_PROGRAM gz)
if (GZ_TOOLS_PROGRAM)
message (STATUS "Searching for gz program - found. CLI tests can be built.")
else()
message (STATUS "Searching for gz program - not found. CLI tests are skipped.")
endif()
# Note that CLI files are installed regardless of whether the dependency is
# available during build time
set(GZ_TOOLS_VER 2)
#--------------------------------------
# Find gz-utils
gz_find_package(gz-utils2 REQUIRED COMPONENTS cli)
set(GZ_UTILS_VER ${gz-utils2_VERSION_MAJOR})
#--------------------------------------
# Find protobuf
gz_find_package(GzProtobuf
REQUIRED
COMPONENTS all
PRETTY Protobuf)
set(Protobuf_IMPORT_DIRS ${gz-msgs10_INCLUDE_DIRS})
#--------------------------------------
# Find python
if (SKIP_PYBIND11)
message(STATUS "SKIP_PYBIND11 set - disabling python bindings")
else()
find_package(Python3 QUIET COMPONENTS Interpreter Development)
if (NOT Python3_FOUND)
GZ_BUILD_WARNING("Python is missing: Python interfaces are disabled.")
message (STATUS "Searching for Python - not found.")
else()
message (STATUS "Searching for Python - found version ${PYTHONLIBS_VERSION_STRING}.")
set(PYBIND11_PYTHON_VERSION 3)
find_package(pybind11 2.9 CONFIG QUIET)
if (pybind11_FOUND)
message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
else()
GZ_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
message (STATUS "Searching for pybind11 - not found.")
endif()
endif()
endif()
# Plugin install dirs
set(GZ_SIM_PLUGIN_INSTALL_DIR
${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins
)
set(GZ_SIM_GUI_PLUGIN_INSTALL_DIR
${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui
)
#============================================================================
# Configure the build
#============================================================================
gz_configure_build(QUIT_IF_BUILD_ERRORS)
add_subdirectory(examples)
#============================================================================
# Create package information
#============================================================================
gz_create_packages()
if (pybind11_FOUND AND NOT SKIP_PYBIND11)
add_subdirectory(python)
endif()
#============================================================================
# Configure documentation
#============================================================================
configure_file(${CMAKE_SOURCE_DIR}/api.md.in ${CMAKE_BINARY_DIR}/api.md)
configure_file(${CMAKE_SOURCE_DIR}/tutorials.md.in ${CMAKE_BINARY_DIR}/tutorials.md)
configure_file(${CMAKE_SOURCE_DIR}/tools/desktop/gz-sim.desktop.in ${CMAKE_BINARY_DIR}/gz-sim${PROJECT_VERSION_MAJOR}.desktop)
configure_file(${CMAKE_SOURCE_DIR}/tools/desktop/gz-logo.svg.in ${CMAKE_BINARY_DIR}/gz-logo${PROJECT_VERSION_MAJOR}.svg)
# disable doxygen on macOS due to issues with doxygen 1.9.0
# there is an unreleased fix; revert this when 1.9.1 is released
# https://github.com/gazebosim/gz-sim/issues/520
if (NOT APPLE)
gz_create_docs(
API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"
ADDITIONAL_INPUT_DIRS "${CMAKE_SOURCE_DIR}/src/systems ${CMAKE_SOURCE_DIR}/src/gui/plugins"
IMAGE_PATH_DIRS "${CMAKE_SOURCE_DIR}/tutorials/files"
TAGFILES
"${GZ-MATH_DOXYGEN_TAGFILE} = ${GZ-MATH_API_URL}"
"${GZ-MSGS_DOXYGEN_TAGFILE} = ${GZ-MSGS_API_URL}"
"${GZ-PHYSICS_DOXYGEN_TAGFILE} = ${GZ-PHYSICS_API_URL}"
"${GZ-PLUGIN_DOXYGEN_TAGFILE} = ${GZ-PLUGIN_API_URL}"
"${GZ-TRANSPORT_DOXYGEN_TAGFILE} = ${GZ-TRANSPORT_API_URL}"
"${GZ-SENSORS_DOXYGEN_TAGFILE} = ${GZ-SENSORS_API_URL}"
"${GZ-COMMON_DOXYGEN_TAGFILE} = ${GZ-COMMON_API_URL}"
"${GZ-GUI_DOXYGEN_TAGFILE} = ${GZ-GUI_API_URL}"
)
endif()
if(TARGET doc)
file(COPY ${CMAKE_SOURCE_DIR}/tutorials/files/ DESTINATION ${CMAKE_BINARY_DIR}/doxygen/html/files/)
endif()