Insert the repo into the robotology superbuild

[xela-95]

Robotology superbuild: https://github.com/robotology/robotology-superbuild

PR: robotology/robotology-superbuild#1628

[xela-95]

CC @traversaro

[traversaro]

See the docs in https://github.com/robotology/robotology-superbuild/blob/master/doc/developers-faqs.md#how-to-add-a-new-package . As we plan to add the package in conda-forge, notice that we need to let know that to the robotology-superbuild by setting the gz-sim-yarp-plugins_CONDA_PKG_CONDA_FORGE_OVERRIDE option, see https://github.com/robotology/robotology-superbuild/blob/master/doc/developers-faqs.md#how-to-ensure-that-binary-packages-are-correctly-generated-for-a-new-package . This is useful to ensure that no gz-sim-yarp-plugins package is added in the robotology conda channel.

[xela-95]

According to https://github.com/robotology/robotology-superbuild/blob/master/doc/cmake-options.md#profile-specific-documentation, should gz-sim-yarp-plugins be part of the profile CORE and have a custom CMake dependency option like ROBOTOLOGY_USES_GZ_SIM?

Moreover, if I recall well, we should check that the options ROBOTOLOGY_USES_GAZEBO and ROBOTOLOGY_USES_GZ_SIM are mutually exclusive, otherwise log a an error.

[traversaro]

According to https://github.com/robotology/robotology-superbuild/blob/master/doc/cmake-options.md#profile-specific-documentation, should gz-sim-yarp-plugins be part of the profile CORE and have a custom CMake dependency option like ROBOTOLOGY_USES_GZ_SIM?

Yes.

Moreover, if I recall well, we should check that the options ROBOTOLOGY_USES_GAZEBO and ROBOTOLOGY_USES_GZ_SIM are mutually exclusive, otherwise log a an error.

Yes, I remember mentioning this, but perhaps this is not strictly necessary in the long term. We can document how install a gz-sim compatible build of gazebo (on apt) and build a gz-sim compaible build of gazebo-classic in conda-forge (for conda). Anyhow, we can probably leave this aside for the first PR.

[xela-95]

Where I should put the dependencies of the package? The DEPENDS field of ycm_ep_helper is only for packages inside the superbuild? https://github.com/xela-95/robotology-superbuild/blob/056c18b2c0ca5e953705870b278463bdd1415eb2/cmake/Buildgz-sim-yarp-plugins.cmake#L15-L16

In general what other files should I modify other than the Buildgz-sim-yarp-plugins.cmake?

[traversaro]

Where I should put the dependencies of the package? The DEPENDS field of ycm_ep_helper is only for packages inside the superbuild? https://github.com/xela-95/robotology-superbuild/blob/056c18b2c0ca5e953705870b278463bdd1415eb2/cmake/Buildgz-sim-yarp-plugins.cmake#L15-L16

Yes. Other dependencies go in the documentation and in the ci script (unfortunately duplicated).

In general what other files should I modify other than the Buildgz-sim-yarp-plugins.cmake?

I would say:

• All places where ROBOTOLOGY_USES_GAZEBO is used (as you should have ROBOTOLOGY_USES_GZ_SIM instead (see https://github.com/search?q=repo%3Arobotology%2Frobotology-superbuild%20ROBOTOLOGY_USES_GAZEBO&type=code)
• All places where GazeboYARPPlugins is used (see https://github.com/search?q=repo%3Arobotology%2Frobotology-superbuild+GazeboYarpPlugins&type=code), except old releases files, for what regards releases you only need to modify latest.releases.yaml

[xela-95]

In order to test if I made all the necessary updates, is it sufficient to check the CI is passing or should I try some of the methods in which the robotology can be installed?

[traversaro]

In order to test if I made all the necessary updates, is it sufficient to check the CI is passing or should I try some of the methods in which the robotology can be installed?

I guess CI is enough, as long as you check that CI actually enables the option you want to test.

[traversaro]

To avoid the mutual exclusivity between gazebo-classic and gz-sim8, we can use the following changes:

• Experimental packages that permit side-by-side installation in apt: https://gist.github.com/j-rivero/430c2dc6c73860dd72116ad362413ac3
• Side-by-side installation in conda-forge : Add variants to permit clean co-installation with libgz-tools2  conda-forge/gazebo-feedstock#208

[xela-95]

robotology/robotology-superbuild#1628 has been merged. Closing!