Gazebo: add support for Harmonic

.github/scripts/brew_install_deps.sh

@@ -51,3 +51,33 @@ do
      brew link $DEP_PKG
   done
 done
+
+
+# keg only packages to install - only link dependencies
+PKGS_KEG_ONLY=(
+  [email protected]
+)
+
+# install packages
+for PKG in "${PKGS_KEG_ONLY[@]}"
+do
+  brew install ${PKG}
+done
+
+# The GitHub actions cache does restore links, so we force
+# (re-)linking on all dependencies of packages we install. 
+
+for PKG in "${PKGS_KEG_ONLY[@]}"
+do
+  # keg only do not link package
+
+  DEPS=$(brew deps ${PKG})
+  declare -a DEPS_ARRAY
+  DEPS_ARRAY=(${DEPS})
+
+  for DEP_PKG in "${DEPS_ARRAY[@]}"
+  do
+    # link package dependencies
+     brew link $DEP_PKG
+  done
+done

.github/scripts/macos_build.sh

@@ -11,6 +11,9 @@ export PKG_CONFIG_PATH=${PKG_CONFIG_PATH}:/usr/local/opt/[email protected]/lib/pkgc
 export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/usr/local/opt/qt@5
 
 # Python scripts installed with: `pip3 install --user <package>`
-export PATH=$PATH:$HOME/Library/Python/3.11/bin
+export PATH=$PATH:$HOME/Library/Python/3.11/bin:$HOME/Library/Python/3.12/bin
 
-colcon build --symlink-install --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTING=ON -DCMAKE_CXX_STANDARD=17 -DCMAKE_MACOSX_RPATH=FALSE -DCMAKE_INSTALL_NAME_DIR=$(pwd)/install/lib
+# Use desktop_notification- to suppress error:
+#   ERROR:colcon.colcon_notification.desktop_notification.terminal_notifier:
+#   Could not find the colcon-terminal-notifier.app in the install prefix '/Users/runner/Library/Python/3.12'
+colcon build --symlink-install --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTING=ON -DCMAKE_CXX_STANDARD=17 -DCMAKE_MACOSX_RPATH=FALSE -DCMAKE_INSTALL_NAME_DIR=$(pwd)/install/lib --event-handlers desktop_notification-

.github/scripts/macos_test.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 # Python scripts installed with: `pip3 install --user <package>`
-export PATH=$PATH:$HOME/Library/Python/3.11/bin
+export PATH=$PATH:$HOME/Library/Python/3.11/bin:$HOME/Library/Python/3.12/bin
 
 colcon test --merge-install
 colcon test-result --all --verbose

.github/workflows/macos-monterey-build-tools.yml → .github/workflows/macos12-monterey-build-tools.yml

@@ -1,6 +1,6 @@
 name: macOS Monterey Build Tools
 
-on: [push, pull_request]
+on: [pull_request]
 
 jobs:
   macos-monterey-ci:
@@ -20,5 +20,5 @@ jobs:
           which pip3
           which python3
           python3 --version
-          export PATH=$PATH:/Users/runner/Library/Python/3.11/bin
+          export PATH=$PATH:/Users/runner/Library/Python/3.11/bin:/Users/runner/Library/Python/3.12/bin
           colcon graph

.github/workflows/macos13-ventura-build-tools.yml

@@ -0,0 +1,24 @@
+name: macOS Ventura Build Tools
+
+on: [pull_request]
+
+jobs:
+  macos-ventura-ci:
+    runs-on: macos-13
+    name: macOS Ventura Build Tools
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Install Build Tools
+        run: |
+          pip3 install --user vcstool
+          pip3 install --user colcon-common-extensions
+
+      - name: Check Build Tools
+        run: |
+          which pip3
+          which python3
+          python3 --version
+          export PATH=$PATH:/Users/runner/Library/Python/3.11/bin:/Users/runner/Library/Python/3.12/bin
+          colcon graph

.github/workflows/macos13-ventura-ci.yml

@@ -0,0 +1,42 @@
+name: macOS Ventura CI
+
+on: [pull_request]
+
+jobs:
+  macos-ventura-ci:
+    runs-on: macos-13
+    name: macOS Ventura CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Cache brew packages
+        id: cache-brew-packages
+        uses: actions/cache@v3
+        with:
+          path: |
+            /usr/local/Cellar
+            /usr/local/Frameworks
+            /usr/local/Homebrew
+            /usr/local/bin
+            /usr/local/lib
+            /usr/local/opt
+            /usr/local/share
+          key: macos-build-cache-${{ hashFiles('./.github/scripts/brew_install_deps.sh') }}
+
+      - name: Install brew packages
+        run: |
+          bash ./.github/scripts/brew_install_deps.sh
+
+      - name: Install Build Tools
+        run: |
+          python3 -m pip install --user vcstool
+          python3 -m pip install --user colcon-common-extensions
+
+      - name: Build Wave Sim
+        run: |
+          bash ./.github/scripts/macos_build.sh
+
+      - name: Test Wave Sim
+        run: |
+          bash ./.github/scripts/macos_test.sh

gz-waves/CMakeLists.txt

@@ -51,35 +51,73 @@ gz_find_package(gz-common5
 )
 set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
 
-#--------------------------------------
-# Find gz-msgs
-gz_find_package(gz-msgs9 REQUIRED)
-set(GZ_MSGS_VER ${gz-msgs9_VERSION_MAJOR})
-
-#--------------------------------------
-# Find gz-transport
-gz_find_package(gz-transport12 REQUIRED)
-set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})
-
 #--------------------------------------
 # Find gz-plugin
 gz_find_package(gz-plugin2 REQUIRED COMPONENTS loader register)
 set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 
-#--------------------------------------
-# Find gz-rendering
-gz_find_package(gz-rendering7 REQUIRED)
-set(GZ_RENDERING_VER ${gz-rendering7_VERSION_MAJOR})
-
-#--------------------------------------
-# Find gz-sim
-gz_find_package(gz-sim7 REQUIRED)
-set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
-
-#--------------------------------------
-# Find SDFormat
-gz_find_package(sdformat13 REQUIRED)
-set(SDF_VER ${sdformat13_VERSION_MAJOR})
+# Garden (default)
+if("$ENV{GZ_VERSION}" STREQUAL "garden" OR NOT DEFINED "ENV{GZ_VERSION}")
+
+  #--------------------------------------
+  # Find gz-msgs
+  gz_find_package(gz-msgs9 REQUIRED)
+  set(GZ_MSGS_VER ${gz-msgs9_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-transport
+  gz_find_package(gz-transport12 REQUIRED)
+  set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-rendering
+  gz_find_package(gz-rendering7 REQUIRED)
+  set(GZ_RENDERING_VER ${gz-rendering7_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-sim
+  gz_find_package(gz-sim7 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find SDFormat
+  gz_find_package(sdformat13 REQUIRED)
+  set(SDF_VER ${sdformat13_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Gazebo Garden")
+
+# Harmonic
+elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+
+  #--------------------------------------
+  # Find gz-msgs
+  gz_find_package(gz-msgs10 REQUIRED)
+  set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-transport
+  gz_find_package(gz-transport13 REQUIRED)
+  set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-rendering
+  gz_find_package(gz-rendering8 REQUIRED)
+  set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-sim
+  gz_find_package(gz-sim8 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find SDFormat
+  gz_find_package(sdformat14 REQUIRED)
+  set(SDF_VER ${sdformat14_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Gazebo Harmonic")
+else()  
+  message(FATAL_ERROR "Unsupported GZ_VERSION: $ENV{GZ_VERSION}")
+endif()
 
 #--------------------------------------
 # Find OGRE

gz-waves/src/WavefieldSampler.cc

@@ -94,8 +94,8 @@ void WavefieldSampler::ApplyPose(const gz::math::Pose3d& pose)
         it.second != std::end(target.vertices());
     ++it.first, ++it.second)
   {
-    auto& v0 = *it.first;
-    auto& v1 = *it.second;
+    const auto& v0 = *it.first;
+    const auto& v1 = *it.second;
     const cgal::Point3& p0 = source.point(v0);
 
     // Transformation: slide the patch in the xy - plane only

gz-waves/src/gui/plugins/waves_control/CMakeLists.txt

@@ -8,7 +8,25 @@ project(WavesControl)
 
 set(CMAKE_AUTOMOC ON)
 
-find_package(gz-sim7 REQUIRED COMPONENTS gui)
+# Garden (default)
+if("$ENV{GZ_VERSION}" STREQUAL "garden" OR NOT DEFINED "ENV{GZ_VERSION}")
+
+  find_package(gz-sim7 REQUIRED COMPONENTS gui)
+  set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Gazebo Garden")
+
+# Harmonic
+elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+
+  find_package(gz-sim8 REQUIRED COMPONENTS gui)
+  set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Gazebo Harmonic")
+else()  
+  message(FATAL_ERROR "Unsupported GZ_VERSION: $ENV{GZ_VERSION}")
+endif()
+
 
 QT5_ADD_RESOURCES(resources_RCC ${PROJECT_NAME}.qrc)
 
@@ -17,5 +35,5 @@ add_library(${PROJECT_NAME} SHARED
   ${resources_RCC}
 )
 target_link_libraries(${PROJECT_NAME}
-  PRIVATE gz-sim7::gui
+  PRIVATE gz-sim${GZ_SIM_VER}::gui
 )

gz-waves/src/systems/hydrodynamics/Hydrodynamics.cc

@@ -91,8 +91,8 @@ void ApplyPose(
         it.second != std::end(_target.vertices());
     ++it.first, ++it.second)
   {
-    auto& v0 = *it.first;
-    auto& v1 = *it.second;
+    const auto& v0 = *it.first;
+    const auto& v1 = *it.second;
     const cgal::Point3& p0 = _source.point(v0);
 
     // Affine transformation
@@ -183,7 +183,7 @@ math::AxisAlignedBox CreateAxisAlignedBox(cgal::MeshPtr _mesh)
   double max_y = min_y;
   double max_z = min_z;
 
-  for (auto& vertex : _mesh->vertices())
+  for (const auto& vertex : _mesh->vertices())
   {
     auto& point = _mesh->point(vertex);
     min_x = std::min(point.x(), min_x);