Forward port cleanup (#14)

* updated build instructions and dependencies Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * version logic Signed-off-by: Dharini Dutia <dharini@openrobotics.org> --------- Signed-off-by: Dharini Dutia <dharini@openrobotics.org>
gazebosim · Nov 30, 2023 · b7bf3d5 · b7bf3d5
1 parent ea5ef01
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diff --git a/README.md b/README.md
@@ -13,13 +13,16 @@ A template project integrating ROS 2 and Gazebo simulator.
 
 
 ## Install
+
+For using the template with Gazebo Fortress switch to the `fortress` branch of this repository, otherwise use the default branch `main` for Gazebo Harmonic onwards.
+
 ### Requirements
 
-1. Choose a ROS and Gazebo combination  https://gazebosim.org/docs/harmonic/ros_installation
+1. Choose a ROS and Gazebo combination https://gazebosim.org/docs/latest/ros_installation
    Note: If you're using a specific and unsupported Gazebo version with ROS 2, you might need to set the `GZ_VERSION` environment variable, for example:
 
     ```bash
-    export GZ_VERSION=garden
+    export GZ_VERSION=harmonic
     ```
 
 1. Install necessary tools

diff --git a/ros_gz_example_bringup/CMakeLists.txt b/ros_gz_example_bringup/CMakeLists.txt
@@ -3,6 +3,8 @@ cmake_minimum_required(VERSION 3.5)
 project(ros_gz_example_bringup)
 
 find_package(ament_cmake REQUIRED)
+find_package(ros_gz_example_description REQUIRED)
+find_package(ros_gz_example_gazebo REQUIRED)
 
 # Install project launch files
 install(

diff --git a/ros_gz_example_bringup/package.xml b/ros_gz_example_bringup/package.xml
@@ -9,6 +9,11 @@
   <author>Michael Carroll</author>
   <author>Dharini Dutia</author>
 
+  <depend>joint_state_publisher_gui</depend>
+
+  <depend>ros_gz_example_description</depend>
+  <depend>ros_gz_example_gazebo</depend>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <test_depend>ament_lint_auto</test_depend>

diff --git a/ros_gz_example_gazebo/CMakeLists.txt b/ros_gz_example_gazebo/CMakeLists.txt
@@ -8,14 +8,25 @@ project(ros_gz_example_gazebo)
 # The 'set' directive defines a variable (e.g. 'GZ_PLUGIN_VER').
 # Such variables can be used lateron in the CMakeLists.txt file.
 find_package(ament_cmake REQUIRED)
+find_package(ros_gz_example_description REQUIRED)
 
 find_package(gz-cmake3 REQUIRED)
 find_package(gz-plugin2 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 find_package(gz-common5 REQUIRED COMPONENTS profiler)
 set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
-find_package(gz-sim7 REQUIRED)
-set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
+
+# Harmonic
+if("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+  find_package(gz-sim8 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+  message(STATUS "Compiling against Gazebo Harmonic")
+# Default to Garden
+else()
+  find_package(gz-sim7 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
+  message(STATUS "Compiling against Gazebo Garden")
+endif()
 
 
 # Following 'add_library' directive defines a library target named 'BasicSystem'.

diff --git a/ros_gz_example_gazebo/hooks/ros_gz_example_gazebo.sh.in b/ros_gz_example_gazebo/hooks/ros_gz_example_gazebo.sh.in
@@ -1,2 +1,2 @@
 ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/@PROJECT_NAME@/worlds"
-ament_prepend_unique_value GZ_SIM_PLUGIn_PATH "$AMENT_CURRENT_PREFIX/lib/@PROJECT_NAME@"
+ament_prepend_unique_value GZ_SIM_PLUGIN_PATH "$AMENT_CURRENT_PREFIX/lib/@PROJECT_NAME@"
diff --git a/ros_gz_example_gazebo/package.xml b/ros_gz_example_gazebo/package.xml
@@ -9,6 +9,8 @@
   <author>Michael Carroll</author>
   <author>Dharini Dutia</author>
 
+  <depend>ros_gz_example_description</depend>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <test_depend>ament_lint_auto</test_depend>

diff --git a/ros_gz_example_gazebo/src/BasicSystem.cc b/ros_gz_example_gazebo/src/BasicSystem.cc
@@ -46,4 +46,4 @@ void BasicSystem::PostUpdate(const gz::sim::UpdateInfo &_info,
   }
 }
 
-}  // namespace ros_gz_example_gazeba
+}  // namespace ros_gz_example_gazebo
diff --git a/ros_gz_example_gazebo/src/FullSystem.cc b/ros_gz_example_gazebo/src/FullSystem.cc
@@ -82,4 +82,4 @@ void FullSystem::Reset(const gz::sim::UpdateInfo &_info,
 {
   gzdbg << "ros_gz_example_gazebo::FullSystem::Reset" << std::endl;
 }
-}  // namespace ros_gz_example_gazeba
+}  // namespace ros_gz_example_gazebo
diff --git a/template_workspace.yaml b/template_workspace.yaml
@@ -4,7 +4,7 @@ repositories:
     type: git
     url: https://github.com/gazebosim/ros_gz_project_template.git
     version: main
-  # Must compile ros_gz from source because Humble + Garden is not an official combination
+  # Must compile ros_gz from source for combinations that are not officially supported
   ros_gz:
     type: git
     url: https://github.com/gazebosim/ros_gz.git
-Original file line number
+Diff line change
@@ Expand Up @@
       }
     }
-    }  // namespace ros_gz_example_gazeba
+    }  // namespace ros_gz_example_gazebo