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Adding ign_gazebo_dev package #240

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Adding ign_gazebo_dev package #240

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17fc20c
Adding ign_gazebo _dev
harshmahesheka Apr 12, 2022
dbad430
Adding ros_environment dep and default ign version
harshmahesheka May 27, 2022
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6 changes: 6 additions & 0 deletions ros_ign_dev/ign_gazebo_dev/CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
find_package(ament_cmake REQUIRED)
project(ign_gazebo_dev)

ament_package(
CONFIG_EXTRAS cmake/ignition_gazebo_dev-extras.cmake)
24 changes: 24 additions & 0 deletions ros_ign_dev/ign_gazebo_dev/cmake/ignition_gazebo_dev-extras.cmake
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# This code here calls and sets required igniton gazebo based on ROS Distribution so,packages can directly go find_package(ign_gazebo_dev) so,that
# they don't need to change code with different ros distros
set( ENV{OVERRIDE_ROS_GZ_VERSION} 6 )

if(DEFINED ENV{ROS_DISTRO})
message(STATUS "Detected ROS Distro is $ENV{ROS_DISTRO}")
endif()

if("$ENV{ROS_DISTRO}" MATCHES "foxy")
find_package(ignition-gazebo3 REQUIRED)
set(IGN_GAZEBO_VER ${ignition-gazebo3_VERSION_MAJOR})
elseif("$ENV{ROS_DISTRO}" MATCHES "galactic")
find_package(ignition-gazebo5 REQUIRED)
set(IGN_GAZEBO_VER ${ignition-gazebo5_VERSION_MAJOR})
elseif("$ENV{ROS_DISTRO}" MATCHES "humble")
find_package(ignition-gazebo6 REQUIRED)
set(IGN_GAZEBO_VER ${ignition-gazebo6_VERSION_MAJOR})
else()
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It is probably worth allowing an override / fallback for unofficial ROS distributions.

Using a CMake variable like OVERRIDE_ROS_GZ_VERSION or similar for override or checking ROS_GZ_VERSION environment variable to fall back to if no known ROS_DISTRO is found.

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I have added ign fortress as an override version in ignition_gazebo_dev-extras.cmake and package.xml.

message(STATUS "No ROS Distro detected")
message(STATUS "Setting to default gazebo version")
find_package(ignition-gazebo$ENV{OVERRIDE_ROS_GZ_VERSION} REQUIRED)
set(IGN_GAZEBO_VER ${ignition-gazebo$ENV{OVERRIDE_ROS_GZ_VERSION}_VERSION_MAJOR})

endif()
32 changes: 32 additions & 0 deletions ros_ign_dev/ign_gazebo_dev/package.xml
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<?xml version="1.0"?>
<package format="3">
<name>ign_gazebo_dev</name>
<version>1.0.0</version>
<description>Package to pull default ignition gazebo version for each ROS distro</description>

<maintainer email="[email protected]">Harsh Mahesheka</maintainer>

<license>Apache License 2.0</license>

<author>Harsh Mahesheka</author>

<build_depend>ros_environment</build_depend>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend condition="$ROS_DISTRO == foxy">ignition-gazebo3</depend>
<depend condition="$ROS_DISTRO == galactic">ignition-gazebo5</depend>
<depend condition="$ROS_DISTRO == humble">ignition-gazebo6</depend>

<!-- If no known ROS DISTRO is found,it will fall back to default a version -->

<depend condition="$ROS_DISTRO !=humble and $ROS_DISTRO !=galactic and $ROS_DISTRO!=foxy" >ignition-gazebo6</depend>





<!-- The above line makes the package depend on igniton version based on ROS Distribution So, packages can directly depend on it
so that they don't have to change code with different ros distros -->
<export>
<build_type>ament_cmake</build_type>
</export>
</package>