Add harmonic CI (#447)

* Add harmonic CI Signed-off-by: Michael Carroll <[email protected]> * Include garden options Signed-off-by: Michael Carroll <[email protected]> * Add harmonic stanza Signed-off-by: Michael Carroll <[email protected]> * Additional message headers Signed-off-by: Michael Carroll <[email protected]> --------- Signed-off-by: Michael Carroll <[email protected]>
gazebosim · Aug 29, 2023 · e8e3544 · e8e3544
1 parent 0882b17
commit e8e3544
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diff --git a/.github/workflows/build-and-test.sh b/.github/workflows/build-and-test.sh
@@ -18,6 +18,14 @@ if [ "$GZ_VERSION" == "garden" ]; then
 
   GZ_DEPS="libgz-sim7-dev"
 
+  ROSDEP_ARGS="--skip-keys='sdformat-urdf'"
+elif [ "$GZ_VERSION" == "harmonic" ]; then
+  echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
+  echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list
+  wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
+
+  GZ_DEPS="libgz-sim8-dev"
+
   ROSDEP_ARGS="--skip-keys='sdformat-urdf'"
 fi
 

diff --git a/.github/workflows/ros2-ci.yml b/.github/workflows/ros2-ci.yml
@@ -16,6 +16,9 @@ jobs:
           - docker-image: "ubuntu:22.04"
             gz-version: "garden"
             ros-distro: "rolling"
+          - docker-image: "ubuntu:22.04"
+            gz-version: "harmonic"
+            ros-distro: "rolling"
     container:
       image: ${{ matrix.docker-image }}
     steps:

diff --git a/ros_gz_bridge/CMakeLists.txt b/ros_gz_bridge/CMakeLists.txt
@@ -29,6 +29,15 @@ if("$ENV{GZ_VERSION}" STREQUAL "garden")
   set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})
 
   message(STATUS "Compiling against Gazebo Garden")
+elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+  find_package(gz-transport13 REQUIRED)
+  find_package(gz-msgs10 REQUIRED)
+
+  set(GZ_TARGET_PREFIX gz)
+  set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
+  set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Gazebo Harmonic")
 else()
   message(FATAL_ERROR "This branch is only compatible with Gazebo Garden forward.")
 endif()

diff --git a/ros_gz_bridge/package.xml b/ros_gz_bridge/package.xml
@@ -33,6 +33,9 @@
   <!-- Garden (default) -->
   <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-msgs9</depend>
   <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-transport12</depend>
+  <!-- Harmonic -->
+  <depend condition="$GZ_VERSION == harmonic">gz-msgs10</depend>
+  <depend condition="$GZ_VERSION == harmonic">gz-transport13</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/ros_gz_image/CMakeLists.txt b/ros_gz_image/CMakeLists.txt
@@ -29,6 +29,15 @@ if("$ENV{GZ_VERSION}" STREQUAL "garden")
   set(GZ_MSGS_VER ${gz-msgs9_VERSION_MAJOR})
   set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})
 
+  message(STATUS "Compiling against Gazebo Garden")
+elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+  find_package(gz-transport13 REQUIRED)
+  find_package(gz-msgs10 REQUIRED)
+
+  set(GZ_TARGET_PREFIX gz)
+  set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
+  set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
+
   message(STATUS "Compiling against Gazebo Garden")
 else()
   message(FATAL_ERROR "This branch is only compatible with Gazebo Garden forward.")

diff --git a/ros_gz_image/package.xml b/ros_gz_image/package.xml
@@ -20,6 +20,10 @@
   <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-msgs9</depend>
   <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-transport12</depend>
 
+  <!-- Harmonic -->
+  <depend condition="$GZ_VERSION == harmonic">gz-msgs10</depend>
+  <depend condition="$GZ_VERSION == harmonic">gz-transport13</depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <export>

diff --git a/ros_gz_sim/CMakeLists.txt b/ros_gz_sim/CMakeLists.txt
@@ -34,6 +34,22 @@ if("$ENV{GZ_VERSION}" STREQUAL "garden")
   set(GZ_TARGET_PREFIX gz)
 
   message(STATUS "Compiling against Gazebo Garden")
+elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+  find_package(gz-math7 REQUIRED)
+  set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR})
+
+  find_package(gz-transport13 REQUIRED)
+  set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
+
+  find_package(gz-msgs10 REQUIRED)
+  set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
+
+  find_package(gz-sim8 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+
+  set(GZ_TARGET_PREFIX gz)
+
+  message(STATUS "Compiling against Gazebo Harmonic")
 else()
   message(FATAL_ERROR "This branch is only compatible with Gazebo Garden forward.")
 endif()

diff --git a/ros_gz_sim/package.xml b/ros_gz_sim/package.xml
@@ -20,8 +20,16 @@
   <depend>std_msgs</depend>
 
   <!-- Garden -->
-  <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-sim7</depend>
   <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-math7</depend>
+  <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-msgs9</depend>
+  <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-sim7</depend>
+  <depend condition="$GZ_VERSION == '' or $GZ_VERSION == garden">gz-transport12</depend>
+
+  <!-- Harmonic -->
+  <depend condition="$GZ_VERSION == harmonic">gz-math7</depend>
+  <depend condition="$GZ_VERSION == harmonic">gz-msgs10</depend>
+  <depend condition="$GZ_VERSION == harmonic">gz-sim8</depend>
+  <depend condition="$GZ_VERSION == harmonic">gz-transport13</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

diff --git a/ros_gz_sim/src/create.cpp b/ros_gz_sim/src/create.cpp
@@ -13,7 +13,11 @@
 // limitations under the License.
 
 #include <gflags/gflags.h>
+
+#include <gz/msgs/boolean.pb.h>
+#include <gz/msgs/entity.pb.h>
 #include <gz/msgs/entity_factory.pb.h>
+#include <gz/msgs/stringmsg_v.pb.h>
 
 #include <sstream>
 #include <string>