bzlmod support

src/Actor_TEST.cc

@@ -20,8 +20,6 @@
 #include "sdf/Actor.hh"
 #include "sdf/Plugin.hh"
 
-#include <filesystem>
-
 /////////////////////////////////////////////////
 sdf::Animation CreateDummyAnimation()
 {
@@ -511,9 +509,6 @@ TEST(DOMActor, ToElement)
 {
   sdf::Actor actor;
 
-  // Output the current working directory
-  std::cout << std::filesystem::current_path() << std::endl;
-
   actor.SetName("my-actor");
   actor.SetRawPose(gz::math::Pose3d(1, 2, 3, 0.1, 0.2, 0.3));
   actor.SetSkinFilename("my-skinfilename");

src/SDF.cc

@@ -538,13 +538,9 @@ const std::string &SDF::EmbeddedSpec(
 const std::string &SDF::EmbeddedSpec(
     sdf::Errors &_errors, const std::string &_filename)
 {
-
   try
   {
     const std::string pathname = SDF::Version() + "/" + _filename;
-
-    std::cout << "Reading: " << pathname << std::endl;
-
     return GetEmbeddedSdf().at(pathname);
   }
   catch(const std::out_of_range &)

src/SDF_TEST.cc

@@ -20,15 +20,17 @@
 #include <any>
 #include <filesystem>
 
-#include <gz/math.hh>
+#include <gz/math/Color.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/math/Vector2.hh>
+#include <gz/math/Vector3.hh>
 #include <gz/utils/Environment.hh>
 #include <gz/utils/SuppressWarning.hh>
 
+#include "sdf/parser.hh"
 #include "test_config.hh"
 #include "test_utils.hh"
 
-#include "sdf/sdf.hh"
-
 class SDFUpdateFixture
 {
   public:  std::string GetName() const {return this->name;}

src/Sensor_TEST.cc

@@ -16,9 +16,15 @@
 */
 
 #include <gtest/gtest.h>
-#include "sdf/Noise.hh"
+#include "sdf/AirPressure.hh"
+#include "sdf/Altimeter.hh"
+#include "sdf/Camera.hh"
+#include "sdf/ForceTorque.hh"
+#include "sdf/Imu.hh"
+#include "sdf/Lidar.hh"
 #include "sdf/Magnetometer.hh"
-#include "sdf/sdf.hh"
+#include "sdf/NavSat.hh"
+#include "sdf/Noise.hh"
 #include "sdf/Sensor.hh"
 
 /////////////////////////////////////////////////

src/bazel/InstallationDirectories.cc

@@ -1,4 +1,19 @@
-// Generate an installation directories file for bazel specifically
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
 
 #include <sdf/InstallationDirectories.hh>
 
@@ -7,9 +22,11 @@ namespace sdf
 
 inline namespace SDF_VERSION_NAMESPACE {
 
+// Generate an install prefix specifically for bazel build.
 std::string getInstallPrefix()
 {
   return ".";
 }
 }  // namespace SDF_VERSION_NAMESPACE
-}  // namespace sdf
+}  // namespace sdf
+

src/parser_urdf_TEST.cc

@@ -19,7 +19,6 @@
 
 #include <list>
 
-#include "sdf/sdf.hh"
 #include "parser_urdf.hh"
 #include "test_utils.hh"
 

test/BUILD.bazel

@@ -25,3 +25,8 @@ cc_library(
     includes = ["."],
     visibility = ["//:__subpackages__"],
 )
+
+exports_files([
+    "sdf",
+    "integration/model",
+])

test/test_config.hh.in

@@ -48,13 +48,10 @@ namespace sdf
     /// \return True if directory is set correctly, false otherwise
     bool ProjectSourcePath(std::string &_sourceDir)
     {
-      std::string bazel_path;
       // Bazel builds set TEST_SRCDIR
-      if(gz::utils::env("TEST_SRCDIR", _sourceDir) &&
-         gz::utils::env("GZ_BAZEL_PATH", bazel_path))
+      if(gz::utils::env("TEST_SRCDIR", _sourceDir))
       {
-        _sourceDir = sdf::filesystem::append(
-            _sourceDir, "gz", bazel_path);
+        _sourceDir = sdf::filesystem::append(_sourceDir, "_main");
         return true;
       }
       else