cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)

#============================================================================

# Initialize the project

#============================================================================

project(gz-sim8 VERSION 8.2.0)

set (GZ_DISTRIBUTION "Harmonic")

#============================================================================

# Find gz-cmake

#============================================================================

# If you get an error at this line, you need to install gz-cmake

find_package(gz-cmake3 REQUIRED)

#============================================================================

# Configure the project

#============================================================================

set(CMAKE_CXX_STANDARD 17)

set(CMAKE_CXX_STANDARD_REQUIRED ON)

gz_configure_project(VERSION_SUFFIX)

#============================================================================

# Set project-specific options

#============================================================================

option(ENABLE_PROFILER "Enable Gazebo Profiler" FALSE)

if(ENABLE_PROFILER)

add_definitions("-DGZ_PROFILER_ENABLE=1")

else()

add_definitions("-DGZ_PROFILER_ENABLE=0")

endif()

if (UNIX AND NOT APPLE)

set (EXTRA_TEST_LIB_DEPS stdc fs)

else()

set (EXTRA_TEST_LIB_DEPS)

endif()

# We're disabling pybind11 by default on Windows because they

# don't have active CI on them for now.

set(skip_pybind11_default_value OFF)

if (MSVC)

set(skip_pybind11_default_value ON)

endif()

option(SKIP_PYBIND11

"Skip generating Python bindings via pybind11"

${skip_pybind11_default_value})

include(test/find_dri.cmake)

FindDRI()

include(CMakeDependentOption)

cmake_dependent_option(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION

"Install python modules in standard system paths in the system"

OFF "NOT SKIP_PYBIND11" OFF)

cmake_dependent_option(USE_DIST_PACKAGES_FOR_PYTHON

"Use dist-packages instead of site-package to install python modules"

OFF "NOT SKIP_PYBIND11" OFF)

#============================================================================

# Search for project-specific dependencies

#============================================================================

# Setting this policy enables using the protobuf_MODULE_COMPATIBLE

# set command in CMake versions older than 13.13

set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)

# This option is needed to use the PROTOBUF_GENERATE_CPP

# in case protobuf is found with the CMake config files

# It needs to be set before any find_package(...) call

# as protobuf could be find transitively by any dependency

set(protobuf_MODULE_COMPATIBLE TRUE)

gz_find_package(sdformat14 REQUIRED)

set(SDF_VER ${sdformat14_VERSION_MAJOR})

#--------------------------------------

# Find gz-plugin

gz_find_package(gz-plugin2 REQUIRED COMPONENTS loader register)

set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})

#--------------------------------------

# Find gz-transport

gz_find_package(gz-transport13 REQUIRED COMPONENTS log parameters)

set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})

#--------------------------------------

# Find gz-msgs

gz_find_package(gz-msgs10 REQUIRED)

set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})

#--------------------------------------

# Find gz-common

# Always use the profiler component to get the headers, regardless of status.

gz_find_package(gz-common5

COMPONENTS

av

events

graphics

io

profiler

REQUIRED

)

set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})

#--------------------------------------

# Find gz-fuel_tools

gz_find_package(gz-fuel_tools9 REQUIRED)

set(GZ_FUEL_TOOLS_VER ${gz-fuel_tools9_VERSION_MAJOR})

#--------------------------------------

# Find gz-gui

gz_find_package(gz-gui8 REQUIRED)

set(GZ_GUI_VER ${gz-gui8_VERSION_MAJOR})

gz_find_package (Qt5

COMPONENTS

Core

Quick

QuickControls2

REQUIRED

PKGCONFIG "Qt5Core Qt5Quick Qt5QuickControls2")

#--------------------------------------

# Find gz-physics

gz_find_package(gz-physics7

COMPONENTS

heightmap

mesh

sdf

REQUIRED

)

set(GZ_PHYSICS_VER ${gz-physics7_VERSION_MAJOR})

#--------------------------------------

# Find gz-sensors

gz_find_package(gz-sensors8 REQUIRED

# component order is important

COMPONENTS

# non-rendering

air_pressure

air_speed

altimeter

imu

force_torque

logical_camera

magnetometer

navsat

# rendering

dvl

rendering

lidar

gpu_lidar

# cameras

camera

boundingbox_camera

segmentation_camera

depth_camera

rgbd_camera

thermal_camera

wide_angle_camera

)

set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR})

#--------------------------------------

# Find gz-rendering

gz_find_package(gz-rendering8 REQUIRED)

set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR})

#--------------------------------------

# Find gz-math

gz_find_package(gz-math7 REQUIRED COMPONENTS eigen3)

set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR})

#--------------------------------------

# Find if gz command is available

find_program(GZ_TOOLS_PROGRAM gz)

if (GZ_TOOLS_PROGRAM)

message (STATUS "Searching for gz program - found. CLI tests can be built.")

else()

message (STATUS "Searching for gz program - not found. CLI tests are skipped.")

endif()

# Note that CLI files are installed regardless of whether the dependency is

# available during build time

set(GZ_TOOLS_VER 2)

#--------------------------------------

# Find gz-utils

gz_find_package(gz-utils2 REQUIRED COMPONENTS cli)

set(GZ_UTILS_VER ${gz-utils2_VERSION_MAJOR})

#--------------------------------------

# Find protobuf

gz_find_package(GzProtobuf

REQUIRED

COMPONENTS all

PRETTY Protobuf)

set(Protobuf_IMPORT_DIRS ${gz-msgs10_INCLUDE_DIRS})

#--------------------------------------

# Find python

if (SKIP_PYBIND11)

message(STATUS "SKIP_PYBIND11 set - disabling python bindings")

else()

find_package(Python3 QUIET COMPONENTS Interpreter Development)

if (NOT Python3_FOUND)

GZ_BUILD_WARNING("Python is missing: Python interfaces are disabled.")

message (STATUS "Searching for Python - not found.")

else()

message (STATUS "Searching for Python - found version ${PYTHONLIBS_VERSION_STRING}.")

set(PYBIND11_PYTHON_VERSION 3)

find_package(pybind11 2.9 CONFIG QUIET)

if (pybind11_FOUND)

message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")

else()

GZ_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")

message (STATUS "Searching for pybind11 - not found.")

endif()

endif()

endif()

# Plugin install dirs

set(GZ_SIM_PLUGIN_INSTALL_DIR

${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins

)

set(GZ_SIM_GUI_PLUGIN_INSTALL_DIR

${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui

)

#============================================================================

# Configure the build

#============================================================================

gz_configure_build(QUIT_IF_BUILD_ERRORS)

add_subdirectory(examples)

#============================================================================

# Create package information

#============================================================================

gz_create_packages()

if (pybind11_FOUND AND NOT SKIP_PYBIND11)

add_subdirectory(python)

endif()

#============================================================================

# Configure documentation

#============================================================================

configure_file(${CMAKE_SOURCE_DIR}/api.md.in ${CMAKE_BINARY_DIR}/api.md)

configure_file(${CMAKE_SOURCE_DIR}/tutorials.md.in ${CMAKE_BINARY_DIR}/tutorials.md)

configure_file(${CMAKE_SOURCE_DIR}/tools/desktop/gz-sim.desktop.in ${CMAKE_BINARY_DIR}/gz-sim${PROJECT_VERSION_MAJOR}.desktop)

configure_file(${CMAKE_SOURCE_DIR}/tools/desktop/gz-logo.svg.in ${CMAKE_BINARY_DIR}/gz-logo${PROJECT_VERSION_MAJOR}.svg)

# disable doxygen on macOS due to issues with doxygen 1.9.0

# there is an unreleased fix; revert this when 1.9.1 is released

# https://github.com/gazebosim/gz-sim/issues/520

if (NOT APPLE)

gz_create_docs(

API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"

TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"

ADDITIONAL_INPUT_DIRS "${CMAKE_SOURCE_DIR}/src/systems ${CMAKE_SOURCE_DIR}/src/gui/plugins"

IMAGE_PATH_DIRS "${CMAKE_SOURCE_DIR}/tutorials/files"

TAGFILES

"${GZ-MATH_DOXYGEN_TAGFILE} = ${GZ-MATH_API_URL}"

"${GZ-MSGS_DOXYGEN_TAGFILE} = ${GZ-MSGS_API_URL}"

"${GZ-PHYSICS_DOXYGEN_TAGFILE} = ${GZ-PHYSICS_API_URL}"

"${GZ-PLUGIN_DOXYGEN_TAGFILE} = ${GZ-PLUGIN_API_URL}"

"${GZ-TRANSPORT_DOXYGEN_TAGFILE} = ${GZ-TRANSPORT_API_URL}"

"${GZ-SENSORS_DOXYGEN_TAGFILE} = ${GZ-SENSORS_API_URL}"

"${GZ-COMMON_DOXYGEN_TAGFILE} = ${GZ-COMMON_API_URL}"

"${GZ-GUI_DOXYGEN_TAGFILE} = ${GZ-GUI_API_URL}"

)

endif()

if(TARGET doc)

file(COPY ${CMAKE_SOURCE_DIR}/tutorials/files/ DESTINATION ${CMAKE_BINARY_DIR}/doxygen/html/files/)

endif()