Fix RobotecGPULidar library linking (#11)

* Create install step for cmake

* Update README

* Downgrade cmake version to Ubuntu20 default (3.16)

* Simplify rpath setting mechanism

.gitignore

@@ -33,5 +33,6 @@
 
 .idea
 build
+install
 cmake-build-debug
 RGLServerPlugin/include/rgl

CMakeLists.txt

@@ -1,5 +1,7 @@
-cmake_minimum_required(VERSION 3.18)
+cmake_minimum_required(VERSION 3.16)
 project(RGLGazeboPlugin)
 
+set(CMAKE_INSTALL_PREFIX "${PROJECT_SOURCE_DIR}/install")
+
 add_subdirectory(RGLServerPlugin)
-add_subdirectory(RGLVisualize)
+add_subdirectory(RGLVisualize)

README.md

@@ -35,26 +35,30 @@ Key features:
     - Move libraries to the plugin's directories.
     ```shell
     # If Gazebo installed from apt:
+    cp libRobotecGPULidar.so /usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/
     cp libRGLServerPluginInstance.so /usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/
     cp libRGLServerPluginManager.so /usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/
     cp libRGLVisualize.so /usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/
     ```
     - Or set environment variables:
     ```shell
-    # Assuming that libRGLServerPluginInstance.so and libRGLServerPluginManager.so
-    # are located in RGLServerPlugins directory,
-    # and libRGLVisualize.so in RGLGuiPlugins.
-    export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=`pwd`/RGLServerPlugins:$IGN_GAZEBO_SYSTEM_PLUGIN_PATH
-    export IGN_GUI_PLUGIN_PATH=`pwd`/RGLGuiPlugins:$IGN_GUI_PLUGIN_PATH
+    # Assuming that libraries:
+    # libRGLServerPluginInstance.so, libRGLServerPluginManager.so and libRobotecGPULidar.so
+    # are located in RGLServerPlugin directory,
+    # and libRGLVisualize.so in RGLGuiPlugin.
+    export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=`pwd`/RGLServerPlugin:$IGN_GAZEBO_SYSTEM_PLUGIN_PATH
+    export IGN_GUI_PLUGIN_PATH=`pwd`/RGLGuiPlugin:$IGN_GUI_PLUGIN_PATH
     ```
 ### Building from source
 ```shell
 mkdir build
 cd build
 cmake ..
 make -j
-export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=`pwd`/RGLServerPlugin:$IGN_GAZEBO_SYSTEM_PLUGIN_PATH
-export IGN_GUI_PLUGIN_PATH=`pwd`/RGLVisualize:$IGN_GUI_PLUGIN_PATH
+make install
+cd ..
+export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=`pwd`/install/RGLServerPlugin:$IGN_GAZEBO_SYSTEM_PLUGIN_PATH
+export IGN_GUI_PLUGIN_PATH=`pwd`/install/RGLVisualize:$IGN_GUI_PLUGIN_PATH
 ```
 ## Demo:
 

RGLServerPlugin/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.18)
+cmake_minimum_required(VERSION 3.16)
 project(RGLServerPlugin)
 set(CMAKE_CXX_STANDARD 20)
 
@@ -33,10 +33,21 @@ target_link_libraries(RGLServerPluginManager
     ignition-plugin1::ignition-plugin1
     ${RobotecGPULidar}
 )
+set_target_properties(RGLServerPluginManager PROPERTIES INSTALL_RPATH "$ORIGIN")
 
 add_library(RGLServerPluginInstance SHARED src/RGLServerPluginInstance.cc src/Lidar.cc src/Utils.cc src/LidarPatternLoader.cc)
 target_link_libraries(RGLServerPluginInstance
     ignition-gazebo6::ignition-gazebo6
     ignition-plugin1::ignition-plugin1
     ${RobotecGPULidar}
 )
+set_target_properties(RGLServerPluginInstance PROPERTIES INSTALL_RPATH "$ORIGIN")
+
+## Install libraries
+
+install(TARGETS RGLServerPluginInstance RGLServerPluginManager
+    DESTINATION RGLServerPlugin
+)
+install(FILES ${RobotecGPULidar}
+    DESTINATION RGLServerPlugin
+)

RGLVisualize/CMakeLists.txt

@@ -19,11 +19,17 @@ QT5_ADD_RESOURCES(resources_RCC RGLVisualize.qrc)
 add_library(RGLVisualize SHARED
     RGLVisualize.cc
     ${resources_RCC}
-    )
+)
 
 target_link_libraries(RGLVisualize
     PRIVATE
     ignition-gui6::ignition-gui6
     ignition-rendering6::ignition-rendering6
     ignition-msgs8::ignition-msgs8
-    )
+)
+
+## Install libraries
+
+install(TARGETS RGLVisualize
+    DESTINATION RGLVisualize
+)