From f2c5b35724fada6485eae5e96ab7dc91b52dc192 Mon Sep 17 00:00:00 2001
From: Mateusz Szczygielski <112629916+msz-rai@users.noreply.github.com>
Date: Mon, 3 Apr 2023 18:07:29 +0200
Subject: [PATCH] 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                     |  1 +
 CMakeLists.txt                 |  6 ++++--
 README.md                      | 18 +++++++++++-------
 RGLServerPlugin/CMakeLists.txt | 13 ++++++++++++-
 RGLVisualize/CMakeLists.txt    | 10 ++++++++--
 5 files changed, 36 insertions(+), 12 deletions(-)

diff --git a/.gitignore b/.gitignore
index 13f6ba6..1fe9f83 100644
--- a/.gitignore
+++ b/.gitignore
@@ -33,5 +33,6 @@
 
 .idea
 build
+install
 cmake-build-debug
 RGLServerPlugin/include/rgl
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2bf5c8d..332a1c0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,7 @@
-cmake_minimum_required(VERSION 3.18)
+cmake_minimum_required(VERSION 3.16)
 project(RGLGazeboPlugin)
 
+set(CMAKE_INSTALL_PREFIX "${PROJECT_SOURCE_DIR}/install")
+
 add_subdirectory(RGLServerPlugin)
-add_subdirectory(RGLVisualize)
\ No newline at end of file
+add_subdirectory(RGLVisualize)
diff --git a/README.md b/README.md
index 57658b0..6fc2870 100644
--- a/README.md
+++ b/README.md
@@ -35,17 +35,19 @@ Key features:
     - Move libraries to the plugin's directories.
     ```shell
     # If Gazebo installed from apt:
+    cp libRobotecGPULidar.so /usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/
     cp libRGLServerPluginInstance.so /usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/
     cp libRGLServerPluginManager.so /usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/
     cp libRGLVisualize.so /usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/
     ```
     - Or set environment variables:
     ```shell
-    # Assuming that libRGLServerPluginInstance.so and libRGLServerPluginManager.so
-    # are located in RGLServerPlugins directory,
-    # and libRGLVisualize.so in RGLGuiPlugins.
-    export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=`pwd`/RGLServerPlugins:$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:$IGN_GUI_PLUGIN_PATH
     ```
 ### Building from source
 ```shell
@@ -53,8 +55,10 @@ mkdir build
 cd build
 cmake ..
 make -j
-export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=`pwd`/RGLServerPlugin:$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:
 
diff --git a/RGLServerPlugin/CMakeLists.txt b/RGLServerPlugin/CMakeLists.txt
index 73beb1c..eef7db9 100644
--- a/RGLServerPlugin/CMakeLists.txt
+++ b/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)
 
@@ -33,6 +33,7 @@ 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
@@ -40,3 +41,13 @@ target_link_libraries(RGLServerPluginInstance
     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
+)
diff --git a/RGLVisualize/CMakeLists.txt b/RGLVisualize/CMakeLists.txt
index 89a11b3..35dbaca 100644
--- a/RGLVisualize/CMakeLists.txt
+++ b/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
+)