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Support Harmonic #185

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merged 3 commits into from
Oct 10, 2023
Merged

Support Harmonic #185

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8eb5d8b
Support Harmonic
ahcorde Oct 4, 2023
e579c09
update packages.xml and README
ahcorde Oct 9, 2023
749169b
Added Iron combinations to the table
ahcorde Oct 9, 2023
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6 changes: 6 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -16,9 +16,14 @@ Foxy | Edifice | [foxy](https://github.com/ros-controls/gz_ros2_control/tree/fox
Galactic | Edifice | [galactic](https://github.com/ros-controls/gz_ros2_control/tree/galactic) | https://packages.ros.org
Galactic | Fortress | [galactic](https://github.com/ros-controls/gz_ros2_control/tree/galactic) | only from source
Humble | Fortress | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
Iron | Edifice | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
Iron | Fortress | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
Iron | Garden (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
Iron | Harmonic (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
Rolling | Edifice | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
Rolling | Fortress | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
Rolling | Garden (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
Rolling | Harmonic (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source

## Build status

Expand All @@ -37,6 +42,7 @@ If you want compile this from source, you should choose the Gazebo version. The
```bash
export GZ_VERSION=fortress
export GZ_VERSION=garden
export GZ_VERSION=harmonic
```

Then create a workspace, clone the repo and compile it:
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9 changes: 9 additions & 0 deletions gz_ros2_control/CMakeLists.txt
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Expand Up @@ -36,6 +36,15 @@ if("$ENV{GZ_VERSION}" STREQUAL "garden")
set(GZ_PLUGIN gz-plugin${GZ_PLUGIN_VER}::register)
set(GZ_SIM gz-sim${GZ_SIM_VER}::core)
add_definitions(-DGZ_HEADERS)
elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
find_package(gz-sim8 REQUIRED)
set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
message(STATUS "Compiling against Gazebo Harmonic")
find_package(gz-plugin2 REQUIRED)
set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
set(GZ_PLUGIN gz-plugin${GZ_PLUGIN_VER}::register)
set(GZ_SIM gz-sim${GZ_SIM_VER}::core)
add_definitions(-DGZ_HEADERS)
else()
find_package(ignition-gazebo6 REQUIRED)
set(GZ_SIM_VER ${ignition-gazebo6_VERSION_MAJOR})
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2 changes: 2 additions & 0 deletions gz_ros2_control/package.xml
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Expand Up @@ -15,10 +15,12 @@
<depend condition="$GZ_VERSION == ''">ignition-gazebo6</depend>
<depend condition="$GZ_VERSION == fortress">ignition-gazebo6</depend>
<depend condition="$GZ_VERSION == garden">gz-sim7</depend>
<depend condition="$GZ_VERSION == harmonic">gz-sim8</depend>

<depend condition="$GZ_VERSION == ''">ignition-plugin</depend>
<depend condition="$GZ_VERSION == fortress">ignition-plugin</depend>
<depend condition="$GZ_VERSION == garden">gz-plugin2</depend>
<depend condition="$GZ_VERSION == harmonic">gz-plugin2</depend>
<depend>pluginlib</depend>
<depend>rclcpp</depend>
<depend>yaml_cpp_vendor</depend>
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1 change: 1 addition & 0 deletions gz_ros2_control_demos/package.xml
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Expand Up @@ -37,6 +37,7 @@
<exec_depend>rclcpp</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend condition="$GZ_VERSION == ''">ros_gz_sim</exec_depend>
<exec_depend condition="$GZ_VERSION == 'harmonic'">ros_gz_sim</exec_depend>
<exec_depend condition="$GZ_VERSION == 'garden'">ros_gz_sim</exec_depend>
<exec_depend condition="$GZ_VERSION == 'fortress'">ros_ign_gazebo</exec_depend>
<exec_depend>ros2controlcli</exec_depend>
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1 change: 1 addition & 0 deletions gz_ros2_control_tests/package.xml
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Expand Up @@ -29,6 +29,7 @@
<exec_depend>rclcpp</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend condition="$GZ_VERSION == ''">ros_gz_sim</exec_depend>
<exec_depend condition="$GZ_VERSION == 'harmonic'">ros_gz_sim</exec_depend>
<exec_depend condition="$GZ_VERSION == 'garden'">ros_gz_sim</exec_depend>
<exec_depend condition="$GZ_VERSION == 'fortress'">ros_ign_gazebo</exec_depend>
<exec_depend>ros2controlcli</exec_depend>
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