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vcpkg/ports/gazebo/0001-Fix-deps.patch
MonicaLiu faa3c0a405
[gazebo] Fix dependencies and update (#42807) 
Co-authored-by: Monica <v-liumonica@microsoft.com>
2024-12-20 14:30:40 -06:00

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diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
index 732cbb4..d9d4c0c 100644
--- a/cmake/SearchForStuff.cmake
+++ b/cmake/SearchForStuff.cmake
@@ -3,11 +3,9 @@ include (CheckCXXSourceCompiles)
include (${gazebo_cmake_dir}/FindOS.cmake)
find_package(PkgConfig)
-include (${gazebo_cmake_dir}/FindFreeimage.cmake)
-
-execute_process(COMMAND ${PKG_CONFIG_EXECUTABLE} --modversion protobuf
- OUTPUT_VARIABLE PROTOBUF_VERSION
- RESULT_VARIABLE protobuf_modversion_failed)
+find_package(freeimage CONFIG REQUIRED)
+set(freeimage_LIBRARIES freeimage::FreeImage)
+get_target_property(freeimage_INCLUDE_DIRS freeimage::FreeImage INTERFACE_INCLUDE_DIRECTORIES)
########################################
# 1. can not use GAZEBO_BUILD_TYPE_PROFILE is defined after include this module
@@ -25,6 +23,8 @@ if (CMAKE_BUILD_TYPE)
endif()
########################################
+find_package(Protobuf CONFIG REQUIRED)
+
if (PROTOBUF_VERSION LESS 2.3.0)
BUILD_ERROR("Incorrect version: Gazebo requires protobuf version 2.3.0 or greater")
endif()
@@ -35,6 +35,7 @@ endif()
# Protobuf >= 22 requires to link abseil, so we are constrained to use
# find_package(Protobuf) and link to protobuf::libprotobuf,
# see https://github.com/conda-forge/conda-forge-pinning-feedstock/issues/4075#issuecomment-1569242816
+
if (DEFINED PROTOBUF_VERSION AND PROTOBUF_VERSION GREATER_EQUAL 22.0)
set(GZ_PROTOBUF_USE_CMAKE_CONFIG_DEFAULT ON)
else()
@@ -62,7 +63,6 @@ if(NOT GZ_PROTOBUF_USE_CMAKE_CONFIG)
set (GZ_PROTOBUF_PROTOC_LIBRARY ${PROTOBUF_PROTOC_LIBRARY})
endif()
else()
- find_package(Protobuf CONFIG REQUIRED)
set (GZ_PROTOBUF_LIBRARY protobuf::libprotobuf)
set (GZ_PROTOBUF_PROTOC_LIBRARY protobuf::libprotoc)
if(NOT DEFINED PROTOBUF_PROTOC_EXECUTABLE)
@@ -203,7 +203,7 @@ if (PKG_CONFIG_FOUND)
# (needed, at least, for MacOS)
# Use system installation on UNIX and Apple, and internal copy on Windows
- if (UNIX OR APPLE)
+ if (true)
set (USE_EXTERNAL_TINYXML_DEFAULT_VALUE ON)
elseif(WIN32)
set (USE_EXTERNAL_TINYXML_DEFAULT_VALUE OFF)
@@ -252,7 +252,7 @@ if (PKG_CONFIG_FOUND)
# (needed, at least, for MacOS)
# Use system installation on UNIX and Apple, and internal copy on Windows
- if (UNIX OR APPLE)
+ if (true)
set (USE_EXTERNAL_TINYXML2_DEFAULT_VALUE ON)
elseif(WIN32)
set (USE_EXTERNAL_TINYXML2_DEFAULT_VALUE OFF)
@@ -331,8 +331,7 @@ if (PKG_CONFIG_FOUND)
#################################################
# Find TBB
- pkg_check_modules(TBB tbb)
- set (TBB_PKG_CONFIG "tbb")
+ find_package(TBB CONFIG REQUIRED)
if (NOT TBB_FOUND)
message(STATUS "TBB not found, attempting to detect manually")
set (TBB_PKG_CONFIG "")
@@ -365,23 +364,20 @@ if (PKG_CONFIG_FOUND)
#################################################
# Find OGRE
- pkg_check_modules(OGRE-RTShaderSystem
- OGRE-RTShaderSystem>=${MIN_OGRE_VERSION})
+ find_package(OGRE CONFIG REQUIRED)
- if (OGRE-RTShaderSystem_FOUND)
- set(ogre_ldflags ${OGRE-RTShaderSystem_LDFLAGS})
- set(ogre_include_dirs ${OGRE-RTShaderSystem_INCLUDE_DIRS})
- set(ogre_libraries ${OGRE-RTShaderSystem_LIBRARIES})
- set(ogre_library_dirs ${OGRE-RTShaderSystem_LIBRARY_DIRS})
- set(ogre_cflags ${OGRE-RTShaderSystem_CFLAGS})
+ if (OGRE_RTShaderSystem_FOUND)
+ set(ogre_ldflags ${OGRE_RTShaderSystem_LDFLAGS})
+ set(ogre_include_dirs ${OGRE_RTShaderSystem_INCLUDE_DIRS})
+ set(ogre_libraries ${OGRE_RTShaderSystem_LIBRARIES})
+ set(ogre_library_dirs ${OGRE_RTShaderSystem_LIBRARY_DIRS})
+ set(ogre_cflags ${OGRE_RTShaderSystem_CFLAGS})
set (INCLUDE_RTSHADER ON CACHE BOOL "Enable GPU shaders")
else ()
set (INCLUDE_RTSHADER OFF CACHE BOOL "Enable GPU shaders")
endif ()
- pkg_check_modules(OGRE OGRE>=${MIN_OGRE_VERSION})
-
if (PKG_CONFIG_EXECUTABLE AND OGRE_FOUND AND NOT DEFINED OGRE_VERSION)
execute_process(COMMAND ${PKG_CONFIG_EXECUTABLE} --modversion OGRE
OUTPUT_VARIABLE OGRE_VERSION)
@@ -451,25 +447,22 @@ if (PKG_CONFIG_FOUND)
set(ogre_cflags ${ogre_cflags} ${OGRE_CFLAGS})
endif ()
- pkg_check_modules(OGRE-Terrain OGRE-Terrain)
- if (OGRE-Terrain_FOUND)
- set(ogre_ldflags ${ogre_ldflags} ${OGRE-Terrain_LDFLAGS})
- set(ogre_include_dirs ${ogre_include_dirs} ${OGRE-Terrain_INCLUDE_DIRS})
- set(ogre_libraries ${ogre_libraries};${OGRE-Terrain_LIBRARIES})
- set(ogre_library_dirs ${ogre_library_dirs} ${OGRE-Terrain_LIBRARY_DIRS})
- set(ogre_cflags ${ogre_cflags} ${OGRE-Terrain_CFLAGS})
+ if (OGRE_Terrain_FOUND)
+ set(ogre_ldflags ${ogre_ldflags} ${OGRE_Terrain_LDFLAGS})
+ set(ogre_include_dirs ${ogre_include_dirs} ${OGRE_Terrain_INCLUDE_DIRS})
+ set(ogre_libraries ${ogre_libraries};${OGRE_Terrain_LIBRARIES})
+ set(ogre_library_dirs ${ogre_library_dirs} ${OGRE_Terrain_LIBRARY_DIRS})
+ set(ogre_cflags ${ogre_cflags} ${OGRE_Terrain_CFLAGS})
endif()
- pkg_check_modules(OGRE-Overlay OGRE-Overlay)
- if (OGRE-Overlay_FOUND)
- set(ogre_ldflags ${ogre_ldflags} ${OGRE-Overlay_LDFLAGS})
- set(ogre_include_dirs ${ogre_include_dirs} ${OGRE-Overlay_INCLUDE_DIRS})
- set(ogre_libraries ${ogre_libraries};${OGRE-Overlay_LIBRARIES})
- set(ogre_library_dirs ${ogre_library_dirs} ${OGRE-Overlay_LIBRARY_DIRS})
- set(ogre_cflags ${ogre_cflags} ${OGRE-Overlay_CFLAGS})
+ if (OGRE_Overlay_FOUND)
+ set(ogre_ldflags ${ogre_ldflags} ${OGRE_Overlay_LDFLAGS})
+ set(ogre_include_dirs ${ogre_include_dirs} ${OGRE_Overlay_INCLUDE_DIRS})
+ set(ogre_libraries ${ogre_libraries};${OGRE_Overlay_LIBRARIES})
+ set(ogre_library_dirs ${ogre_library_dirs} ${OGRE_Overlay_LIBRARY_DIRS})
+ set(ogre_cflags ${ogre_cflags} ${OGRE_Overlay_CFLAGS})
endif()
-
set (OGRE_INCLUDE_DIRS ${ogre_include_dirs}
CACHE INTERNAL "Ogre include path")
@@ -549,7 +542,7 @@ if (PKG_CONFIG_FOUND)
endif ()
if (libavutil_FOUND AND libavformat_FOUND AND libavcodec_FOUND AND
- libswscale_FOUND)
+ libswscale_FOUND AND FFMPEG_FEATURE)
set (HAVE_FFMPEG TRUE)
else ()
set (HAVE_FFMPEG FALSE)
@@ -574,7 +567,7 @@ if (PKG_CONFIG_FOUND)
########################################
# Find GNU Triangulation Surface Library
pkg_check_modules(gts gts)
- if (gts_FOUND)
+ if (GTS_FEATURE)
message (STATUS "Looking for GTS - found")
set (HAVE_GTS TRUE)
else ()
@@ -587,7 +580,7 @@ if (PKG_CONFIG_FOUND)
# First and preferred option is to look for bullet standard pkgconfig,
# so check it first. if it is not present, check for the OSRF
# custom bullet2.82.pc file
- pkg_check_modules(BULLET bullet>=2.82)
+ find_package(BULLET CONFIG 2.82)
if (NOT BULLET_FOUND)
pkg_check_modules(BULLET bullet2.82>=2.82)
endif()
@@ -596,6 +589,7 @@ if (PKG_CONFIG_FOUND)
endif()
if (BULLET_FOUND)
set (HAVE_BULLET TRUE)
+ set(BULLET_VERSION ${BULLET_VERSION_STRING})
if (${BULLET_VERSION} STREQUAL "")
set (BULLET_VERSION ${BULLET_VERSION_STRING})
endif()
@@ -614,7 +608,7 @@ if (PKG_CONFIG_FOUND)
########################################
# Find libusb
pkg_check_modules(libusb-1.0 libusb-1.0)
- if (NOT libusb-1.0_FOUND)
+ if (NO_LIBUSB_FEATURE)
BUILD_WARNING ("libusb-1.0 not found. USB peripherals support will be disabled.")
set (HAVE_USB OFF CACHE BOOL "HAVE USB" FORCE)
else()
@@ -690,7 +684,7 @@ endif ()
########################################
# Find gdal
include (FindGDAL)
-if (NOT GDAL_FOUND)
+if (NO_GDAL_FEATURE)
message (STATUS "Looking for libgdal - not found")
BUILD_WARNING ("GDAL not found, Digital elevation terrains support will be disabled.")
set (HAVE_GDAL OFF CACHE BOOL "HAVE GDAL" FORCE)
@@ -774,7 +768,7 @@ endif()
########################################
# Find graphviz
include (${gazebo_cmake_dir}/FindGraphviz.cmake)
-if (NOT GRAPHVIZ_FOUND)
+if (NO_GRAPHVIZ_FEATURE)
message (STATUS "Looking for libgraphviz-dev - not found")
BUILD_WARNING ("Graphviz not found, Model editor's schematic view will be disabled.")
set (HAVE_GRAPHVIZ OFF CACHE BOOL "HAVE GRAPHVIZ" FORCE)
diff --git a/cmake/gazebo-config.cmake.in b/cmake/gazebo-config.cmake.in
index ac1de2c..05cdc02 100644
--- a/cmake/gazebo-config.cmake.in
+++ b/cmake/gazebo-config.cmake.in
@@ -1,3 +1,6 @@
+include(CMakeFindDependencyMacro)
+find_dependency(freeimage CONFIG)
+
if (@PKG_NAME@_CONFIG_INCLUDED)
return()
endif()
@@ -99,12 +102,13 @@ list(APPEND @PKG_NAME@_CFLAGS -I${GAZEBO_INSTALL_INCLUDE_DIR}/gazebo-@GAZEBO_MAJ
if (GAZEBO_HAS_BULLET)
if (PKG_CONFIG_FOUND)
- pkg_check_modules(BULLET bullet>=2.82)
+ find_package(BULLET CONFIG 2.82)
if (NOT BULLET_FOUND)
pkg_check_modules(BULLET bullet2.82>=2.82)
endif()
if (BULLET_FOUND)
+ set(BULLET_VERSION ${BULLET_VERSION_STRING})
add_definitions(-DLIBBULLET_VERSION=${BULLET_VERSION})
else()
message(FATAL_ERROR "Error: Bullet > 2.82 not found, please install libbullet2.82-dev.")
diff --git a/gazebo/rendering/ogre_gazebo.h b/gazebo/rendering/ogre_gazebo.h
index a171782..c390d14 100644
--- a/gazebo/rendering/ogre_gazebo.h
+++ b/gazebo/rendering/ogre_gazebo.h
@@ -66,7 +66,7 @@
#if OGRE_VERSION_MAJOR > 1 || OGRE_VERSION_MINOR >= 7
#include <OGRE/RTShaderSystem/OgreRTShaderSystem.h>
#include <OGRE/RTShaderSystem/OgreShaderProgramSet.h>
-#include <OGRE/RTShaderSystem/OgreShaderGLSLProgramWriter.h>
+#include <OGRE/RTShaderSystem/OgreShaderProgramWriter.h>
#include <OGRE/RTShaderSystem/OgreShaderProgramWriterManager.h>
#include <OGRE/RTShaderSystem/OgreShaderFunction.h>
#include <OGRE/RTShaderSystem/OgreShaderProgram.h>
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