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Add install step (#44)
* add install plugins to CMakeLists files * add install step to CI * change the name of libHandler.so to gz-sim-yarp-handler * enable rpath * include GNUInstallDirs module * delete DESTINATION parameters * Update README.md * Update README of tutorials * Update README.md * Update README.md Co-authored-by: Silvio Traversaro <silvio@traversaro.it> --------- Co-authored-by: Silvio Traversaro <silvio@traversaro.it>
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‎.github/workflows/apt.yml

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@@ -120,9 +120,9 @@ jobs:
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env:
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CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
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# This is commented until we fix https://github.com/robotology/gz-yarp-plugins/issues/28
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# - name: Install
125-
# run: |
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# cd build
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# cmake --build . --config ${{ matrix.build_type }} --target install
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- name: Install
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run: |
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cd build
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cmake --build . --config ${{ matrix.build_type }} --target install
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‎.github/workflows/conda-forge.yml

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@@ -82,8 +82,7 @@ jobs:
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cd build
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ctest -E "^LaserTest|^CameraTest" --repeat until-pass:5 --output-on-failure -C ${{ matrix.build_type }} .
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85-
# This is commented until we fix https://github.com/robotology/gz-yarp-plugins/issues/28
86-
# - name: Install
87-
# run: |
88-
# cd build
89-
# cmake --build . --config ${{ matrix.build_type }} --target install
85+
- name: Install
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run: |
87+
cd build
88+
cmake --build . --config ${{ matrix.build_type }} --target install

‎CMakeLists.txt

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Original file line numberDiff line numberDiff line change
@@ -12,10 +12,21 @@ set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
1212
gz_find_package(gz-sim7 REQUIRED)
1313
set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
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15+
# Defines the CMAKE_INSTALL_LIBDIR, CMAKE_INSTALL_BINDIR and many other useful macros.
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# See https://cmake.org/cmake/help/latest/module/GNUInstallDirs.html
17+
include(GNUInstallDirs)
18+
1519
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
1620
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
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set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
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23+
# Enable RPATH support for installed binaries and libraries
24+
include(AddInstallRPATHSupport)
25+
add_install_rpath_support(BIN_DIRS "${CMAKE_INSTALL_FULL_BINDIR}"
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LIB_DIRS "${CMAKE_INSTALL_FULL_LIBDIR}"
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INSTALL_NAME_DIR "${CMAKE_INSTALL_FULL_LIBDIR}"
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USE_LINK_PATH)
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1930
# Support shared libraries on Windows
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set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
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‎README.md

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@@ -2,7 +2,13 @@
22

33
**This repository contains a preliminary work in progress of integration of Modern Gazebo (gz) and YARP devices, a port of some functionalities of https://github.com/robotology/gazebo-yarp-plugins to Modern Gazebo. The repo is working in progress, and public interfaces can change without warning.**
44

5-
## Install/Uninstall Gazebo Garden
5+
## Quick start
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- [Install Gazebo Garden](#install_gazebo)
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- [Install YARP](#install_yarp)
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- [Install gz-sim-yarp-plugins](#install_gz-sim-yarp-plugins)
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10+
11+
### <a name="install_gazebo"></a> Install Gazebo Garden
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#### Binary Installation in Ubuntu (or WSL)
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First install some necessary tools:
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```
@@ -21,7 +27,7 @@ sudo apt-get install gz-garden
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sudo apt remove gz-garden && sudo apt autoremove
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```
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24-
## Install YARP
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### <a name="install_yarp"></a> Install YARP
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#### Binary Installation in Ubuntu (or WSL)
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```
@@ -35,10 +41,18 @@ sudo apt install yarp
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sudo apt remove yarp && sudo apt autoremove
3642
```
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38-
## Compilation
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## <a name="install_gz-sim-yarp-plugins"></a> Install gz-sim-yarp-plugins
3945
~~~
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mkdir build
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cd build
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cmake ..
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cmake -DCMAKE_INSTALL_PREFIX=<desired_install_prefix> ..
4349
make
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make install
4451
~~~
52+
To notify Gazebo of the new plugins compiled, it is necessary to modify the GZ_SIM_SYSTEM_PLUGIN_PATH environment variable:
53+
```
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export GZ_SIM_SYSTEM_PLUGIN_PATH=${GZ_SIM_SYSTEM_PLUGIN_PATH}:/path/to/the/install/folder/lib
55+
```
56+
where `/path/to/the/install/folder/lib` is the directory containing the `libgz-sim-yarp-forcetorque-system.so`, `libgz-sim-yarp-camera-system.so`... files (by default `/usr/local/lib`)
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58+
To avoid having to modify this environment variable each time, you can place this command in the `.bashrc` file in your home directory.

‎libraries/singleton-devices/CMakeLists.txt

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@@ -1,11 +1,13 @@
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2-
add_library(Handler SHARED Handler.cc Handler.hh)
3-
target_compile_features(Handler PRIVATE cxx_std_17)
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add_library(gz-sim-yarp-handler SHARED Handler.cc Handler.hh)
3+
target_compile_features(gz-sim-yarp-handler PRIVATE cxx_std_17)
44

5-
target_link_libraries(Handler
5+
target_link_libraries(gz-sim-yarp-handler
66
PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
77
PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
88
PRIVATE
99
${YARP_LIBRARIES}
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YARP::YARP_os
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YARP::YARP_init)
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YARP::YARP_init)
12+
13+
install(TARGETS gz-sim-yarp-handler)

‎plugins/camera/CMakeLists.txt

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@@ -12,5 +12,8 @@ target_link_libraries(gz-sim-yarp-camera-system
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${YARP_LIBRARIES}
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YARP::YARP_os
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YARP::YARP_init
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Handler
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HandlerCamera)
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gz-sim-yarp-handler
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gz-sim-yarp-handler-camera)
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18+
# Add install target
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install(TARGETS gz-sim-yarp-camera-system)

‎plugins/camera/singleton-camera/CMakeLists.txt

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@@ -1,10 +1,13 @@
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add_library(HandlerCamera SHARED Handler.cc Handler.hh)
2-
target_compile_features(HandlerCamera PRIVATE cxx_std_17)
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add_library(gz-sim-yarp-handler-camera SHARED Handler.cc Handler.hh)
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target_compile_features(gz-sim-yarp-handler-camera PRIVATE cxx_std_17)
33

4-
target_link_libraries(HandlerCamera
4+
target_link_libraries(gz-sim-yarp-handler-camera
55
PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
66
PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
77
PRIVATE
88
${YARP_LIBRARIES}
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YARP::YARP_os
10-
YARP::YARP_init)
10+
YARP::YARP_init)
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12+
# Add install target
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install(TARGETS gz-sim-yarp-handler-camera)

‎plugins/forcetorque/CMakeLists.txt

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@@ -12,5 +12,8 @@ target_link_libraries(gz-sim-yarp-forcetorque-system
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${YARP_LIBRARIES}
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YARP::YARP_os
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YARP::YARP_init
15-
Handler
16-
HandlerForceTorque)
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gz-sim-yarp-handler
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gz-sim-yarp-handler-forcetorque)
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18+
# Add install target
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install(TARGETS gz-sim-yarp-forcetorque-system)

‎plugins/forcetorque/singleton-forcetorque/CMakeLists.txt

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@@ -1,11 +1,13 @@
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add_library(HandlerForceTorque SHARED Handler.cc Handler.hh)
3-
target_compile_features(HandlerForceTorque PRIVATE cxx_std_17)
2+
add_library(gz-sim-yarp-handler-forcetorque SHARED Handler.cc Handler.hh)
3+
target_compile_features(gz-sim-yarp-handler-forcetorque PRIVATE cxx_std_17)
44

5-
target_link_libraries(HandlerForceTorque
5+
target_link_libraries(gz-sim-yarp-handler-forcetorque
66
PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
77
PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
88
PRIVATE
99
${YARP_LIBRARIES}
1010
YARP::YARP_os
11-
YARP::YARP_init)
11+
YARP::YARP_init)
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13+
install(TARGETS gz-sim-yarp-handler-forcetorque)

‎plugins/imu/CMakeLists.txt

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@@ -12,5 +12,8 @@ target_link_libraries(gz-sim-yarp-imu-system
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${YARP_LIBRARIES}
1313
YARP::YARP_os
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YARP::YARP_init
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Handler
16-
HandlerIMU)
15+
gz-sim-yarp-handler
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gz-sim-yarp-handler-imu)
17+
18+
# Add install target
19+
install(TARGETS gz-sim-yarp-imu-system)

‎plugins/imu/singleton-imu/CMakeLists.txt

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@@ -1,11 +1,14 @@
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2-
add_library(HandlerIMU SHARED Handler.cc Handler.hh)
3-
target_compile_features(HandlerIMU PRIVATE cxx_std_17)
2+
add_library(gz-sim-yarp-handler-imu SHARED Handler.cc Handler.hh)
3+
target_compile_features(gz-sim-yarp-handler-imu PRIVATE cxx_std_17)
44

5-
target_link_libraries(HandlerIMU
5+
target_link_libraries(gz-sim-yarp-handler-imu
66
PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
77
PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
88
PRIVATE
99
${YARP_LIBRARIES}
1010
YARP::YARP_os
11-
YARP::YARP_init)
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YARP::YARP_init)
12+
13+
# Add install target
14+
install(TARGETS gz-sim-yarp-handler-imu)

‎plugins/laser/CMakeLists.txt

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@@ -12,5 +12,8 @@ target_link_libraries(gz-sim-yarp-laser-system
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${YARP_LIBRARIES}
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YARP::YARP_os
1414
YARP::YARP_init
15-
Handler
16-
HandlerLaser)
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gz-sim-yarp-handler
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gz-sim-yarp-handler-laser)
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18+
# Add install target
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install(TARGETS gz-sim-yarp-laser-system)

‎plugins/laser/singleton-laser/CMakeLists.txt

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2-
add_library(HandlerLaser SHARED Handler.cc Handler.hh)
3-
target_compile_features(HandlerLaser PRIVATE cxx_std_17)
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add_library(gz-sim-yarp-handler-laser SHARED Handler.cc Handler.hh)
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target_compile_features(gz-sim-yarp-handler-laser PRIVATE cxx_std_17)
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5-
target_link_libraries(HandlerLaser
5+
target_link_libraries(gz-sim-yarp-handler-laser
66
PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
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PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
88
PRIVATE
99
${YARP_LIBRARIES}
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YARP::YARP_os
1111
YARP::YARP_init)
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13+
# Add install target
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install(TARGETS gz-sim-yarp-handler-laser)

‎plugins/robotinterface/CMakeLists.txt

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${YARP_LIBRARIES}
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YARP::YARP_os
1111
YARP::YARP_init
12-
Handler)
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gz-sim-yarp-handler)
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install(TARGETS gz-sim-yarp-robotinterface-system)
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‎tutorial/camera/model/README.md

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~~~
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- 2nd terminal:
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~~~
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export LIBGL_ALWAYS_SOFTWARE=1
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cd build
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export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`:`pwd`/lib
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cd ../tutorial/camera/model
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cd tutorial/camera/model
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gz sim model.sdf
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~~~
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- 3rd terminal:
@@ -29,5 +26,13 @@ Finally start the simulation in Gazebo.
2926
- Gazebo simulation
3027
![Gazebo simulation](imgs/simulation.png "Gazebo simulation")
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29+
If you are using Linux on WSLg and you have the following error
30+
~~~
31+
OGRE EXCEPTION(9:UnimplementedException): in GL3PlusTextureGpu::copyTo at ./RenderSystems/GL3Plus/src/OgreGL3PlusTextureGpu.cpp (line 685)
32+
~~~
33+
try forcing software rendering:
34+
~~~
35+
export LIBGL_ALWAYS_SOFTWARE=1
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~~~
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‎tutorial/camera/model_horizontal_flip/README.md

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~~~
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- 2nd terminal:
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~~~
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export LIBGL_ALWAYS_SOFTWARE=1
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cd build
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export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`:`pwd`/lib
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cd ../tutorial/camera/model_horizontal_flip
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cd tutorial/camera/model_horizontal_flip
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gz sim model.sdf
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~~~
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- 3rd terminal:
@@ -29,5 +26,12 @@ Finally start the simulation in Gazebo.
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- Gazebo simulation
3027
![Gazebo simulation](imgs/simulation.png "Gazebo simulation")
3128

32-
29+
If you are using Linux on WSLg and you have the following error
30+
~~~
31+
OGRE EXCEPTION(9:UnimplementedException): in GL3PlusTextureGpu::copyTo at ./RenderSystems/GL3Plus/src/OgreGL3PlusTextureGpu.cpp (line 685)
32+
~~~
33+
try forcing software rendering:
34+
~~~
35+
export LIBGL_ALWAYS_SOFTWARE=1
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~~~
3337

‎tutorial/camera/model_vertical_flip/README.md

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~~~
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- 2nd terminal:
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~~~
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export LIBGL_ALWAYS_SOFTWARE=1
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cd build
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export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`:`pwd`/lib
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cd ../tutorial/camera/model_vertical_flip
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cd tutorial/camera/model_vertical_flip
1512
gz sim model.sdf
1613
~~~
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- 3rd terminal:
@@ -27,4 +24,13 @@ Finally start the simulation in Gazebo.
2724
- yarpview window
2825
![yarpview window](imgs/yarpview_vertical_flip.png "yarpview window")
2926
- Gazebo simulation
30-
![Gazebo simulation](imgs/simulation.png "Gazebo simulation")
27+
![Gazebo simulation](imgs/simulation.png "Gazebo simulation")
28+
29+
If you are using Linux on WSLg and you have the following error
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~~~
31+
OGRE EXCEPTION(9:UnimplementedException): in GL3PlusTextureGpu::copyTo at ./RenderSystems/GL3Plus/src/OgreGL3PlusTextureGpu.cpp (line 685)
32+
~~~
33+
try forcing software rendering:
34+
~~~
35+
export LIBGL_ALWAYS_SOFTWARE=1
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~~~

‎tutorial/forcetorque/model_one_sensor/README.md

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~~~
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- 2nd terminal:
1010
~~~
11-
export LIBGL_ALWAYS_SOFTWARE=1
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cd build
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export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`:`pwd`/lib
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cd ../tutorial/forcetorque/model_one_sensor
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cd tutorial/forcetorque/model_one_sensor
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gz sim model.sdf
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~~~
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- 3rd terminal:
@@ -29,6 +26,15 @@ Finally start the simulation in Gazebo. The output is:
2926
...
3027
~~~
3128

29+
If you are using Linux on WSLg and you have the following error
30+
~~~
31+
OGRE EXCEPTION(9:UnimplementedException): in GL3PlusTextureGpu::copyTo at ./RenderSystems/GL3Plus/src/OgreGL3PlusTextureGpu.cpp (line 685)
32+
~~~
33+
try forcing software rendering:
34+
~~~
35+
export LIBGL_ALWAYS_SOFTWARE=1
36+
~~~
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3238
## Run model in Gazebo Garden without YARP integration
3339
Run the model:
3440
```

‎tutorial/forcetorque/model_two_sensors/README.md

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~~~
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- 2nd terminal:
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~~~
11-
export LIBGL_ALWAYS_SOFTWARE=1
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cd build
13-
export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`:`pwd`/lib
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cd ../tutorial/forcetorque/model_two_sensors
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cd tutorial/forcetorque/model_two_sensors
1512
gz sim model2sensors.sdf
1613
~~~
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- 3rd terminal:
@@ -42,3 +39,12 @@
4239
() () () () () (((0.0 0.0 -98.0 0.0 0.0 0.0) 8.68900000000000005684)) () () () ()
4340
() () () () () (((0.0 0.0 -98.0 0.0 0.0 0.0) 8.77299999999999968736)) () () () ()
4441
~~~
42+
43+
If you are using Linux on WSLg and you have the following error
44+
~~~
45+
OGRE EXCEPTION(9:UnimplementedException): in GL3PlusTextureGpu::copyTo at ./RenderSystems/GL3Plus/src/OgreGL3PlusTextureGpu.cpp (line 685)
46+
~~~
47+
try forcing software rendering:
48+
~~~
49+
export LIBGL_ALWAYS_SOFTWARE=1
50+
~~~

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