Add catkin package(s) to provide the default version of Gazebo

.travis.yml

@@ -31,7 +31,7 @@ before_install:
   - sudo `which rosdep` init
   - rosdep update
   # Use rosdep to install dependencies
-  - rosdep install --default-yes --from-paths ./ --rosdistro $CI_ROS_DISTRO
+  - rosdep install --default-yes --ignore-src --from-paths ./ --rosdistro $CI_ROS_DISTRO
 
 install:
   # Create workspace

gazebo_dev/CMakeLists.txt

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(gazebo_dev)
+
+find_package(catkin REQUIRED)
+
+catkin_package(
+  CFG_EXTRAS gazebo_dev-extras.cmake
+)

gazebo_dev/cmake/gazebo_dev-extras.cmake

@@ -0,0 +1,13 @@
+# Depend on system install of Gazebo
+find_package(gazebo REQUIRED)
+
+message(STATUS "Gazebo version: ${GAZEBO_VERSION}")
+
+# The following lines will tell catkin to add the Gazebo directories and libraries to the
+# respective catkin_* cmake variables.
+set(gazebo_dev_INCLUDE_DIRS ${GAZEBO_INCLUDE_DIRS})
+set(gazebo_dev_LIBRARY_DIRS ${GAZEBO_LIBRARY_DIRS})
+set(gazebo_dev_LIBRARIES ${GAZEBO_LIBRARIES})
+
+# Append gazebo CXX_FLAGS to CMAKE_CXX_FLAGS (c++11)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")

gazebo_dev/package.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>gazebo_dev</name>
+  <version>0.0.0</version>
+  <description>
+    Provides a cmake config for the default version of Gazebo for the ROS distribution.
+  </description>
+
+  <maintainer email="hsu@osrfoundation.org">John Hsu</maintainer>
+  <maintainer email="davetcoleman@gmail.com">Dave Coleman</maintainer>
+
+  <license>Apache 2.0</license>
+
+  <url type="website">http://gazebosim.org/tutorials?cat=connect_ros</url>
+  <url type="bugtracker">https://github.com/ros-simulation/gazebo_ros_pkgs/issues</url>
+  <url type="repository">https://github.com/ros-simulation/gazebo_ros_pkgs</url>
+
+  <author>Johannes Meyer</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_export_depend>gazebo</build_export_depend>
+  <exec_depend>gazebo</exec_depend>
+
+</package>

gazebo_msgs/package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>gazebo_msgs</name>
   <version>2.4.11</version>
   <description>
@@ -25,12 +25,12 @@
   <build_depend>std_srvs</build_depend>
   <build_depend>message_generation</build_depend>
 
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>trajectory_msgs</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>message_runtime</run_depend>
-  <run_depend>std_srvs</run_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>trajectory_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>std_srvs</exec_depend>
 </package>
 
 

gazebo_plugins/CMakeLists.txt

@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(gazebo_plugins)
 
 find_package(catkin REQUIRED COMPONENTS 
+  gazebo_dev
   message_generation 
   gazebo_msgs 
   roscpp 
@@ -38,10 +39,7 @@ else()
   message(FATAL_ERROR "pkg-config is required; please install it")
 endif()
 
-# Depend on system install of Gazebo and SDFormat
-find_package(gazebo REQUIRED)
 find_package(Boost REQUIRED COMPONENTS thread)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 
 execute_process(COMMAND
   pkg-config --variable=plugindir OGRE
@@ -61,22 +59,18 @@ generate_dynamic_reconfigure_options(
 include_directories(include
   ${Boost_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
-  ${GAZEBO_INCLUDE_DIRS}
   ${OGRE_INCLUDE_DIRS}
   ${OGRE-Terrain_INCLUDE_DIRS}
   ${OGRE-Paging_INCLUDE_DIRS}
 )
 
 link_directories(
-  ${GAZEBO_LIBRARY_DIRS}
+  ${catkin_LIBRARY_DIRS}
   ${OGRE_LIBRARY_DIRS}
   ${OGRE-Terrain_LIBRARY_DIRS}
   ${OGRE-Paging_LIBRARY_DIRS}
-  ${catkin_LIBRARY_DIRS}
 )
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
-
 if (NOT GAZEBO_VERSION VERSION_LESS 6.0)
   catkin_package(  INCLUDE_DIRS include LIBRARIES gazebo_ros_elevator)
 endif()
@@ -117,7 +111,7 @@ catkin_package(
   gazebo_ros_planar_move
 
   CATKIN_DEPENDS 
-  message_generation 
+  message_runtime
   gazebo_msgs 
   roscpp 
   rospy 
@@ -138,9 +132,6 @@ catkin_package(
   rosconsole
   camera_info_manager
   std_msgs
-  DEPENDS 
-    gazebo 
-    SDF
   )
 add_dependencies(${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
 
@@ -152,7 +143,7 @@ target_link_libraries(hokuyo_node
 )
 
 add_library(gazebo_ros_utils src/gazebo_ros_utils.cpp)
-target_link_libraries(gazebo_ros_utils ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_utils ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(vision_reconfigure src/vision_reconfigure.cpp)
 add_dependencies(vision_reconfigure ${PROJECT_NAME}_gencfg)
@@ -163,128 +154,128 @@ add_dependencies(camera_synchronizer ${PROJECT_NAME}_gencfg)
 target_link_libraries(camera_synchronizer vision_reconfigure ${catkin_LIBRARIES})
 
 add_executable(pub_joint_trajectory_test test/pub_joint_trajectory_test.cpp)
-target_link_libraries(pub_joint_trajectory_test ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(pub_joint_trajectory_test ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 add_dependencies(pub_joint_trajectory_test ${catkin_EXPORTED_TARGETS}) # don't build until gazebo_msgs is done
 
 add_definitions(-fPIC) # what is this for?
 
 ## Plugins
 add_library(gazebo_ros_camera_utils src/gazebo_ros_camera_utils.cpp)
 add_dependencies(gazebo_ros_camera_utils ${PROJECT_NAME}_gencfg)
-target_link_libraries(gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_camera_utils ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(MultiCameraPlugin src/MultiCameraPlugin.cpp)
-target_link_libraries(MultiCameraPlugin ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(MultiCameraPlugin ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_camera src/gazebo_ros_camera.cpp)
 add_dependencies(gazebo_ros_camera ${PROJECT_NAME}_gencfg)
-target_link_libraries(gazebo_ros_camera gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} CameraPlugin ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_camera gazebo_ros_camera_utils CameraPlugin ${catkin_LIBRARIES})
 
 if (NOT GAZEBO_VERSION VERSION_LESS 6.0)
   add_library(gazebo_ros_elevator src/gazebo_ros_elevator.cpp)
   add_dependencies(gazebo_ros_elevator ${PROJECT_NAME}_gencfg)
-  target_link_libraries(gazebo_ros_elevator ${GAZEBO_LIBRARIES} ElevatorPlugin ${catkin_LIBRARIES})
+  target_link_libraries(gazebo_ros_elevator ElevatorPlugin ${catkin_LIBRARIES})
 endif()
 
 add_library(gazebo_ros_multicamera src/gazebo_ros_multicamera.cpp)
 add_dependencies(gazebo_ros_multicamera ${PROJECT_NAME}_gencfg)
-target_link_libraries(gazebo_ros_multicamera gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} MultiCameraPlugin ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_multicamera gazebo_ros_camera_utils MultiCameraPlugin ${catkin_LIBRARIES})
 
 add_library(gazebo_ros_depth_camera src/gazebo_ros_depth_camera.cpp)
 add_dependencies(gazebo_ros_depth_camera ${PROJECT_NAME}_gencfg)
-target_link_libraries(gazebo_ros_depth_camera gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} DepthCameraPlugin ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_depth_camera gazebo_ros_camera_utils DepthCameraPlugin ${catkin_LIBRARIES})
 
 add_library(gazebo_ros_openni_kinect src/gazebo_ros_openni_kinect.cpp)
 add_dependencies(gazebo_ros_openni_kinect ${PROJECT_NAME}_gencfg)
-target_link_libraries(gazebo_ros_openni_kinect gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} DepthCameraPlugin ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_openni_kinect gazebo_ros_camera_utils DepthCameraPlugin ${catkin_LIBRARIES})
 
 add_library(gazebo_ros_gpu_laser src/gazebo_ros_gpu_laser.cpp)
-target_link_libraries(gazebo_ros_gpu_laser ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} GpuRayPlugin)
+target_link_libraries(gazebo_ros_gpu_laser ${catkin_LIBRARIES} GpuRayPlugin)
 
 if (NOT GAZEBO_VERSION VERSION_LESS 7.3)
   add_library(gazebo_ros_harness src/gazebo_ros_harness.cpp)
   add_dependencies(gazebo_ros_harness ${catkin_EXPORTED_TARGETS})
-  target_link_libraries(gazebo_ros_harness ${GAZEBO_LIBRARIES}
+  target_link_libraries(gazebo_ros_harness
     ${Boost_LIBRARIES} HarnessPlugin ${catkin_LIBRARIES})
 endif()
 
 add_library(gazebo_ros_laser src/gazebo_ros_laser.cpp)
-target_link_libraries(gazebo_ros_laser ${GAZEBO_LIBRARIES} RayPlugin ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_laser RayPlugin ${catkin_LIBRARIES})
 
 add_library(gazebo_ros_block_laser src/gazebo_ros_block_laser.cpp)
-target_link_libraries(gazebo_ros_block_laser ${GAZEBO_LIBRARIES} RayPlugin ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_block_laser RayPlugin ${catkin_LIBRARIES})
 
 add_library(gazebo_ros_p3d src/gazebo_ros_p3d.cpp)
-target_link_libraries(gazebo_ros_p3d ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_p3d ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_imu src/gazebo_ros_imu.cpp)
-target_link_libraries(gazebo_ros_imu ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_imu ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_f3d src/gazebo_ros_f3d.cpp)
-target_link_libraries(gazebo_ros_f3d ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_f3d ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_bumper src/gazebo_ros_bumper.cpp)
 add_dependencies(gazebo_ros_bumper ${catkin_EXPORTED_TARGETS})
-target_link_libraries(gazebo_ros_bumper ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} ContactPlugin ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_bumper ${Boost_LIBRARIES} ContactPlugin ${catkin_LIBRARIES})
 
 add_library(gazebo_ros_projector src/gazebo_ros_projector.cpp)
-target_link_libraries(gazebo_ros_projector ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_projector ${Boost_LIBRARIES} ${catkin_LIBRARIES})
 
 add_library(gazebo_ros_prosilica src/gazebo_ros_prosilica.cpp)
 add_dependencies(gazebo_ros_prosilica ${PROJECT_NAME}_gencfg)
-target_link_libraries(gazebo_ros_prosilica gazebo_ros_camera_utils ${GAZEBO_LIBRARIES} CameraPlugin ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_prosilica gazebo_ros_camera_utils CameraPlugin ${catkin_LIBRARIES})
 
 add_library(gazebo_ros_force src/gazebo_ros_force.cpp)
-target_link_libraries(gazebo_ros_force ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_force ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_joint_trajectory src/gazebo_ros_joint_trajectory.cpp)
 add_dependencies(gazebo_ros_joint_trajectory ${catkin_EXPORTED_TARGETS})
-target_link_libraries(gazebo_ros_joint_trajectory ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_joint_trajectory ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 
 add_library(gazebo_ros_joint_state_publisher src/gazebo_ros_joint_state_publisher.cpp)
 set_target_properties(gazebo_ros_joint_state_publisher PROPERTIES LINK_FLAGS "${ld_flags}")
 set_target_properties(gazebo_ros_joint_state_publisher PROPERTIES COMPILE_FLAGS "${cxx_flags}")
 add_dependencies(gazebo_ros_joint_state_publisher ${catkin_EXPORTED_TARGETS})
-target_link_libraries(gazebo_ros_joint_state_publisher ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_joint_state_publisher ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_joint_pose_trajectory src/gazebo_ros_joint_pose_trajectory.cpp)
 add_dependencies(gazebo_ros_joint_pose_trajectory ${catkin_EXPORTED_TARGETS})
-target_link_libraries(gazebo_ros_joint_pose_trajectory ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_joint_pose_trajectory ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_diff_drive src/gazebo_ros_diff_drive.cpp)
-target_link_libraries(gazebo_ros_diff_drive gazebo_ros_utils ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_diff_drive gazebo_ros_utils ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_tricycle_drive src/gazebo_ros_tricycle_drive.cpp)
-target_link_libraries(gazebo_ros_tricycle_drive gazebo_ros_utils ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
+target_link_libraries(gazebo_ros_tricycle_drive gazebo_ros_utils ${Boost_LIBRARIES} ${catkin_LIBRARIES})
 
 add_library(gazebo_ros_skid_steer_drive src/gazebo_ros_skid_steer_drive.cpp)
-target_link_libraries(gazebo_ros_skid_steer_drive ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_skid_steer_drive ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_video src/gazebo_ros_video.cpp)
-target_link_libraries(gazebo_ros_video ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OGRE_LIBRARIES})
+target_link_libraries(gazebo_ros_video ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OGRE_LIBRARIES})
 
 add_library(gazebo_ros_planar_move src/gazebo_ros_planar_move.cpp)
-target_link_libraries(gazebo_ros_planar_move ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_planar_move ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_hand_of_god src/gazebo_ros_hand_of_god.cpp)
 set_target_properties(gazebo_ros_hand_of_god PROPERTIES LINK_FLAGS "${ld_flags}")
 set_target_properties(gazebo_ros_hand_of_god PROPERTIES COMPILE_FLAGS "${cxx_flags}")
-target_link_libraries(gazebo_ros_hand_of_god ${GAZEBO_LIBRARIES} ${SDFormat_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_hand_of_god ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_ft_sensor src/gazebo_ros_ft_sensor.cpp)
-target_link_libraries(gazebo_ros_ft_sensor ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_ft_sensor ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 add_library(gazebo_ros_range src/gazebo_ros_range.cpp)
-target_link_libraries(gazebo_ros_range ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} RayPlugin)
+target_link_libraries(gazebo_ros_range ${catkin_LIBRARIES} ${Boost_LIBRARIES} RayPlugin)
 
 ##
 ## Add your new plugin here
 ##
 
 ## Template
 add_library(gazebo_ros_template src/gazebo_ros_template.cpp)
-target_link_libraries(gazebo_ros_template ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(gazebo_ros_template ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 install(TARGETS 
   hokuyo_node