ROS: build as ament package if ROS available #53
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- Add ROS ament package configuration. - Build as ament package if possible, otherwise revert to standard cmake. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
- Use QUIET in find_package for ament_cmake. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
khancyr
reviewed
Apr 17, 2023
| <author>Rhys Mainwaring</author> | ||
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| <buildtool_depend>ament_cmake</buildtool_depend> | ||
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probably need some gazebo build depends here , right ?
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You're right. I think it should be:
<depend>gz-cmake3</depend>
<depend>gz-sim7</depend>However these don't appear in the ROS index for Ubuntu 22.04 as the recommended config is to use Gazebo Fortress with ROS 2 Humble (although most of the community seem to be using Garden). There is a similar issue with the ros_gz bridge.
The following packages are available in apt search:
<build_depend>rapidjson-dev</build_depend>
<build_depend>libgz-cmake3-dev</build_depend>
<build_depend>libgz-sim7-dev</build_depend>So I'll register these as system rather than ROS index dependencies.
khancyr
approved these changes
Apr 17, 2023
- Add build dependencies on rapidjson-dev, libgz-cmake3-dev, libgz-sim7-dev. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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Allow
ardupilot_gazeboto be built as a ROS 2 ament package if the ament dependencies are available, otherwise default to a standalonecmakeonly build.Details
amentpackage configuration.amentpackage if possible, otherwise revert to standardcmakebuild.GZ_SIM_RESOURCE_PATHandGZ_SIM_SYSTEM_PLUGIN_PATH.