feat(ros2): add Gazebo Fortress and dependencies

project/yocto/build/conf/local.conf

@@ -326,6 +326,16 @@ DISTRO_FEATURES:append = " acl xattr pam selinux"
 PREFERRED_PROVIDER_virtual/refpolicy = "refpolicy-targeted"
 DEFAULT_ENFORCING = "enforcing"
 
+#
+# Required by OGRE
+#
+DISTRO_FEATURES:append = " x11 opengl"
+
+#
+# Required License Flags
+#
+LICENSE_FLAGS_ACCEPTED = "commercial_ffmpeg commercial_ffmpeg-native"
+
 #
 # Multiconfig build
 #
@@ -340,6 +350,11 @@ BBMULTICONFIG = "\
     rock64 \
 "
 
+#
+# Preferred version for packages
+#
+PREFERRED_VERSION_ogre ?= "1.9.%"
+
 # CONF_VERSION is increased each time build/conf/ changes incompatibly and is used to
 # track the version of this file when it was generated. This can safely be ignored if
 # this doesn't mean anything to you.

project/yocto/layers/meta-user/recipes-ros2/bullet/bullet_%.bbappend

@@ -0,0 +1 @@
+BBCLASSEXTEND:append = " native nativesdk"

project/yocto/layers/meta-user/recipes-ros2/console-bridge-vendor/console-bridge-vendor_%.bbappend

@@ -1 +1 @@
-BBCLASSEXTEND:append = " nativesdk"
+BBCLASSEXTEND:append = " native nativesdk"

project/yocto/layers/meta-user/recipes-ros2/console-bridge/console-bridge_%.bbappend

@@ -1 +1 @@
-BBCLASSEXTEND:append = " nativesdk"
+BBCLASSEXTEND:append = " native nativesdk"

project/yocto/layers/meta-user/recipes-ros2/dartsim/dart-physics_6.12.2.bb

@@ -0,0 +1,61 @@
+SUMMARY = "Dart Physics Engine"
+DESCRIPTION = "${SUMMARY}"
+LICENSE = "BSD-2-Clause"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=dded0ba36ab35cc5e5c2389f23e60084"
+
+SRC_URI = "git://github.com/dartsim/dart;branch=v6.12.2;nobranch=1;protocol=https"
+SRCREV = "1fe8fa2c53976d57003edb293b62eac747247d19"
+S = "${WORKDIR}/git"
+
+DEPENDS = " \
+    libtool \
+    libeigen \
+    libccd \
+    fcl \
+    assimp \
+    boost \
+    octomap \
+    bullet \
+    libtinyxml2 \
+    urdfdom \
+    ode \
+"
+
+inherit cmake pkgconfig
+
+TARGET_CC_ARCH:append = " ${LDFLAGS}"
+
+EXTRA_OECMAKE = "-DDART_VERBOSE=TRUE"
+
+do_compile:append() {
+    sed -E -i "s,(-fmacro-prefix-map|-fdebug-prefix-map|--sysroot)=[^ ]*[[:space:]]+,,g" ${WORKDIR}/build/cmake/dart.pc
+    sed -E -i "s,${WORKDIR}/git,/usr/src/debug/dart-physics/6.12.2-r0,g" ${WORKDIR}/build/dart/config.hpp
+}
+
+FILES:${PN}:append = " \
+    /usr/share/dart \
+    /usr/share/dart/package.xml \
+    /usr/share/dart/cmake \
+    /usr/share/dart/cmake/dart_external-lodepngComponent.cmake \
+    /usr/share/dart/cmake/dart_external-odelcpsolverComponent.cmake \
+    /usr/share/dart/cmake/DARTFindEigen3.cmake \
+    /usr/share/dart/cmake/Findccd.cmake \
+    /usr/share/dart/cmake/DARTFindccd.cmake \
+    /usr/share/dart/cmake/Findfcl.cmake \
+    /usr/share/dart/cmake/DARTFindfcl.cmake \
+    /usr/share/dart/cmake/Findassimp.cmake \
+    /usr/share/dart/cmake/DARTFindassimp.cmake \
+    /usr/share/dart/cmake/DARTFindBoost.cmake \
+    /usr/share/dart/cmake/DARTFindoctomap.cmake \
+    /usr/share/dart/cmake/dart_dartComponent.cmake \
+    /usr/share/dart/cmake/DARTConfig.cmake \
+    /usr/share/dart/cmake/DARTConfigVersion.cmake \
+    /usr/share/dart/cmake/dart_dartTargets.cmake \
+    /usr/share/dart/cmake/dart_dartTargets-release.cmake \
+    /usr/share/dart/cmake/dart_external-lodepngTargets.cmake \
+    /usr/share/dart/cmake/dart_external-lodepngTargets-release.cmake \
+    /usr/share/dart/cmake/dart_external-odelcpsolverTargets.cmake \
+    /usr/share/dart/cmake/dart_external-odelcpsolverTargets-release.cmake \
+"
+
+BBCLASSEXTEND = "native nativesdk"

project/yocto/layers/meta-user/recipes-ros2/fcl/fcl_%.bbappend

@@ -0,0 +1 @@
+BBCLASSEXTEND:append = " native nativesdk"

project/yocto/layers/meta-user/recipes-ros2/ffmpeg/ffmpeg_%.bbappend

@@ -0,0 +1 @@
+BBCLASSEXTEND:append = " native nativesdk"

project/yocto/layers/meta-user/recipes-ros2/freeglut/freeglut_%.bbappend

@@ -0,0 +1 @@
+BBCLASSEXTEND:append = " native nativesdk"

project/yocto/layers/meta-user/recipes-ros2/freeimage/files/0000-fix-memset-not-declared.patch

@@ -0,0 +1,10 @@
+--- FreeImage/Source/OpenEXR/IlmImf/ImfAutoArray.h    2023-07-30 13:18:19.410360522 +0800
++++ FreeImage/Source/OpenEXR/IlmImf/ImfAutoArray.h    2023-07-30 13:18:38.363566957 +0800
+@@ -44,6 +44,7 @@
+ //
+ //-----------------------------------------------------------------------------
+
++#include <cstring>
+ #include "OpenEXRConfig.h"
+
+ namespace Imf {

project/yocto/layers/meta-user/recipes-ros2/freeimage/freeimage_3.18.0.bb

@@ -0,0 +1,52 @@
+SUMMARY = "FreeImage"
+DESCRIPTION = "${SUMMARY}"
+LICENSE = "GPL-2.0-only"
+LIC_FILES_CHKSUM = "file://license-gplv2.txt;md5=1fbed70be9d970d3da399f33dae9cc51"
+
+SRC_URI = " \
+    ${SOURCEFORGE_MIRROR}/freeimage/FreeImage3154.zip \
+    file://0000-fix-memset-not-declared.patch \
+"
+
+SRC_URI[sha256sum] = "eb6361519d33131690a0e726b085a05825e5adf9fb72c752d8d39100e48dc829"
+S = "${WORKDIR}/FreeImage"
+
+TARGET_CC_ARCH:append = " ${LDFLAGS}"
+
+do_configure() {
+    sed -i -e /^CC/d \
+           -e /^CXX\ /d \
+           -e /^AR/d \
+           -e /^INCDIR\ /d \
+           -e /^INSTALLDIR\ /d \
+           -e s:'-o root -g root'::g \
+           -e /ldconfig/d \
+    ${S}/Makefile.gnu
+}
+
+do_compile() {
+    oe_runmake CXXFLAGS="-O3 -fPIC -fexceptions -fvisibility=hidden -Wno-ctor-dtor-privacy -std=c++03 -I. -ISource -ISource/Metadata -ISource/FreeImageToolkit -ISource/LibJPEG -ISource/LibPNG -ISource/LibTIFF4 -ISource/ZLib -ISource/LibOpenJPEG -ISource/OpenEXR -ISource/OpenEXR/Half -ISource/OpenEXR/Iex -ISource/OpenEXR/IlmImf -ISource/OpenEXR/IlmThread -ISource/OpenEXR/Imath -ISource/LibRawLite -ISource/LibRawLite/dcraw -ISource/LibRawLite/internal -ISource/LibRawLite/libraw -ISource/LibRawLite/src" -f ${S}/Makefile
+}
+
+do_install() {
+    install -d ${D}/${libdir}
+    install -d ${D}/${includedir}
+    oe_runmake INSTALLDIR="${D}/${libdir}" INCDIR="${D}/${includedir}" -f ${S}/Makefile install
+}
+
+do_stage() {
+    install -d ${STAGING_LIBDIR}
+    install -d ${STAGING_INCDIR}
+    oe_runmake  INSTALLDIR="${STAGING_LIBDIR}" INCDIR="${STAGING_INCDIR}" install
+}
+
+FILES:${PN} = " \
+    ${includedir} \
+    ${libdir}/libfreeimage* \
+"
+
+FILES:${PN}-dev = ""
+
+INSANE_SKIP:${PN}:append = " already-stripped dev-so"
+
+BBCLASSEXTEND = "native nativesdk"

project/yocto/layers/meta-user/recipes-ros2/gazebo/gz-cmake2_git.bb

@@ -0,0 +1,18 @@
+SUMMARY = "Gazebo CMake"
+DESCRIPTION = "${SUMMARY}"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=2a461be67a1edf991251f85f3aadd1d0"
+
+SRC_URI = "git://github.com/gazebosim/gz-cmake;branch=ign-cmake2;protocol=https"
+SRCREV = "940e2b795eaa69df651031ceb430b5a025177c12"
+S = "${WORKDIR}/git"
+
+inherit cmake pkgconfig
+
+EXTRA_OECMAKE = ""
+
+FILES:${PN}:append = " \
+    /usr/share/ignition/* \
+"
+
+BBCLASSEXTEND = "native nativesdk"

project/yocto/layers/meta-user/recipes-ros2/gazebo/gz-common4_git.bb

@@ -0,0 +1,32 @@
+SUMMARY = "Gazebo Common"
+DESCRIPTION = "${SUMMARY}"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=2a461be67a1edf991251f85f3aadd1d0"
+
+SRC_URI = "git://github.com/gazebosim/gz-common;branch=ign-common4;protocol=https"
+SRCREV = "60b1fddf05ce020ba7cb79022fdf40be545eb789"
+S = "${WORKDIR}/git"
+
+DEPENDS = " \
+    freeimage \
+    util-linux \
+    libtinyxml2 \
+    ffmpeg \
+    gts \
+    gz-cmake2 \
+    gz-math6 \
+    gz-utils1 \
+"
+
+inherit cmake pkgconfig
+
+EXTRA_OECMAKE = " \
+    -DFREEIMAGE_RUNS=FAILED_TO_RUN \
+    -DFREEIMAGE_RUNS__TRYRUN_OUTPUT='' \
+"
+
+FILES:${PN}:append = " \
+    /usr/share/ignition/ignition-common4/* \
+"
+
+BBCLASSEXTEND = "native nativesdk"

project/yocto/layers/meta-user/recipes-ros2/gazebo/gz-fuel-tools7_git.bb

@@ -0,0 +1,40 @@
+SUMMARY = "Gazebo Fuel Tools"
+DESCRIPTION = "${SUMMARY}"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=2a461be67a1edf991251f85f3aadd1d0"
+
+SRC_URI = "git://github.com/gazebosim/gz-fuel-tools;branch=ign-fuel-tools7;protocol=https"
+SRCREV = "50a619642b0ce89f9fe78e49a65d6ded6059e047"
+S = "${WORKDIR}/git"
+
+DEPENDS = " \
+    libtinyxml2 \
+    jsoncpp \
+    libzip \
+    libyaml \
+    curl \
+    gz-cmake2 \
+    gz-common4 \
+    gz-math6 \
+    gz-msgs8 \
+"
+
+inherit cmake
+
+EXTRA_OECMAKE = "-DPROTOBUF_PROTOC_EXECUTABLE=${WORKDIR}/recipe-sysroot-native/usr/bin/protoc"
+
+FILES:${PN}:append = " \
+    /usr/share \
+    /usr/lib/ruby \
+    /usr/lib/ruby/ignition \
+    /usr/lib/ruby/ignition/cmdfuel7.rb \
+    /usr/share/gz \
+    /usr/share/ignition \
+    /usr/share/gz/gz1.completion.d \
+    /usr/share/gz/gz1.completion.d/fuel7.bash_completion.sh \
+    /usr/share/ignition/fuel7.yaml \
+    /usr/share/ignition/fuel_tools7 \
+    /usr/share/ignition/fuel_tools7/config.yaml \
+"
+
+BBCLASSEXTEND = "native nativesdk"

project/yocto/layers/meta-user/recipes-ros2/gazebo/gz-gui6_git.bb

@@ -0,0 +1,64 @@
+SUMMARY = "Gazebo GUI"
+DESCRIPTION = "${SUMMARY}"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=2a461be67a1edf991251f85f3aadd1d0"
+
+SRC_URI = "git://github.com/gazebosim/gz-gui;branch=ign-gui6;protocol=https"
+SRCREV = "f65395f734df81b22dcd10d68d2802b61d6b72bc"
+S = "${WORKDIR}/git"
+
+DEPENDS = " \
+    protobuf \
+    protobuf-native \
+    libtinyxml2 \
+    qtquickcontrols2 \
+    gz-cmake2 \
+    gz-math6 \
+    gz-common4 \
+    gz-plugin1 \
+    gz-transport11 \
+    gz-msgs8 \
+    gz-rendering6 \
+"
+
+inherit cmake pkgconfig cmake_qt5
+
+EXTRA_OECMAKE:class-target = " \
+    -DPROTOBUF_PROTOC_EXECUTABLE=${WORKDIR}/recipe-sysroot-native/usr/bin/protoc \
+"
+
+FILES:${PN}:append = " \
+    /usr/share \
+    /usr/lib/ruby \
+    /usr/lib/ruby/ignition \
+    /usr/lib/ruby/ignition/cmdgui6.rb \
+    /usr/lib/ign-gui-6/plugins/libCameraFps.so \
+    /usr/lib/ign-gui-6/plugins/libCameraTracking.so \
+    /usr/lib/ign-gui-6/plugins/libGridConfig.so \
+    /usr/lib/ign-gui-6/plugins/libGrid3D.so \
+    /usr/lib/ign-gui-6/plugins/libImageDisplay.so \
+    /usr/lib/ign-gui-6/plugins/libInteractiveViewControl.so \
+    /usr/lib/ign-gui-6/plugins/libKeyPublisher.so \
+    /usr/lib/ign-gui-6/plugins/libTransportPlotting.so \
+    /usr/lib/ign-gui-6/plugins/libPublisher.so \
+    /usr/lib/ign-gui-6/plugins/libMarkerManager.so \
+    /usr/lib/ign-gui-6/plugins/libMinimalScene.so \
+    /usr/lib/ign-gui-6/plugins/libNavSatMap.so \
+    /usr/lib/ign-gui-6/plugins/libScene3D.so \
+    /usr/lib/ign-gui-6/plugins/libScreenshot.so \
+    /usr/lib/ign-gui-6/plugins/libShutdownButton.so \
+    /usr/lib/ign-gui-6/plugins/libTapeMeasure.so \
+    /usr/lib/ign-gui-6/plugins/libTeleop.so \
+    /usr/lib/ign-gui-6/plugins/libTopicEcho.so \
+    /usr/lib/ign-gui-6/plugins/libTopicViewer.so \
+    /usr/lib/ign-gui-6/plugins/libTransportSceneManager.so \
+    /usr/lib/ign-gui-6/plugins/libWorldControl.so \
+    /usr/lib/ign-gui-6/plugins/libWorldStats.so \
+    /usr/share/gz \
+    /usr/share/ignition \
+    /usr/share/gz/gz1.completion.d \
+    /usr/share/gz/gz1.completion.d/gui6.bash_completion.sh \
+    /usr/share/ignition/gui6.yaml \
+"
+
+BBCLASSEXTEND = "native nativesdk"

project/yocto/layers/meta-user/recipes-ros2/gazebo/gz-launch5_git.bb

@@ -0,0 +1,62 @@
+SUMMARY = "Gazebo Launcher"
+DESCRIPTION = "${SUMMARY}"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=2a461be67a1edf991251f85f3aadd1d0"
+
+SRC_URI = "git://github.com/gazebosim/gz-launch;branch=ign-launch5;protocol=https"
+SRCREV = "894e2e2319617fbde652960b847e13436391ec9c"
+S = "${WORKDIR}/git"
+
+DEPENDS = " \
+    gz-cmake2 \
+    libtinyxml2 \
+    protobuf \
+    protobuf-native \
+    libwebsockets \
+    gz-common4 \
+    gz-utils1 \
+    gz-plugin1 \
+    gz-tools1 \
+    gz-transport11 \
+    gz-msgs8 \
+    gz-math6 \
+    gz-gui6 \
+    gz-sim6 \
+"
+
+inherit cmake pkgconfig cmake_qt5
+
+EXTRA_OECMAKE:append:class-target = " \
+    -DBUILD_TESTING=OFF \
+    -DPROTOBUF_PROTOC_EXECUTABLE=${WORKDIR}/recipe-sysroot-native/usr/bin/protoc \
+"
+
+FILES:${PN}:append = " \
+    /usr/share \
+    /usr/lib/ruby \
+    /usr/lib/ign-launch-5/plugins/libignition-launch-joytotwist.so \
+    /usr/lib/ign-launch-5/plugins/libignition-launch-gazebogui.so \
+    /usr/lib/ign-launch-5/plugins/libignition-launch-gazebo-factory.so \
+    /usr/lib/ign-launch-5/plugins/libignition-launch-gazebo.so \
+    /usr/lib/ign-launch-5/plugins/libignition-launch-websocket-server.so \
+    /usr/lib/ign-launch-5/plugins/libignition-launch-joystick.so \
+    /usr/lib/ignition/launch5/ign-launch \
+    /usr/lib/ruby/ignition \
+    /usr/lib/ruby/ignition/cmdlaunch5.rb \
+    /usr/share/gz \
+    /usr/share/ignition \
+    /usr/share/gz/gz1.completion.d \
+    /usr/share/gz/gz1.completion.d/launch5.bash_completion.sh \
+    /usr/share/ignition/launch5.yaml \
+    /usr/share/ignition/ignition-launch5 \
+    /usr/share/ignition/ignition-launch5/configs \
+    /usr/share/ignition/ignition-launch5/configs/factory.ign \
+    /usr/share/ignition/ignition-launch5/configs/gazebo.ign \
+    /usr/share/ignition/ignition-launch5/configs/gazebo_plugins.ign \
+    /usr/share/ignition/ignition-launch5/configs/ls.ign \
+    /usr/share/ignition/ignition-launch5/configs/multi_factory.ign \
+    /usr/share/ignition/ignition-launch5/configs/plugins.ign \
+    /usr/share/ignition/ignition-launch5/configs/websocket.ign \
+"
+
+BBCLASSEXTEND = "native nativesdk"