Add support for Dome (#103)

Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
gazebosim · Aug 22, 2020 · 5e6d345 · 5e6d345
1 parent f5c4aaa
commit 5e6d345
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Showing 3 changed files with 50 additions and 20 deletions.
diff --git a/ros_ign_bridge/CMakeLists.txt b/ros_ign_bridge/CMakeLists.txt
@@ -18,21 +18,31 @@ find_package(rosgraph_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 
-# Citadel
 find_package(ignition-transport8 QUIET)
+# Citadel
 if(ignition-transport8_FOUND)
   set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR})
 
   find_package(ignition-msgs5 REQUIRED)
   set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR})
 
-# Blueprint
 else()
-  find_package(ignition-transport7 REQUIRED)
-  set(IGN_TRANSPORT_VER ${ignition-transport7_VERSION_MAJOR})
-
-  find_package(ignition-msgs4 REQUIRED)
-  set(IGN_MSGS_VER ${ignition-msgs4_VERSION_MAJOR})
+  find_package(ignition-transport9 QUIET)
+  # Dome
+  if(ignition-transport9_FOUND)
+    set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
+
+    find_package(ignition-msgs6 REQUIRED)
+    set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR})
+
+  # Blueprint
+  else()
+    find_package(ignition-transport7 REQUIRED)
+    set(IGN_TRANSPORT_VER ${ignition-transport7_VERSION_MAJOR})
+
+    find_package(ignition-msgs4 REQUIRED)
+    set(IGN_MSGS_VER ${ignition-msgs4_VERSION_MAJOR})
+  endif()
 endif()
 
 include_directories(include)

diff --git a/ros_ign_gazebo/CMakeLists.txt b/ros_ign_gazebo/CMakeLists.txt
@@ -14,21 +14,31 @@ find_package(ament_cmake REQUIRED)
 find_package(ignition-math6 REQUIRED)
 find_package(rclcpp REQUIRED)
 
-# Citadel
 find_package(ignition-transport8 QUIET)
+# Citadel
 if(ignition-transport8_FOUND)
   set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR})
 
   find_package(ignition-msgs5 REQUIRED)
   set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR})
 
-# Blueprint
 else()
-  find_package(ignition-transport7 REQUIRED)
-  set(IGN_TRANSPORT_VER ${ignition-transport7_VERSION_MAJOR})
+  find_package(ignition-transport9 QUIET)
+  # Dome
+  if(ignition-transport9_FOUND)
+    set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
+
+    find_package(ignition-msgs6 REQUIRED)
+    set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR})
+
+  # Blueprint
+  else()
+    find_package(ignition-transport7 REQUIRED)
+    set(IGN_TRANSPORT_VER ${ignition-transport7_VERSION_MAJOR})
 
-  find_package(ignition-msgs4 REQUIRED)
-  set(IGN_MSGS_VER ${ignition-msgs4_VERSION_MAJOR})
+    find_package(ignition-msgs4 REQUIRED)
+    set(IGN_MSGS_VER ${ignition-msgs4_VERSION_MAJOR})
+  endif()
 endif()
 
 ign_find_package(gflags

diff --git a/ros_ign_image/CMakeLists.txt b/ros_ign_image/CMakeLists.txt
@@ -16,21 +16,31 @@ find_package(ros_ign_bridge REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 
-# Citadel
 find_package(ignition-transport8 QUIET)
+# Citadel
 if(ignition-transport8_FOUND)
   set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR})
 
   find_package(ignition-msgs5 REQUIRED)
   set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR})
 
-# Blueprint
 else()
-  find_package(ignition-transport7 REQUIRED)
-  set(IGN_TRANSPORT_VER ${ignition-transport7_VERSION_MAJOR})
-
-  find_package(ignition-msgs4 REQUIRED)
-  set(IGN_MSGS_VER ${ignition-msgs4_VERSION_MAJOR})
+  find_package(ignition-transport9 QUIET)
+  # Dome
+  if(ignition-transport9_FOUND)
+    set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
+
+    find_package(ignition-msgs6 REQUIRED)
+    set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR})
+
+  # Blueprint
+  else()
+    find_package(ignition-transport7 REQUIRED)
+    set(IGN_TRANSPORT_VER ${ignition-transport7_VERSION_MAJOR})
+
+    find_package(ignition-msgs4 REQUIRED)
+    set(IGN_MSGS_VER ${ignition-msgs4_VERSION_MAJOR})
+  endif()
 endif()
 
 include_directories(include)