[gazebo] new port (#22466)

* Add gazebo11 port * [sdformat9] Use external tinyxml on Windows * Update versions * Use newer vcpkg functions * Fix sdformat9 * Update versions * Try fixing gazebo * Copy extra ogre dlls * Update gazebo ref * Update versions * Fix ogre dll dir * Update version date * Update versions * Update versions * Add licenses * Update versions * Rename to gazebo * Update versions * Update versions * Apply suggestions from code review Co-authored-by: Robert Schumacher <roschuma@microsoft.com> * Update ports/gazebo/portfile.cmake Co-authored-by: Robert Schumacher <roschuma@microsoft.com> * Make pkgconf a host dependency * Update versions * Copy PDBs * Update versions * Change to normal installed directory * Update versions Co-authored-by: Robert Schumacher <roschuma@microsoft.com>
microsoft · Mar 9, 2022 · 857bccd · 857bccd
1 parent be5c4ef
commit 857bccd
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Showing 9 changed files with 327 additions and 3 deletions.
diff --git a/ports/gazebo/0001-Fix-deps.patch b/ports/gazebo/0001-Fix-deps.patch
@@ -0,0 +1,102 @@
+diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
+index 4085b5aaeb..f89ac88333 100644
+--- a/cmake/SearchForStuff.cmake
++++ b/cmake/SearchForStuff.cmake
+@@ -179,7 +179,7 @@ if (PKG_CONFIG_FOUND)
+   # (needed, at least, for MacOS)
+
+   # Use system installation on UNIX and Apple, and internal copy on Windows
+-  if (UNIX OR APPLE)
++  if (true)
+     message (STATUS "Using system tinyxml.")
+     set (USE_EXTERNAL_TINYXML True)
+   elseif(WIN32)
+@@ -225,7 +225,7 @@ if (PKG_CONFIG_FOUND)
+   # (needed, at least, for MacOS)
+
+   # Use system installation on UNIX and Apple, and internal copy on Windows
+-  if (UNIX OR APPLE)
++  if (true)
+     message (STATUS "Using system tinyxml2.")
+     set (USE_EXTERNAL_TINYXML2 True)
+   elseif(WIN32)
+@@ -513,7 +513,7 @@ if (PKG_CONFIG_FOUND)
+   endif ()
+
+   if (libavutil_FOUND AND libavformat_FOUND AND libavcodec_FOUND AND
+-      libswscale_FOUND)
++      libswscale_FOUND AND FFMPEG_FEATURE)
+     set (HAVE_FFMPEG TRUE)
+   else ()
+     set (HAVE_FFMPEG FALSE)
+@@ -538,7 +538,7 @@ if (PKG_CONFIG_FOUND)
+   ########################################
+   # Find GNU Triangulation Surface Library
+   pkg_check_modules(gts gts)
+-  if (gts_FOUND)
++  if (GTS_FEATURE)
+     message (STATUS "Looking for GTS - found")
+     set (HAVE_GTS TRUE)
+   else ()
+@@ -551,13 +551,14 @@ if (PKG_CONFIG_FOUND)
+   # First and preferred option is to look for bullet standard pkgconfig,
+   # so check it first. if it is not present, check for the OSRF
+   # custom bullet2.82.pc file
+-  pkg_check_modules(BULLET bullet>=2.82)
++  find_package(BULLET CONFIG 2.82)
+   if (NOT BULLET_FOUND)
+      pkg_check_modules(BULLET bullet2.82>=2.82)
+   endif()
+
+   if (BULLET_FOUND)
+     set (HAVE_BULLET TRUE)
++    set(BULLET_VERSION ${BULLET_VERSION_STRING})
+     add_definitions( -DLIBBULLET_VERSION=${BULLET_VERSION} )
+   else()
+     set (HAVE_BULLET FALSE)
+@@ -572,7 +573,7 @@ if (PKG_CONFIG_FOUND)
+   ########################################
+   # Find libusb
+   pkg_check_modules(libusb-1.0 libusb-1.0)
+-  if (NOT libusb-1.0_FOUND)
++  if (NO_LIBUSB_FEATURE)
+     BUILD_WARNING ("libusb-1.0 not found. USB peripherals support will be disabled.")
+     set (HAVE_USB OFF CACHE BOOL "HAVE USB" FORCE)
+   else()
+@@ -648,7 +649,7 @@ endif ()
+ ########################################
+ # Find gdal
+ include (FindGDAL)
+-if (NOT GDAL_FOUND)
++if (NO_GDAL_FEATURE)
+   message (STATUS "Looking for libgdal - not found")
+   BUILD_WARNING ("GDAL not found, Digital elevation terrains support will be disabled.")
+   set (HAVE_GDAL OFF CACHE BOOL "HAVE GDAL" FORCE)
+@@ -718,7 +719,7 @@ endif()
+ ########################################
+ # Find graphviz
+ include (${gazebo_cmake_dir}/FindGraphviz.cmake)
+-if (NOT GRAPHVIZ_FOUND)
++if (NO_GRAPHVIZ_FEATURE)
+   message (STATUS "Looking for libgraphviz-dev - not found")
+   BUILD_WARNING ("Graphviz not found, Model editor's schematic view will be disabled.")
+   set (HAVE_GRAPHVIZ OFF CACHE BOOL "HAVE GRAPHVIZ" FORCE)
+diff --git a/cmake/gazebo-config.cmake.in b/cmake/gazebo-config.cmake.in
+index b57a90dd76..63ce97095e 100644
+--- a/cmake/gazebo-config.cmake.in
++++ b/cmake/gazebo-config.cmake.in
+@@ -99,12 +99,13 @@ list(APPEND @PKG_NAME@_CFLAGS -I${GAZEBO_INSTALL_INCLUDE_DIR}/gazebo-@GAZEBO_MAJ
+
+ if (GAZEBO_HAS_BULLET)
+   if (PKG_CONFIG_FOUND)
+-    pkg_check_modules(BULLET bullet>=2.82)
++    find_package(BULLET CONFIG 2.82)
+     if (NOT BULLET_FOUND)
+        pkg_check_modules(BULLET bullet2.82>=2.82)
+     endif()
+
+     if (BULLET_FOUND)
++      set(BULLET_VERSION ${BULLET_VERSION_STRING})
+       add_definitions(-DLIBBULLET_VERSION=${BULLET_VERSION})
+     else()
+       message(FATAL_ERROR "Error: Bullet > 2.82 not found, please install libbullet2.82-dev.")
diff --git a/ports/gazebo/portfile.cmake b/ports/gazebo/portfile.cmake
@@ -0,0 +1,52 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO osrf/gazebo
+    REF 382dcc3f36095a8d79b5bc9c8b8ad346e867c51d
+    SHA512 57638cd0b23b5f2bfd32fdc159d6cd77ca34e3bd695c225591979aef4b7271eac93d3706fa1ffa2340f90013267a4171bebe1e4c142f19ad2bf67963dfed627e
+    HEAD_REF gazebo11
+    PATCHES
+        0001-Fix-deps.patch
+)
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        openal    HAVE_OPENAL
+        ffmpeg    FFMPEG_FEATURE
+        gts       GTS_FEATURE
+    INVERTED_FEATURES
+        simbody   CMAKE_DISABLE_FIND_PACKAGE_Simbody
+        dart      CMAKE_DISABLE_FIND_PACKAGE_DART
+        bullet    CMAKE_DISABLE_FIND_PACKAGE_BULLET
+        libusb    NO_LIBUSB_FEATURE
+        gdal      NO_GDAL_FEATURE
+        graphviz  NO_GRAPHVIZ_FEATURE
+)
+
+vcpkg_add_to_path("${CURRENT_INSTALLED_DIR}/debug/bin")
+vcpkg_add_to_path("${CURRENT_INSTALLED_DIR}/bin")
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DUSE_EXTERNAL_TINY_PROCESS_LIBRARY=ON
+        -DPKG_CONFIG_EXECUTABLE=${CURRENT_HOST_INSTALLED_DIR}/tools/pkgconf/pkgconf.exe
+        ${FEATURE_OPTIONS}
+)
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(CONFIG_PATH "lib/cmake/gazebo")
+vcpkg_copy_pdbs()
+
+vcpkg_copy_tools(
+    TOOL_NAMES gazebo gz gzclient gzserver
+    AUTO_CLEAN
+)
+set(EXTRA_OGRE_LIBS Codec_EXR Codec_FreeImage Codec_STBI OgreBites OgreMain OgreMeshLodGenerator OgreOverlay OgrePaging OgreProperty OgreRTShaderSystem OgreTerrain OgreVolume Plugin_BSPSceneManager Plugin_DotScene Plugin_OctreeSceneManager Plugin_OctreeZone Plugin_ParticleFX Plugin_PCZSceneManager RenderSystem_Direct3D11 RenderSystem_GL RenderSystem_GL3Plus)
+foreach(LIB IN LISTS EXTRA_OGRE_LIBS)
+    set(FILE_NAME "${CMAKE_SHARED_LIBRARY_PREFIX}${LIB}${CMAKE_SHARED_LIBRARY_SUFFIX}")
+    file(COPY "${CURRENT_INSTALLED_DIR}/bin/${FILE_NAME}" DESTINATION "${CURRENT_PACKAGES_DIR}/tools/${PORT}")
+endforeach()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include" "${CURRENT_PACKAGES_DIR}/debug/share")
+
+# Handle copyright
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
diff --git a/ports/gazebo/vcpkg.json b/ports/gazebo/vcpkg.json
@@ -0,0 +1,125 @@
+{
+  "name": "gazebo",
+  "version-date": "2022-01-20",
+  "description": "Open source robotics simulator.",
+  "homepage": "http://gazebosim.org",
+  "license": "Apache-2.0",
+  "dependencies": [
+    "boost-asio",
+    "boost-date-time",
+    "boost-filesystem",
+    "boost-format",
+    "boost-interprocess",
+    "boost-iostreams",
+    "boost-program-options",
+    "boost-property-tree",
+    "boost-regex",
+    "boost-system",
+    "boost-thread",
+    "boost-uuid",
+    "ccd",
+    {
+      "name": "hdf5",
+      "features": [
+        "cpp"
+      ]
+    },
+    "ignition-common3",
+    "ignition-fuel-tools4",
+    "ignition-math6",
+    "ignition-msgs5",
+    "ignition-transport8",
+    "ogre",
+    {
+      "name": "pkgconf",
+      "host": true
+    },
+    "protobuf",
+    "qwt",
+    "sdformat9",
+    "tbb",
+    "tiny-process-library",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "default-features": [
+    "bullet",
+    "dart",
+    "ffmpeg",
+    "gdal",
+    "graphviz",
+    "gts",
+    "libusb",
+    "openal",
+    "simbody"
+  ],
+  "features": {
+    "bullet": {
+      "description": "Use the bullet physics engine",
+      "dependencies": [
+        "bullet3"
+      ]
+    },
+    "dart": {
+      "description": "Use the dart physics engine",
+      "dependencies": [
+        "dartsim"
+      ]
+    },
+    "ffmpeg": {
+      "description": "Enable audio-video capabilities",
+      "dependencies": [
+        {
+          "name": "ffmpeg",
+          "features": [
+            "avcodec",
+            "avformat",
+            "swscale"
+          ]
+        }
+      ]
+    },
+    "gdal": {
+      "description": "Enable digital elevation terrains support",
+      "dependencies": [
+        "gdal"
+      ]
+    },
+    "graphviz": {
+      "description": "Enable model editor's schematic view",
+      "dependencies": [
+        "graphviz"
+      ]
+    },
+    "gts": {
+      "description": "Enable CSG support",
+      "dependencies": [
+        "gts"
+      ]
+    },
+    "libusb": {
+      "description": "Enable USB peripheral support",
+      "dependencies": [
+        "libusb"
+      ]
+    },
+    "openal": {
+      "description": "Enable audio support",
+      "dependencies": [
+        "openal-soft"
+      ]
+    },
+    "simbody": {
+      "description": "Use the simbody physics engine",
+      "dependencies": [
+        "simbody"
+      ]
+    }
+  }
+}
diff --git a/ports/sdformat9/portfile.cmake b/ports/sdformat9/portfile.cmake
@@ -8,6 +8,7 @@ vcpkg_from_github(
         fix-dependency-urdfdom.patch
         fix-quote.patch
         no-absolute.patch
+        use-external-tinyxml-windows.patch
 )
 
 # Ruby is required by the sdformat build process
@@ -21,7 +22,6 @@ vcpkg_cmake_configure(
     OPTIONS 
         -DBUILD_TESTING=OFF
         -DUSE_INTERNAL_URDF=OFF
-        -DUSE_EXTERNAL_TINYXML=ON
 )
 
 vcpkg_cmake_install()

diff --git a/ports/sdformat9/use-external-tinyxml-windows.patch b/ports/sdformat9/use-external-tinyxml-windows.patch
@@ -0,0 +1,26 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 3dad12e5..e290a3be 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -113,7 +113,7 @@ include (${sdf_cmake_dir}/SDFUtils.cmake)
+
+ message (STATUS "\n\n====== Finding 3rd Party Packages ======")
+  # Use of tinyxml. System installation on UNIX. Internal copy on WIN
+-if (UNIX)
++if (true)
+   message (STATUS "Using system tinyxml")
+   set (USE_EXTERNAL_TINYXML True)
+ elseif(WIN32)
+diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
+index 427e5e7a..655fafc0 100644
+--- a/cmake/SearchForStuff.cmake
++++ b/cmake/SearchForStuff.cmake
+@@ -9,7 +9,7 @@ if (USE_EXTERNAL_TINYXML)
+   #################################################
+   # Find tinyxml. Only debian distributions package tinyxml with a pkg-config
+   # Use pkg_check_modules and fallback to manual detection (needed, at least, for MacOS)
+-  pkg_check_modules(tinyxml tinyxml)
++  find_package(tinyxml CONFIG REQUIRED)
+   if (NOT tinyxml_FOUND)
+     find_path (tinyxml_INCLUDE_DIRS tinyxml.h ${tinyxml_INCLUDE_DIRS} ENV CPATH)
+     find_library(tinyxml_LIBRARIES NAMES tinyxml)
diff --git a/ports/sdformat9/vcpkg.json b/ports/sdformat9/vcpkg.json
@@ -1,9 +1,10 @@
 {
   "name": "sdformat9",
   "version": "9.4.0",
-  "port-version": 4,
+  "port-version": 5,
   "description": "Simulation Description Format (SDF) parser and description files.",
   "homepage": "http://sdformat.org/",
+  "license": "Apache-2.0",
   "supports": "!(linux | uwp)",
   "dependencies": [
     "ignition-math6",

diff --git a/versions/baseline.json b/versions/baseline.json
@@ -2376,6 +2376,10 @@
       "baseline": "2019-08-04",
       "port-version": 1
     },
+    "gazebo": {
+      "baseline": "2022-01-20",
+      "port-version": 0
+    },
     "gcem": {
       "baseline": "1.13.1",
       "port-version": 1
@@ -6286,7 +6290,7 @@
     },
     "sdformat9": {
       "baseline": "9.4.0",
-      "port-version": 4
+      "port-version": 5
     },
     "sdl1": {
       "baseline": "1.2.15",

diff --git a/versions/g-/gazebo.json b/versions/g-/gazebo.json
@@ -0,0 +1,9 @@
+{
+  "versions": [
+    {
+      "git-tree": "983e90284c8c0073e0193750a412eb4df01accdc",
+      "version-date": "2022-01-20",
+      "port-version": 0
+    }
+  ]
+}
diff --git a/versions/s-/sdformat9.json b/versions/s-/sdformat9.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "d050d624faf72f8dcb62fdb7a5378ae5d8e8b5d8",
+      "version": "9.4.0",
+      "port-version": 5
+    },
     {
       "git-tree": "2b064abf9a6849ed5234b03bf5604ccd0169db4a",
       "version": "9.4.0",