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Standalone Ignition Gazebo executables #694

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Standalone Ignition Gazebo executables #694

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dbc9dea
Add support structure for Gazebo standalones
mjcarroll Mar 18, 2021
e848fe4
Merge remote-tracking branch 'origin/ign-gazebo5' into mjcarroll/stan…
ahcorde Aug 18, 2021
1e10f94
Filled server_main.cc and gui_main.cc
ahcorde Aug 18, 2021
05ab591
make linters happy
ahcorde Aug 18, 2021
1492308
fixed tests, add ign model and some fixes
ahcorde Aug 23, 2021
8faad98
make linters happy
ahcorde Aug 24, 2021
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4 changes: 4 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -158,6 +158,10 @@ set(IGNITION_GAZEBO_GUI_PLUGIN_INSTALL_DIR
${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ign-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui
)

#--------------------------------------
# Find ignition-tools
find_program(IGN_TOOLS_PROGRAM ign)

#============================================================================
# Configure the build
#============================================================================
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54 changes: 0 additions & 54 deletions src/CMakeLists.txt
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Expand Up @@ -31,19 +31,6 @@ set(gui_sources
PARENT_SCOPE
)

ign_add_component(ign
SOURCES
ign.cc
cmd/ModelCommandAPI.cc
GET_TARGET_NAME ign_lib_target)
target_link_libraries(${ign_lib_target}
PRIVATE
${PROJECT_LIBRARY_TARGET_NAME}
ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
ignition-gazebo${PROJECT_VERSION_MAJOR}
ignition-gazebo${PROJECT_VERSION_MAJOR}-gui
)

set (sources
Barrier.cc
Conversions.cc
Expand Down Expand Up @@ -75,10 +62,8 @@ set (gtest_sources
Conversions_TEST.cc
EntityComponentManager_TEST.cc
EventManager_TEST.cc
ign_TEST.cc
Link_TEST.cc
Model_TEST.cc
ModelCommandAPI_TEST.cc
SdfEntityCreator_TEST.cc
SdfGenerator_TEST.cc
Server_TEST.cc
Expand Down Expand Up @@ -149,45 +134,6 @@ ign_build_tests(TYPE UNIT
ignition-gazebo${PROJECT_VERSION_MAJOR}
)

# Command line tests need extra settings
foreach(CMD_TEST
UNIT_ign_TEST
UNIT_ModelCommandAPI_TEST)

if(NOT TARGET ${CMD_TEST})
continue()
endif()

# Running `ign gazebo` on macOS has problems when run with /usr/bin/ruby
# due to System Integrity Protection (SIP). Try to find ruby from
# homebrew as a workaround.
if (APPLE)
find_program(BREW_RUBY ruby HINTS /usr/local/opt/ruby/bin)
endif()

add_dependencies(${CMD_TEST}
${ign_lib_target}
TestModelSystem
TestSensorSystem
TestWorldSystem
)

target_compile_definitions(${CMD_TEST} PRIVATE
"BREW_RUBY=\"${BREW_RUBY} \"")

target_compile_definitions(${CMD_TEST} PRIVATE
"IGN_PATH=\"${IGNITION-TOOLS_BINARY_DIRS}\"")

set(_env_vars)
list(APPEND _env_vars "IGN_CONFIG_PATH=${CMAKE_BINARY_DIR}/test/conf")
list(APPEND _env_vars "IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$<TARGET_FILE_DIR:TestModelSystem>")

set_tests_properties(${CMD_TEST} PROPERTIES
ENVIRONMENT "${_env_vars}")

endforeach()

if(NOT WIN32)
add_subdirectory(cmd)
endif()

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