Compile for linux

.github/workflows/conda-forge.yml

@@ -10,6 +10,10 @@ on:
   # Execute a "nightly" build at 2 AM UTC
   - cron:  '0 2 * * *'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: '[${{ matrix.os }}@${{ matrix.build_type }}@conda]'

.github/workflows/linux-config/action.yml

@@ -0,0 +1,62 @@
+name: linux-config
+description: configure linux
+
+runs:
+  using: "composite"
+  steps:
+    - name: Cache dependencies
+      uses: actions/cache@v3
+      with:
+        path: deps/vcpkg/cache/linux
+        key: linux-x64-${{ hashFiles('.github/workflows/linux-config/action.yml') }}
+
+    - name: Install dependencies
+      shell: bash
+      run: |
+        # vcpkg
+        # qt5-base
+        # ffmpeg
+        # ogre
+        # libusb
+        sudo apt install -y \
+        ninja-build \
+        \
+        '^libxcb.*-dev' \
+        libx11-xcb-dev \
+        libglu1-mesa-dev \
+        libxrender-dev \
+        libxi-dev \
+        libxkbcommon-dev \
+        libxkbcommon-x11-dev \
+        \
+        nasm \
+        \
+        libxaw7-dev \
+        libxrandr-dev \
+        \
+        libudev-dev \
+        autoconf
+
+    - name: Clone vcpkg
+      shell: bash
+      run: |
+        git clone https://github.com/microsoft/vcpkg/
+
+    - name: Configure Gazebo
+      shell: bash
+      run: |
+        export VCPKG_BINARY_SOURCES="clear;files,$PWD/deps/vcpkg/cache/linux,readwrite;"
+        cmake . -G Ninja -B build \
+            -DCMAKE_BUILD_TYPE=Release \
+            -DCMAKE_TOOLCHAIN_FILE=vcpkg/scripts/buildsystems/vcpkg.cmake \
+            -DVCPKG_MANIFEST_DIR=deps/vcpkg/manifest \
+            -DVCPKG_OVERLAY_TRIPLETS=deps/vcpkg/triplets \
+            -DVCPKG_OVERLAY_PORTS=deps/vcpkg/ports \
+            -DVCPKG_INSTALLED_DIR=$PWD/vcpkg/installed \
+            -DVCPKG_TARGET_TRIPLET=x64-linux-release \
+            -DVCPKG_HOST_TRIPLET=x64-linux-release \
+            -DVCPKG_INSTALL_OPTIONS=--clean-after-build \
+            -DUSE_EXTERNAL_TINYXML=ON \
+            -DUSE_EXTERNAL_TINYXML2=ON \
+            -DUSE_EXTERNAL_TINY_PROCESS_LIBRARY=ON \
+            -DCMAKE_INSTALL_PREFIX=$PWD/vcpkg/installed/x64-linux-release

.github/workflows/linux.yml

@@ -1,53 +1,97 @@
-name: Linux
+name: 🐧 Linux
 on:
   push:
     branches: [ gazebo11 ]
   pull_request:
     branches: [ gazebo11 ]
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
-  build:
-    name: linux-build
+  config:
+    name: x64-config
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
     steps:
-      - uses: actions/checkout@v2
-        with:
-          fetch-depth: 2
+      - uses: actions/checkout@v3
 
-      - name: Install Required Dependencies
-        run: |
-          sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-          wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-          sudo apt-get update
-          wget https://raw.githubusercontent.com/ignition-tooling/release-tools/master/jenkins-scripts/lib/dependencies_archive.sh -O /tmp/dependencies.sh
-          GAZEBO_MAJOR_VERSION=11 ROS_DISTRO=dummy . /tmp/dependencies.sh
-          echo $BASE_DEPENDENCIES $GAZEBO_BASE_DEPENDENCIES | tr -d '\\' | xargs sudo apt-get -y install
-
-      - name: Optional Physics Engines
+      - name: Config Gazebo
+        uses: ./.github/workflows/linux-config/
+
+      - name: Prepare logs on failure
+        if: failure()
+        shell: bash
         run: |
-          sudo apt-add-repository ppa:dartsim
-          sudo apt-get update
-          sudo apt-get install libdart6-dev
-          sudo apt-get install libdart6-utils-urdf-dev
+          7z a -t7z -r -mx=9 logs.7z \
+              vcpkg/buildtrees/*.log
+
+      - name: Upload logs on failure
+        if: failure()
+        uses: actions/upload-artifact@v3
+        with:
+          name: linux_logs_x64_${{github.event.pull_request.head.sha}}
+          path: logs.7z
+
+  build:
+    name: x64-build
+    needs: config
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false  
+    steps:
+      - uses: actions/checkout@v3     
 
-      - name: Optional Dependencies
+      - name: Config Gazebo
+        uses: ./.github/workflows/linux-config/
+
+      - name: Build Gazebo
+        shell: bash
         run: |
-          sudo apt-get install xsltproc
+          export proc=$(nproc)
+          echo proc=$proc
+          cmake --build build --config Release -j $proc
 
-      - name: Man Page Support
+      - name: Install Gazebo
+        shell: bash
         run: |
-          sudo apt-get install ruby-ronn
+          cmake --install build --config Release
           
-      - name: Build Gazebo
+      - name: Tests suite compilation
+        shell: bash
         run: |
-          mkdir build
-          cd build
-          cmake ../
-          make -j $(nproc --all)
-          
-      - name: Optional tests suite compilation
+          echo compile and run tests here
+
+      - name: Prepare logs on failure
+        if: failure()
+        shell: bash
         run: |
-          cd build
-          make tests 
+          7z a -t7z -r -mx=9 logs.7z \
+              vcpkg/buildtrees/*.log \
+              build/.ninja_log \
+              build/build.ninja \
+              build/install_manifest.txt \
+              build/vcpkg-manifest-install.log
+
+      - name: Upload logs on failure
+        if: failure()
+        uses: actions/upload-artifact@v3
+        with:
+          name: linux_logs_x64_${{github.event.pull_request.head.sha}}
+          path: logs.7z
+
+      - name: Prepare artifacts for deploy
+        if: success()
+        shell: bash
+        run: |
+          move vcpkg/installed/x64-linux-release vcpkg/installed/gazebo
+          7z a -t7z -r gazebo.7z ./vcpkg/installed/gazebo/
+
+      - name: Upload gazebo
+        if: success()
+        uses: actions/upload-artifact@v3
+        with:
+          name: gazebo_linux_x64_${{github.event.pull_request.head.sha}}
+          path: gazebo.7z

.github/workflows/windows-config/action.yml

@@ -0,0 +1,50 @@
+name: windows-config
+description: configure windows
+inputs:
+  arch:
+    required: true
+    type: choice
+    options: 
+    - x86
+    - x64
+
+runs:
+  using: "composite"
+  steps:
+    - name: Cache dependencies
+      uses: actions/cache@v3
+      with:
+        path: deps\vcpkg\cache\windows
+        key: windows-${{ inputs.arch }}-${{ hashFiles('.github\workflows\windows-config\action.yml') }}
+
+    - name: Setup msbuild
+      uses: ilammy/msvc-dev-cmd@v1
+      with:
+        arch: ${{ inputs.arch }}
+
+    - name: Fix vcpkg
+      shell: cmd
+      run: vcpkg.exe integrate remove
+
+    - name: Clone vcpkg
+      shell: cmd
+      run: |
+        git clone https://github.com/microsoft/vcpkg/
+
+    - name: Configure Gazebo
+      shell: cmd
+      run: |
+        set VCPKG_BINARY_SOURCES=clear;files,%CD%\deps\vcpkg\cache\windows,readwrite;
+        cmake . -G Ninja -B build ^
+            -DCMAKE_BUILD_TYPE=Release ^
+            -DCMAKE_TOOLCHAIN_FILE=vcpkg\scripts\buildsystems\vcpkg.cmake ^
+            -DVCPKG_MANIFEST_DIR=deps\vcpkg\manifest ^
+            -DVCPKG_OVERLAY_TRIPLETS=deps\vcpkg\triplets ^
+            -DVCPKG_INSTALLED_DIR=%CD%\vcpkg\installed ^
+            -DVCPKG_TARGET_TRIPLET=${{ inputs.arch }}-windows-release ^
+            -DVCPKG_HOST_TRIPLET=${{ inputs.arch }}-windows-release ^
+            -DVCPKG_INSTALL_OPTIONS=--clean-after-build ^
+            -DUSE_EXTERNAL_TINYXML=ON ^
+            -DUSE_EXTERNAL_TINYXML2=ON ^
+            -DUSE_EXTERNAL_TINY_PROCESS_LIBRARY=ON ^
+            -DCMAKE_INSTALL_PREFIX=%CD%\vcpkg\installed\${{ inputs.arch }}-windows-release

.github/workflows/windows.yml

@@ -0,0 +1,109 @@
+name: 🪟 Windows
+on:
+  push:
+    branches: [ gazebo11 ]
+  pull_request:
+    branches: [ gazebo11 ]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
+jobs:
+  config:
+    name: ${{ matrix.arch }}-config
+    runs-on: windows-latest
+    strategy:
+      fail-fast: false  
+      matrix:
+        include:
+        - arch: x64
+        - arch: x86
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Config Gazebo
+        uses: ./.github/workflows/windows-config/
+        with:
+          arch: ${{ matrix.arch }}
+
+      - name: Prepare logs on failure
+        if: failure()
+        shell: cmd
+        run: |
+          7z a -t7z -r -mx=9 logs.7z ^
+              vcpkg/buildtrees/*.log
+              
+      - name: Upload logs on failure
+        if: failure()
+        uses: actions/upload-artifact@v3
+        with:
+          name: windows_logs_${{matrix.arch}}_${{github.event.pull_request.head.sha}}
+          path: logs.7z
+
+  build:
+    name: ${{ matrix.arch }}-build
+    needs: config
+    runs-on: windows-latest
+    strategy:
+      fail-fast: false  
+      matrix:
+        include:
+        - arch: x64
+        - arch: x86
+    steps:
+      - uses: actions/checkout@v3     
+
+      - name: Config Gazebo
+        uses: ./.github/workflows/windows-config/
+        with:
+          arch: ${{ matrix.arch }}
+
+      - name: Build Gazebo
+        shell: cmd
+        run: |
+          set /a proc=%NUMBER_OF_PROCESSORS%
+          echo proc=%proc%
+          cmake --build build --config Release -j %proc%
+
+      - name: Install Gazebo
+        shell: cmd
+        run: |
+          cmake --install build --config Release
+          
+      - name: Tests suite compilation
+        shell: cmd
+        run: |
+          echo compile and run tests here
+
+      - name: Prepare logs on failure
+        if: failure()
+        shell: cmd
+        run: |
+          7z a -t7z -r -mx=9 logs.7z ^
+              vcpkg/buildtrees/*.log ^
+              build/.ninja_log ^
+              build/build.ninja ^
+              build/install_manifest.txt ^
+              build/vcpkg-manifest-install.log
+
+      - name: Upload logs on failure
+        if: failure()
+        uses: actions/upload-artifact@v3
+        with:
+          name: windows_logs_${{matrix.arch}}_${{github.event.pull_request.head.sha}}
+          path: logs.7z
+
+      - name: Prepare artifacts for deploy
+        if: success()
+        shell: cmd
+        run: |
+          move vcpkg\installed\${{ matrix.arch }}-windows-release vcpkg\installed\gazebo
+          7z a -t7z -r gazebo.7z ./vcpkg/installed/gazebo/
+
+      - name: Upload gazebo
+        if: success()
+        uses: actions/upload-artifact@v3
+        with:
+          name: gazebo_windows_${{matrix.arch}}_${{github.event.pull_request.head.sha}}
+          path: gazebo.7z

.gitignore

@@ -4,6 +4,7 @@ build
 build_*
 build-*
 Ogre.log
+deps/vcpkg/cache
 .DS_Store
 *.swp
 *.orig

CMakeLists.txt

@@ -193,7 +193,7 @@ set(GAZEBO_MODEL_DATABASE_URI http://models.gazebosim.org)
 set(OGRE_RESOURCE_PATH ${OGRE_PLUGINDIR})
 # Seems that OGRE_PLUGINDIR can end in a newline, which will cause problems when
 # we pass it to the compiler later.
-string(REPLACE "\n" "" OGRE_RESOURCE_PATH ${OGRE_RESOURCE_PATH})
+string(REPLACE "\n" "" OGRE_RESOURCE_PATH "${OGRE_RESOURCE_PATH}")
 FILE(TO_CMAKE_PATH "${OGRE_RESOURCE_PATH}" OGRE_RESOURCE_PATH)
 
 

cmake/FindFreeimage.cmake

@@ -4,7 +4,14 @@ include (${gazebo_cmake_dir}/GazeboUtils.cmake)
 ########################################
 # Find packages
 if (PKG_CONFIG_FOUND)
-  pkg_check_modules(freeimage freeimage>=${MIN_FREEIMAGE_VERSION})
+  find_package(freeimage CONFIG)
+  if (freeimage_FOUND)
+    set(freeimage_LIBRARIES freeimage::FreeImage)
+    message (STATUS "FreeImage found")
+  endif()
+  if (NOT freeimage_FOUND)
+    pkg_check_modules(freeimage freeimage>=${MIN_FREEIMAGE_VERSION})
+  endif()
   if (NOT freeimage_FOUND)
     message (STATUS "  freeimage.pc not found, trying freeimage_include_dir and freeimage_library_dir flags.")
   endif (NOT freeimage_FOUND)