Compile for linux

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

@@ -0,0 +1,63 @@
+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-${{ hashFiles('.github/workflows/linux-config/action.yml', 'deps/vcpkg/manifest/vcpkg.json') }}
+
+    - name: Install dependencies
+      shell: bash
+      run: |
+        # vcpkg
+        # qt5-base
+        # ffmpeg
+        # ogre
+        # libusb
+        sudo apt install -y \
+        ninja-build \
+        \
+        '^libxcb.*-dev' \
+        libx11-xcb-dev \
+        libglu1-mesa-dev \
+        libxrender-dev \
+        libxi-dev \
+        libxkbcommon-dev \
+        libxkbcommon-x11-dev \
+        \
+        nasm \
+        \
+        libxaw7-dev \
+        libxrandr-dev \
+        \
+        libudev-dev \
+        autoconf
+
+    - name: Clone vcpkg
+      shell: bash
+      run: |
+        git clone https://github.com/microsoft/vcpkg/
+
+    - name: Configure Gazebo
+      shell: bash
+      run: |
+        export VCPKG_BINARY_SOURCES="clear;files,$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=$PWD/vcpkg/installed \
+            -DVCPKG_TARGET_TRIPLET=x64-linux-release \
+            -DVCPKG_HOST_TRIPLET=x64-linux-release \
+            -DVCPKG_INSTALL_OPTIONS=--clean-after-build \
+            -DUSE_EXTERNAL_TINYXML=ON \
+            -DUSE_EXTERNAL_TINYXML2=ON \
+            -DUSE_EXTERNAL_TINY_PROCESS_LIBRARY=ON \
+            -DGZ_PROTOBUF_USE_CMAKE_CONFIG=ON \
+            -DCMAKE_INSTALL_PREFIX=$PWD/vcpkg/installed/x64-linux-release

.github/workflows/linux_copy.yml

@@ -0,0 +1,83 @@
+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:
+  config:
+    name: x64-config
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Config Gazebo
+        uses: ./.github/workflows/linux-config/
+
+      - name: Prepare logs on failure
+        if: failure()
+        shell: bash
+        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: linux_logs_x64_${{github.event.pull_request.head.sha}}
+          path: logs.7z
+
+  build:
+    name: x64-build
+    needs: config
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false  
+    steps:
+      - uses: actions/checkout@v3     
+
+      - name: Config Gazebo
+        uses: ./.github/workflows/linux-config/
+
+      - name: Build Gazebo
+        shell: bash
+        run: |
+          export proc=$(nproc)
+          echo proc=$proc
+          cmake --build build --config Release -j $proc
+
+      - name: Install Gazebo
+        shell: bash
+        run: |
+          cmake --install build --config Release
+          
+      - name: Tests suite compilation
+        shell: bash
+        run: |
+          echo compile and run tests here
+
+      - name: Prepare logs on failure
+        if: failure()
+        shell: bash
+        run: |
+          7z a -t7z -r -mx=9 logs.7z \
+              vcpkg/buildtrees/*.log \
+              build/.ninja_log \
+              build/build.ninja \
+              build/install_manifest.txt \
+              build/vcpkg-manifest-install.log
+
+      - name: Upload logs on failure
+        if: failure()
+        uses: actions/upload-artifact@v3
+        with:
+          name: linux_logs_x64_${{github.event.pull_request.head.sha}}
+          path: logs.7z

.gitignore

@@ -3,6 +3,7 @@ test/plugins/rest-web/node_modules
 build
 build_*
 build-*
+vcpkg
 Ogre.log
 deps/vcpkg/cache
 .DS_Store

cmake/FindFreeimage.cmake

@@ -5,6 +5,14 @@ include (${gazebo_cmake_dir}/GazeboUtils.cmake)
 # Find packages
 if (PKG_CONFIG_FOUND)
   pkg_check_modules(freeimage freeimage>=${MIN_FREEIMAGE_VERSION})
+  if (NOT freeimage_FOUND)
+    unset(freeimage_FOUND CACHE)
+    find_package(freeimage CONFIG)
+    if (freeimage_FOUND)
+      set(freeimage_LIBRARIES freeimage::FreeImage)
+      message (STATUS "FreeImage found")
+    endif()
+  endif()   
   if (NOT freeimage_FOUND)
     message (STATUS "  freeimage.pc not found, trying freeimage_include_dir and freeimage_library_dir flags.")
   endif (NOT freeimage_FOUND)

cmake/SearchForStuff.cmake

@@ -217,7 +217,13 @@ if (PKG_CONFIG_FOUND)
 
   if (USE_EXTERNAL_TINYXML)
     message (STATUS "Using system tinyxml.")
-    pkg_check_modules(tinyxml tinyxml)
+    find_package(tinyxml CONFIG)
+    if (tinyxml_FOUND)
+      message (STATUS "tinyxml found via find_package")
+    endif()
+    if (NOT tinyxml_FOUND)
+      pkg_check_modules(tinyxml tinyxml)
+    endif()
     if (NOT tinyxml_FOUND)
         find_path (tinyxml_INCLUDE_DIRS tinyxml.h ${tinyxml_INCLUDE_DIRS} ENV CPATH)
         find_library(tinyxml_LIBRARIES NAMES tinyxml)
@@ -331,7 +337,14 @@ if (PKG_CONFIG_FOUND)
 
   #################################################
   # Find TBB
-  pkg_check_modules(TBB tbb)
+  find_package(TBB CONFIG REQUIRED)
+  if (TBB_FOUND)
+    set(TBB_LIBRARIES TBB::tbb TBB::tbbmalloc)
+    message (STATUS "TBB version: " ${TBB_VERSION})
+  endif()
+  if (NOT TBB_FOUND)
+    pkg_check_modules(TBB tbb)    
+  endif()
   set (TBB_PKG_CONFIG "tbb")
   if (NOT TBB_FOUND)
     message(STATUS "TBB not found, attempting to detect manually")
@@ -359,6 +372,7 @@ if (PKG_CONFIG_FOUND)
   if (DEFINED TBB_VERSION AND NOT ${TBB_VERSION} STREQUAL "")
     if (${TBB_VERSION} VERSION_GREATER_EQUAL "2021.0")
       set(HAVE_TBB_GREATER_OR_EQUAL_2021 ON)
+      message (STATUS "HAVE_TBB_GREATER_OR_EQUAL_2021=ON")
     endif()
   endif()
 
@@ -587,9 +601,12 @@ 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)
+    pkg_check_modules(BULLET bullet>=2.82)
+  endif()
+  if (NOT BULLET_FOUND)    
+    pkg_check_modules(BULLET bullet2.82>=2.82)
   endif()
   if (NOT BULLET_FOUND)
     find_package(BULLET CONFIG 2.82)
@@ -645,7 +662,7 @@ endif ()
 ########################################
 # Find SDFormat
 set(SDF_MIN_REQUIRED_VERSION 9.8)
-find_package(sdformat9 ${SDF_MIN_REQUIRED_VERSION} REQUIRED)
+find_package(sdformat9 CONFIG ${SDF_MIN_REQUIRED_VERSION} REQUIRED)
 if (sdformat9_FOUND)
   message (STATUS "Looking for SDFormat9  - found")
 else ()
@@ -689,13 +706,18 @@ endif ()
 
 ########################################
 # Find gdal
-include (FindGDAL)
+find_package(GDAL CONFIG)
+if ("${GDAL_LIBRARY}" STREQUAL "")
+  unset(GDAL_FOUND CACHE)
+  include (FindGDAL)
+endif()
 if (NOT GDAL_FOUND)
   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)
 else ()
   message (STATUS "Looking for libgdal - found")
+  message (STATUS "GDAL_LIBRARY: ${GDAL_LIBRARY}")  
   set (HAVE_GDAL ON CACHE BOOL "HAVE GDAL" FORCE)
 endif ()
 

deps/vcpkg/ports/ffmpeg/0001-create-lib-libraries.patch

@@ -0,0 +1,25 @@
+diff --git a/configure b/configure
+index 34c2adb..1c8008a 100755
+--- a/configure
++++ b/configure
+@@ -5352,15 +5352,17 @@ case $target_os in
+         ;;
+     win32|win64)
+         disable symver
+-        if enabled shared; then
++#        if enabled shared; then
+             # Link to the import library instead of the normal static library
+             # for shared libs.
+             LD_LIB='%.lib'
+             # Cannot build both shared and static libs with MSVC or icl.
+-            disable static
+-        fi
++#            disable static
++#        fi
+         enabled x86_32 && check_ldflags -LARGEADDRESSAWARE
+         shlibdir_default="$bindir_default"
++        LIBPREF=""
++        LIBSUF=".lib"
+         SLIBPREF=""
+         SLIBSUF=".dll"
+         SLIBNAME_WITH_VERSION='$(SLIBPREF)$(FULLNAME)-$(LIBVERSION)$(SLIBSUF)'

deps/vcpkg/ports/ffmpeg/0002-fix-msvc-link.patch

@@ -0,0 +1,11 @@
+diff --git a/configure b/configure
+--- a/configure
++++ b/configure
+@@ -6162,6 +6162,7 @@ EOF
+         test -n "$extern_prefix"  && append X86ASMFLAGS "-DPREFIX"
+         case "$objformat" in
+             elf*) enabled debug && append X86ASMFLAGS $x86asm_debug ;;
++            win*) enabled debug && append X86ASMFLAGS "-g" ;;
+         esac
+
+         enabled avx512    && check_x86asm avx512_external    "vmovdqa32 [eax]{k1}{z}, zmm0"

deps/vcpkg/ports/ffmpeg/0003-fix-windowsinclude.patch

@@ -0,0 +1,13 @@
+diff --git a/fftools/cmdutils.c b/fftools/cmdutils.c
+--- a/fftools/cmdutils.c
++++ b/fftools/cmdutils.c
+@@ -51,6 +51,8 @@
+ #include "fopen_utf8.h"
+ #include "opt_common.h"
+ #ifdef _WIN32
++#define _WIN32_WINNT 0x0502
++#define WIN32_LEAN_AND_MEAN
+ #include <windows.h>
+ #include "compat/w32dlfcn.h"
+ #endif
+