Optionally enable an embedded copy of DART 6.10 Open Robotics fork

CMakeLists.txt

@@ -61,16 +61,85 @@ ign_find_package(sdformat10
 
 #--------------------------------------
 # Find dartsim for the dartsim plugin wrapper
-ign_find_package(DART
-  COMPONENTS
-    collision-ode
-    utils
-    utils-urdf
-  EXTRA_ARGS CONFIG
-  VERSION 6.9
-  REQUIRED_BY dartsim
-  PKGCONFIG dart
-  PKGCONFIG_VER_COMPARISON >=)
+
+# respect user explicit values and also provide a default value for Ubuntu Focal
+# to make ground vehicles to work properly
+set(DEFAULT_VENDOR_DART OFF)
+if(NOT DEFINED USE_VENDOR_DART)
+    find_program(LSB_RELEASE_EXEC lsb_release)
+
+    if(LSB_RELEASE_EXEC)
+      execute_process(COMMAND ${LSB_RELEASE_EXEC} -rs
+        OUTPUT_VARIABLE LSB_RELEASE_ID_SHORT
+        OUTPUT_STRIP_TRAILING_WHITESPACE)
+      if(LSB_RELEASE_ID_SHORT STREQUAL  "20.04")
+        message(STATUS "DETECTED Ubuntu 20.04, default USE_VENDOR_DART set to "
+                       "ON to make ground vehicles to work properly")
+        set(DEFAULT_VENDOR_DART ON)
+      endif()
+  endif()
+endif()
+
+option(USE_VENDOR_DART "Use internal Open Robotics fork of DART" ${DEFAULT_VENDOR_DART})
+
+find_program(LSB_RELEASE_EXEC lsb_release)
+if(USE_VENDOR_DART)
+    include(ExternalProject)
+
+    set(DART_VENDOR_INSTALL_DIR ${CMAKE_BINARY_DIR}/vendor/dart/install)
+    set(DART_VENDOR_INCLUDE_DIRS "${DART_VENDOR_INSTALL_DIR}/include")
+    set(DART_VENDOR_LIBRARY_DIR "${DART_VENDOR_INSTALL_DIR}/lib")
+    # Three libraries needed
+    set(DART_VENDOR_LIBRARY_PATH
+	"${DART_VENDOR_LIBRARY_DIR}/libdart.so.6.10.0")
+    set(DART_VENDOR_LIBRARY_LINK_PATH
+	"${DART_VENDOR_LIBRARY_DIR}/libdart.so.6.10")
+    add_library(dart SHARED IMPORTED)
+    set_target_properties(dart PROPERTIES
+	IMPORTED_LOCATION ${DART_VENDOR_LIBRARY_PATH})
+
+    set(DART_ODEL_VENDOR_LIBRARY_PATH
+	"${DART_VENDOR_LIBRARY_DIR}/libdart-external-odelcpsolver.so.6.10.0")
+    set(DART_ODEL_VENDOR_LIBRARY_LINK_PATH
+	"${DART_VENDOR_LIBRARY_DIR}/libdart-external-odelcpsolver.so.6.10")
+    add_library(dart_external_odelcpsolver SHARED IMPORTED)
+    set_target_properties(dart_external_odelcpsolver PROPERTIES
+	IMPORTED_LOCATION ${DART_ODEL_VENDOR_LIBRARY_PATH})
+
+    set(DART_COLLISION_VENDOR_LIBRARY_PATH
+	"${DART_VENDOR_LIBRARY_DIR}/libdart-collision-ode.so.6.10.0")
+    set(DART_COLLISION_VENDOR_LIBRARY_LINK_PATH
+	"${DART_VENDOR_LIBRARY_DIR}/libdart-collision-ode.so.6.10")
+    add_library(dart_collision_ode SHARED IMPORTED)
+    set_target_properties(dart_collision_ode PROPERTIES
+	IMPORTED_LOCATION ${DART_COLLISION_VENDOR_LIBRARY_PATH})
+
+    set(DART_LIBRARIES dart dart_external_odelcpsolver dart_collision_ode)
+
+    ExternalProject_Add(dart_project
+      DOWNLOAD_COMMAND ""
+      UPDATE_COMMAND ""
+      PREFIX ${CMAKE_BINARY_DIR}/vendor/dart
+      INSTALL_DIR ${DART_VENDOR_INSTALL_DIR}
+      SOURCE_DIR ${CMAKE_SOURCE_DIR}/vendor/dart
+      # Seems a bug since INSTALL_DIR and SOURCE_DIR should handle it
+      # https://gitlab.kitware.com/cmake/cmake/-/issues/18790
+      CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${DART_VENDOR_INSTALL_DIR}
+    )
+
+    add_definitions(-DDART_VERSION=6.10.0)
+else()
+    ign_find_package(DART
+      COMPONENTS
+	collision-ode
+	utils
+	utils-urdf
+      EXTRA_ARGS CONFIG
+      VERSION 6.9
+      REQUIRED_BY dartsim
+      PKGCONFIG dart
+      PKGCONFIG_VER_COMPARISON >=)
+endif()
 
 #--------------------------------------
 # Find bullet for the bullet plugin wrapper
@@ -80,8 +149,6 @@ ign_find_package(IgnBullet
   PKGCONFIG bullet
   PKGCONFIG_VER_COMPARISON >=)
 
-message(STATUS "-------------------------------------------\n")
-
 set(IGNITION_PHYSICS_RESOURCE_DIR "${CMAKE_SOURCE_DIR}/resources")
 
 # Plugin install dirs

dartsim/CMakeLists.txt

@@ -6,7 +6,17 @@ ign_add_component(dartsim INTERFACE
   GET_TARGET_NAME features)
 
 target_link_libraries(${features} INTERFACE ${DART_LIBRARIES})
-target_include_directories(${features} SYSTEM INTERFACE ${DART_INCLUDE_DIRS})
+
+if(USE_VENDOR_DART)
+  target_include_directories(${features} INTERFACE
+    $<BUILD_INTERFACE:${DART_VENDOR_INCLUDE_DIRS}>
+    $<BUILD_INTERFACE:${BULLET_INCLUDE_DIRS}>
+    $<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
+    $<INSTALL_INTERFACE:${IGN_INCLUDE_INSTALL_DIR_FULL}/vendor/dart>)
+else()
+  target_include_directories(${features} SYSTEM INTERFACE ${DART_INCLUDE_DIRS})
+endif()
+
 if (MSVC)
   # needed by DART, see https://github.com/dartsim/dart/issues/753
   target_compile_options(${features} INTERFACE "/permissive-")
@@ -25,6 +35,11 @@ ign_add_component(${engine_name}
   DEPENDS_ON_COMPONENTS dartsim
   GET_TARGET_NAME dartsim_plugin)
 
+add_dependencies(${PROJECT_LIBRARY_TARGET_NAME}-dartsim-plugin dart)
+if(USE_VENDOR_DART)
+  add_dependencies(${PROJECT_LIBRARY_TARGET_NAME}-dartsim-plugin dart_project)
+endif()
+
 target_link_libraries(${dartsim_plugin}
   PUBLIC
     ${features}
@@ -40,6 +55,22 @@ target_link_libraries(${dartsim_plugin}
 # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
 install(TARGETS ${dartsim_plugin} DESTINATION ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR})
 
+if(USE_VENDOR_DART)
+  # Set RPATH/RUNPATH to point to engine install dir. This makes possible
+  # to find embedded dart libraries withotu interfere with oter system directories
+  set_target_properties(${dartsim_plugin} PROPERTIES
+      INSTALL_RPATH ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR})
+
+  foreach(lib ${DART_VENDOR_LIBRARY_PATH} ${DART_VENDOR_LIBRARY_LINK_PATH}
+	      ${DART_COLLISION_VENDOR_LIBRARY_PATH} ${DART_COLLISION_VENDOR_LIBRARY_LINK_PATH}
+	      ${DART_ODEL_VENDOR_LIBRARY_PATH} ${DART_ODEL_VENDOR_LIBRARY_LINK_PATH})
+	  #      install(FILES ${lib}
+	  # DESTINATION ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR})
+      install(FILES ${lib}
+	DESTINATION ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR})
+  endforeach()
+endif()
+
 # The library created by `ign_add_component` includes the ign-physics version
 # (i.e. libignition-physics1-name-plugin.so), but for portability,
 # we also install an unversioned symlink into the same versioned folder.
@@ -69,6 +100,10 @@ ign_build_tests(
   TEST_LIST tests)
 
 foreach(test ${tests})
+   if(USE_VENDOR_DART)
+     set_tests_properties(${test} PROPERTIES
+	 ENVIRONMENT "LD_LIBRARY_PATH=${DART_VENDOR_LIBRARY_DIR}")
+  endif()
 
   target_compile_definitions(${test} PRIVATE
     "dartsim_plugin_LIB=\"$<TARGET_FILE:${dartsim_plugin}>\""