Improve ign tool support on macOS (#477)

Signed-off-by: Louise Poubel <[email protected]>

CMakeLists.txt

@@ -122,6 +122,12 @@ set(IGN_RENDERING_VER ${ignition-rendering3_VERSION_MAJOR})
 ign_find_package(ignition-math6 REQUIRED COMPONENTS eigen3 VERSION 6.6)
 set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
 
+#--------------------------------------
+# Find ignition-tools
+ign_find_package(ignition-tools
+ REQUIRED
+ PKGCONFIG "ignition-tools")
+
 #--------------------------------------
 # Find protobuf
 set(REQ_PROTOBUF_VER 3)

src/CMakeLists.txt

@@ -132,6 +132,36 @@ ign_build_tests(TYPE UNIT
  ignition-gazebo${PROJECT_VERSION_MAJOR}
 )
 
+if(TARGET UNIT_ign_TEST)
+
+ # 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(UNIT_ign_TEST
+ ${ign_lib_target}
+ TestModelSystem
+ TestSensorSystem
+ TestWorldSystem
+ )
+
+ target_compile_definitions(UNIT_ign_TEST PRIVATE
+ "BREW_RUBY=\"${BREW_RUBY} \"")
+
+ target_compile_definitions(UNIT_ign_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=$<TARGET_FILE_DIR:TestModelSystem>")
+
+ set_tests_properties(UNIT_ign_TEST PROPERTIES
+ ENVIRONMENT "${_env_vars}")
+endif()
+
 if(NOT WIN32)
  add_subdirectory(cmd)
 endif()

src/cmd/cmdgazebo.rb.in

@@ -338,6 +338,17 @@ class Cmd
  Importer.dlload plugin
  rescue DLError => e
  puts "Library error for [#{plugin}]: #{e.to_s}"
+ if plugin.end_with? ".dylib"
+ puts "
+If this script was executed with /usr/bin/ruby, this error may be caused by
+macOS System Integrity Protection. One workaround is to use a different
+version of ruby, for example:
+ brew install ruby
+and add the following line to your shell profile:
+ export PATH=/usr/local/opt/ruby/bin:$PATH
+If you are using a colcon workspace, please ensure that the setup script
+has properly set the DYLD_LIBRARY_PATH environment variables."
+ end
  exit(-1)
  end
 
@@ -436,6 +447,12 @@ class Cmd
  # and gui.
  if options['server'] == 0 && options['gui'] == 0
 
+ if plugin.end_with? ".dylib"
+ puts "`ign gazebo` currently only works with the -s argument on macOS.
+See https://github.com/ignitionrobotics/ign-gazebo/issues/44 for more info."
+ exit(-1)
+ end
+
  serverPid = Process.fork do
  ENV['RMT_PORT'] = '1500'
  Process.setpgid(0, 0)
@@ -485,6 +502,12 @@ class Cmd
  options['file'], options['record-topics'].join(':'))
  # Otherwise run the gui
  else options['gui']
+ if plugin.end_with? ".dylib"
+ puts "`ign gazebo` currently only works with the -s argument on macOS.
+See https://github.com/ignitionrobotics/ign-gazebo/issues/44 for more info."
+ exit(-1)
+ end
+
  ENV['RMT_PORT'] = '1501'
  Importer.runGui(options['gui_config'])
  end

src/ign_TEST.cc

@@ -27,12 +27,8 @@
 
 static const std::string kBinPath(PROJECT_BINARY_PATH);
 
-// Command line not working on OSX, see
-// https://github.com/ignitionrobotics/ign-gazebo/issues/25/
-#ifndef __APPLE__
 static const std::string kIgnCommand(
- "IGN_GAZEBO_SYSTEM_PLUGIN_PATH=" + kBinPath + "/lib LD_LIBRARY_PATH=" +
- kBinPath + "/lib:/usr/local/lib:${LD_LIBRARY_PATH} ign gazebo -s ");
+ std::string(BREW_RUBY) + std::string(IGN_PATH) + "/ign gazebo -s ");
 
 /////////////////////////////////////////////////
 std::string customExecStr(std::string _cmd)
@@ -91,8 +87,7 @@ TEST(CmdLine, Server)
 }
 
 /////////////////////////////////////////////////
-// Not supported on Mac's command line tool
-TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_MAC(CachedFuelWorld))
+TEST(CmdLine, CachedFuelWorld)
 {
  std::string projectPath = std::string(PROJECT_SOURCE_PATH) + "/test/worlds";
  ignition::common::setenv("IGN_FUEL_CACHE_PATH", projectPath.c_str());
@@ -165,16 +160,3 @@ TEST(CmdLine, ResourcePath)
  EXPECT_EQ(output.find("Unable to find file plugins.sdf"), std::string::npos)
  << output;
 }
-#endif
-
-/////////////////////////////////////////////////
-/// Main
-int main(int _argc, char **_argv)
-{
- // Set IGN_CONFIG_PATH to the directory where the .yaml configuration files
- // is located.
- ignition::common::setenv("IGN_CONFIG_PATH", IGN_CONFIG_PATH);
-
- ::testing::InitGoogleTest(&_argc, _argv);
- return RUN_ALL_TESTS();
-}