Support Harmonic

Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ros-controls · Oct 4, 2023 · 8eb5d8b · 8eb5d8b
1 parent 1e80f42
commit 8eb5d8b
Show file tree

Hide file tree

Showing 2 changed files with 10 additions and 0 deletions.
diff --git a/README.md b/README.md
@@ -37,6 +37,7 @@ If you want compile this from source, you should choose the Gazebo version. The
 ```bash
 export GZ_VERSION=fortress
 export GZ_VERSION=garden
+export GZ_VERSION=harmonic
 ```
 
 Then create a workspace, clone the repo and compile it:

diff --git a/gz_ros2_control/CMakeLists.txt b/gz_ros2_control/CMakeLists.txt
@@ -36,6 +36,15 @@ if("$ENV{GZ_VERSION}" STREQUAL "garden")
   set(GZ_PLUGIN gz-plugin${GZ_PLUGIN_VER}::register)
   set(GZ_SIM gz-sim${GZ_SIM_VER}::core)
   add_definitions(-DGZ_HEADERS)
+elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+  find_package(gz-sim8 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+  message(STATUS "Compiling against Gazebo Harmonic")
+  find_package(gz-plugin2 REQUIRED)
+  set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+  set(GZ_PLUGIN gz-plugin${GZ_PLUGIN_VER}::register)
+  set(GZ_SIM gz-sim${GZ_SIM_VER}::core)
+  add_definitions(-DGZ_HEADERS)
 else()
   find_package(ignition-gazebo6 REQUIRED)
   set(GZ_SIM_VER ${ignition-gazebo6_VERSION_MAJOR})