Support Gazebo Harmonic and Ionic (#24)

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

.github/ci/before_cmake.sh

@@ -6,73 +6,13 @@ BUILD_DIR=`pwd`
 
 cd /tmp
 
-# check that we can compile USD from sources (only Focal)
-# see https://github.com/ignitionrobotics/sdformat/issues/869
-return_code=0
-if [ "$(lsb_release -r -s)" == "20.04" ]; then
-  USD_VERSION="21.11"
-elif [ "$(lsb_release -r -s)" == "22.04" ]; then
-  USD_VERSION="22.11"
-else
-  return_code=$(($return_code + 1))
-fi
-
-mkdir cmake_test
-cd cmake_test
-
-echo "cmake_minimum_required(VERSION 3.12)" > CMakeLists.txt
-
-cmake . || return_code=$(($return_code + $?))
-if [ $return_code -eq 0 ]
-then
-  # compile USD from sources
-  cd /tmp
-  mkdir usd_binaries
-  cd usd_binaries
-
-  apt-get install libboost-all-dev p7zip-full -y
-
-  wget https://github.com/oneapi-src/oneTBB/archive/refs/tags/2019_U6.tar.gz
-  tar -xvf 2019_U6.tar.gz
-  cd oneTBB-2019_U6/
-  make -j 2
-  mkdir -p /tmp/install_tbb/lib
-  mkdir -p /tmp/install_tbb/include
-  cp build/*_release/libtbb* /tmp/install_tbb/lib
-  cp -r include/serial /tmp/install_tbb/include/
-  cp -r include/tbb /tmp/install_tbb/include/
-
-  cd ..
-
-  wget https://github.com/PixarAnimationStudios/USD/archive/refs/tags/v$USD_VERSION.zip
-  unzip v$USD_VERSION.zip
-  cd OpenUSD-$USD_VERSION
-  mkdir build
-  cd build
-
-  cmake -DCMAKE_INSTALL_PREFIX="/tmp/USD" -DCMAKE_PREFIX_PATH="/tmp/USD" \
-    -DCMAKE_BUILD_TYPE=Release \
-    -DPXR_PREFER_SAFETY_OVER_SPEED=ON \
-    -DPXR_ENABLE_PYTHON_SUPPORT=OFF \
-    -DBUILD_SHARED_LIBS=ON  \
-    -DTBB_USE_DEBUG_BUILD=OFF  \
-    -DTBB_ROOT=/tmp/install_tbb \
-    -DPXR_BUILD_DOCUMENTATION=OFF  \
-    -DPXR_BUILD_TESTS=OFF  \
-    -DPXR_BUILD_EXAMPLES=OFF  \
-    -DPXR_BUILD_TUTORIALS=OFF  \
-    -DPXR_BUILD_USD_TOOLS=OFF  \
-    -DPXR_BUILD_IMAGING=OFF  \
-    -DPXR_BUILD_USD_IMAGING=OFF  \
-    -DPXR_BUILD_USDVIEW=OFF  \
-    -DPXR_BUILD_ALEMBIC_PLUGIN=OFF  \
-    -DPXR_BUILD_DRACO_PLUGIN=OFF  \
-    -DPXR_ENABLE_MATERIALX_SUPPORT=OFF  \
-    -DBoost_INCLUDE_DIR=/usr/include  \
-    -DBoost_NO_BOOST_CMAKE=FALSE \
-    ..
-
-  make -j$(nproc) install
-fi
+USD_VERSION="24.08"
+
+# compile USD from sources
+apt install libpyside2-dev python3-opengl cmake libglu1-mesa-dev freeglut3-dev mesa-common-dev libx11-dev -y
+wget https://github.com/PixarAnimationStudios/USD/archive/refs/tags/v$USD_VERSION.zip
+unzip v$USD_VERSION.zip
+cd OpenUSD-$USD_VERSION
+python3 build_scripts/build_usd.py --build-variant release --no-tests --no-imaging --no-examples --no-tutorials --no-docs --onetbb --no-python /tmp/USD
 
 cd $BUILD_DIR

.github/ci/packages.apt

@@ -1,7 +1,7 @@
 libgz-cmake3-dev
 libgz-common5-dev
 libgz-math7-dev
-libgz-tools-dev
+libgz-tools2-dev
 libgz-utils2-dev
 libgz-utils2-cli-dev
-libsdformat13-dev
+libsdformat14-dev

.github/workflows/ci.yml

@@ -3,21 +3,22 @@ name: Ubuntu
 on: [push, pull_request]
 
 jobs:
-  jammy-ci:
+  noble-ci:
     runs-on: ubuntu-latest
-    name: Ubuntu Jammy CI
+    name: Ubuntu Noble CI
     steps:
       - name: Set env
         run: |
           echo "PATH=$PATH:/tmp/USD/bin" >> $GITHUB_ENV
           echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/tmp/USD/lib" >> $GITHUB_ENV
           echo "CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:/tmp/USD" >> $GITHUB_ENV
+          echo "GZ_VERSION=harmonic" >> $GITHUB_ENV
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
       - name: Compile and test
         id: ci
-        uses: gazebo-tooling/action-gz-ci@jammy
+        uses: gazebo-tooling/action-gz-ci@noble
         with:
-          codecov-enabled: true
+          codecov-enabled: false
           cppcheck-enabled: true
           cpplint-enabled: true

.github/workflows/pr-collection-labeler.yml

@@ -8,6 +8,6 @@ jobs:
     steps:
     - name: Add collection labels
       if: github.event.action == 'opened'
-      uses: ignition-tooling/pr-collection-labeler@v1
+      uses: gazebo-tooling/pr-collection-labeler@v1
       with:
         github-token: ${{ secrets.GITHUB_TOKEN }}

CMakeLists.txt

@@ -3,28 +3,41 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-usd0 VERSION 0.0.1)
-
-#============================================================================
-# Find ignition-cmake
-#============================================================================
-# If you get an error at this line, you need to install ignition-cmake
-find_package(gz-cmake3 REQUIRED)
-#--------------------------------------
-# Find ignition-common
-gz_find_package(gz-common5 REQUIRED COMPONENTS graphics)
-set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
-set(GZ_COMMON_LIB gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER})
-set(GZ_COMMON_GRAPHICS_LIB gz-common${GZ_COMMON_VER}::graphics)
-#--------------------------------------
-# Find ignition-utils
-gz_find_package(gz-utils2 REQUIRED COMPONENTS cli)
-set(GZ_UTILS_VER ${gz-utils2_VERSION_MAJOR})
-set(GZ_UTILS_LIB gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER})
-set(GZ_UTILS_CLI_LIB gz-utils${GZ_UTILS_VER}::cli)
-find_package(sdformat13 REQUIRED)
-SET(SDFORMAT_VER 13)
+project(gz_usd0 VERSION 0.0.1)
 
+if("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+    find_package(gz-cmake3 REQUIRED)
+    #--------------------------------------
+    # Find gz-common
+    gz_find_package(gz-common5 REQUIRED COMPONENTS graphics)
+    set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
+    set(GZ_COMMON_LIB gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER})
+    set(GZ_COMMON_GRAPHICS_LIB gz-common${GZ_COMMON_VER}::graphics)
+    #--------------------------------------
+    # Find gz-utils
+    gz_find_package(gz-utils2 REQUIRED COMPONENTS cli)
+    set(GZ_UTILS_VER ${gz-utils2_VERSION_MAJOR})
+    set(GZ_UTILS_LIB gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER})
+    set(GZ_UTILS_CLI_LIB gz-utils${GZ_UTILS_VER}::cli)
+    find_package(sdformat14 REQUIRED)
+    SET(SDFORMAT_VER 14)
+else()
+    find_package(gz-cmake4 REQUIRED)
+    #--------------------------------------
+    # Find gz-common
+    gz_find_package(gz-common6 REQUIRED COMPONENTS graphics)
+    set(GZ_COMMON_VER ${gz-common6_VERSION_MAJOR})
+    set(GZ_COMMON_LIB gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER})
+    set(GZ_COMMON_GRAPHICS_LIB gz-common${GZ_COMMON_VER}::graphics)
+    #--------------------------------------
+    # Find gz-utils
+    gz_find_package(gz-utils3 REQUIRED COMPONENTS cli)
+    set(GZ_UTILS_VER ${gz-utils3_VERSION_MAJOR})
+    set(GZ_UTILS_LIB gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER})
+    set(GZ_UTILS_CLI_LIB gz-utils${GZ_UTILS_VER}::cli)
+    find_package(sdformat15 REQUIRED)
+    SET(SDFORMAT_VER 15)
+endif()
 ########################################
 # Find PXR
 gz_find_package(pxr REQUIRED)

README.md

@@ -1,7 +1,8 @@
 Gazebo version | Branch
 -- | --
 Fortress | [fortress](https://github.com/gazebosim/gz-usd/tree/fortress) |
-Garden and higher versions | [main](https://github.com/gazebosim/gz-usd) |
+Garden and higher versions | [garden](https://github.com/gazebosim/gz-usd/tree/garden) |
+Harmonic and higher versions | [main](https://github.com/gazebosim/gz-usd) |
 
 USD is a high-performance extensible software platform for collaboratively constructing animated 3D
 scenes, designed to meet the needs of large-scale film and visual effects production.
@@ -17,14 +18,14 @@ If you have already installed `gz-usd` you might want to visit [the tutorial sec
 # Requirements
 
 You will need all of the dependencies for sdformat, along with the following additional dependencies:
-* [USD](https://github.com/PixarAnimationStudios/USD/tree/v21.11#getting-and-building-the-code):
+* [USD](https://github.com/PixarAnimationStudios/USD/tree/v24.08#getting-and-building-the-code):
     Note: USD support is only available when building sdformat from source. USD requires CMAKE 3.12 this package is available from Ubuntu 20.0.
 
     Clone the USD repository
     ```bash
-    git clone --depth 1 -b v21.11 https://github.com/PixarAnimationStudios/USD.git
+    git clone --depth 1 -b v24.08 https://github.com/PixarAnimationStudios/USD.git
     ```
-    Note: Only v21.11 supported currently
+    Note: Only v24.08 supported currently
 
     Install dependencies not managed by the build script
 
@@ -34,7 +35,7 @@ You will need all of the dependencies for sdformat, along with the following add
     Use the build script to compile USD. In order to speed up compilation, it is recommended to disable unneeded components.
     ```bash
     cd USD
-    python3 build_scripts/build_usd.py --build-variant release --no-tests --no-examples --no-tutorials --no-docs --no-python <install_dir>
+    python3 build_scripts/build_usd.py --build-variant release --no-tests --no-examples --no-imaging --onetbb --no-tutorials --no-docs --no-python <install_dir>
     ```
     For more information regarding the build options, see the USD docs at https://github.com/PixarAnimationStudios/USD/tree/v21.11#getting-and-building-the-code.
 
@@ -60,6 +61,7 @@ git clone https://github.com/gazebosim/gz-usd
 cd gz-usd
 mkdir build
 cd build
+export GZ_VERSION=<harmonic or ionic>
 cmake ..
 make
 ```
@@ -71,7 +73,6 @@ To see how the executable works, run the following command from the `./build/bin
 ./sdf2usd -h
 ```
 
-
 ### Note about building with colcon
 
 You may need to add the USD library path to your `LD_LIBRARY_PATH` environment variable after sourcing the colcon workspace.

include/gz/usd/UsdError.hh

@@ -21,10 +21,10 @@
 #include <string>
 #include <vector>
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include <sdf/Error.hh>
-#include <gz/usd/Export.hh>
+#include <gz/gz_usd/Export.hh>
 #include <gz/usd/config.hh>
 
 namespace gz

include/gz/usd/config.hh.in

@@ -3,6 +3,8 @@
 #ifndef GZ_USD_CONFIG_HH_
 #define GZ_USD_CONFIG_HH_
 
+#define GZ_USD_VISIBLE GZ_GZ_USD_VISIBLE
+
 /* Package version number */
 #define GZ_USD_MAJOR_VERSION ${PROJECT_VERSION_MAJOR}
 #define GZ_USD_MINOR_VERSION ${PROJECT_VERSION_MINOR}

include/gz/usd/sdf_parser/World.hh

@@ -30,7 +30,7 @@
 #pragma pop_macro ("__DEPRECATED")
 
 #include <gz/usd/config.hh>
-#include "gz/usd/Export.hh"
+#include "gz/gz_usd/Export.hh"
 #include "gz/usd/UsdError.hh"
 #include "sdf/World.hh"
 

include/gz/usd/usd_parser/Parser.hh

@@ -21,7 +21,7 @@
 #include <string>
 
 #include <gz/usd/config.hh>
-#include "gz/usd/Export.hh"
+#include "gz/gz_usd/Export.hh"
 #include "gz/usd/UsdError.hh"
 
 namespace gz

include/gz/usd/usd_parser/USDData.hh

@@ -24,14 +24,14 @@
 #include <unordered_map>
 #include <utility>
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/Material.hh"
 #include "sdf/Types.hh"
 #include <gz/usd/config.hh>
 #include "sdf/system_util.hh"
 #include "gz/usd/usd_parser/USDStage.hh"
-#include "gz/usd/Export.hh"
+#include "gz/gz_usd/Export.hh"
 #include "gz/usd/UsdError.hh"
 
 namespace gz

include/gz/usd/usd_parser/USDStage.hh

@@ -21,12 +21,12 @@
 #include <set>
 #include <string>
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 
 #include "sdf/Types.hh"
 #include <gz/usd/config.hh>
 #include "sdf/system_util.hh"
-#include "gz/usd/Export.hh"
+#include "gz/gz_usd/Export.hh"
 #include "gz/usd/UsdError.hh"
 
 namespace gz

include/gz/usd/usd_parser/USDTransforms.hh

@@ -21,11 +21,11 @@
 #include <string>
 #include <vector>
 
-#include <ignition/math/Pose3.hh>
-#include <ignition/math/Quaternion.hh>
-#include <ignition/math/Vector3.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/math/Quaternion.hh>
+#include <gz/math/Vector3.hh>
 
-#include <ignition/utils/ImplPtr.hh>
+#include <gz/utils/ImplPtr.hh>
 
 // TODO(ahcorde) this is to remove deprecated "warnings" in usd, these warnings
 // are reported using #pragma message so normal diagnostic flags cannot remove
@@ -38,7 +38,7 @@
 
 #include <gz/usd/config.hh>
 #include "sdf/system_util.hh"
-#include "gz/usd/Export.hh"
+#include "gz/gz_usd/Export.hh"
 #include "gz/usd/UsdError.hh"
 #include "USDData.hh"