Add install step (#44)

* add install plugins to CMakeLists files * add install step to CI * change the name of libHandler.so to gz-sim-yarp-handler * enable rpath * include GNUInstallDirs module * delete DESTINATION parameters * Update README.md * Update README of tutorials * Update README.md * Update README.md Co-authored-by: Silvio Traversaro <[email protected]> --------- Co-authored-by: Silvio Traversaro <[email protected]>
robotology · Aug 30, 2023 · 7ec7572 · 7ec7572
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diff --git a/.github/workflows/apt.yml b/.github/workflows/apt.yml
@@ -120,9 +120,9 @@ jobs:
       env:
         CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
 
-    # This is commented until we fix https://github.com/robotology/gz-yarp-plugins/issues/28
-    # - name: Install
-    #  run: |
-    #    cd build
-    #    cmake --build . --config ${{ matrix.build_type }} --target install
+
+    - name: Install
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }} --target install
 
diff --git a/.github/workflows/conda-forge.yml b/.github/workflows/conda-forge.yml
@@ -82,8 +82,7 @@ jobs:
         cd build
         ctest -E "^LaserTest|^CameraTest" --repeat until-pass:5 --output-on-failure -C ${{ matrix.build_type }} .
 
-    # This is commented until we fix https://github.com/robotology/gz-yarp-plugins/issues/28
-    # - name: Install
-    #  run: |
-    #    cd build
-    #    cmake --build . --config ${{ matrix.build_type }} --target install
+    - name: Install
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }} --target install
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -12,10 +12,21 @@ set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 gz_find_package(gz-sim7 REQUIRED)
 set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
 
+# Defines the CMAKE_INSTALL_LIBDIR, CMAKE_INSTALL_BINDIR and many other useful macros.
+# See https://cmake.org/cmake/help/latest/module/GNUInstallDirs.html
+include(GNUInstallDirs)
+
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
 set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
 
+# Enable RPATH support for installed binaries and libraries
+include(AddInstallRPATHSupport)
+add_install_rpath_support(BIN_DIRS "${CMAKE_INSTALL_FULL_BINDIR}"
+                          LIB_DIRS "${CMAKE_INSTALL_FULL_LIBDIR}"
+                          INSTALL_NAME_DIR "${CMAKE_INSTALL_FULL_LIBDIR}"
+                          USE_LINK_PATH)
+
 # Support shared libraries on Windows
 set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 

diff --git a/README.md b/README.md
@@ -2,7 +2,13 @@
 
 **This repository contains a preliminary work in progress of integration of Modern Gazebo (gz) and YARP devices, a port of some functionalities of https://github.com/robotology/gazebo-yarp-plugins to Modern Gazebo. The repo is working in progress, and public interfaces can change without warning.**
 
-## Install/Uninstall Gazebo Garden
+## Quick start
+- [Install Gazebo Garden](#install_gazebo)
+- [Install YARP](#install_yarp)
+- [Install gz-sim-yarp-plugins](#install_gz-sim-yarp-plugins)
+
+
+### <a name="install_gazebo"></a> Install Gazebo Garden
 #### Binary Installation in Ubuntu (or WSL)
 First install some necessary tools:  
 ```
@@ -21,7 +27,7 @@ sudo apt-get install gz-garden
 sudo apt remove gz-garden && sudo apt autoremove
 ```
 
-## Install YARP
+### <a name="install_yarp"></a> Install YARP
 
 #### Binary Installation in Ubuntu (or WSL)
 ```
@@ -35,10 +41,18 @@ sudo apt install yarp
 sudo apt remove yarp && sudo apt autoremove
 ```
 
-## Compilation
+## <a name="install_gz-sim-yarp-plugins"></a> Install gz-sim-yarp-plugins
 ~~~
 mkdir build
 cd build
-cmake ..
+cmake -DCMAKE_INSTALL_PREFIX=<desired_install_prefix> ..
 make
+make install
 ~~~
+To notify Gazebo of the new plugins compiled, it is necessary to modify the GZ_SIM_SYSTEM_PLUGIN_PATH environment variable:
+```
+export GZ_SIM_SYSTEM_PLUGIN_PATH=${GZ_SIM_SYSTEM_PLUGIN_PATH}:/path/to/the/install/folder/lib
+```
+where `/path/to/the/install/folder/lib` is the directory containing the `libgz-sim-yarp-forcetorque-system.so`, `libgz-sim-yarp-camera-system.so`... files (by default `/usr/local/lib`)
+
+To avoid having to modify this environment variable each time, you can place this command in the `.bashrc` file in your home directory.
diff --git a/libraries/singleton-devices/CMakeLists.txt b/libraries/singleton-devices/CMakeLists.txt
@@ -1,11 +1,13 @@
 
-add_library(Handler SHARED Handler.cc Handler.hh)
-target_compile_features(Handler PRIVATE cxx_std_17)
+add_library(gz-sim-yarp-handler SHARED Handler.cc Handler.hh)
+target_compile_features(gz-sim-yarp-handler PRIVATE cxx_std_17)
 
-target_link_libraries(Handler
+target_link_libraries(gz-sim-yarp-handler
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
   PRIVATE
     ${YARP_LIBRARIES}
     YARP::YARP_os
-    YARP::YARP_init)
+    YARP::YARP_init)
+
+install(TARGETS gz-sim-yarp-handler)
diff --git a/plugins/camera/CMakeLists.txt b/plugins/camera/CMakeLists.txt
@@ -12,5 +12,8 @@ target_link_libraries(gz-sim-yarp-camera-system
     ${YARP_LIBRARIES}
     YARP::YARP_os
     YARP::YARP_init
-    Handler
-    HandlerCamera)
+    gz-sim-yarp-handler
+    gz-sim-yarp-handler-camera)
+
+# Add install target
+install(TARGETS gz-sim-yarp-camera-system)
diff --git a/plugins/camera/singleton-camera/CMakeLists.txt b/plugins/camera/singleton-camera/CMakeLists.txt
@@ -1,10 +1,13 @@
-add_library(HandlerCamera SHARED Handler.cc Handler.hh)
-target_compile_features(HandlerCamera PRIVATE cxx_std_17)
+add_library(gz-sim-yarp-handler-camera SHARED Handler.cc Handler.hh)
+target_compile_features(gz-sim-yarp-handler-camera PRIVATE cxx_std_17)
 
-target_link_libraries(HandlerCamera
+target_link_libraries(gz-sim-yarp-handler-camera
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
   PRIVATE
     ${YARP_LIBRARIES}
     YARP::YARP_os
-    YARP::YARP_init)
+    YARP::YARP_init)
+
+# Add install target
+install(TARGETS gz-sim-yarp-handler-camera)
diff --git a/plugins/forcetorque/CMakeLists.txt b/plugins/forcetorque/CMakeLists.txt
@@ -12,5 +12,8 @@ target_link_libraries(gz-sim-yarp-forcetorque-system
     ${YARP_LIBRARIES}
     YARP::YARP_os
     YARP::YARP_init
-    Handler
-    HandlerForceTorque)
+    gz-sim-yarp-handler
+    gz-sim-yarp-handler-forcetorque)
+
+# Add install target
+install(TARGETS gz-sim-yarp-forcetorque-system)
diff --git a/plugins/forcetorque/singleton-forcetorque/CMakeLists.txt b/plugins/forcetorque/singleton-forcetorque/CMakeLists.txt
@@ -1,11 +1,13 @@
 
-add_library(HandlerForceTorque SHARED Handler.cc Handler.hh)
-target_compile_features(HandlerForceTorque PRIVATE cxx_std_17)
+add_library(gz-sim-yarp-handler-forcetorque SHARED Handler.cc Handler.hh)
+target_compile_features(gz-sim-yarp-handler-forcetorque PRIVATE cxx_std_17)
 
-target_link_libraries(HandlerForceTorque
+target_link_libraries(gz-sim-yarp-handler-forcetorque
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
   PRIVATE
     ${YARP_LIBRARIES}
     YARP::YARP_os
-    YARP::YARP_init)
+    YARP::YARP_init)
+
+install(TARGETS gz-sim-yarp-handler-forcetorque)
diff --git a/plugins/imu/CMakeLists.txt b/plugins/imu/CMakeLists.txt
@@ -12,5 +12,8 @@ target_link_libraries(gz-sim-yarp-imu-system
     ${YARP_LIBRARIES}
     YARP::YARP_os
     YARP::YARP_init
-    Handler
-    HandlerIMU)
+    gz-sim-yarp-handler
+    gz-sim-yarp-handler-imu)
+
+# Add install target
+install(TARGETS gz-sim-yarp-imu-system)
diff --git a/plugins/imu/singleton-imu/CMakeLists.txt b/plugins/imu/singleton-imu/CMakeLists.txt
@@ -1,11 +1,14 @@
 
-add_library(HandlerIMU SHARED Handler.cc Handler.hh)
-target_compile_features(HandlerIMU PRIVATE cxx_std_17)
+add_library(gz-sim-yarp-handler-imu SHARED Handler.cc Handler.hh)
+target_compile_features(gz-sim-yarp-handler-imu PRIVATE cxx_std_17)
 
-target_link_libraries(HandlerIMU
+target_link_libraries(gz-sim-yarp-handler-imu
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
   PRIVATE
     ${YARP_LIBRARIES}
     YARP::YARP_os
-    YARP::YARP_init)
+    YARP::YARP_init)
+
+# Add install target
+install(TARGETS gz-sim-yarp-handler-imu)
diff --git a/plugins/laser/CMakeLists.txt b/plugins/laser/CMakeLists.txt
@@ -12,5 +12,8 @@ target_link_libraries(gz-sim-yarp-laser-system
     ${YARP_LIBRARIES}
     YARP::YARP_os
     YARP::YARP_init
-    Handler
-    HandlerLaser)
+    gz-sim-yarp-handler
+    gz-sim-yarp-handler-laser)
+
+# Add install target
+install(TARGETS gz-sim-yarp-laser-system)
diff --git a/plugins/laser/singleton-laser/CMakeLists.txt b/plugins/laser/singleton-laser/CMakeLists.txt
@@ -1,11 +1,14 @@
 
-add_library(HandlerLaser SHARED Handler.cc Handler.hh)
-target_compile_features(HandlerLaser PRIVATE cxx_std_17)
+add_library(gz-sim-yarp-handler-laser SHARED Handler.cc Handler.hh)
+target_compile_features(gz-sim-yarp-handler-laser PRIVATE cxx_std_17)
 
-target_link_libraries(HandlerLaser
+target_link_libraries(gz-sim-yarp-handler-laser
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
   PRIVATE
     ${YARP_LIBRARIES}
     YARP::YARP_os
     YARP::YARP_init)
+
+# Add install target
+install(TARGETS gz-sim-yarp-handler-laser)
diff --git a/plugins/robotinterface/CMakeLists.txt b/plugins/robotinterface/CMakeLists.txt
@@ -9,4 +9,7 @@ target_link_libraries(gz-sim-yarp-robotinterface-system
     ${YARP_LIBRARIES}
     YARP::YARP_os
     YARP::YARP_init
-    Handler)
+    gz-sim-yarp-handler)
+
+install(TARGETS gz-sim-yarp-robotinterface-system)
+
diff --git a/tutorial/camera/model/README.md b/tutorial/camera/model/README.md
@@ -8,10 +8,7 @@
   ~~~
 - 2nd terminal:
   ~~~
-  export LIBGL_ALWAYS_SOFTWARE=1
-  cd build
-  export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`:`pwd`/lib
-  cd ../tutorial/camera/model
+  cd tutorial/camera/model
   gz sim model.sdf
   ~~~
 - 3rd terminal:
@@ -29,5 +26,13 @@ Finally start the simulation in Gazebo.
 - Gazebo simulation
   ![Gazebo simulation](imgs/simulation.png "Gazebo simulation")
 
+If you are using Linux on WSLg and you have the following error
+~~~
+OGRE EXCEPTION(9:UnimplementedException):  in GL3PlusTextureGpu::copyTo at ./RenderSystems/GL3Plus/src/OgreGL3PlusTextureGpu.cpp (line 685)
+~~~
+try forcing software rendering:
+~~~
+export LIBGL_ALWAYS_SOFTWARE=1
+~~~
 
 
diff --git a/tutorial/camera/model_horizontal_flip/README.md b/tutorial/camera/model_horizontal_flip/README.md
@@ -8,10 +8,7 @@
   ~~~
 - 2nd terminal:
   ~~~
-  export LIBGL_ALWAYS_SOFTWARE=1 
-  cd build
-  export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`:`pwd`/lib
-  cd ../tutorial/camera/model_horizontal_flip
+  cd tutorial/camera/model_horizontal_flip
   gz sim model.sdf
   ~~~
 - 3rd terminal:
@@ -29,5 +26,12 @@ Finally start the simulation in Gazebo.
 - Gazebo simulation
   ![Gazebo simulation](imgs/simulation.png "Gazebo simulation")
 
-
+If you are using Linux on WSLg and you have the following error
+~~~
+OGRE EXCEPTION(9:UnimplementedException):  in GL3PlusTextureGpu::copyTo at ./RenderSystems/GL3Plus/src/OgreGL3PlusTextureGpu.cpp (line 685)
+~~~
+try forcing software rendering:
+~~~
+export LIBGL_ALWAYS_SOFTWARE=1
+~~~
 
diff --git a/tutorial/camera/model_vertical_flip/README.md b/tutorial/camera/model_vertical_flip/README.md
@@ -8,10 +8,7 @@
   ~~~
 - 2nd terminal:
   ~~~
-  export LIBGL_ALWAYS_SOFTWARE=1 
-  cd build
-  export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`:`pwd`/lib
-  cd ../tutorial/camera/model_vertical_flip
+  cd tutorial/camera/model_vertical_flip
   gz sim model.sdf
   ~~~
 - 3rd terminal:
@@ -27,4 +24,13 @@ Finally start the simulation in Gazebo.
 - yarpview window
   ![yarpview window](imgs/yarpview_vertical_flip.png "yarpview window")
 - Gazebo simulation
-  ![Gazebo simulation](imgs/simulation.png "Gazebo simulation")
+  ![Gazebo simulation](imgs/simulation.png "Gazebo simulation")
+
+If you are using Linux on WSLg and you have the following error
+~~~
+OGRE EXCEPTION(9:UnimplementedException):  in GL3PlusTextureGpu::copyTo at ./RenderSystems/GL3Plus/src/OgreGL3PlusTextureGpu.cpp (line 685)
+~~~
+try forcing software rendering:
+~~~
+export LIBGL_ALWAYS_SOFTWARE=1
+~~~
diff --git a/tutorial/forcetorque/model_one_sensor/README.md b/tutorial/forcetorque/model_one_sensor/README.md
@@ -8,10 +8,7 @@
   ~~~
 - 2nd terminal:
   ~~~
-  export LIBGL_ALWAYS_SOFTWARE=1 
-  cd build
-  export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`:`pwd`/lib
-  cd ../tutorial/forcetorque/model_one_sensor
+  cd tutorial/forcetorque/model_one_sensor
   gz sim model.sdf
   ~~~
 - 3rd terminal:
@@ -29,6 +26,15 @@ Finally start the simulation in Gazebo. The output is:
 ...
 ~~~
 
+If you are using Linux on WSLg and you have the following error
+~~~
+OGRE EXCEPTION(9:UnimplementedException):  in GL3PlusTextureGpu::copyTo at ./RenderSystems/GL3Plus/src/OgreGL3PlusTextureGpu.cpp (line 685)
+~~~
+try forcing software rendering:
+~~~
+export LIBGL_ALWAYS_SOFTWARE=1
+~~~
+
 ## Run model in Gazebo Garden without YARP integration
 Run the model:
 ```

diff --git a/tutorial/forcetorque/model_two_sensors/README.md b/tutorial/forcetorque/model_two_sensors/README.md
@@ -8,10 +8,7 @@
     ~~~
 - 2nd terminal:
     ~~~
-    export LIBGL_ALWAYS_SOFTWARE=1 
-    cd build
-    export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`:`pwd`/lib
-    cd ../tutorial/forcetorque/model_two_sensors
+    cd tutorial/forcetorque/model_two_sensors
     gz sim model2sensors.sdf
     ~~~
 - 3rd terminal:
@@ -42,3 +39,12 @@
     () () () () () (((0.0 0.0 -98.0 0.0 0.0 0.0) 8.68900000000000005684)) () () () ()
     () () () () () (((0.0 0.0 -98.0 0.0 0.0 0.0) 8.77299999999999968736)) () () () ()
     ~~~
+
+If you are using Linux on WSLg and you have the following error
+~~~
+OGRE EXCEPTION(9:UnimplementedException):  in GL3PlusTextureGpu::copyTo at ./RenderSystems/GL3Plus/src/OgreGL3PlusTextureGpu.cpp (line 685)
+~~~
+try forcing software rendering:
+~~~
+export LIBGL_ALWAYS_SOFTWARE=1
+~~~