Merge branch 'master' into ci_matching_branch/bump_ionic_gz-ionic

Aliases/gz-ionic

@@ -0,0 +1 @@
+../Formula/gz-harmonic.rb

Formula/gazebo11.rb

@@ -1,13 +1,18 @@
 class Gazebo11 < Formula
   desc "Gazebo robot simulator"
   homepage "https://gazebosim.org"
-  url "https://osrf-distributions.s3.amazonaws.com/gazebo/releases/gazebo-11.13.0.tar.bz2"
-  sha256 "2f65b98fe652a574e01b7cae6cf12e14a9dd29343fde99e066ac5193a8d03e71"
+  url "https://osrf-distributions.s3.amazonaws.com/gazebo/releases/gazebo-11.14.0.tar.bz2"
+  sha256 "7e9842c046c9e0755355b274c240a8abbf4e962be7ce7b7f59194e5f4b584f45"
   license "Apache-2.0"
-  revision 11
 
   head "https://github.com/osrf/gazebo.git", branch: "gazebo11"
 
+  bottle do
+    root_url "https://osrf-distributions.s3.amazonaws.com/bottles-simulation"
+    sha256 ventura:  "3a267f123ae273a9fbf49041bd50063001b9934ca55dd5862752fc70cb1ff625"
+    sha256 monterey: "e312b30bdfba329583462c1806623ee3d9a2b76b1ff477fb8651c456713dd0a7"
+  end
+
   depends_on "cmake" => :build
   depends_on "pkg-config" => :build
 
@@ -43,18 +48,6 @@ class Gazebo11 < Formula
   conflicts_with "gazebo9", because: "differing version of the same formula"
   conflicts_with "gz-tools2", because: "both install bin/gz"
 
-  patch do
-    # Fix for compatibility with graphviz 9.0
-    url "https://github.com/gazebosim/gazebo-classic/commit/ba2cbd532a8ba47972cf9f0c3dbc32a5757cab2a.patch?full_index=1"
-    sha256 "a9cca7d59663fd45bab74e044c817600d24028e80ad2871107a34e8a3bebab2a"
-  end
-
-  patch do
-    # Fix for compatibility with protobuf 23.2
-    url "https://github.com/gazebosim/gazebo-classic/commit/17e09f574a4f39caff279cd70364cd1a3ea46f70.patch?full_index=1"
-    sha256 "b50f4cbfe92d3ded2dd7117696cf6a049f0bbdcdb9ef8f54bbc6bde7670f51b3"
-  end
-
   patch do
     # Fix build when homebrew python is installed
     # keep this patch

Formula/gz-cmake4.rb

@@ -0,0 +1,44 @@
+class GzCmake4 < Formula
+  desc "CMake helper functions for building robotic applications"
+  homepage "https://gazebosim.org"
+  url "https://github.com/gazebosim/gz-cmake.git", branch: "main"
+  version "3.999.999-0-20231006"
+  license "Apache-2.0"
+
+  head "https://github.com/gazebosim/gz-cmake.git", branch: "gz-cmake4"
+
+  depends_on "cmake"
+  depends_on "pkg-config"
+
+  def install
+    cmake_args = std_cmake_args
+    cmake_args << "-DBUILD_TESTING=OFF"
+
+    # Use build folder
+    mkdir "build" do
+      system "cmake", "..", *cmake_args
+      system "make", "install"
+    end
+  end
+
+  test do
+    (testpath/"CMakeLists.txt").write <<-EOS
+      cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
+      project(gz-test VERSION 0.1.0)
+      find_package(gz-cmake4 REQUIRED)
+      gz_configure_project()
+      gz_configure_build(QUIT_IF_BUILD_ERRORS)
+    EOS
+    %w[doc include src test].each do |dir|
+      mkdir dir do
+        touch "CMakeLists.txt"
+      end
+    end
+    mkdir "build" do
+      system "cmake", ".."
+    end
+    # check for Xcode frameworks in bottle
+    cmd_not_grep_xcode = "! grep -rnI 'Applications[/]Xcode' #{prefix}"
+    system cmd_not_grep_xcode
+  end
+end

Formula/gz-common6.rb

@@ -0,0 +1,76 @@
+class GzCommon6 < Formula
+  desc "Common libraries for robotics applications"
+  homepage "https://gazebosim.org"
+  url "https://github.com/gazebosim/gz-common.git", branch: "main"
+  version "5.999.999-0-20231009"
+  license "Apache-2.0"
+
+  head "https://github.com/gazebosim/gz-common.git", branch: "gz-common6"
+
+  depends_on "assimp"
+  depends_on "cmake"
+  depends_on "ffmpeg"
+  depends_on "freeimage"
+  depends_on "gdal"
+  depends_on "gts"
+  depends_on "gz-cmake4"
+  depends_on "gz-math8"
+  depends_on "gz-utils3"
+  depends_on macos: :high_sierra # c++17
+  depends_on "ossp-uuid"
+  depends_on "pkg-config"
+  depends_on "tinyxml2"
+
+  def install
+    cmake_args = std_cmake_args
+    cmake_args << "-DBUILD_TESTING=OFF"
+    cmake_args << "-DCMAKE_INSTALL_RPATH=#{rpath}"
+
+    # Use build folder
+    mkdir "build" do
+      system "cmake", "..", *cmake_args
+      system "make", "install"
+    end
+  end
+
+  test do
+    (testpath/"test.cpp").write <<-EOS
+      #include <iostream>
+      #include <gz/common.hh>
+      int main() {
+        gzdbg << "debug" << std::endl;
+        gzwarn << "warn" << std::endl;
+        gzerr << "error" << std::endl;
+        return 0;
+      }
+    EOS
+    (testpath/"CMakeLists.txt").write <<-EOS
+      cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
+      find_package(gz-common6 QUIET REQUIRED)
+      add_executable(test_cmake test.cpp)
+      target_link_libraries(test_cmake gz-common6::gz-common6)
+    EOS
+    system "pkg-config", "gz-common6"
+    cflags = `pkg-config --cflags gz-common6`.split
+    system ENV.cc, "test.cpp",
+                   *cflags,
+                   "-L#{lib}",
+                   "-lgz-common6",
+                   "-lc++",
+                   "-o", "test"
+    system "./test"
+    # test building with cmake
+    mkdir "build" do
+      ENV.append "LIBRARY_PATH", Formula["gettext"].opt_lib
+      system "cmake", ".."
+      system "make"
+      system "./test_cmake"
+    end
+    # check for Xcode frameworks in bottle
+    # ! requires system with single argument, which uses standard shell
+    # put in variable to avoid audit complaint
+    # enclose / in [] so the following line won't match itself
+    cmd_not_grep_xcode = "! grep -rnI 'Applications[/]Xcode' #{prefix}"
+    system cmd_not_grep_xcode
+  end
+end

Formula/gz-fuel-tools10.rb

@@ -0,0 +1,66 @@
+class GzFuelTools10 < Formula
+  desc "Tools for using Fuel API to download robot models"
+  homepage "https://gazebosim.org"
+  url "https://github.com/gazebosim/gz-fuel-tools.git", branch: "main"
+  version "9.999.999-0-20231011"
+  license "Apache-2.0"
+
+  head "https://github.com/gazebosim/gz-fuel-tools.git", branch: "gz-fuel-tools10"
+
+  depends_on "cmake"
+  depends_on "gz-cmake4"
+  depends_on "gz-common6"
+  depends_on "gz-msgs11"
+  depends_on "jsoncpp"
+  depends_on "libyaml"
+  depends_on "libzip"
+  depends_on macos: :high_sierra # c++17
+  depends_on "pkg-config"
+  depends_on "protobuf"
+
+  def install
+    cmake_args = std_cmake_args
+    cmake_args << "-DBUILD_TESTING=Off"
+    cmake_args << "-DCMAKE_INSTALL_RPATH=#{rpath}"
+
+    mkdir "build" do
+      system "cmake", "..", *cmake_args
+      system "make", "install"
+    end
+  end
+
+  test do
+    (testpath/"test.cpp").write <<-EOS
+      #include <gz/fuel_tools.hh>
+      int main() {
+        gz::fuel_tools::ServerConfig srv;
+        return 0;
+      }
+    EOS
+    (testpath/"CMakeLists.txt").write <<-EOS
+      cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+      find_package(gz-fuel_tools10 QUIET REQUIRED)
+      add_executable(test_cmake test.cpp)
+      target_link_libraries(test_cmake gz-fuel_tools10::gz-fuel_tools10)
+    EOS
+    # test building with pkg-config
+    system "pkg-config", "gz-fuel_tools10"
+    cflags = `pkg-config --cflags gz-fuel_tools10`.split
+    system ENV.cc, "test.cpp",
+                   *cflags,
+                   "-L#{lib}",
+                   "-lgz-fuel_tools10",
+                   "-lc++",
+                   "-o", "test"
+    system "./test"
+    # test building with cmake
+    mkdir "build" do
+      system "cmake", ".."
+      system "make"
+      system "./test_cmake"
+    end
+    # check for Xcode frameworks in bottle
+    cmd_not_grep_xcode = "! grep -rnI 'Applications[/]Xcode' #{prefix}"
+    system cmd_not_grep_xcode
+  end
+end

Formula/gz-gui9.rb

@@ -0,0 +1,119 @@
+class GzGui9 < Formula
+  desc "Common libraries for robotics applications. GUI Library"
+  homepage "https://github.com/gazebosim/gz-gui"
+  url "https://github.com/gazebosim/gz-gui.git", branch: "main"
+  version "8.999.999-0-20231016"
+  license "Apache-2.0"
+
+  head "https://github.com/gazebosim/gz-gui.git", branch: "main"
+
+  depends_on "cmake" => [:build, :test]
+  depends_on "pkg-config" => [:build, :test]
+  depends_on "gz-cmake4"
+  depends_on "gz-common6"
+  depends_on "gz-msgs11"
+  depends_on "gz-plugin3"
+  depends_on "gz-rendering9"
+  depends_on "gz-transport14"
+  depends_on macos: :mojave # c++17
+  depends_on "protobuf"
+  depends_on "qt@5"
+  depends_on "tinyxml2"
+
+  def install
+    rpaths = [
+      rpath,
+      rpath(source: lib/"gz-gui-8/plugins", target: lib),
+    ]
+    cmake_args = std_cmake_args
+    cmake_args << "-DBUILD_TESTING=Off"
+    cmake_args << "-DCMAKE_INSTALL_RPATH=#{rpaths.join(";")}"
+
+    mkdir "build" do
+      system "cmake", "..", *cmake_args
+      system "make", "install"
+    end
+  end
+
+  test do
+    # test some plugins in subfolders
+    %w[CameraFps Publisher TopicViewer WorldStats].each do |plugin|
+      p = lib/"gz-gui-8/plugins/lib#{plugin}.dylib"
+      # Use gz-plugin --info command to check plugin linking
+      cmd = Formula["gz-plugin3"].opt_libexec/"gz/plugin3/gz-plugin"
+      args = ["--info", "--plugin"] << p
+      # print command and check return code
+      system cmd, *args
+      # check that library was loaded properly
+      _, stderr = system_command(cmd, args: args)
+      error_string = "Error while loading the library"
+      assert stderr.exclude?(error_string), error_string
+    end
+    # build against API
+    (testpath/"test.cpp").write <<-EOS
+    #include <iostream>
+
+    #ifndef Q_MOC_RUN
+      #include <gz/gui/qt.h>
+      #include <gz/gui/Application.hh>
+      #include <gz/gui/MainWindow.hh>
+    #endif
+
+    //////////////////////////////////////////////////
+    int main(int _argc, char **_argv)
+    {
+      std::cout << "Hello, GUI!" << std::endl;
+
+      // Increase verboosity so we see all messages
+      gz::common::Console::SetVerbosity(4);
+
+      // Create app
+      gz::gui::Application app(_argc, _argv);
+
+      // Load plugins / config
+      if (!app.LoadPlugin("Publisher"))
+      {
+        return 1;
+      }
+
+      // Customize main window
+      auto win = app.findChild<gz::gui::MainWindow *>()->QuickWindow();
+      win->setProperty("title", "Hello Window!");
+
+      // Run window
+      // app.exec();
+
+      std::cout << "After run" << std::endl;
+
+      return 0;
+    }
+    EOS
+    (testpath/"CMakeLists.txt").write <<-EOS
+      cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
+      find_package(gz-gui9 QUIET REQUIRED)
+      add_executable(test_cmake test.cpp)
+      target_link_libraries(test_cmake gz-gui9::gz-gui9)
+    EOS
+    ENV.append_path "PKG_CONFIG_PATH", Formula["qt@5"].opt_lib/"pkgconfig"
+    system "pkg-config", "gz-gui9"
+    cflags   = `pkg-config --cflags gz-gui9`.split
+    ldflags  = `pkg-config --libs gz-gui9`.split
+    system ENV.cc, "test.cpp",
+                   *cflags,
+                   *ldflags,
+                   "-lc++",
+                   "-o", "test"
+    ENV["GZ_PARTITION"] = rand((1 << 32) - 1).to_s
+    system "./test"
+    # test building with cmake
+    ENV.append_path "CMAKE_PREFIX_PATH", Formula["qt@5"].opt_prefix
+    mkdir "build" do
+      system "cmake", ".."
+      system "make"
+      system "./test_cmake"
+    end
+    # check for Xcode frameworks in bottle
+    cmd_not_grep_xcode = "! grep -rnI 'Applications[/]Xcode' #{prefix}"
+    system cmd_not_grep_xcode
+  end
+end