Gazebo Plugin repo from MATLAB

#/* Copyright 2019 The MathWorks, Inc. */

##########################################

# CMakeLists.txt for gazebo_plugin_for_simulink #

##########################################

cmake_minimum_required(VERSION 2.8)

PROJECT(gazebo_plugin_for_simulink)

#################################

# Specify the CMake module path #

#################################

SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")

# Check C++11 or C++0x support

include(CheckCXXCompilerFlag)

CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)

CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)

if(COMPILER_SUPPORTS_CXX11)

   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")

   add_definitions(-DCOMPILEDWITHC11)

   message(STATUS "Using flag -std=c++11.")

elseif(COMPILER_SUPPORTS_CXX0X)

   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")

   add_definitions(-DCOMPILEDWITHC0X)

   message(STATUS "Using flag -std=c++0x.")

else()

   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")

endif()

SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread")

IF(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")

  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libstdc++ -Wno-deprecated-declarations -Wno-unused-function")

ENDIF()

find_package(Boost 1.58.0 REQUIRED COMPONENTS date_time)

find_package(gazebo 9 REQUIRED)

include_directories(

include/

msgsproto/

${Boost_INCLUDE_DIR}

${GAZEBO_INCLUDE_DIRS}

)

link_directories(

  ${GAZEBO_LIBRARY_DIRS}

)

ADD_SUBDIRECTORY(msgsproto)

ADD_SUBDIRECTORY(src/transport)

ADD_SUBDIRECTORY(src/gazeboserver)

ADD_SUBDIRECTORY(src/gazeboplugin)

###############################################

# USE => cmake .. -DTESTING=ON  to trun ON testing

option(TESTING "plugin testing" OFF)

if(TESTING)

   ADD_SUBDIRECTORY(src/gazeboplugin/pkgtest)

   ADD_SUBDIRECTORY(src/gazeboserver/gazebomsghandler/pkgtest)

endif()

# Gazebo Plugin

This repo contains source code (and pre-built libraries) for the gazebo plugin used for co-simulation with Matlab/simulink. The code was extracted from the virtual machine provided by Matlab.

* [Instructions to build](https://www.mathworks.com/help/robotics/examples/perform-co-simulation-between-simulink-and-gazebo.html)

* [Virtual machine link](https://www.mathworks.com/ros2_vm_install/v2)

## Build

The libraries in `GazeboPLugin/export/lib/` can be built again using:

```bash

git clone git@git.isis.vanderbilt.edu:ahmedi/GazeboPlugin.git

cd GazeboPlugin

mkdir build

cd build

cmake ..

make

```

This will create a plugin file in `GazeboPlugin/export/lib/libGazeboCoSimPlugin.so`. Add the path to `GAZEBO_PLUGIN_PATH` variable:

```

export GAZEBO_PLUGIN_PATH=GazeboPlugin/export/lib/:${GAZEBO_PLUGIN_PATH}

```

Then include the plugin in a `world` file for gazebo. The path should be relative to whatever path was added to the `GAZEBO_PLUGIN_PATH` variable.

```

<plugin name="GazeboPlugin" filename="libGazeboCoSimPlugin.so"><portNumber>14581</portNumber></plugin>

```

# Gazebo Plugin

This repo contains source code for the gazebo plugin used for co-simulation with Matlab/simulink. The code was extracted from the virtual machine provided by Matlab.

* [Instructions to build](https://www.mathworks.com/help/robotics/examples/perform-co-simulation-between-simulink-and-gazebo.html)

* [Virtual machine link](https://www.mathworks.com/ros2_vm_install/v2)

## Build

```bash

git clone git@git.isis.vanderbilt.edu:ahmedi/GazeboPlugin.git

cd GazeboPlugin

mkdir build

cd build

cmake ..

make

```

This will create a plugin file in `GazeboPlugin/export/lib/libGazeboCoSimPlugin.so`. Add the path to `GAZEBO_PLUGIN_PATH` variable:

```

export GAZEBO_PLUGIN_PATH=GazeboPlugin/export/lib/:${GAZEBO_PLUGIN_PATH}

```

Then include the plugin in a `world` file for gazebo. The path should be relative to whatever path was added to the `GAZEBO_PLUGIN_PATH` variable.

```

<plugin name="GazeboPlugin" filename="libGazeboCoSimPlugin.so"><portNumber>14581</portNumber></plugin>

```

set(CMAKE_C_COMPILER "/usr/bin/cc")

set(CMAKE_C_COMPILER_ARG1 "")

set(CMAKE_C_COMPILER_ID "GNU")

set(CMAKE_C_COMPILER_VERSION "7.4.0")

set(CMAKE_C_COMPILER_VERSION_INTERNAL "")

set(CMAKE_C_COMPILER_WRAPPER "")

set(CMAKE_C_STANDARD_COMPUTED_DEFAULT "11")

set(CMAKE_C_COMPILE_FEATURES "c_std_90;c_function_prototypes;c_std_99;c_restrict;c_variadic_macros;c_std_11;c_static_assert")

set(CMAKE_C90_COMPILE_FEATURES "c_std_90;c_function_prototypes")

set(CMAKE_C99_COMPILE_FEATURES "c_std_99;c_restrict;c_variadic_macros")

set(CMAKE_C11_COMPILE_FEATURES "c_std_11;c_static_assert")

set(CMAKE_C_PLATFORM_ID "Linux")

set(CMAKE_C_SIMULATE_ID "")

set(CMAKE_C_SIMULATE_VERSION "")

set(CMAKE_AR "/usr/bin/ar")

set(CMAKE_C_COMPILER_AR "/usr/bin/gcc-ar-7")

set(CMAKE_RANLIB "/usr/bin/ranlib")

set(CMAKE_C_COMPILER_RANLIB "/usr/bin/gcc-ranlib-7")

set(CMAKE_LINKER "/usr/bin/ld")

set(CMAKE_COMPILER_IS_GNUCC 1)

set(CMAKE_C_COMPILER_LOADED 1)

set(CMAKE_C_COMPILER_WORKS TRUE)

set(CMAKE_C_ABI_COMPILED TRUE)

set(CMAKE_COMPILER_IS_MINGW )

set(CMAKE_COMPILER_IS_CYGWIN )

if(CMAKE_COMPILER_IS_CYGWIN)

  set(CYGWIN 1)

  set(UNIX 1)

endif()

set(CMAKE_C_COMPILER_ENV_VAR "CC")

if(CMAKE_COMPILER_IS_MINGW)

  set(MINGW 1)

endif()

set(CMAKE_C_COMPILER_ID_RUN 1)

set(CMAKE_C_SOURCE_FILE_EXTENSIONS c;m)

set(CMAKE_C_IGNORE_EXTENSIONS h;H;o;O;obj;OBJ;def;DEF;rc;RC)

set(CMAKE_C_LINKER_PREFERENCE 10)

# Save compiler ABI information.

set(CMAKE_C_SIZEOF_DATA_PTR "8")

set(CMAKE_C_COMPILER_ABI "ELF")

set(CMAKE_C_LIBRARY_ARCHITECTURE "x86_64-linux-gnu")

if(CMAKE_C_SIZEOF_DATA_PTR)

  set(CMAKE_SIZEOF_VOID_P "${CMAKE_C_SIZEOF_DATA_PTR}")

endif()

if(CMAKE_C_COMPILER_ABI)

  set(CMAKE_INTERNAL_PLATFORM_ABI "${CMAKE_C_COMPILER_ABI}")

endif()

if(CMAKE_C_LIBRARY_ARCHITECTURE)

  set(CMAKE_LIBRARY_ARCHITECTURE "x86_64-linux-gnu")

endif()

set(CMAKE_C_CL_SHOWINCLUDES_PREFIX "")

if(CMAKE_C_CL_SHOWINCLUDES_PREFIX)

  set(CMAKE_CL_SHOWINCLUDES_PREFIX "${CMAKE_C_CL_SHOWINCLUDES_PREFIX}")

endif()

set(CMAKE_C_IMPLICIT_LINK_LIBRARIES "gcc;gcc_s;c;gcc;gcc_s")

set(CMAKE_C_IMPLICIT_LINK_DIRECTORIES "/usr/lib/gcc/x86_64-linux-gnu/7;/usr/lib/x86_64-linux-gnu;/usr/lib;/lib/x86_64-linux-gnu;/lib")

set(CMAKE_C_IMPLICIT_LINK_FRAMEWORK_DIRECTORIES "")