Can't find DART7.0.0 under Ubuntu 22.04.3

[jiapei100]

......
Looking for gz-plugin2 - found

 Looking for gz-utils2 -- found version 2.2.0
 Looking for gz-utils2 - found

 Looking for EIGEN3 - found

 Looking for sdformat13 -- found version 13.6.0
 Searching for dependencies of sdformat13
 Checking for module 'tinyxml2'
   Found tinyxml2, version 9.0.0
 Looking for gz-math7 -- found version 7.3.0
 Looking for gz-utils2 -- found version 2.2.0
 Looking for sdformat13 - found

 Could NOT find DART (missing: DART_DIR)
 Looking for DART - not found

 Looking for GzBullet - found

 -------------------------------------------

 CMake Warning at /usr/local/share/cmake/gz-cmake3/cmake3/GzConfigureBuild.cmake:68 (message):
    CONFIGURATION WARNINGS:
    -- Skipping component [dartsim]: Missing dependency [DART] (Components: collision-bullet, collision-ode, utils, utils-urdf).
       ^~~~~ Set SKIP_dartsim=true in cmake to suppress this warning.

 Call Stack (most recent call first):
   CMakeLists.txt:106 (gz_configure_build)

 -- Searching for host SSE information
......

Desired behavior

Expecting gz-physics to build with DART

Alternatives considered

All cmake files that can be found under /usr/local/share/dart7/cmake .

➜  cmake pwd
/usr/local/share/dart7/cmake
➜  cmake ls
DART7Config.cmake                          dart_commonTargets.cmake                  DARTFindassimp.cmake  DARTFindNLOPT.cmake           DARTFindurdfdom.cmake          dart_mathTargets.cmake                  dart_simulationComponent.cmake        FindODE.cmake
DART7ConfigVersion.cmake                   dart_commonTargets-release.cmake          DARTFindBullet.cmake  DARTFindoctomap.cmake         dart_guiComponent.cmake        dart_mathTargets-release.cmake          dart_simulationTargets.cmake          Findtinyxml2.cmake
dart7-external-odelcpsolver.cmake          dart_dynamicsComponent.cmake              DARTFindccd.cmake     DARTFindODE.cmake             dart_guiTargets.cmake          dart_optimizationComponent.cmake        dart_simulationTargets-release.cmake
dart7-external-odelcpsolver-release.cmake  dart_dynamicsTargets.cmake                DARTFindEigen3.cmake  DARTFindOpenCL.cmake          dart_guiTargets-release.cmake  dart_optimizationTargets.cmake          Findassimp.cmake
dart_collisionComponent.cmake              dart_dynamicsTargets-release.cmake        DARTFindfcl.cmake     DARTFindOpenGL.cmake          dart_ioComponent.cmake         dart_optimizationTargets-release.cmake  Findccd.cmake
dart_collisionTargets.cmake                dart_external-imguiComponent.cmake        DARTFindfmt.cmake     DARTFindOpenSceneGraph.cmake  dart_ioTargets.cmake           dart_physicsComponent.cmake             Findfcl.cmake
dart_collisionTargets-release.cmake        dart_external-imguiTargets.cmake          DARTFindGLUT.cmake    DARTFindspdlog.cmake          dart_ioTargets-release.cmake   dart_physicsTargets.cmake               FindIPOPT.cmake
dart_commonComponent.cmake                 dart_external-imguiTargets-release.cmake  DARTFindIPOPT.cmake   DARTFindtinyxml2.cmake        dart_mathComponent.cmake       dart_physicsTargets-release.cmake       FindNLOPT.cmake
➜  cmake 

Implementation suggestion

cmake issue??

Additional context

What's in current CMakeLists.txt

......
# Find dartsim for the dartsim plugin wrapper
gz_find_package(DART
  COMPONENTS
    collision-bullet
    collision-ode
    utils
    utils-urdf
  CONFIG
  VERSION 6.9
  REQUIRED_BY dartsim
  PKGCONFIG dart
  PKGCONFIG_VER_COMPARISON >=)
......

Can anybody help please???

[jiapei100]

Yeah... A little extension to this issue: where and how to speicify/define GZ_SIM_PHYSICS_ENGINE_PATH ???

Thank you ...

[mjcarroll]

I think that we are looking for DART with the 6 major version because there hasn't been an official tagged release of the 7.0.0 versions yet. It should work with anything in the 6.x.x track, which is up to 6.13 these days (https://github.com/dartsim/dart/releases)

where and how to speicify/define GZ_SIM_PHYSICS_ENGINE_PATH ???

This is an environment variable. You can set it with

export GZ_SIM_PHYSICS_ENGINE_PATH=/path/you/want