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robotology / gz-sim-yarp-plugins

YARP plugins for Modern Gazebo (gz-sim).
BSD 3-Clause "New" or "Revised" License
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Install headers and CMake config files to gzyarp::Handler so that it can be used by downstream projects #150

Closed traversaro closed 2 months ago

traversaro commented 3 months ago

This is useful for https://github.com/robotology/gz-sim-yarp-plugins/issues/149 but also to permit to migrate plugins such as https://github.com/ami-iit/ironcub-mk1-software/tree/d002a12528dcae47dbd6fe61e34d7c16ef5368d8/lib/gazebo/plugins/jets-plugin to gz-sim-yarp-plugins, in a way that they can add devics to the gzyarp::Handle so that the robotinterface xml can find devices created by third-party gz-sim plugins that are not contained in gz-sim-yarp-plugins.

xela-95 commented 2 months ago

@traversaro can you give me some examples of projects in which this has already been done?

To make the headers of the library available to downstream projects, is it sufficient to have the target_include_directories CMake command with the PUBLIC attribute, like in: https://github.com/robotology/gz-sim-yarp-plugins/blob/f08dd84cfa188d1971abcf9912ff09241f3fc1c0/libraries/singleton-devices/CMakeLists.txt#L2 ?

What about the CMake config files?

traversaro commented 2 months ago

@traversaro can you give me some examples of projects in which this has already been done?

To make the headers of the library available to downstream projects, is it sufficient to have the target_include_directories CMake command with the PUBLIC attribute, like in:

https://github.com/robotology/gz-sim-yarp-plugins/blob/f08dd84cfa188d1971abcf9912ff09241f3fc1c0/libraries/singleton-devices/CMakeLists.txt#L2

?

What about the CMake config files?

You can use https://github.com/robotology/how-to-export-cpp-library/blob/master/CMakeLists.txt as an example. In particular, you need to add a call to the install_basic_package_files function, see https://github.com/robotology/how-to-export-cpp-library/blob/master/CMakeLists.txt#L140-L145 .

traversaro commented 2 months ago

Note that you need to modify the target_include_directories to also add to the target the directory where the include will be installed, via the $<INSTALL_INTERFACE, see https://github.com/robotology/how-to-export-cpp-library/blob/afb21efb655e7b1cc11636c3d42aad9e02fb626f/src/LibTemplateCMake/CMakeLists.txt#L74 or https://github.com/robotology/how-to-export-cpp-library/blob/afb21efb655e7b1cc11636c3d42aad9e02fb626f/src/LibHeaderOnlyTemplateCMake/CMakeLists.txt#L47 .