Gazebo: add support for Ionic

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

Author: srmainwaring

asv_sim_gazebo_plugins/CMakeLists.txt

@@ -8,8 +8,15 @@ project(asv_sim2 VERSION 2.0.0)
 #============================================================================
 # Find gz-cmake
 #============================================================================
-find_package(gz-cmake3 REQUIRED)
-set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})
+if("$ENV{GZ_VERSION}" STREQUAL "garden"
+    OR "$ENV{GZ_VERSION}" STREQUAL "harmonic"
+    OR NOT DEFINED "ENV{GZ_VERSION}")
+  find_package(gz-cmake3 REQUIRED)
+  set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})
+elseif("$ENV{GZ_VERSION}" STREQUAL "ionic")
+  find_package(gz-cmake4 REQUIRED)
+  set(GZ_CMAKE_VER ${gz-cmake4_VERSION_MAJOR})
+endif()
 
 #============================================================================
 # Configure the project
@@ -31,26 +38,25 @@ gz_configure_project()
 # Search for project-specific dependencies
 #============================================================================
 
-#--------------------------------------
-# Find gz-math
-gz_find_package(gz-math7 REQUIRED COMPONENTS eigen3)
-set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR})
-
-#--------------------------------------
-# Find gz-common
-gz_find_package(gz-common5
-  REQUIRED COMPONENTS events
-)
-set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
+# Garden (default)
+if("$ENV{GZ_VERSION}" STREQUAL "garden" OR NOT DEFINED "ENV{GZ_VERSION}")
 
-#--------------------------------------
-# Find gz-plugin
-gz_find_package(gz-plugin2 REQUIRED COMPONENTS loader register)
-set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+  #--------------------------------------
+  # Find gz-math
+  gz_find_package(gz-math7 REQUIRED COMPONENTS eigen3)
+  set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR})
 
+  #--------------------------------------
+  # Find gz-plugin
+  gz_find_package(gz-plugin2 REQUIRED COMPONENTS loader register)
+  set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 
-# Garden (default)
-if("$ENV{GZ_VERSION}" STREQUAL "garden" OR NOT DEFINED "ENV{GZ_VERSION}")
+  #--------------------------------------
+  # Find gz-common
+  gz_find_package(gz-common5
+    REQUIRED COMPONENTS graphics events
+  )
+  set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
 
   #--------------------------------------
   # Find gz-msgs
@@ -82,6 +88,23 @@ if("$ENV{GZ_VERSION}" STREQUAL "garden" OR NOT DEFINED "ENV{GZ_VERSION}")
   # Harmonic
 elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
 
+  #--------------------------------------
+  # Find gz-math
+  gz_find_package(gz-math7 REQUIRED COMPONENTS eigen3)
+  set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-plugin
+  gz_find_package(gz-plugin2 REQUIRED COMPONENTS loader register)
+  set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-common
+  gz_find_package(gz-common5
+    REQUIRED COMPONENTS graphics events
+  )
+  set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
+
   #--------------------------------------
   # Find gz-msgs
   gz_find_package(gz-msgs10 REQUIRED)
@@ -108,7 +131,55 @@ elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
   set(SDF_VER ${sdformat14_VERSION_MAJOR})
 
   message(STATUS "Compiling against Gazebo Harmonic")
-else()  
+
+# Ionic
+elseif("$ENV{GZ_VERSION}" STREQUAL "ionic")
+
+  #--------------------------------------
+  # Find gz-math
+  gz_find_package(gz-math8 REQUIRED COMPONENTS eigen3)
+  set(GZ_MATH_VER ${gz-math8_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-plugin
+  gz_find_package(gz-plugin3 REQUIRED COMPONENTS loader register)
+  set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-common
+  gz_find_package(gz-common6
+    REQUIRED COMPONENTS graphics events
+  )
+  set(GZ_COMMON_VER ${gz-common6_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-msgs
+  gz_find_package(gz-msgs11 REQUIRED)
+  set(GZ_MSGS_VER ${gz-msgs11_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-transport
+  gz_find_package(gz-transport14 REQUIRED)
+  set(GZ_TRANSPORT_VER ${gz-transport14_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-sensors
+  gz_find_package(gz-sensors9 REQUIRED)
+  set(GZ_SENSORS_VER ${gz-sensors9_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-sim
+  gz_find_package(gz-sim9 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find SDFormat
+  gz_find_package(sdformat15 REQUIRED)
+  set(SDF_VER ${sdformat15_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Gazebo Ionic")
+
+else()
   message(FATAL_ERROR "Unsupported GZ_VERSION: $ENV{GZ_VERSION}")
 endif()