Gazebo: add support for Harmonic

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

Author: srmainwaring

asv_sim_gazebo_plugins/CMakeLists.txt

@@ -43,35 +43,74 @@ gz_find_package(gz-common5
 )
 set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
 
-#--------------------------------------
-# Find gz-msgs
-gz_find_package(gz-msgs9 REQUIRED)
-set(GZ_MSGS_VER ${gz-msgs9_VERSION_MAJOR})
-
-#--------------------------------------
-# Find gz-transport
-gz_find_package(gz-transport12 REQUIRED)
-set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})
-
 #--------------------------------------
 # Find gz-plugin
 gz_find_package(gz-plugin2 REQUIRED COMPONENTS loader register)
 set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 
-#--------------------------------------
-# Find gz-sensors
-gz_find_package(gz-sensors7 REQUIRED)
-set(GZ_SENSORS_VER ${gz-sensors7_VERSION_MAJOR})
-
-#--------------------------------------
-# Find gz-sim
-gz_find_package(gz-sim7 REQUIRED)
-set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
 
-#--------------------------------------
-# Find SDFormat
-gz_find_package(sdformat13 REQUIRED)
-set(SDF_VER ${sdformat13_VERSION_MAJOR})
+# Garden (default)
+if("$ENV{GZ_VERSION}" STREQUAL "garden" OR NOT DEFINED "ENV{GZ_VERSION}")
+
+  #--------------------------------------
+  # Find gz-msgs
+  gz_find_package(gz-msgs9 REQUIRED)
+  set(GZ_MSGS_VER ${gz-msgs9_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-transport
+  gz_find_package(gz-transport12 REQUIRED)
+  set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-sensors
+  gz_find_package(gz-sensors7 REQUIRED)
+  set(GZ_SENSORS_VER ${gz-sensors7_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-sim
+  gz_find_package(gz-sim7 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find SDFormat
+  gz_find_package(sdformat13 REQUIRED)
+  set(SDF_VER ${sdformat13_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Gazebo Garden")
+
+  # Harmonic
+elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+
+  #--------------------------------------
+  # Find gz-msgs
+  gz_find_package(gz-msgs10 REQUIRED)
+  set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-transport
+  gz_find_package(gz-transport13 REQUIRED)
+  set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-sensors
+  gz_find_package(gz-sensors8 REQUIRED)
+  set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find gz-sim
+  gz_find_package(gz-sim8 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+
+  #--------------------------------------
+  # Find SDFormat
+  gz_find_package(sdformat14 REQUIRED)
+  set(SDF_VER ${sdformat14_VERSION_MAJOR})
+
+  message(STATUS "Compiling against Gazebo Harmonic")
+else()  
+  message(FATAL_ERROR "Unsupported GZ_VERSION: $ENV{GZ_VERSION}")
+endif()
 
 #============================================================================