Merge pull request #218 from traversaro/fixgazeborospluginsmacos

Fix usage of Gazebo plugins as linked libraries on macOS

recipe/build.sh

@@ -66,4 +66,23 @@ done
 
 if [[ "${GZ_CLI_NAME_VARIANT}" == "origname" ]]; then
   cp $PREFIX/bin/gz $PREFIX/bin/gz11
-fi
+fi
+
+# Ensure that plugins are found as libraries linked by the linker
+# in macos, see
+# https://github.com/RoboStack/ros-noetic/issues/228
+# https://github.com/RoboStack/ros-noetic/issues/462
+# https://github.com/RoboStack/ros-humble/issues/185
+# We do not symlink all the libraries as they do not have Gazebo-specific
+# prefix, so we prefer to minimize the risk of clobbering, so we only symlink
+# the one used in https://github.com/ros-simulation/gazebo_ros_pkgs/blob/f9e1a4607842afa5888ef01de31cd64a1e3e297f/gazebo_plugins/CMakeLists.txt
+if [[ "${target_platform}" == osx-* ]]; then
+    ln -s $PREFIX/lib/gazebo-11/plugins/libCameraPlugin.dylib $PREFIX/lib/libCameraPlugin.dylib
+    ln -s $PREFIX/lib/gazebo-11/plugins/libElevatorPlugin.dylib $PREFIX/lib/libElevatorPlugin.dylib
+    ln -s $PREFIX/lib/gazebo-11/plugins/libMultiCameraPlugin.dylib $PREFIX/lib/libMultiCameraPlugin.dylib
+    ln -s $PREFIX/lib/gazebo-11/plugins/libDepthCameraPlugin.dylib $PREFIX/lib/libDepthCameraPlugin.dylib
+    ln -s $PREFIX/lib/gazebo-11/plugins/libGpuRayPlugin.dylib $PREFIX/lib/libGpuRayPlugin.dylib
+    ln -s $PREFIX/lib/gazebo-11/plugins/libHarnessPlugin.dylib $PREFIX/lib/libHarnessPlugin.dylib
+    ln -s $PREFIX/lib/gazebo-11/plugins/libWheelSlipPlugin.dylib $PREFIX/lib/libWheelSlipPlugin.dylib
+    ln -s $PREFIX/lib/gazebo-11/plugins/libRayPlugin.dylib $PREFIX/lib/libRayPlugin.dylib
+fi

recipe/meta.yaml

@@ -1,6 +1,6 @@
 {% set name = "gazebo" %}
 {% set version = "11.14.0" %}
-{% set number = 13 %}
+{% set number = 14 %}
 
 {% if GZ_CLI_NAME_VARIANT == "origname" %}
 {% set number = number + 200 %}
@@ -158,6 +158,7 @@ test:
     - test -f $PREFIX/bin/gazebo    # [unix]
     - test -f $PREFIX/bin/gz  # [unix and GZ_CLI_NAME_VARIANT == "origname"]
     - test -f $PREFIX/bin/gz11  # [unix]
+    - test -f $PREFIX/lib/libCameraPlugin.dylib  # [osx]
     - gzserver --version | grep "Gazebo multi-robot simulator, version"  # [unix]
     - gzclient --version | grep "Gazebo multi-robot simulator, version"  # [unix]
     - gazebo --version | grep "Gazebo multi-robot simulator, version"  # [unix]