Merge branch 'gz-sim8' into gz-sim8

Author: azeey

.github/ci/after_make.sh

@@ -6,12 +6,3 @@ set -e
 # Install (needed for some tests)
 make install
 export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib
-
-# For gz-tools
-export GZ_CONFIG_PATH=/usr/local/share/gz
-
-# For rendering / window tests
-Xvfb :1 -screen 0 1280x1024x24 &
-export DISPLAY=:1.0
-export RENDER_ENGINE_VALUES=ogre2
-export MESA_GL_VERSION_OVERRIDE=3.3

.github/ci/before_cmake.sh

@@ -0,0 +1,9 @@
+#!/bin/sh -l
+
+set -x
+
+# For rendering / window tests
+Xvfb :1 -screen 0 1280x1024x24 &
+export DISPLAY=:1.0
+export RENDER_ENGINE_VALUES=ogre2
+export MESA_GL_VERSION_OVERRIDE=3.3

.github/ci/packages.apt

@@ -44,3 +44,5 @@ qtdeclarative5-dev
 qtquickcontrols2-5-dev
 uuid-dev
 xvfb
+x11-utils
+mesa-utils

.github/workflows/ci.yml

@@ -28,7 +28,7 @@ jobs:
         uses: gazebo-tooling/action-gz-ci@jammy
         with:
           # per bug https://github.com/gazebosim/gz-sim/issues/1409
-          cmake-args: '-DBUILD_DOCS=OFF'
+          cmake-args: '-DCMAKE_INSTALL_PREFIX=/usr -DBUILD_DOCS=OFF'
           codecov-enabled: true
           cppcheck-enabled: true
           cpplint-enabled: true

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-sim8 VERSION 8.3.0)
+project(gz-sim8 VERSION 8.7.0)
 set (GZ_DISTRIBUTION "Harmonic")
 
 #============================================================================
@@ -66,7 +66,7 @@ cmake_dependent_option(USE_DIST_PACKAGES_FOR_PYTHON
 #============================================================================
 
 # Setting this policy enables using the protobuf_MODULE_COMPATIBLE
-# set command in CMake versions older than 13.13
+# set command when cmake_minimum_required is less than 3.13
 set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 # This option is needed to use the PROTOBUF_GENERATE_CPP
 # in case protobuf is found with the CMake config files
@@ -136,7 +136,7 @@ set(GZ_PHYSICS_VER ${gz-physics7_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-sensors
-gz_find_package(gz-sensors8 REQUIRED
+gz_find_package(gz-sensors8 REQUIRED VERSION 8.2.0
   # component order is important
   COMPONENTS
     # non-rendering