From 29d1c97781f2e55cd3c6e320789096f9e5c41b83 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Fri, 3 Sep 2021 14:57:05 +0200
Subject: [PATCH] Always install Gazebo 11 in apt CI to fix Unstable CI (#873)

---
 .ci/install_debian.sh               | 19 +++++++++++++++++--
 cmake/ProjectsTagsUnstable.cmake    |  1 -
 scripts/install_apt_dependencies.sh |  5 ++++-
 3 files changed, 21 insertions(+), 4 deletions(-)

diff --git a/.ci/install_debian.sh b/.ci/install_debian.sh
index f1a7d10c4..1baaa0a25 100755
--- a/.ci/install_debian.sh
+++ b/.ci/install_debian.sh
@@ -21,5 +21,20 @@ apt-get install -y python3-dev python3-numpy python3-pybind11 pybind11-dev
 # Octave
 apt-get install -y liboctave-dev
 
-# Gazebo (use distro packages to support both Ubuntu and Debian)
-apt-get install -y libgazebo*-dev
+# Gazebo
+lsb_dist="$(. /etc/os-release && echo "$ID")"
+dist_version="$(lsb_release -c | cut -d: -f2 | sed s/'^\t'//)"
+echo "lsb_dist: ${lsb_dist}"
+echo "dist_version: ${dist_version}"
+# bullseye is not supported by OpenRobotics' repo, but it has already 
+# the right version of Gazebo in its repo, so we just skip everything
+if [[ ("sid" != "$dist_version" &&  "bullseye" != "$dist_version") ]]; then
+    mkdir -p /etc/apt/sources.list.d
+    echo deb http://packages.osrfoundation.org/gazebo/$lsb_dist\-stable $dist_version main > /etc/apt/sources.list.d/gazebo-stable.list
+    apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
+    apt-get update
+    apt-get install -y libgazebo11-dev
+else
+    apt-get install -y libgazebo-dev
+fi
+
diff --git a/cmake/ProjectsTagsUnstable.cmake b/cmake/ProjectsTagsUnstable.cmake
index e89607ba8..5c0d172d4 100644
--- a/cmake/ProjectsTagsUnstable.cmake
+++ b/cmake/ProjectsTagsUnstable.cmake
@@ -34,4 +34,3 @@ set_tag(YARP_telemetry_TAG master)
 set_tag(gym-ignition_TAG master)
 # Workaround for https://github.com/robotology/robotology-superbuild/pull/844#issuecomment-893293323
 set_tag(walking-teleoperation_TAG devel)
-
diff --git a/scripts/install_apt_dependencies.sh b/scripts/install_apt_dependencies.sh
index 4db9ba202..568e14186 100755
--- a/scripts/install_apt_dependencies.sh
+++ b/scripts/install_apt_dependencies.sh
@@ -15,7 +15,10 @@ ROBSUP_DISTRO_NAME=$(lsb_release -i | cut -d: -f2 | sed s/'^\t'//)
 ROBSUP_DISTRO_VERSION=$(lsb_release -r | cut -d: -f2 | sed s/'^\t'//)
 ROBSUP_DISTRO_CODENAME=$(lsb_release -c | cut -d: -f2 | sed s/'^\t'//)
 
-if [[ ("$ROBSUP_DISTRO_NAME" == "Ubuntu" && "$ROBSUP_DISTRO_VERSION" == "22.04") || ("$ROBSUP_DISTRO_NAME" == "Debian" && "$ROBSUP_DISTRO_CODENAME" == "bullseye") || ("$ROBSUP_DISTRO_NAME" == "Debian" && "$ROBSUP_DISTRO_CODENAME" == "bookworm") ]]
+echo "ROBSUP_DISTRO_NAME: ${ROBSUP_DISTRO_NAME}"
+echo "ROBSUP_DISTRO_VERSION: ${ROBSUP_DISTRO_VERSION}"
+echo "ROBSUP_DISTRO_CODENAME: ${ROBSUP_DISTRO_CODENAME}"
+if [[ ("$ROBSUP_DISTRO_NAME" == "Ubuntu" && "$ROBSUP_DISTRO_VERSION" == "22.04") || ("$ROBSUP_DISTRO_NAME" == "Debian" && "$ROBSUP_DISTRO_CODENAME" == "bullseye") || ("$ROBSUP_DISTRO_NAME" == "Debian" && "$ROBSUP_DISTRO_CODENAME" == "bookworm") || ("$ROBSUP_DISTRO_NAME" == "Debian" && "$ROBSUP_DISTRO_CODENAME" == "sid") ]]
 then
   apt-get install -y libdc1394-dev
 else