Ocean waves and WAM-V

gazebo/dave_gz_world_plugins/ocean-waves/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10.2)
+
+#============================================================================
+# Initialize the project
+#============================================================================
+project(wave VERSION 1.0.0)
+
+# --------------------------------------------------------------------------- #
+# If ament_cmake is found build as an ament package, otherwise ignore.
+# This is so the system may be built for Gazebo only, if ROS is not available.
+# find_package(ament_cmake QUIET)
+# if(${ament_cmake_FOUND})
+#   message("Building ${PROJECT_NAME} as an `ament_cmake` project.")
+# endif()
+
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+  add_compile_options(-Wno-psabi)
+endif()
+
+#============================================================================
+# Find gz-cmake
+#============================================================================
+find_package(gz-cmake3 REQUIRED)
+set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})
+
+#============================================================================
+# Configure the project
+#============================================================================
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+gz_configure_project()
+
+#============================================================================
+# Include cmake
+#============================================================================
+
+include(${PROJECT_SOURCE_DIR}/cmake/URL.conf.cmake)
+
+list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
+
+#============================================================================
+# Set project-specific options
+#============================================================================
+
+#============================================================================
+# Search for project-specific dependencies
+#============================================================================
+
+#--------------------------------------
+# Find gnuplot-iostream - the header is used by the examples in test/plots
+include(Add_gnuplot-iostream)
+
+
+# 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)
+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-rendering
+gz_find_package(gz-rendering8 REQUIRED)
+set(GZ_RENDERING_VER ${gz-rendering8_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")
+
+#--------------------------------------
+# Find OGRE
+list(APPEND gz_ogre_components "RTShaderSystem" "Terrain" "Overlay" "Paging")
+
+gz_find_package(GzOGRE VERSION 1.9.0
+  COMPONENTS ${gz_ogre_components}
+  REQUIRED_BY ogre
+  PRIVATE_FOR ogre)
+
+#--------------------------------------
+# Find OGRE2: first try to find OGRE2 built with PlanarReflections support and
+# fallback to look for OGRE2 without it. Both seems to works for gz-rendering.
+# See https://github.com/gazebosim/gz-rendering/issues/597
+gz_find_package(GzOGRE2 VERSION 2.3
+    COMPONENTS HlmsPbs HlmsUnlit Overlay PlanarReflections
+    PRIVATE_FOR ogre2
+    QUIET)
+
+if("${OGRE2-PlanarReflections}" STREQUAL "OGRE2-PlanarReflections-NOTFOUND")
+  message(STATUS "PlanarReflections component was not found. Try looking without it:")
+  gz_find_package(GzOGRE2 VERSION 2.3
+    COMPONENTS HlmsPbs HlmsUnlit Overlay
+    REQUIRED_BY ogre2
+    PRIVATE_FOR ogre2)
+endif()
+
+if(OGRE2_FOUND)
+  set(HAVE_OGRE2 TRUE)
+endif()
+
+#####################################
+# Define compile-time default variables
+if(MSVC)
+  set(GZ_RENDERING_PLUGIN_PATH ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR})
+else()
+  set(GZ_RENDERING_PLUGIN_PATH ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR})
+endif()
+
+#--------------------------------------
+# Find eigen3
+
+find_package(Eigen3 REQUIRED)
+
+#--------------------------------------
+# CGAL and its components...
+
+find_package(CGAL REQUIRED COMPONENTS Core)
+
+if(NOT CGAL_FOUND)
+  message(STATUS "This project requires the CGAL library, and will not be compiled.")
+  return()
+endif()
+
+# message("CGAL_VERSION_MAJOR: ${CGAL_VERSION_MAJOR}")
+
+if(${CGAL_VERSION_MAJOR} LESS 6)
+  # include helper file
+  include(${CGAL_USE_FILE})
+endif()
+
+#--------------------------------------
+# Find FFTW3 (double-precision) (GPL) as FFT library.
+
+find_path(FFTW3-3_INCLUDE_DIR
+  NAMES fftw3.h
+  HINTS $ENV{FFTW3_DIR}/include
+  PATHS /usr/local/include
+        /usr/include
+)
+
+find_library(FFTW3-3_LIBRARY
+  NAMES fftw3 libfftw3
+  HINTS $ENV{FFTW3_DIR}/lib
+  PATHS /usr/local/lib
+        /usr/lib
+)
+
+add_definitions(-DUSE_FFTW3)
+set(FFT_INCLUDE_DIRS ${FFTW3-3_INCLUDE_DIR})
+set(FFT_LIBRARIES ${FFTW3-3_LIBRARY})
+
+#--------------------------------------
+# Find OpenCL
+
+# find_package(OpenCL REQUIRED)
+
+#--------------------------------------
+# Find clFFT
+
+# find_package(clFFT REQUIRED)
+
+#============================================================================
+
+# Location of "fake install folder" used in tests
+# Defined here at root scope so it is available for tests in src and test folders
+# set(FAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/fake/install")
+
+#============================================================================
+# Configure the build
+#============================================================================
+
+gz_configure_build(QUIT_IF_BUILD_ERRORS)
+
+# add_subdirectory(examples)
+
+#============================================================================
+# Create package information
+#============================================================================
+gz_create_packages()
+
+# --------------------------------------------------------------------------- #
+# Register as an ament package if ament_cmake is available.
+# if(${ament_cmake_FOUND})
+# # Environment hooks
+# ament_environment_hooks(
+#   "${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in"
+# )
+
+# ament_package()
+# endif()
+
+
+#============================================================================
+# Configure documentation
+#============================================================================
+
+# TODO: add documentation api.md.in files

gazebo/dave_gz_world_plugins/ocean-waves/README.md

@@ -0,0 +1,16 @@
+For ocean-waves, you must add environment variables to your launch file to set the wave parameters.
+
+```
+# ensure the system plugins are found
+export GZ_SIM_SYSTEM_PLUGIN_PATH=\
+$GZ_SIM_SYSTEM_PLUGIN_PATH:\
+/home/docker/HOST/dave_ws/install/wave/lib
+
+# ensure the gui plugin is found
+export GZ_GUI_PLUGIN_PATH=\
+$GZ_GUI_PLUGIN_PATH:\
+/home/docker/HOST/dave_ws/install/wave/src/gui/plugins/waves_control/build
+
+# For current ogre vendor package bug, this is required (July 7, 2025)
+ln -s /opt/ros/jazzy/opt/gz_ogre_next_vendor/lib/libOgreNextMain.so.2.3.3 /opt/ros/jazzy/opt/gz_ogre_next_vendor/lib/libOgreNextMain.so.2.3.1
+```

gazebo/dave_gz_world_plugins/ocean-waves/cmake/Add_gnuplot-iostream.cmake

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+include(FetchContent)
+
+set(GnuPlotIostream_BuildTests OFF CACHE INTERNAL "BuildTests OFF")
+set(GnuPlotIostream_BuildExamples OFF CACHE INTERNAL "BuildExamples OFF")
+
+FetchContent_Declare(
+  gnuplot-iostream
+  GIT_REPOSITORY ${gnuplot-iostream_URL}
+  GIT_TAG        ${gnuplot-iostream_TAG}
+)
+
+FetchContent_MakeAvailable(gnuplot-iostream)
+
+# The project does not set gnuplot-iostream_INCLUDE_DIRS so use
+# gnuplot-iostream_SOURCE_DIR instead.
+set(gnuplot-iostream_INCLUDE_DIRS ${gnuplot-iostream_SOURCE_DIR})

gazebo/dave_gz_world_plugins/ocean-waves/cmake/URL.conf.cmake

@@ -0,0 +1,8 @@
+
+# Declare the PATH, TAG and PATCH used by FetchContent
+
+# gnuplot-iostream: master HEAD
+set(gnuplot-iostream_URL https://github.com/dstahlke/gnuplot-iostream.git)
+set(gnuplot-iostream_TAG d674bdf23b93c76d491f03246d2e6f72bf5739ce
+  CACHE STRING "gnuplot-iostream version")
+

gazebo/dave_gz_world_plugins/ocean-waves/hooks/dave_gz_systems_plugins.dsv.in

@@ -0,0 +1 @@
+prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;lib/@PROJECT_NAME@/

gazebo/dave_gz_world_plugins/ocean-waves/include/CMakeLists.txt

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+add_subdirectory(gz)

gazebo/dave_gz_world_plugins/ocean-waves/include/gz/CMakeLists.txt

@@ -0,0 +1,2 @@
+add_subdirectory(common)
+add_subdirectory(waves)

gazebo/dave_gz_world_plugins/ocean-waves/include/gz/common/CMakeLists.txt

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+# gz_install_all_headers()