Include TBB in gazebo-dev cmake to fix ros-simulation#1372 (ros-simul…

…ation#1373) Co-authored-by: Jacob Perron <[email protected]> Signed-off-by: Jose Luis Rivero <[email protected]>
brisa-robotics · Nov 13, 2022 · 725b0e6 · 725b0e6
1 parent 6d9d80e
commit 725b0e6
Showing 1 changed file with 29 additions and 2 deletions.
diff --git a/gazebo_dev/cmake/gazebo_dev-extras.cmake b/gazebo_dev/cmake/gazebo_dev-extras.cmake
@@ -3,11 +3,38 @@ find_package(gazebo REQUIRED)
 
 message(STATUS "Gazebo version: ${GAZEBO_VERSION}")
 
+# Workaround for https://github.com/ros-simulation/gazebo_ros_pkgs/issues/1372
+# Real fix should go into Gazebo11 https://github.com/osrf/gazebo/issues/3008
+# On Ubuntu Jammy Gazebo11 is used directly from Ubuntu, before removing this
+# please be sure that the package is updated there.
+pkg_check_modules(TBB tbb)
+set(TBB_PKG_CONFIG "tbb")
+if(NOT TBB_FOUND)
+  message(STATUS "TBB not found, attempting to detect manually")
+  set(TBB_PKG_CONFIG "")
+
+  # Workaround for CMake bug https://gitlab.kitware.com/cmake/cmake/issues/17135
+  unset(TBB_FOUND CACHE)
+
+  find_package(TBB CONFIG)
+  if(TBB_FOUND)
+    set(TBB_LIBRARIES TBB::tbb)
+  else()
+    find_library(tbb_library tbb ENV LD_LIBRARY_PATH)
+    if(tbb_library)
+      set(TBB_FOUND true)
+      set(TBB_LIBRARIES ${tbb_library})
+    else()
+      message(FATAL_ERROR "Missing: TBB - Threading Building Blocks")
+    endif()
+  endif()
+endif()
+
 # The following lines will tell catkin to add the Gazebo directories and libraries to the
 # respective catkin_* cmake variables.
 set(gazebo_dev_INCLUDE_DIRS ${GAZEBO_INCLUDE_DIRS})
-set(gazebo_dev_LIBRARY_DIRS ${GAZEBO_LIBRARY_DIRS})
-set(gazebo_dev_LIBRARIES ${GAZEBO_LIBRARIES})
+set(gazebo_dev_LIBRARY_DIRS ${GAZEBO_LIBRARY_DIRS} ${TBB_LIBRARY_DIRS})
+set(gazebo_dev_LIBRARIES ${GAZEBO_LIBRARIES} ${TBB_LIBRARIES})
 
 # Append gazebo CXX_FLAGS to CMAKE_CXX_FLAGS (c++11)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")