From 1aa216092b2437329df063a3062647f90556ed54 Mon Sep 17 00:00:00 2001
From: Jose Luis Rivero <jrivero@osrfoundation.org>
Date: Tue, 6 Jul 2021 14:29:39 +0200
Subject: [PATCH] Provide default for Ubuntu Focal

---
 CMakeLists.txt | 30 ++++++++++++++++++++++++++++--
 1 file changed, 28 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index a00da4c86..3faf36e1d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -62,7 +62,25 @@ ign_find_package(sdformat10
 #--------------------------------------
 # Find dartsim for the dartsim plugin wrapper
 
-option(USE_VENDOR_DART "Use internal Open Robotics fork of vendor" BOOL)
+# respect user explicit values and also provide a default value for Ubuntu Focal
+# to make ground vehicles to work properly
+set(DEFAULT_VENDOR_DART:BOOL OFF)
+if(NOT DEFINED USE_VENDOR_DART)
+    if(LSB_RELEASE_EXEC)
+      execute_process(COMMAND ${LSB_RELEASE_EXEC} -rs
+	  OUTPUT_VARIABLE LSB_RELEASE_ID_SHORT
+	  OUTPUT_STRIP_TRAILING_WHITESPACE)
+      if (LSB_RELEASE_ID_SHORT == "20.04")
+        message(STATUS "DETECTED Ubuntu 20.04, default USE_VENDOR_DART set to ON"
+                       "to make ground vehicles to work properly")
+	set(DEFAULT_VENDOR_DART:BOOL ON)
+      endif()
+  endif()
+endif()
+
+option(USE_VENDOR_DART "Use internal Open Robotics fork of DART" ${DEFAULT_VENDOR_DART})
+
+find_program(LSB_RELEASE_EXEC lsb_release)
 if(USE_VENDOR_DART)
     include(ExternalProject)
 
@@ -70,18 +88,26 @@ if(USE_VENDOR_DART)
     set(DART_VENDOR_INCLUDE_DIRS "${DART_VENDOR_INSTALL_DIR}/include")
     set(DART_VENDOR_LIBRARY_DIR "${DART_VENDOR_INSTALL_DIR}/lib")
     # Three libraries needed
-    set(DART_VENDOR_LIBRARY_PATH 
+    set(DART_VENDOR_LIBRARY_PATH
 	"${DART_VENDOR_LIBRARY_DIR}/libdart.so.6.10.0")
+    set(DART_VENDOR_LIBRARY_LINK_PATH
+	"${DART_VENDOR_LIBRARY_DIR}/libdart.so.6.10")
     add_library(dart SHARED IMPORTED)
     set_target_properties(dart PROPERTIES
 	IMPORTED_LOCATION ${DART_VENDOR_LIBRARY_PATH})
+
     set(DART_ODEL_VENDOR_LIBRARY_PATH
 	"${DART_VENDOR_LIBRARY_DIR}/libdart-external-odelcpsolver.so.6.10.0")
+    set(DART_ODEL_VENDOR_LIBRARY_LINK_PATH
+	"${DART_VENDOR_LIBRARY_DIR}/libdart-external-odelcpsolver.so.6.10")
     add_library(dart_external_odelcpsolver SHARED IMPORTED)
     set_target_properties(dart_external_odelcpsolver PROPERTIES
 	IMPORTED_LOCATION ${DART_ODEL_VENDOR_LIBRARY_PATH})
+
     set(DART_COLLISION_VENDOR_LIBRARY_PATH
 	"${DART_VENDOR_LIBRARY_DIR}/libdart-collision-ode.so.6.10.0")
+    set(DART_COLLISION_VENDOR_LIBRARY_LINK_PATH
+	"${DART_VENDOR_LIBRARY_DIR}/libdart-collision-ode.so.6.10")
     add_library(dart_collision_ode SHARED IMPORTED)
     set_target_properties(dart_collision_ode PROPERTIES
 	IMPORTED_LOCATION ${DART_COLLISION_VENDOR_LIBRARY_PATH})