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Lines changed: 874 additions & 112 deletions

‎.github/dependabot.yml‎

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version: 2
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updates:
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- package-ecosystem: "github-actions"
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directory: "/"
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schedule:
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interval: "monthly"

‎.github/workflows/ci_ros2.yml‎

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name: ROS2 Continuous Integration
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on:
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push:
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branches:
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- main
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pull_request:
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jobs:
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build:
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strategy:
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matrix:
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env:
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- {ROS_DISTRO: jazzy}
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# - {ROS_DISTRO: kilted}
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# - {ROS_DISTRO: rolling}
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v6
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- uses: 'ros-industrial/industrial_ci@125164b9f1883cdf1858897a7146d1bebf2be5c6'
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env: ${{ matrix.env }}
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check:
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if: always()
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name: check-ros-ci
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runs-on: ubuntu-latest
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needs:
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- build
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steps:
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- uses: re-actors/alls-green@release/v1
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with:
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jobs: ${{ toJSON(needs) }}

‎.github/workflows/nix.yml‎

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name: "CI - Nix"
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on:
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push:
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branches:
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- devel
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- master
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- main
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pull_request:
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branches:
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- devel
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- master
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- main
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jobs:
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distros:
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name: "${{ matrix.build }} on ${{ matrix.os }}"
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runs-on: "${{ matrix.os }}"
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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu-24.04]
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# build: ["humble", "jazzy", "kilted", "rolling"]
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build: ["jazzy"]
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steps:
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- uses: actions/checkout@v6
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- uses: cachix/install-nix-action@v31
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- uses: cachix/cachix-action@v17
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with:
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name: gepetto
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authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
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extraPullNames: ros
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- run: nix build -L ".#ros-${{ matrix.build }}"
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main:
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needs: distros
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name: "${{ matrix.os }}"
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runs-on: "${{ matrix.os }}-latest"
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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu]
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steps:
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- uses: actions/checkout@v6
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- uses: cachix/install-nix-action@v31
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- uses: cachix/cachix-action@v17
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with:
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name: gepetto
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authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
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extraPullNames: ros
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- run: nix flake check -L
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- run: nix build -L
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check:
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if: always()
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name: check-macos-linux-nix
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runs-on: ubuntu-latest
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needs:
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- distros
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- main
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steps:
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- uses: re-actors/alls-green@release/v1
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with:
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jobs: ${{ toJSON(needs) }}

‎.github/workflows/ros-rolling-ci.yml‎

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This file was deleted.

‎.github/workflows/update-flake-lock.yml‎

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name: update-flake-lock
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on:
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workflow_dispatch:
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schedule:
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- cron: '0 3 30 * *'
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jobs:
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update-flake-inputs:
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runs-on: ubuntu-slim
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permissions:
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contents: write
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pull-requests: write
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steps:
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- name: Generate GitHub App Token
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id: app-token
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uses: actions/create-github-app-token@v3
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with:
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app-id: ${{ secrets.GEPETTO_NIX_APP_ID }}
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private-key: ${{ secrets.GEPETTO_NIX_APP_PRIVATE_KEY }}
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- name: Checkout repository
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uses: actions/checkout@v6
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with:
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token: ${{ steps.app-token.outputs.token }}
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- name: Setup Nix
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uses: cachix/install-nix-action@v31
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- name: Update flake inputs
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uses: mic92/update-flake-inputs@v1
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with:
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github-token: ${{ steps.app-token.outputs.token }}
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pr-labels: 'no-changelog'
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git-author-name: 'hrp2-14'
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git-author-email: '40568249+hrp2-14@users.noreply.github.com'

‎.mergify.yml‎

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pull_request_rules:
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- name: merge [bot] PRs when CI pass
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conditions:
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- check-success = "check-macos-linux-nix"
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- check-success = "check-ros-ci"
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- check-success = "pre-commit.ci - pr"
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- or:
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- author = dependabot[bot]
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- author = gepetto-flake-updater[bot]
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- author = github-actions[bot]
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- author = hrp2-14
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- author = pre-commit-ci[bot]
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actions:
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merge:

‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.14)
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cmake_minimum_required(VERSION 3.22)
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set(CMAKE_VERBOSE_MAKEFILE True)
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project(odri_gz_ros2_control)
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# Default to C11
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 11)
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endif()
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# Default to C++17
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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# Compiler options
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
@@ -26,54 +17,30 @@ find_package(pluginlib REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(yaml_cpp_vendor REQUIRED)
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# Detects Ubuntu release
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find_program(LSB_RELEASE_EXEC lsb_release)
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execute_process(COMMAND ${LSB_RELEASE_EXEC} -c
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OUTPUT_VARIABLE LSB_RELEASE_CODENAME_PPREFIX
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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# Remove prefix Codename:
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string(REGEX REPLACE "Codename:\t" "" LSB_RELEASE_CODENAME ${LSB_RELEASE_CODENAME_PPREFIX})
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message(STATUS "LSB_RELEASE_CODENAME=${LSB_RELEASE_CODENAME}")
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if(${LSB_RELEASE_CODENAME} STREQUAL "jammy")
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# If Jammy is detected uses Gazebo Fortress
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find_package(ignition-gazebo6 REQUIRED)
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set(GZ_SIM_VER ${ignition-gazebo6_VERSION_MAJOR})
44-
message(STATUS "Compiling against Gazebo Fortress")
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find_package(ignition-plugin1 REQUIRED)
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set(GZ_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
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set(GZ_PLUGIN ignition-plugin${GZ_PLUGIN_VER}::register)
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set(GZ_SIM ignition-gazebo${GZ_SIM_VER}::core)
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elseif(${LSB_RELEASE_CODENAME} STREQUAL "noble")
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# If Jammy is detected uses Harmonic
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find_package(gz_sim_vendor)
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find_package(gz-sim)
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find_package(gz_plugin_vendor)
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find_package(gz-plugin)
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if(NOT DEFINED ENV{GZ_VERSION} OR "$ENV{GZ_VERSION}" STREQUAL "harmonic")
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set(GZ_SIM "gz-sim8")
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set(GZ_PLUGIN "gz-plugin2")
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else()
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message(FATAL_ERROR "Gazebo $ENV{GZ_VERSION} is not yet supported")
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endif()
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find_package("${GZ_SIM}" REQUIRED)
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find_package("${GZ_PLUGIN}" REQUIRED)
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include_directories(include)
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add_library(${PROJECT_NAME}-system SHARED
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src/gz_ros2_control_plugin.cpp
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)
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if(${LSB_RELEASE_CODENAME} STREQUAL "jammy")
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target_link_libraries(${PROJECT_NAME}-system
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${GZ_SIM}
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${GZ_PLUGIN}
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)
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elseif(${LSB_RELEASE_CODENAME} STREQUAL "noble")
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message(STATUS "Add target ${PROJECT_NAME}-system using noble")
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target_compile_definitions(${PROJECT_NAME}-system PUBLIC GZ_SIM_8)
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if(NOT DEFINED ENV{GZ_VERSION} OR "$ENV{GZ_VERSION}" STREQUAL "harmonic")
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target_compile_definitions(${PROJECT_NAME}-system PUBLIC GZ_SIM_8)
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endif()
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target_link_libraries(${PROJECT_NAME}-system
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gz-sim::gz-sim
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gz-plugin::register
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"${GZ_SIM}::${GZ_SIM}"
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"${GZ_PLUGIN}::register"
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)
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endif()
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ament_target_dependencies(${PROJECT_NAME}-system
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ament_index_cpp
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rclcpp
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)
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if(${LSB_RELEASE_CODENAME} STREQUAL "jammy")
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target_link_libraries(gz_hardware_odri_plugins
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${GZ_SIM}
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)
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elseif(${LSB_RELEASE_CODENAME} STREQUAL "noble")
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target_compile_definitions(gz_hardware_odri_plugins PUBLIC GZ_SIM_8)
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if(NOT DEFINED ENV{GZ_VERSION} OR "$ENV{GZ_VERSION}" STREQUAL "harmonic")
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target_compile_definitions(gz_hardware_odri_plugins PUBLIC GZ_SIM_8)
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endif()
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target_link_libraries(gz_hardware_odri_plugins
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gz-sim::gz-sim
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"${GZ_SIM}::${GZ_SIM}"
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)
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endif()
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## Install
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install(TARGETS

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