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gz_dartsim_vendor's Introduction

Gazebo Specific Vendor Package for DART

This is a ROS 2 vendor package for DART intended to be consumed by Gazebo, specifically in gz_physics_vendor. Use of this vendor package generally (outside of Gazebo) is not recommended as the underlying DART version might change without notice.

gz_dartsim_vendor's People

Contributors

azeey avatar clalancette avatar

Watchers

Geoffrey Biggs avatar avatar Nate Koenig avatar avatar

Forkers

srmainwaring clalancette

gz_dartsim_vendor's Issues

Add check for system installed dart

Feature request

Add a check for the system installed version of DART before calling ament_vendor. For example on macOS the appropriate DART libraries are available from brew:

brew info dartsim
==> dartsim: stable 6.13.2 (bottled)
Dynamic Animation and Robotics Toolkit
https://dartsim.github.io/
Installed
/opt/homebrew/Cellar/dartsim/6.13.2_3 (1,081 files, 48.0MB) *
  Poured from bottle on 2024-05-08 at 23:03:42
From: https://github.com/Homebrew/homebrew-core/blob/HEAD/Formula/d/dartsim.rb
License: BSD-2-Clause
==> Dependencies
Build: cmake ✔, pkg-config ✔
Required: assimp ✔, bullet ✔, eigen ✔, fcl ✔, flann ✔, fmt ✔, ipopt ✔, libccd ✔, nlopt ✔, ode ✔, open-scene-graph ✔, spdlog ✔, tinyxml2 ✔, urdfdom ✔

and do not need to be built again as part of the vendor build.

A suggested change (with debug messages) in this branch: https://github.com/srmainwaring/gz_dartsim_vendor/tree/rolling-macos

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