Set gz-sim environment variables

robotology · Apr 4, 2024 · 62abdce · 62abdce
1 parent fa67e0e
commit 62abdce
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diff --git a/cmake/template/addPathsToUserEnvVariables.ps1.in b/cmake/template/addPathsToUserEnvVariables.ps1.in
@@ -62,6 +62,11 @@ Add-ValueToUserEnvVariable GAZEBO_RESOURCE_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_P
 @cmakeif ROBOTOLOGY_USES_GZ
 # ROBOTOLOGY_USES_GZ-specific lines
 Add-ValueToUserEnvVariable GZ_SIM_SYSTEM_PLUGIN_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\bin";
+Add-ValueToUserEnvVariable GZ_SIM_RESOURCE_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\gazebo\models"
+Add-ValueToUserEnvVariable GZ_SIM_RESOURCE_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\iCub\robots"
+Add-ValueToUserEnvVariable GZ_SIM_RESOURCE_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\ergoCub\robots"
+Add-ValueToUserEnvVariable GZ_SIM_RESOURCE_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share"
+Add-ValueToUserEnvVariable GZ_SIM_RESOURCE_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\gazebo\worlds"
 @endcmakeif ROBOTOLOGY_USES_GZ
 
 @cmakeif ROBOTOLOGY_ENABLE_ROBOT_TESTING

diff --git a/cmake/template/removePathsFromUserEnvVariables.ps1.in b/cmake/template/removePathsFromUserEnvVariables.ps1.in
@@ -65,6 +65,11 @@ Remove-ValueFromUserEnvVariable GAZEBO_RESOURCE_PATH $ROBOTOLOGY_SUPERBUILD_INST
 @cmakeif ROBOTOLOGY_USES_GZ
 # Cleanup ROBOTOLOGY_USES_GZ-specific lines
 Remove-ValueFromUserEnvVariable GZ_SIM_SYSTEM_PLUGIN_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\bin";
+Remove-ValueFromUserEnvVariable GZ_SIM_RESOURCE_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\gazebo\models"
+Remove-ValueFromUserEnvVariable GZ_SIM_RESOURCE_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\iCub\robots"
+Remove-ValueFromUserEnvVariable GZ_SIM_RESOURCE_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\ergoCub\robots"
+Remove-ValueFromUserEnvVariable GZ_SIM_RESOURCE_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share"
+Remove-ValueFromUserEnvVariable GZ_SIM_RESOURCE_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\gazebo\worlds"
 @endcmakeif ROBOTOLOGY_USES_GZ
 
 @cmakeif ROBOTOLOGY_ENABLE_ROBOT_TESTING

diff --git a/cmake/template/setup.bat.in b/cmake/template/setup.bat.in
@@ -28,6 +28,7 @@ set "GAZEBO_RESOURCE_PATH=%GAZEBO_RESOURCE_PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_
 @cmakeif ROBOTOLOGY_USES_GZ
 rem ROBOTOLOGY_USES_GZ-specific lines
 set "GZ_SIM_SYSTEM_PLUGIN_PATH=%GZ_SIM_SYSTEM_PLUGIN_PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\bin"
+set "GZ_SIM_RESOURCE_PATH=%GZ_SIM_RESOURCE_PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\gazebo\models;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\iCub\robots;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\ergoCub\robots";%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\gazebo\worlds"
 @endcmakeif ROBOTOLOGY_USES_GZ
 
 @cmakeif ROBOTOLOGY_ENABLE_ROBOT_TESTING
@@ -54,6 +55,7 @@ set "PATH=%PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\@ROBOTOLOGY_SUPERBUILD_P
 rem Set YARP and Gazebo related env variables
 set "YARP_DATA_DIRS=%YARP_DATA_DIRS%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\RRbot"
 set "GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\RRbot\robots"
+set "GZ_SIM_RESOURCE_PATH=%GZ_SIM_RESOURCE_PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\RRbot\robots"
 rem Configure the Matlab
 set "MATLABPATH=%MATLABPATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\simulink;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\simulink\MomentumVelocityControl;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\examples;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox\images"
 @endcmakeif ROBOTOLOGY_USES_MATLAB

diff --git a/cmake/template/setup.sh.in b/cmake/template/setup.sh.in
@@ -28,6 +28,7 @@ export GAZEBO_RESOURCE_PATH=${GAZEBO_RESOURCE_PATH:+${GAZEBO_RESOURCE_PATH}:}${R
 # ROBOTOLOGY_USES_GZ-specific lines
 # Gazebo related env variables (see https://gazebosim.org/api/sim/8/resources.html )
 export GZ_SIM_SYSTEM_PLUGIN_PATH=${GZ_SIM_SYSTEM_PLUGIN_PATH:+${GZ_SIM_SYSTEM_PLUGIN_PATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/lib
+export GZ_SIM_RESOURCE_PATH=${GZ_SIM_RESOURCE_PATH:+${GZ_SIM_RESOURCE_PATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/gazebo/models:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/iCub/robots:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/ergoCub/robots:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/gazebo/worlds
 @endcmakeif ROBOTOLOGY_USES_GZ
 
 export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH:+${ROS_PACKAGE_PATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share
@@ -58,6 +59,7 @@ export PATH=$PATH:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/@ROBOTOLOGY_SUPERBUILD
 # Set YARP and Gazebo related env variables
 export YARP_DATA_DIRS=$YARP_DATA_DIRS:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/RRbot
 export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/RRbot/robots
+export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/RRbot/robots
 # Configure the Matlab path
 export MATLABPATH=${MATLABPATH:+${MATLABPATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex/+wbc/simulink/MomentumVelocityControl:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex/+wbc/simulink:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex/+wbc/examples:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox/images
 # Avoid problems with buggy Linux drivers, see https://github.com/robotology/robotology-superbuild/issues/953

diff --git a/conda/multisheller/ergocub-software_activate.msh b/conda/multisheller/ergocub-software_activate.msh
@@ -9,15 +9,19 @@ if_(is_set("COMSPEC")).then_([
 ])
 
 # For some reason setting two times the same variable inside the same if does not work in command prompt
-# As a workaround, we move each GAZEBO_MODEL_PATH set to a separate if
+# As a workaround, we move each GAZEBO_MODEL_PATH and GZ_SIM_RESOURCE_PATH set to a separate if
 if_(is_set("COMSPEC")).then_([
 	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\ergoCub\\robots"))
+	sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\ergoCub\\robots"))
 ]).else_([
 	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/ergoCub/robots"))
+	sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share/ergoCub/robots"))
 ])
 
 if_(is_set("COMSPEC")).then_([
 	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
+	sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
 ]).else_([
 	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
-])
+	sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share"))
+])
diff --git a/conda/multisheller/ergocub-software_deactivate.msh b/conda/multisheller/ergocub-software_deactivate.msh
@@ -9,15 +9,19 @@ if_(is_set("COMSPEC")).then_([
 ])
 
 # For some reason setting two times the same variable inside the same if does not work in command prompt
-# As a workaround, we move each GAZEBO_MODEL_PATH set to a separate if
+# As a workaround, we move each GAZEBO_MODEL_PATH and GZ_SIM_RESOURCE_PATH set to a separate if
 if_(is_set("COMSPEC")).then_([
 	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\ergoCub\\robots"))
+	sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\ergoCub\\robots"))
 ]).else_([
 	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/ergoCub/robots"))
+	sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share/ergoCub/robots"))
 ])
 
 if_(is_set("COMSPEC")).then_([
 	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
+	sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
 ]).else_([
 	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
-])
+	sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share"))
+])
diff --git a/conda/multisheller/matlab-whole-body-simulator_activate.msh b/conda/multisheller/matlab-whole-body-simulator_activate.msh
@@ -3,17 +3,21 @@ if_(is_set("COMSPEC")).then_([
   sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
   sys.list_append("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library")),
   sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots"))
+  sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots"))
 ]).else_([
   sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/RRbot")),
   sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
   sys.list_append("AMENT_PREFIX_PATH", env("CONDA_PREFIX")),
   sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots"))
+  sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots"))
 ])
 
 # For some reason setting two times the same variable inside the same if does not work in command prompt
-# As a workaround, we move each GAZEBO_MODEL_PATH set to a separate if
+# As a workaround, we move each GAZEBO_MODEL_PATH and GZ_SIM_RESOURCE_PATH set to a separate if
 if_(is_set("COMSPEC")).then_([
   sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
+  sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
 ]).else_([
   sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
+  sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share"))
 ])
diff --git a/conda/multisheller/matlab-whole-body-simulator_deactivate.msh b/conda/multisheller/matlab-whole-body-simulator_deactivate.msh
@@ -3,17 +3,21 @@ if_(is_set("COMSPEC")).then_([
   sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
   sys.list_remove("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library")),
   sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots"))
+  sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots"))
 ]).else_([
   sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/RRbot")),
   sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
   sys.list_remove("AMENT_PREFIX_PATH", env("CONDA_PREFIX")),
   sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots"))
+  sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots"))
 ])
 
 # For some reason setting two times the same variable inside the same if does not work in command prompt
-# As a workaround, we move each GAZEBO_MODEL_PATH set to a separate if
+# As a workaround, we move each GAZEBO_MODEL_PATH and GZ_SIM_RESOURCE_PATHset to a separate if
 if_(is_set("COMSPEC")).then_([
   sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
+  sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
 ]).else_([
   sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
+  sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share"))
 ])
diff --git a/doc/environment-variables-configuration.md b/doc/environment-variables-configuration.md
@@ -59,7 +59,7 @@ and`$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/Wearables` must be appended to t
 This section covers the configuration necessary for a specific dependency.
 For all dependecies option not listed, no additional configuration is necessary.
 
-### Gazebo
+### Gazebo Classic
 The following enviroment variables need to be appended with robotology-superbuild related directories:
 ~~~
 # Gazebo related env variables (see http://gazebosim.org/tutorials?tut=components#EnvironmentVariables )
@@ -70,6 +70,14 @@ export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${ROBOTOLOGY_SUPERBUILD_INSTALL_PR
 export GAZEBO_RESOURCE_PATH=${GAZEBO_RESOURCE_PATH}:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/gazebo/worlds
 ~~~
 
+### Gazebo
+The following enviroment variables need to be appended with robotology-superbuild related directories:
+~~~
+# Gazebo related env variables (see https://gazebosim.org/api/sim/8/resources.html )
+export GZ_SIM_SYSTEM_PLUGIN_PATH=${GZ_SIM_SYSTEM_PLUGIN_PATH}:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/lib
+export GZ_SIM_RESOURCE_PATH=${GZ_SIM_RESOURCE_PATH}:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/gazebo/models:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/iCub/robots:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/ergoCub/robots:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/gazebo/worlds
+~~~
+
 ### MATLAB
 
 For adding the multiple libraries to the MATLAB path, the environment variable `MATLABPATH` has to be appended with the following robotology-superbuild related directories:
@@ -82,11 +90,16 @@ For adding the multiple libraries to the MATLAB path, the environment variable `
 For MATLAB to find the robot model files added by the repository [`matlab-whole-body-simulator`](https://github.com/dic-iit/matlab-whole-body-simulator), you need to append `YARP_DATA_DIRS` the directory:
 * `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/RRbot`
 
-#### MATLAB/Gazebo
+#### MATLAB/Gazebo Classic
 
 `GAZEBO_MODEL_PATH` needs to be appended with:
 * `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/RRbot/robots`
 
+#### MATLAB/Gazebo
+
+`GZ_SIM_RESOURCE_PATH` needs to be appended with:
+* `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/RRbot/robots`
+
 ### Python
 `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/lib/python3.6/dist-packages` and `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/lib/python3.6/site-packages` must be appended to the `PYTHONPATH` environmental variable.