gz-sim: init Gazebo robotics simulator ecosystem

maintainers/maintainer-list.nix

@@ -26717,6 +26717,11 @@
     githubId = 555003;
     name = "Taylor Everding";
   };
+  taylorhoward92 = {
+    github = "taylorhoward92";
+    githubId = 23712266;
+    name = "Taylor Howard";
+  };
   tazjin = {
     email = "mail@tazj.in";
     github = "tazjin";

pkgs/by-name/gz/gz-cmake/package.nix

@@ -11,7 +11,7 @@
   nix-update-script,
 }:
 let
-  version = "5.0.0";
+  version = "5.1.1";
   versionPrefix = "gz-cmake${lib.versions.major version}";
 in
 stdenv.mkDerivation (finalAttrs: {
@@ -22,7 +22,7 @@ stdenv.mkDerivation (finalAttrs: {
     owner = "gazebosim";
     repo = "gz-cmake";
     tag = "${versionPrefix}_${finalAttrs.version}";
-    hash = "sha256-XF7oglj9Xr6F8a+6uowrY5a040yl4FZlFfW/Y0BJwOs=";
+    hash = "sha256-bp3qaLuE/0sf6u4ZVOGsuJVkuEm2IS0zB0vHMVE0g/g=";
   };
 
   postPatch = ''
@@ -52,21 +52,19 @@ stdenv.mkDerivation (finalAttrs: {
 
   doCheck = true;
 
-  passthru = {
-    # bulk updater selects wrong tag
-    skipBulkUpdates = true;
-    updateScript = nix-update-script {
-      extraArgs = [ "--version-regex=gz-cmake(.*)" ];
-    };
+  passthru.updateScript = nix-update-script {
+    extraArgs = [ "--version-regex=${versionPrefix}_([\\d\\.]+)" ];
   };
 
   meta = {
     description = "CMake modules to build Gazebo projects";
     homepage = "https://github.com/gazebosim/gz-cmake";
-    changelog = "https://github.com/gazebosim/gz-cmake/releases/tag/${finalAttrs.src.tag}";
+    changelog = "https://github.com/gazebosim/gz-cmake/blob/${finalAttrs.src.tag}/Changelog.md";
     license = lib.licenses.asl20;
-    platforms = lib.platforms.unix;
-    maintainers = with lib.maintainers; [ guelakais ];
-    badPlatforms = lib.platforms.darwin; # hard replicable building error
+    platforms = lib.platforms.linux ++ lib.platforms.darwin;
+    maintainers = with lib.maintainers; [
+      guelakais
+      taylorhoward92
+    ];
   };
 })

pkgs/by-name/gz/gz-common/package.nix

@@ -0,0 +1,122 @@
+{
+  lib,
+  stdenv,
+  fetchFromGitHub,
+  fetchpatch2,
+  cmake,
+  pkg-config,
+  gz-cmake,
+  gz-math,
+  gz-utils,
+  tinyxml-2,
+  spdlog,
+  libuuid,
+  assimp,
+  gdal,
+  ffmpeg,
+  zlib,
+  ctestCheckHook,
+  python3,
+  gtest,
+  nix-update-script,
+  testers,
+}:
+let
+  version = "7.1.1";
+  versionPrefix = "gz-common${lib.versions.major version}";
+in
+stdenv.mkDerivation (finalAttrs: {
+  pname = "gz-common";
+  inherit version;
+
+  strictDeps = true;
+  __structuredAttrs = true;
+
+  src = fetchFromGitHub {
+    owner = "gazebosim";
+    repo = "gz-common";
+    tag = "${versionPrefix}_${finalAttrs.version}";
+    hash = "sha256-0+C2gvX7vF/8DbRfX0rftbrYydO6zHYXAhWDe3YXWcs=";
+  };
+
+  patches = [
+    # Replace FreeImage with STB image headers (vendored).
+    # TODO: Remove after update to > 7.1.1
+    (fetchpatch2 {
+      url = "https://github.com/gazebosim/gz-common/commit/a2d36c050b8e93e23b3d8d5ec1abb7b87c61cfdc.patch?full_index=1";
+      hash = "sha256-Zk6kFfWWSwNon/HcLDMmmO1XZrMUoPbc6bk0zAXXN9Y=";
+    })
+
+    # Replace hardcoded /home with /tmp in SystemPaths_TEST.cc FindFile test.
+    # TODO: Remove after update to > 7.1.1
+    (fetchpatch2 {
+      url = "https://github.com/gazebosim/gz-common/commit/2d63d3f5b3f4b29418955a7c266a199f803e6d5c.patch?full_index=1";
+      hash = "sha256-Gws0KVhfGd61uPNC1gJXlCaY81tVZeU6PlqcJA40LeA=";
+    })
+  ];
+
+  nativeBuildInputs = [
+    cmake
+    pkg-config
+  ];
+
+  buildInputs = [
+    gz-cmake
+    # direct DT_NEEDED of libgz-common-graphics.so (linked via assimp/gdal)
+    zlib
+  ];
+
+  propagatedBuildInputs = [
+    assimp
+    ffmpeg
+    gdal
+    gz-math
+    gz-utils
+    spdlog
+    tinyxml-2
+  ]
+  ++ lib.optionals stdenv.hostPlatform.isLinux [
+    libuuid
+  ];
+
+  nativeCheckInputs = [
+    ctestCheckHook
+    python3
+  ];
+
+  checkInputs = [ gtest ];
+
+  disabledTests = [
+    # Timing-sensitive under Nix build load
+    "INTEGRATION_encoder_timing"
+    "UNIT_WorkerPool_TEST"
+    # Signal handling is unreliable in the Nix sandbox
+    "UNIT_SignalHandler_TEST"
+  ];
+
+  doCheck = true;
+
+  preCheck = ''
+    # Some test cases use $HOME
+    export HOME=$(mktemp -d)
+  '';
+
+  passthru = {
+    tests.pkg-config = testers.hasPkgConfigModules {
+      package = finalAttrs.finalPackage;
+    };
+    updateScript = nix-update-script {
+      extraArgs = [ "--version-regex=${versionPrefix}_([\\d\\.]+)" ];
+    };
+  };
+
+  meta = {
+    description = "Common libraries for the Gazebo projects (audio, graphics, geospatial, AV)";
+    homepage = "https://github.com/gazebosim/gz-common";
+    changelog = "https://github.com/gazebosim/gz-common/blob/${finalAttrs.src.tag}/Changelog.md";
+    license = lib.licenses.asl20;
+    platforms = lib.platforms.linux ++ lib.platforms.darwin;
+    pkgConfigModules = [ "gz-common" ];
+    maintainers = with lib.maintainers; [ taylorhoward92 ];
+  };
+})

pkgs/by-name/gz/gz-fuel-tools/package.nix

@@ -0,0 +1,111 @@
+{
+  lib,
+  stdenv,
+  fetchFromGitHub,
+  cmake,
+  ctestCheckHook,
+  pkg-config,
+  gz-cmake,
+  gz-common,
+  gz-msgs,
+  gz-tools,
+  curl,
+  jsoncpp,
+  libyaml,
+  libzip,
+  tinyxml-2,
+  python3,
+  gtest,
+  nix-update-script,
+  testers,
+}:
+let
+  version = "11.0.0";
+  versionPrefix = "gz-fuel-tools${lib.versions.major version}";
+in
+stdenv.mkDerivation (finalAttrs: {
+  pname = "gz-fuel-tools";
+  inherit version;
+
+  strictDeps = true;
+  __structuredAttrs = true;
+
+  src = fetchFromGitHub {
+    owner = "gazebosim";
+    repo = "gz-fuel-tools";
+    tag = "${versionPrefix}_${finalAttrs.version}";
+    hash = "sha256-IFnaXBURpN5xTCxFjlcZk9n0sCsUnPBr3NUZrf7Xde0=";
+  };
+
+  patches = [
+    # Upstream bug: the test YAML config points library_path at src/cmd/cmdfuel11
+    # instead of the generated Ruby script in test/lib/ruby/gz/cmdfuel11.
+    # Also switch to configure_file + file(GENERATE) so $<CONFIG> is resolved.
+    # https://github.com/gazebosim/gz-fuel-tools/pull/501
+    ./patches/pr-501.patch
+  ];
+
+  nativeBuildInputs = [
+    cmake
+    pkg-config
+  ];
+
+  buildInputs = [
+    gz-cmake
+  ];
+
+  propagatedBuildInputs = [
+    libzip
+    curl
+    gz-common
+    gz-msgs
+    gz-tools
+    jsoncpp
+    libyaml
+    tinyxml-2
+  ];
+
+  nativeCheckInputs = [
+    ctestCheckHook
+    python3
+  ];
+
+  checkInputs = [ gtest ];
+
+  disabledTests = [
+    # Requires network access (unavailable in Nix sandbox).
+    "UNIT_FuelClient_TEST"
+    "UNIT_Interface_TEST"
+    "UNIT_gz_TEST"
+    "UNIT_gz_src_TEST"
+  ];
+
+  preCheck = ''
+    # Some test cases use $HOME.
+    export HOME=$(mktemp -d)
+
+    # Point tests at the generated config files in the build tree.
+    export GZ_CONFIG_PATH=$PWD/test/conf
+  '';
+
+  doCheck = true;
+
+  passthru = {
+    tests.pkg-config = testers.hasPkgConfigModules {
+      package = finalAttrs.finalPackage;
+    };
+    updateScript = nix-update-script {
+      extraArgs = [ "--version-regex=${versionPrefix}_([\\d\\.]+)" ];
+    };
+  };
+
+  meta = {
+    description = "Client library and command line tools for interacting with Gazebo Fuel servers";
+    homepage = "https://github.com/gazebosim/gz-fuel-tools";
+    changelog = "https://github.com/gazebosim/gz-fuel-tools/blob/${finalAttrs.src.tag}/Changelog.md";
+    license = lib.licenses.asl20;
+    platforms = lib.platforms.linux ++ lib.platforms.darwin;
+    pkgConfigModules = [ "gz-fuel-tools" ];
+    maintainers = with lib.maintainers; [ taylorhoward92 ];
+  };
+})

pkgs/by-name/gz/gz-fuel-tools/patches/pr-501.patch

@@ -0,0 +1,22 @@
+diff --git a/conf/CMakeLists.txt b/conf/CMakeLists.txt
+index 2cffca0e..972fba99 100644
+--- a/conf/CMakeLists.txt
++++ b/conf/CMakeLists.txt
+@@ -1,11 +1,15 @@
+-set(gz_library_path "${CMAKE_BINARY_DIR}/src/cmd/cmdfuel${PROJECT_VERSION_MAJOR}")
++set(gz_library_path "${CMAKE_BINARY_DIR}/test/lib/$<CONFIG>/ruby/gz/cmdfuel${PROJECT_VERSION_MAJOR}")
+
+ # Generate a configuration file for internal testing.
+ # Note that the major version of the library is included in the name.
+ # Ex: fuel0.yaml
+ configure_file(
+   "fuel.yaml.in"
+-    "${CMAKE_BINARY_DIR}/test/conf/fuel${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
++    "${CMAKE_CURRENT_BINARY_DIR}/fuel${PROJECT_VERSION_MAJOR}.yaml.configured" @ONLY)
++
++file(GENERATE
++  OUTPUT "${CMAKE_BINARY_DIR}/test/conf/$<CONFIG>/fuel${PROJECT_VERSION_MAJOR}.yaml"
++  INPUT "${CMAKE_CURRENT_BINARY_DIR}/fuel${PROJECT_VERSION_MAJOR}.yaml.configured")
+
+ set(gz_library_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/gz/cmdfuel${PROJECT_VERSION_MAJOR}")
+