Standalone gz sim executable

.github/workflows/ci.yml

@@ -53,3 +53,21 @@ jobs:
           # per bug https://github.com/gazebosim/gz-sim/issues/1409
           cmake-args: '-DCMAKE_INSTALL_PREFIX=/usr -DBUILD_DOCS=OFF -DCMAKE_BUILD_TYPE=RelWithDebInfo'
           apt-dependencies: libdwarf-dev libdw-dev binutils-dev
+
+  noble-ci-disable-gui:
+    runs-on: ubuntu-latest
+    name: Ubuntu Noble CI (GUI disabled)
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - uses: actions/setup-python@v3
+      - uses: pre-commit/action@v3.0.0
+        with:
+          extra_args: --all-files
+      - name: Compile and test
+        id: ci
+        uses: gazebo-tooling/action-gz-ci@noble
+        with:
+          # per bug https://github.com/gazebosim/gz-sim/issues/1409
+          cmake-args: '-DCMAKE_INSTALL_PREFIX=/usr -DBUILD_DOCS=OFF -DCMAKE_BUILD_TYPE=RelWithDebInfo -DENABLE_GUI=OFF'
+          apt-dependencies: libdwarf-dev libdw-dev binutils-dev

CMakeLists.txt

@@ -113,15 +113,21 @@ set(GZ_FUEL_TOOLS_VER ${gz-fuel_tools10_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-gui
-gz_find_package(gz-gui9 REQUIRED)
-set(GZ_GUI_VER ${gz-gui9_VERSION_MAJOR})
-gz_find_package (Qt5
-  COMPONENTS
-    Core
-    Quick
-    QuickControls2
-  REQUIRED
-  PKGCONFIG "Qt5Core Qt5Quick Qt5QuickControls2")
+
+# Option to build gz-sim with GUI support
+option(ENABLE_GUI "Build gz-sim with GUI enabled" ON)
+
+if(ENABLE_GUI)
+  gz_find_package(gz-gui9 REQUIRED)
+  set(GZ_GUI_VER ${gz-gui9_VERSION_MAJOR})
+  gz_find_package (Qt5
+    COMPONENTS
+      Core
+      Quick
+      QuickControls2
+    REQUIRED
+    PKGCONFIG "Qt5Core Qt5Quick Qt5QuickControls2")
+endif()
 
 #--------------------------------------
 # Find gz-physics

include/gz/sim/CMakeLists.txt

@@ -1,4 +1,8 @@
-gz_install_all_headers()
+if(ENABLE_GUI)
+  gz_install_all_headers()
+else()
+  gz_install_all_headers(EXCLUDE_DIRS gui)
+endif()
 
 add_subdirectory(components)
 

src/CMakeLists.txt

@@ -1,5 +1,10 @@
 add_subdirectory(rendering)
-add_subdirectory(gui)
+
+if(ENABLE_GUI)
+  add_subdirectory(gui)
+  add_compile_definitions(WITH_GUI)
+endif()
+
 add_subdirectory(systems)
 
 file(GLOB gz_msgs_proto_files
@@ -50,14 +55,12 @@ set(comms_sources
   comms/MsgManager.cc
 )
 
-set(gui_sources
-  ${gui_sources}
-  PARENT_SCOPE
-)
-
-set(cli_sources
-  gz.cc
-)
+if(ENABLE_GUI)
+  set(gui_sources
+    ${gui_sources}
+    PARENT_SCOPE
+  )
+endif()
 
 set(material_sources
   rendering/MaterialParser/MaterialParser.cc
@@ -158,26 +161,9 @@ if (MSVC)
   # members that don't get exported, so they trigger this warning. However, the
   # warning is not important since those members do not need to be interfaced
   # with.
-  set_source_files_properties(${sources} ${gtest_sources} ${cli_sources} COMPILE_FLAGS "/wd4251 /wd4146")
+  set_source_files_properties(${sources} ${gtest_sources} COMPILE_FLAGS "/wd4251 /wd4146")
 endif()
 
-# CLI
-gz_add_component(gz
-  SOURCES
-    ${cli_sources}
-  GET_TARGET_NAME gz_lib_target)
-target_link_libraries(${gz_lib_target}
-  PUBLIC
-    ${PROJECT_LIBRARY_TARGET_NAME}
-    gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
-    gz-sim${PROJECT_VERSION_MAJOR}
-    gz-sim${PROJECT_VERSION_MAJOR}-gui
-)
-
-# Executable target that runs the GUI without ruby for debugging purposes.
-add_executable(runGui cmd/runGui_main.cc)
-target_link_libraries(runGui PRIVATE ${gz_lib_target})
-
 # Create the library target
 gz_create_core_library(SOURCES ${sources} CXX_STANDARD 17)
 gz_add_get_install_prefix_impl(GET_INSTALL_PREFIX_FUNCTION gz::sim::getInstallPrefix
@@ -205,7 +191,6 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
   gz-common${GZ_COMMON_VER}::graphics
   gz-common${GZ_COMMON_VER}::profiler
   gz-fuel_tools${GZ_FUEL_TOOLS_VER}::gz-fuel_tools${GZ_FUEL_TOOLS_VER}
-  gz-gui${GZ_GUI_VER}::gz-gui${GZ_GUI_VER}
   gz-physics${GZ_PHYSICS_VER}::core
   gz-rendering${GZ_RENDERING_VER}::core
   gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
@@ -216,6 +201,13 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
   gz-plugin${GZ_PLUGIN_VER}::loader
 )
 
+if(ENABLE_GUI)
+  target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
+    PUBLIC
+    gz-gui${GZ_GUI_VER}::gz-gui${GZ_GUI_VER}
+  )
+endif()
+
 if (pybind11_FOUND)
   target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME} PRIVATE pybind11::embed)
   target_compile_definitions(${PROJECT_LIBRARY_TARGET_NAME} PUBLIC -DHAVE_PYBIND11)