Standalone gz sim executable (Jetty)

.github/workflows/ci.yml

@@ -32,3 +32,18 @@ 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
+      - 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

@@ -110,29 +110,31 @@ set(GZ_COMMON_VER ${gz-common6_VERSION_MAJOR})
 gz_find_package(gz-fuel_tools10 REQUIRED)
 set(GZ_FUEL_TOOLS_VER ${gz-fuel_tools10_VERSION_MAJOR})
 
-#--------------------------------------
-# Find gz-gui
-gz_find_package(gz-gui REQUIRED)
-
-set(QT_MAJOR_VERSION 6)
-set(QT_MINOR_VERSION 4)
-gz_find_package (Qt${QT_MAJOR_VERSION}
-  VERSION ${QT_MAJOR_VERSION}.${QT_MINOR_VERSION}
-  COMPONENTS
-    Core
-    Quick
-    QuickControls2
-  REQUIRED
-  PKGCONFIG "Qt${QT_MAJOR_VERSION}Core Qt${QT_MAJOR_VERSION}Quick Qt${QT_MAJOR_VERSION}QuickControls2")
-
-set(CMAKE_AUTOMOC TRUE)
-set(CMAKE_AUTOUIC TRUE)
-set(CMAKE_AUTORCC TRUE)
-if(POLICY CMP0100)
-  cmake_policy(SET CMP0100 NEW)
+# Option to build gz-sim with GUI support
+option(ENABLE_GUI "Build gz-sim with GUI enabled" ON)
+
+if(ENABLE_GUI)
+  gz_find_package(gz-gui REQUIRED)
+
+  set(QT_MAJOR_VERSION 6)
+  set(QT_MINOR_VERSION 4)
+  gz_find_package (Qt${QT_MAJOR_VERSION}
+    VERSION ${QT_MAJOR_VERSION}.${QT_MINOR_VERSION}
+    COMPONENTS
+      Core
+      Quick
+      QuickControls2
+    REQUIRED
+    PKGCONFIG "Qt${QT_MAJOR_VERSION}Core Qt${QT_MAJOR_VERSION}Quick Qt${QT_MAJOR_VERSION}QuickControls2")
+
+  set(CMAKE_AUTOMOC TRUE)
+  set(CMAKE_AUTOUIC TRUE)
+  set(CMAKE_AUTORCC TRUE)
+  if(POLICY CMP0100)
+    cmake_policy(SET CMP0100 NEW)
+  endif()
 endif()
 
-
 #--------------------------------------
 # Find gz-physics
 gz_find_package(gz-physics8

examples/plugin/gui_system_plugin/CMakeLists.txt

@@ -1,21 +1,25 @@
 cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
-if(POLICY CMP0100)
-  cmake_policy(SET CMP0100 NEW)
-endif()
+if(ENABLE_GUI)
+
+  if(POLICY CMP0100)
+    cmake_policy(SET CMP0100 NEW)
+  endif()
 
-project(GuiSystemPlugin)
+  project(GuiSystemPlugin)
 
-set(CMAKE_AUTOMOC ON)
+  set(CMAKE_AUTOMOC ON)
 
-find_package(gz-sim REQUIRED COMPONENTS gui)
+  find_package(gz-sim REQUIRED COMPONENTS gui)
 
-QT_ADD_RESOURCES(resources_RCC ${PROJECT_NAME}.qrc)
+  QT_ADD_RESOURCES(resources_RCC ${PROJECT_NAME}.qrc)
 
-add_library(${PROJECT_NAME} SHARED
-  ${PROJECT_NAME}.cc
-  ${resources_RCC}
-)
-target_link_libraries(${PROJECT_NAME}
-  PRIVATE gz-sim::gui
-)
+  add_library(${PROJECT_NAME} SHARED
+    ${PROJECT_NAME}.cc
+    ${resources_RCC}
+  )
+  target_link_libraries(${PROJECT_NAME}
+    PRIVATE gz-sim::gui
+  )
+
+endif()

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
-    gz-sim-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
   gz-physics${GZ_PHYSICS_VER}::core
   gz-rendering${GZ_RENDERING_VER}::core
   gz-transport::gz-transport
@@ -216,6 +201,13 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
   gz-plugin${GZ_PLUGIN_VER}::loader
 )
 
+if(ENABLE_GUI)
+  target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
+    PUBLIC
+    gz-gui::gz-gui
+  )
+endif()
+
 if (pybind11_FOUND)
   target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME} PRIVATE pybind11::embed)
   target_compile_definitions(${PROJECT_LIBRARY_TARGET_NAME} PUBLIC -DHAVE_PYBIND11)

src/SystemLoader_TEST.cc

@@ -34,6 +34,7 @@ using namespace sim;
 #else
   constexpr const char *kPluginDir = "lib";
 #endif
+
 /////////////////////////////////////////////////
 TEST(SystemLoader, Constructor)
 {
@@ -78,6 +79,7 @@ TEST(SystemLoader, FromPluginPathEnv)
       </world>
     </sdf>)");
 
+  // EXPECTED TO FAIL
   ASSERT_NE(root.WorldCount(), 0u);
   auto world = root.WorldByIndex(0);
   ASSERT_TRUE(world != nullptr);
@@ -90,8 +92,8 @@ TEST(SystemLoader, FromPluginPathEnv)
     EXPECT_FALSE(system.has_value());
   }
 
-  const auto libPath = common::joinPaths(PROJECT_BINARY_PATH, kPluginDir);
-
+  // Add test plugin to path (referenced in config)
+  auto libPath = std::string(CMAKE_LIBRARY_OUTPUT_DIRECTORY);
   {
     common::setenv("GZ_SIM_SYSTEM_PLUGIN_PATH", libPath.c_str());