[urdfdom][sdformat9] Re-fix build (#22367)

* [urdfdom][sdformat9] Re-fix build

* version

* Remove empty folder

* version

* [dartsim] Fix build issue

* version

* Update version name

* version

* Apply suggestions

* version

* Add PKG_EXPORTS

* version

* Update ports/sdformat9/fix-dependency-urdfdom.patch

Co-authored-by: nicole mazzuca <83086508+strega-nil-ms@users.noreply.github.com>

ports/dartsim/portfile.cmake

@@ -22,6 +22,9 @@ vcpkg_cmake_configure(
         -DDART_SKIP_NLOPT=ON
         -DDART_SKIP_OPENGL=ON
         -DDART_SKIP_pagmo=ON
+        -Durdfdom_headers_VERSION_MAJOR=1
+        -Durdfdom_headers_VERSION_MINOR=0
+        -Durdfdom_headers_VERSION_PATCH=4
 )
 
 vcpkg_cmake_install()

ports/dartsim/vcpkg.json

@@ -1,7 +1,7 @@
 {
   "name": "dartsim",
   "version": "6.11.0",
-  "port-version": 2,
+  "port-version": 3,
   "description": "Dynamic Animation and Robotics Toolkit",
   "homepage": "https://dartsim.github.io/",
   "dependencies": [

ports/sdformat9/fix-dependency-urdfdom.patch

@@ -1,7 +1,16 @@
 diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
-index 965f1ec..cf2acf4 100644
+index 427e5e7..af31df4 100644
 --- a/cmake/SearchForStuff.cmake
 +++ b/cmake/SearchForStuff.cmake
+@@ -43,7 +43,7 @@ endif()
+ #  2. if USE_INTERNAL_URDF is set to True, use the internal copy
+ #  3. if USE_INTERNAL_URDF is set to False, force to search system installation, fail on error
+ 
+-if (NOT PKG_CONFIG_FOUND)
++if (0)
+   if (NOT DEFINED USE_INTERNAL_URDF)
+     BUILD_WARNING("Couldn't find pkg-config for urdfdom, using internal copy")
+     set(USE_INTERNAL_URDF true)
 @@ -53,10 +53,9 @@ if (NOT PKG_CONFIG_FOUND)
  endif()
  
@@ -12,6 +21,15 @@ index 965f1ec..cf2acf4 100644
  
 -  if (NOT URDF_FOUND)
 +  if (NOT urdfdom_FOUND)
-    find_package(urdfdom)
+     find_package(urdfdom)
-    if (urdfdom_FOUND)
+     if (urdfdom_FOUND)
-      set(URDF_INCLUDE_DIRS ${urdfdom_INCLUDE_DIRS})
+       set(URDF_INCLUDE_DIRS ${urdfdom_INCLUDE_DIRS})
+@@ -73,6 +72,7 @@ if (NOT DEFINED USE_INTERNAL_URDF OR NOT USE_INTERNAL_URDF)
+     # what am I doing here? pkg-config and cmake
+-    set(URDF_INCLUDE_DIRS ${URDF_INCLUDEDIR})
+     set(URDF_LIBRARY_DIRS ${URDF_LIBDIR})
++    set(URDF_INCLUDE_DIRS ${urdfdom_INCLUDE_DIRS})
++    set(URDF_LIBRARIES ${urdfdom_LIBRARIES})
+   endif()
+ endif()
+ 

ports/sdformat9/portfile.cmake

@@ -18,7 +18,7 @@ vcpkg_cmake_configure(
     SOURCE_PATH "${SOURCE_PATH}"
     OPTIONS 
         -DBUILD_TESTING=OFF
-        -DUSE_EXTERNAL_URDF=ON
+        -DUSE_INTERNAL_URDF=OFF
         -DUSE_EXTERNAL_TINYXML=ON
 )
 

ports/sdformat9/vcpkg.json

@@ -1,7 +1,7 @@
 {
   "name": "sdformat9",
-  "version-string": "9.4.0",
+  "version": "9.4.0",
-  "port-version": 2,
+  "port-version": 3,
   "description": "Simulation Description Format (SDF) parser and description files.",
   "homepage": "http://sdformat.org/",
   "supports": "!(linux | uwp)",

ports/urdfdom/0003_import_prefix.patch

@@ -1,15 +0,0 @@
-diff --git a/cmake/urdfdom-config.cmake.in b/cmake/urdfdom-config.cmake.in
-index fb81b47..3ccad51 100644
---- a/cmake/urdfdom-config.cmake.in
-+++ b/cmake/urdfdom-config.cmake.in
-@@ -3,6 +3,10 @@ if (@PKG_NAME@_CONFIG_INCLUDED)
- endif()
- set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
- 
-+# Vcpkg fix-ups
-+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
-+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-+
- set(@PKG_NAME@_INCLUDE_DIRS "@CMAKE_INSTALL_PREFIX@/include" "@TinyXML_INCLUDE_DIRS@")
- 
- foreach(lib @PKG_LIBRARIES@)

ports/urdfdom/0005-fix-config-and-install.patch

@@ -0,0 +1,101 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index f0d115d..9acbfbe 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -58,17 +58,18 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}"
+ 
+ enable_testing()
+ 
+-add_subdirectory(urdf_parser)
+-
+ if(WIN32 AND NOT CYGWIN)
+   set(CMAKE_CONFIG_INSTALL_DIR CMake)
+ else()
+     set(CMAKE_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_FULL_LIBDIR}/${PROJECT_NAME}/cmake/)
+ endif()
+ 
++add_subdirectory(urdf_parser)
++
+ set(PKG_NAME ${PROJECT_NAME})
+ set(PKG_LIBRARIES urdfdom_sensor urdfdom_model_state urdfdom_model urdfdom_world)
+ set(PKG_DEPENDS urdfdom_headers console_bridge)
++set(PKG_EXPORTS urdfdom)
+ set(cmake_conf_file "cmake/urdfdom-config.cmake")
+ configure_file("${CMAKE_CURRENT_SOURCE_DIR}/${cmake_conf_file}.in" "${CMAKE_BINARY_DIR}/${cmake_conf_file}" @ONLY)
+ install(FILES ${CMAKE_BINARY_DIR}/${cmake_conf_file}
+diff --git a/cmake/urdfdom-config.cmake.in b/cmake/urdfdom-config.cmake.in
+index fb81b47..8b4ef8f 100644
+--- a/cmake/urdfdom-config.cmake.in
++++ b/cmake/urdfdom-config.cmake.in
+@@ -3,8 +3,12 @@ if (@PKG_NAME@_CONFIG_INCLUDED)
+ endif()
+ set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
+ 
+-set(@PKG_NAME@_INCLUDE_DIRS "@CMAKE_INSTALL_PREFIX@/include" "@TinyXML_INCLUDE_DIRS@")
++get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
++get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+ 
++set(@PKG_NAME@_INCLUDE_DIRS "${_IMPORT_PREFIX}/include" "@TinyXML_INCLUDE_DIRS@")
++
++if (0)
+ foreach(lib @PKG_LIBRARIES@)
+   set(onelib "${lib}-NOTFOUND")
+   find_library(onelib ${lib}
+@@ -25,3 +29,13 @@ foreach(dep @PKG_DEPENDS@)
+   list(APPEND @PKG_NAME@_INCLUDE_DIRS ${${dep}_INCLUDE_DIRS})
+   list(APPEND @PKG_NAME@_LIBRARIES ${${dep}_LIBRARIES})
+ endforeach()
++endif()
++
++include(CMakeFindDependencyMacro)
++find_dependency(console_bridge)
++
++foreach(exp @PKG_EXPORTS@)
++  include(${@PROJECT_NAME@_DIR}/${exp}Export.cmake)
++endforeach()
++
++set(@PKG_NAME@_LIBRARIES urdfdom::urdfdom_model urdfdom::urdfdom_world urdfdom::urdfdom_sensor urdfdom::urdfdom_model_state)
+\ No newline at end of file
+diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
+index 731b57a..ebd0586 100644
+--- a/urdf_parser/CMakeLists.txt
++++ b/urdf_parser/CMakeLists.txt
+@@ -39,10 +39,32 @@ if(BUILD_TESTING)
+   add_subdirectory(test)
+ endif()
+ 
+-INSTALL(TARGETS urdfdom_model DESTINATION ${CMAKE_INSTALL_LIBDIR})
+-INSTALL(TARGETS urdfdom_world DESTINATION ${CMAKE_INSTALL_LIBDIR})
+-INSTALL(TARGETS check_urdf urdf_to_graphiz urdf_mem_test
+-  DESTINATION ${CMAKE_INSTALL_BINDIR})
+-INSTALL(TARGETS urdfdom_sensor DESTINATION ${CMAKE_INSTALL_LIBDIR})
+-INSTALL(TARGETS urdfdom_model_state DESTINATION ${CMAKE_INSTALL_LIBDIR})
++INSTALL(
++  TARGETS
++  check_urdf
++  urdf_to_graphiz
++  urdf_mem_test
++  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
++  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
++  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
++)
++INSTALL(
++  TARGETS
++  urdfdom_model
++  urdfdom_world
++  urdfdom_sensor
++  urdfdom_model_state
++  EXPORT
++  urdfdom
++  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
++  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
++  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
++)
++install(
++  EXPORT urdfdom
++  DESTINATION ${CMAKE_CONFIG_INSTALL_DIR}
++  NAMESPACE "${PROJECT_NAME}::"
++  FILE "urdfdomExport.cmake"
++)
++
+ INSTALL(DIRECTORY include/urdf_parser DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})

ports/urdfdom/portfile.cmake

@@ -9,47 +9,32 @@ vcpkg_from_github(
   PATCHES
     0001_use_math_defines.patch
     0002_fix_exports.patch
-    0003_import_prefix.patch
     0004_fix-dependency-console_bridge.patch
+    0005-fix-config-and-install.patch
 )
 
-vcpkg_configure_cmake(
+vcpkg_cmake_configure(
-  SOURCE_PATH ${SOURCE_PATH}
+  SOURCE_PATH "${SOURCE_PATH}"
-  PREFER_NINJA
 )
 
-vcpkg_install_cmake()
+vcpkg_cmake_install()
 vcpkg_copy_pdbs()
 
-if(EXISTS ${CURRENT_PACKAGES_DIR}/CMake)
+vcpkg_copy_tools(TOOL_NAMES check_urdf urdf_mem_test urdf_to_graphiz AUTO_CLEAN)
-    vcpkg_fixup_cmake_targets(CONFIG_PATH CMake)
+
+if(VCPKG_TARGET_IS_WINDOWS)
+    vcpkg_cmake_config_fixup(CONFIG_PATH CMake)
 else()
-    vcpkg_fixup_cmake_targets(CONFIG_PATH lib/urdfdom/cmake)
+    vcpkg_cmake_config_fixup(CONFIG_PATH lib/urdfdom/cmake)
-    file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/lib/urdfdom)
+    # Empty folders
-    file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/lib/urdfdom)
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/lib/urdfdom")
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/lib/urdfdom")
 endif()
 
-if(EXISTS ${CURRENT_PACKAGES_DIR}/lib/pkgconfig)
+if(NOT VCPKG_TARGET_IS_WINDOWS OR VCPKG_TARGET_IS_MINGW)
     vcpkg_fixup_pkgconfig()
 endif()
 
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include" "${CURRENT_PACKAGES_DIR}/debug/share")
 
-file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
-file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/bin)
-
-file(MAKE_DIRECTORY ${CURRENT_PACKAGES_DIR}/tools/)
-file(RENAME ${CURRENT_PACKAGES_DIR}/bin/ ${CURRENT_PACKAGES_DIR}/tools/${PORT}/)
-
-file(GLOB URDFDOM_DLLS_DEBUG ${CURRENT_PACKAGES_DIR}/debug/lib/*.dll)
-foreach(URDFDOM_DLL_DEBUG ${URDFDOM_DLLS_DEBUG})
-  file(COPY ${URDFDOM_DLL_DEBUG} DESTINATION ${CURRENT_PACKAGES_DIR}/debug/bin)
-  file(REMOVE ${URDFDOM_DLL_DEBUG})
-endforeach()
-
-file(GLOB URDFDOM_DLLS_RELEASE ${CURRENT_PACKAGES_DIR}/lib/*.dll)
-foreach(URDFDOM_DLL_RELEASE ${URDFDOM_DLLS_RELEASE})
-  file(COPY ${URDFDOM_DLL_RELEASE} DESTINATION ${CURRENT_PACKAGES_DIR}/bin)
-  file(REMOVE ${URDFDOM_DLL_RELEASE})
-endforeach()
-
-file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)

ports/urdfdom/vcpkg.json

@@ -1,12 +1,20 @@
 {
   "name": "urdfdom",
-  "version-string": "1.0.4",
+  "version": "1.0.4",
-  "port-version": 4,
+  "port-version": 5,
   "description": "Provides core data structures and a simple XML parsers for populating the class data structures from an URDF file.",
   "homepage": "https://github.com/ros/urdfdom",
   "dependencies": [
     "console-bridge",
     "tinyxml",
-    "urdfdom-headers"
+    "urdfdom-headers",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
   ]
 }

versions/baseline.json

@@ -1746,7 +1746,7 @@
     },
     "dartsim": {
       "baseline": "6.11.0",
-      "port-version": 2
+      "port-version": 3
     },
     "dataframe": {
       "baseline": "1.19.0",
@@ -6226,7 +6226,7 @@
     },
     "sdformat9": {
       "baseline": "9.4.0",
-      "port-version": 2
+      "port-version": 3
     },
     "sdl1": {
       "baseline": "1.2.15",
@@ -7046,7 +7046,7 @@
     },
     "urdfdom": {
       "baseline": "1.0.4",
-      "port-version": 4
+      "port-version": 5
     },
     "urdfdom-headers": {
       "baseline": "1.0.5",

versions/d-/dartsim.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "8b816d852610f6ef105eedc49bcbe6ae4881f759",
+      "version": "6.11.0",
+      "port-version": 3
+    },
     {
       "git-tree": "f7fc216f598684b22949d55f2d573137965a4d2d",
       "version": "6.11.0",

versions/s-/sdformat9.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "5f47672c7e4349da14189c38db3a15dcdad5a196",
+      "version": "9.4.0",
+      "port-version": 3
+    },
     {
       "git-tree": "0ae3b0b53c638614e4a03164b1a5d1b70796e55e",
       "version-string": "9.4.0",

versions/u-/urdfdom.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "a74450532028f2079b8ea0b20bb82ded93e951d6",
+      "version": "1.0.4",
+      "port-version": 5
+    },
     {
       "git-tree": "1022fc5895356fb9cd1c37767cf2397e4edfd415",
       "version-string": "1.0.4",