Fix for binary relocatability

include/ignition/gazebo/config.hh.in

@@ -1,5 +1,12 @@
 /* Config.hh. Generated by CMake for @PROJECT_NAME_NO_VERSION@. */
 
+#ifndef IGNITION_${GZ_DESIGNATION_UPPER}_CONFIG_HH_
+#define IGNITION_${GZ_DESIGNATION_UPPER}_CONFIG_HH_
+
+#include <ignition/gazebo/Export.hh>
+
+#include <string>
+
 /* Version number */
 #define IGNITION_GAZEBO_MAJOR_VERSION ${PROJECT_VERSION_MAJOR}
 #define IGNITION_GAZEBO_MINOR_VERSION ${PROJECT_VERSION_MINOR}
@@ -19,8 +26,49 @@
 #define IGN_GAZEBO_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ign-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
 #define IGN_GAZEBO_GUI_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ign-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
 #define IGN_GAZEBO_WORLD_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}/worlds"
+
+#define IGNITION_GAZEBO_GUI_CONFIG_RELATIVE_PATH "${IGN_DATA_INSTALL_DIR}/gui"
+#define IGNITION_GAZEBO_SYSTEM_CONFIG_RELATIVE_PATH "${IGN_DATA_INSTALL_DIR}/systems"
+#define IGNITION_GAZEBO_SERVER_CONFIG_RELATIVE_PATH "${IGN_DATA_INSTALL_DIR}"
+#define IGN_GAZEBO_PLUGIN_RELATIVE_INSTALL_DIR "${IGN_LIB_INSTALL_DIR}/ign-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
+#define IGN_GAZEBO_GUI_PLUGIN_RELATIVE_INSTALL_DIR "${IGN_LIB_INSTALL_DIR}/ign-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
+#define IGN_GAZEBO_WORLD_RELATIVE_INSTALL_DIR "${IGN_DATA_INSTALL_DIR}/worlds"
+
+
+
 #define GZ_DISTRIBUTION "${GZ_DISTRIBUTION}"
 
 #cmakedefine IGNITION_GAZEBO_BUILD_TYPE_PROFILE 1
 #cmakedefine IGNITION_GAZEBO_BUILD_TYPE_DEBUG 1
 #cmakedefine IGNITION_GAZEBO_BUILD_TYPE_RELEASE 1
+
+namespace ignition
+{
+  namespace gazebo
+  {
+    /// \brief getInstallPrefix return the install prefix of the library
+    /// i.e. CMAKE_INSTALL_PREFIX unless the library has been moved
+    IGNITION_GAZEBO_VISIBLE std::string getInstallPrefix();
+
+    /// \brief getGUIConfigPath return the GUI config path
+    IGNITION_GAZEBO_VISIBLE std::string getGUIConfigPath();
+
+    /// \brief getSystemConfigPath return the system config path
+    IGNITION_GAZEBO_VISIBLE std::string getSystemConfigPath();
+
+    /// \brief getServerConfigPath return the server config path
+    IGNITION_GAZEBO_VISIBLE std::string getServerConfigPath();
+
+    /// \brief getPluginInstallDir return the plugin install dir
+    IGNITION_GAZEBO_VISIBLE std::string getPluginInstallDir();
+
+    /// \brief getGUIPluginInstallDir return the GUI plugin install dir
+    IGNITION_GAZEBO_VISIBLE std::string getGUIPluginInstallDir();
+
+    /// \brief getWorldInstallDir return the world install dir
+    IGNITION_GAZEBO_VISIBLE std::string getWorldInstallDir();
+  }
+}
+
+
+#endif

src/CMakeLists.txt

@@ -64,6 +64,7 @@ set (sources
   View.cc
   World.cc
   cmd/ModelCommandAPI.cc
+  config.cc
   ${PROTO_PRIVATE_SRC}
   ${network_sources}
   ${comms_sources}
@@ -152,6 +153,8 @@ target_link_libraries(${ign_lib_target}
 
 # Create the library target
 ign_create_core_library(SOURCES ${sources} CXX_STANDARD 17)
+ign_add_get_install_prefix_impl(GET_INSTALL_PREFIX_FUNCTION ignition::gazebo::getInstallPrefix)
+
 target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
   PUBLIC
   ignition-math${IGN_MATH_VER}

src/ServerConfig.cc

@@ -982,7 +982,7 @@ gazebo::loadPluginInfo(bool _isPlayback)
   if (!common::exists(defaultConfig))
   {
     auto installedConfig = common::joinPaths(
-        IGNITION_GAZEBO_SERVER_CONFIG_PATH,
+        getServerConfigPath(),
         configFilename);
 
     if (!common::createDirectories(defaultConfigDir))

src/SystemLoader.cc

@@ -53,7 +53,7 @@ class ignition::gazebo::SystemLoaderPrivate
     ignition::common::env(IGN_HOMEDIR, homePath);
     systemPaths.AddPluginPaths(common::joinPaths(
         homePath, ".ignition", "gazebo", "plugins"));
-    systemPaths.AddPluginPaths(IGN_GAZEBO_PLUGIN_INSTALL_DIR);
+    systemPaths.AddPluginPaths(getPluginInstallDir());
 
     return systemPaths.PluginPaths();
   }

src/Util.cc

@@ -729,7 +729,7 @@ std::string resolveSdfWorldFile(const std::string &_sdfFile,
     systemPaths.SetFilePathEnv(kResourcePathEnv);
 
     // Worlds installed with ign-gazebo
-    systemPaths.AddFilePaths(IGN_GAZEBO_WORLD_INSTALL_DIR);
+    systemPaths.AddFilePaths(getWorldInstallDir());
 
     filePath = systemPaths.FindFile(_sdfFile);
   }

src/config.cc

@@ -0,0 +1,76 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#include <ignition/gazebo/config.hh>
+
+#include <filesystem>
+
+namespace ignition
+{
+  namespace gazebo
+  {
+
+    std::string getGUIConfigPath()
+    {
+      std::filesystem::path relative_ret_path(IGNITION_GAZEBO_GUI_CONFIG_RELATIVE_PATH);
+      std::filesystem::path install_prefix(getInstallPrefix());
+      std::filesystem::path ret_path = install_prefix / relative_ret_path;
+      return ret_path.string();
+    }
+
+    std::string getSystemConfigPath()
+    {
+      std::filesystem::path relative_ret_path(IGNITION_GAZEBO_SYSTEM_CONFIG_RELATIVE_PATH);
+      std::filesystem::path install_prefix(getInstallPrefix());
+      std::filesystem::path ret_path = install_prefix / relative_ret_path;
+      return ret_path.string();
+    }
+
+    std::string getServerConfigPath()
+    {
+      std::filesystem::path relative_ret_path(IGNITION_GAZEBO_SERVER_CONFIG_RELATIVE_PATH);
+      std::filesystem::path install_prefix(getInstallPrefix());
+      std::filesystem::path ret_path = install_prefix / relative_ret_path;
+      return ret_path.string();
+    }
+
+    std::string getPluginInstallDir()
+    {
+      std::filesystem::path relative_ret_path(IGN_GAZEBO_PLUGIN_RELATIVE_INSTALL_DIR);
+      std::filesystem::path install_prefix(getInstallPrefix());
+      std::filesystem::path ret_path = install_prefix / relative_ret_path;
+      return ret_path.string();
+    }
+
+    std::string getGUIPluginInstallDir()
+    {
+      std::filesystem::path relative_ret_path(IGN_GAZEBO_GUI_PLUGIN_RELATIVE_INSTALL_DIR);
+      std::filesystem::path install_prefix(getInstallPrefix());
+      std::filesystem::path ret_path = install_prefix / relative_ret_path;
+      return ret_path.string();
+    }
+
+    std::string getWorldInstallDir()
+    {
+      std::filesystem::path relative_ret_path(IGN_GAZEBO_WORLD_RELATIVE_INSTALL_DIR);
+      std::filesystem::path install_prefix(getInstallPrefix());
+      std::filesystem::path ret_path = install_prefix / relative_ret_path;
+      return ret_path.string();
+    }
+
+  }
+}

src/gui/Gui.cc

@@ -90,7 +90,7 @@ std::string defaultGuiConfigFile(bool _isPlayback,
     }
 
     auto installedConfig = common::joinPaths(
-        IGNITION_GAZEBO_GUI_CONFIG_PATH, defaultGuiConfigName);
+        getGUIConfigPath(), defaultGuiConfigName);
     if (!common::copyFile(installedConfig, defaultConfig))
     {
       ignerr << "Failed to copy installed config [" << installedConfig
@@ -268,7 +268,7 @@ std::unique_ptr<ignition::gui::Application> createGui(
   auto app = std::make_unique<ignition::gui::Application>(
     _argc, _argv, ignition::gui::WindowType::kMainWindow);
 
-  app->AddPluginPath(IGN_GAZEBO_GUI_PLUGIN_INSTALL_DIR);
+  app->AddPluginPath(getGUIPluginInstallDir());
 
   auto aboutDialogHandler = new ignition::gazebo::gui::AboutDialogHandler();
   aboutDialogHandler->setParent(app->Engine());
@@ -280,7 +280,8 @@ std::unique_ptr<ignition::gui::Application> createGui(
   pathManager->setParent(app->Engine());
 
   // add import path so we can load custom modules
-  app->Engine()->addImportPath(IGN_GAZEBO_GUI_PLUGIN_INSTALL_DIR);
+  std::string gui_plugin_install_dir = getGUIPluginInstallDir();
+  app->Engine()->addImportPath(gui_plugin_install_dir.c_str());
 
   app->SetDefaultConfigPath(defaultConfig);
 

src/gui/QuickStartHandler.hh

@@ -71,7 +71,7 @@ class IGNITION_GAZEBO_GUI_VISIBLE QuickStartHandler : public QObject
   private: std::string worldsPath{IGN_GAZEBO_WORLD_INSTALL_DIR};
 
   /// \brief Get starting world url.
-  private: std::string startingWorld{""};
+  private: std::string startingWorld{getWorldInstallDir()};
 };
 }
 }

src/ign.cc

@@ -69,7 +69,8 @@ extern "C" void cmdVerbosity(
 //////////////////////////////////////////////////
 extern "C" const char *worldInstallDir()
 {
-  return IGN_GAZEBO_WORLD_INSTALL_DIR;
+  static std::string worldInstallDir = getWorldInstallDir();
+  return worldInstallDir.c_str();
 }
 
 //////////////////////////////////////////////////

src/systems/physics/EntityFeatureMap_TEST.cc

@@ -57,7 +57,7 @@ class EntityFeatureMapFixture: public InternalFixture<::testing::Test>
     const std::string pluginLib = "libignition-physics-dartsim-plugin.so";
 
     common::SystemPaths systemPaths;
-    systemPaths.AddPluginPaths({IGNITION_PHYSICS_ENGINE_INSTALL_DIR});
+    systemPaths.AddPluginPaths(ignition::physics::getEngineInstallDir());
 
     auto pathToLib = systemPaths.FindSharedLibrary(pluginLib);
     ASSERT_FALSE(pathToLib.empty())

src/systems/physics/Physics.cc

@@ -752,7 +752,7 @@ void Physics::Configure(const Entity &_entity,
   // * Engines installed with ign-physics
   common::SystemPaths systemPaths;
   systemPaths.SetPluginPathEnv(this->dataPtr->pluginPathEnv);
-  systemPaths.AddPluginPaths({IGNITION_PHYSICS_ENGINE_INSTALL_DIR});
+  systemPaths.AddPluginPaths(ignition::physics::getEngineInstallDir());
 
   auto pathToLib = systemPaths.FindSharedLibrary(pluginLib);
   if (pathToLib.empty())

test/integration/tracked_vehicle_system.cc

@@ -83,7 +83,7 @@ class TrackedVehicleTest : public InternalFixture<::testing::Test>
     // modifications)
     common::SystemPaths systemPaths;
     systemPaths.SetPluginPathEnv("IGN_GAZEBO_PHYSICS_ENGINE_PATH");
-    systemPaths.AddPluginPaths({IGNITION_PHYSICS_ENGINE_INSTALL_DIR});
+    systemPaths.AddPluginPaths(ignition::physics::getEngineInstallDir());
 
     auto pathToLib = systemPaths.FindSharedLibrary(*pluginLib);
     ASSERT_FALSE(pathToLib.empty())