Merge pull request #369 from robotology/fix/ignition-physics-plugin-name

Use the versioned name of the DART physics plugin
robotology-legacy · Jul 2, 2021 · a369321 · a369321
2 parents fcf705e + 96e1ce0
commit a369321
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Showing 2 changed files with 5 additions and 1 deletion.
diff --git a/scenario/src/gazebo/CMakeLists.txt b/scenario/src/gazebo/CMakeLists.txt
@@ -99,6 +99,7 @@ target_link_libraries(ScenarioGazebo
     PRIVATE
     ScenarioCore::CoreUtils
     ScenarioGazebo::ExtraComponents
+    ${ignition-physics.ignition-physics}
     ${ignition-fuel_tools.ignition-fuel_tools})
 
 set_target_properties(ScenarioGazebo PROPERTIES

diff --git a/scenario/src/gazebo/src/World.cpp b/scenario/src/gazebo/src/World.cpp
@@ -45,6 +45,7 @@
 #include <ignition/gazebo/components/Pose.hh>
 #include <ignition/math/Pose3.hh>
 #include <ignition/math/Vector3.hh>
+#include <ignition/physics/config.hh>
 #include <sdf/Element.hh>
 #include <sdf/Model.hh>
 #include <sdf/Root.hh>
@@ -245,7 +246,9 @@ bool World::setPhysicsEngine(const PhysicsEngine engine)
     const std::string pluginLib = [&engine]() -> std::string {
         switch (engine) {
             case PhysicsEngine::Dart:
-                return "ignition-physics-dartsim-plugin";
+                return "ignition-physics"
+                       + std::to_string(IGNITION_PHYSICS_MAJOR_VERSION)
+                       + "-dartsim-plugin";
         }
         return "";
     }();