From a3e9f8d56e6987df1f3cbb217859bcd32c11ef65 Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Mon, 25 Mar 2024 17:09:20 -0500
Subject: [PATCH] Setup rendering environment before cmake runs (#1965)

CMake checks if rendering is available to enable some tests, so the
rendering environment needs to be set before CMake runs.

---------

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/ci/after_make.sh              | 9 ---------
 .github/ci/before_cmake.sh            | 9 +++++++++
 .github/ci/packages.apt               | 2 ++
 .github/workflows/ci.yml              | 3 +++
 include/gz/sim/playback_server.config | 4 ++--
 5 files changed, 16 insertions(+), 11 deletions(-)
 create mode 100644 .github/ci/before_cmake.sh

diff --git a/.github/ci/after_make.sh b/.github/ci/after_make.sh
index a3b79b0ae9..283c904b3a 100644
--- a/.github/ci/after_make.sh
+++ b/.github/ci/after_make.sh
@@ -4,12 +4,3 @@ set -x
 
 # Install (needed for some tests)
 make install
-
-# For ign-tools
-export IGN_CONFIG_PATH=/usr/local/share/ignition
-
-# For rendering / window tests
-Xvfb :1 -screen 0 1280x1024x24 &
-export DISPLAY=:1.0
-export RENDER_ENGINE_VALUES=ogre2
-export MESA_GL_VERSION_OVERRIDE=3.3
diff --git a/.github/ci/before_cmake.sh b/.github/ci/before_cmake.sh
new file mode 100644
index 0000000000..308074bc46
--- /dev/null
+++ b/.github/ci/before_cmake.sh
@@ -0,0 +1,9 @@
+#!/bin/sh -l
+
+set -x
+
+# For rendering / window tests
+Xvfb :1 -screen 0 1280x1024x24 &
+export DISPLAY=:1.0
+export RENDER_ENGINE_VALUES=ogre2
+export MESA_GL_VERSION_OVERRIDE=3.3
diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
index 4059cad103..0a95b15483 100644
--- a/.github/ci/packages.apt
+++ b/.github/ci/packages.apt
@@ -13,3 +13,5 @@ libignition-transport8-dev
 libsdformat9-dev
 qml-module-qtqml-models2
 xvfb
+x11-utils
+mesa-utils
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 898b1706f5..0ca0012cdb 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -20,6 +20,7 @@ jobs:
         uses: ignition-tooling/action-ignition-ci@bionic
         with:
           codecov-enabled: true
+          cmake-args: "-DCMAKE_INSTALL_PREFIX=/usr"
   focal-ci:
     runs-on: ubuntu-latest
     name: Ubuntu Focal CI
@@ -29,3 +30,5 @@ jobs:
       - name: Compile and test
         id: ci
         uses: ignition-tooling/action-ignition-ci@focal
+        with:
+          cmake-args: "-DCMAKE_INSTALL_PREFIX=/usr"
diff --git a/include/gz/sim/playback_server.config b/include/gz/sim/playback_server.config
index 17ac79c8d9..9a88489385 100644
--- a/include/gz/sim/playback_server.config
+++ b/include/gz/sim/playback_server.config
@@ -3,12 +3,12 @@
     <plugin entity_name="*"
             entity_type="world"
             filename="ignition-gazebo-user-commands-system"
-            name="sim::systems::UserCommands">
+            name="gz::sim::systems::UserCommands">
     </plugin>
     <plugin entity_name="*"
             entity_type="world"
             filename="ignition-gazebo-scene-broadcaster-system"
-            name="sim::systems::SceneBroadcaster">
+            name="gz::sim::systems::SceneBroadcaster">
     </plugin>
   </plugins>
 </server_config>