From 13071c6e48c87934dce2d0b52122aa73145a9dbf Mon Sep 17 00:00:00 2001
From: Stefan Scherzinger <stefan.scherzinger@de.schunk.com>
Date: Wed, 17 Apr 2024 15:19:18 +0200
Subject: [PATCH] Fix CI for missing curl dependency

---
 .github/script/install_dependencies.sh        |  3 ++
 .../workflows/industrial_ci_humble_action.yml |  2 ++
 .../workflows/industrial_ci_iron_action.yml   |  2 ++
 .../industrial_ci_rolling_action.yml          |  2 ++
 README.md                                     | 28 ++++++-------------
 src/schunk_gripper/CMakeLists.txt             |  2 --
 6 files changed, 18 insertions(+), 21 deletions(-)
 create mode 100755 .github/script/install_dependencies.sh

diff --git a/.github/script/install_dependencies.sh b/.github/script/install_dependencies.sh
new file mode 100755
index 0000000..5b7b55b
--- /dev/null
+++ b/.github/script/install_dependencies.sh
@@ -0,0 +1,3 @@
+#/usr/bin/bash
+cd $HOME
+apt-get install curl libcurl4-openssl-dev
diff --git a/.github/workflows/industrial_ci_humble_action.yml b/.github/workflows/industrial_ci_humble_action.yml
index 9b0f95c..7c1c1d9 100644
--- a/.github/workflows/industrial_ci_humble_action.yml
+++ b/.github/workflows/industrial_ci_humble_action.yml
@@ -10,6 +10,8 @@ on:
 
 jobs:
   industrial_ci:
+    env:
+      BEFORE_BUILD_TARGET_WORKSPACE: '.github/script/install_dependencies.sh'
     strategy:
       fail-fast: false
       matrix:
diff --git a/.github/workflows/industrial_ci_iron_action.yml b/.github/workflows/industrial_ci_iron_action.yml
index 5979b4e..4e518c0 100644
--- a/.github/workflows/industrial_ci_iron_action.yml
+++ b/.github/workflows/industrial_ci_iron_action.yml
@@ -10,6 +10,8 @@ on:
 
 jobs:
   industrial_ci:
+    env:
+      BEFORE_BUILD_TARGET_WORKSPACE: '.github/script/install_dependencies.sh'
     strategy:
       fail-fast: false
       matrix:
diff --git a/.github/workflows/industrial_ci_rolling_action.yml b/.github/workflows/industrial_ci_rolling_action.yml
index 37e8a26..9bc91ab 100644
--- a/.github/workflows/industrial_ci_rolling_action.yml
+++ b/.github/workflows/industrial_ci_rolling_action.yml
@@ -10,6 +10,8 @@ on:
 
 jobs:
   industrial_ci:
+    env:
+      BEFORE_BUILD_TARGET_WORKSPACE: '.github/script/install_dependencies.sh'
     strategy:
       fail-fast: false
       matrix:
diff --git a/README.md b/README.md
index 96328eb..e54ce60 100644
--- a/README.md
+++ b/README.md
@@ -4,28 +4,18 @@
 
 # Schunk EGU/EGK Gripper
 
+This is the ROS2 driver for controlling the SCHUNK EGU/EGK grippers. It is compatible with
+grippers featuring PROFINET, Ethernet/IP, or EtherCAT and communicates with the AnybusCom 40 interface.
+The driver supports most gripper functionalities, except for the jog mode.
 
-## Description
+## System dependencies
 
-ROS2 driver for controlling Schunk EGU/EGK grippers. It is compatible with grippers featuring PROFINET, Ethernet/IP, or EtherCAT communication interfaces. The ROS driver encapsulates all gripper functionalities, excluding the jog mode.
-
-
-### Background
-
-The driver communicates with the AnybusCom 40 interface, enabling its use with PROFINET, Ethernet/IP, and EtherCAT grippers over HTTP. The ROS wrapper exposes the gripper's functionalities through ROS.
-
-## Requirements
-
-The provided distribution is "humble." To install ROS2 and verify compatibility with your operating system, please refer to the following link: 
-[ROS2 Installation Guide](https://docs.ros.org/en/humble/Installation.html)
-
-Following C++ libraries are required: 
-- [libcurl](https://curl.se/libcurl/)
-- [nlohmann/json](https://github.com/nlohmann/json)
-
-'nlohmann/json' is included in the project. You don't need to download it separately.
+We use the _curl_ library for the _HTTP_-based communication to the devices. Install that system-wide with
+```bash
+sudo apt install curl libcurl4-openssl-dev
+```
 
-## Build
+## Build and install
 Clone the GitLab repository into your workspace:
 ```
 git clone https://gitlab-test.cloud.schunk.com/technology-factory/students/ros-gripper/ros2_schunk_driver.git
diff --git a/src/schunk_gripper/CMakeLists.txt b/src/schunk_gripper/CMakeLists.txt
index a7b7576..2e2fb9b 100644
--- a/src/schunk_gripper/CMakeLists.txt
+++ b/src/schunk_gripper/CMakeLists.txt
@@ -89,7 +89,6 @@ target_compile_definitions(schunk_gripper_driver
 # Link libraries to schunk_gripper_driver
 target_link_libraries(schunk_gripper_driver
   ${CURL_LIBRARIES}
-  -lcurl
 )
 
 # Add dependencies for schunk_gripper_driver
@@ -104,7 +103,6 @@ rclcpp_components_register_nodes(schunk_gripper_driver "SchunkGripperNode")
 # Link libraries to schunk_gripper_driver
 target_link_libraries(schunk_gripper_driver
   ${CURL_LIBRARIES}
-  -lcurl
 )
 
 # Install schunk_gripper_example executable