From a3652c21588ddd63f6dd2de0a1aeb8498a912f60 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Mon, 13 Jul 2020 16:30:14 +0200
Subject: [PATCH] Name changed to opendrive_to_gazebo. Fixed some minors bugs
for packaging
---
CMakeLists.txt | 6 +-
Findopen_drive_format.cmake | 24 ----
Findopendrive_to_gazebo.cmake | 24 ++++
ReadMe.md | 107 +++++++++++++-----
...n_drive_format.h => opendrive_to_gazebo.h} | 0
spawn_signs.launch | 100 ++++++++++++++++
src/CMakeLists.txt | 16 +--
src/examples/CMakeLists.txt | 4 +-
..._test.cpp => opendrive_to_gazebo_test.cpp} | 4 +-
...ive_format.cpp => opendrive_to_gazebo.cpp} | 2 +-
10 files changed, 218 insertions(+), 69 deletions(-)
delete mode 100644 Findopen_drive_format.cmake
create mode 100644 Findopendrive_to_gazebo.cmake
rename include/{open_drive_format.h => opendrive_to_gazebo.h} (100%)
create mode 100644 spawn_signs.launch
rename src/examples/{open_drive_format_test.cpp => opendrive_to_gazebo_test.cpp} (89%)
rename src/{open_drive_format.cpp => opendrive_to_gazebo.cpp} (98%)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 20daa74..b8b37e7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,8 +9,8 @@ if(COMMAND cmake_policy)
endif(COMMAND cmake_policy)
# The project name and the type of project
-PROJECT(open-drive-format)
-SET(PACKAGE_NAME open-drive-format)
+PROJECT(opendrive_to_gazebo)
+SET(PACKAGE_NAME opendrive-to-gazebo)
SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
@@ -57,6 +57,8 @@ IF (UNIX)
ADD_CUSTOM_COMMAND(
COMMENT "uninstall package"
COMMAND xargs ARGS rm < install_manifest.txt
+ COMMAND rm -rd ${CMAKE_INSTALL_PREFIX}/lib/iri/${PROJECT_NAME}
+ COMMAND rm -rd ${CMAKE_INSTALL_PREFIX}/include/iri/${PROJECT_NAME}
TARGET uninstall
)
diff --git a/Findopen_drive_format.cmake b/Findopen_drive_format.cmake
deleted file mode 100644
index 07559ac..0000000
--- a/Findopen_drive_format.cmake
+++ /dev/null
@@ -1,24 +0,0 @@
-#edit the following line to add the librarie's header files
-FIND_PATH(open_drive_format_INCLUDE_DIRS open_drive_format.h /usr/local/include/iri/open_drive_format /usr/include/iri/open_drive_format)
-
-FIND_LIBRARY(open_drive_format_LIBRARIES
- NAMES open_drive_format
- PATHS /usr/local/lib/iri/open_drive_format /usr/lib/iri/open_drive_format)
-
-SET(open_drive_format_INCLUDE_DIR ${open_drive_format_INCLUDE_DIRS})
-SET(open_drive_format_LIBRARY ${open_drive_format_LIBRARIES})
-
-IF (open_drive_format_INCLUDE_DIRS AND open_drive_format_LIBRARIES)
- SET(open_drive_format_FOUND TRUE)
-ENDIF (open_drive_format_INCLUDE_DIRS AND open_drive_format_LIBRARIES)
-
-IF (open_drive_format_FOUND)
- IF (NOT open_drive_format_FIND_QUIETLY)
- MESSAGE(STATUS "Found open_drive_format: ${open_drive_format_LIBRARIES}")
- ENDIF (NOT open_drive_format_FIND_QUIETLY)
-ELSE (open_drive_format_FOUND)
- IF (open_drive_format_FIND_REQUIRED)
- MESSAGE(FATAL_ERROR "Could not find open_drive_format")
- ENDIF (open_drive_format_FIND_REQUIRED)
-ENDIF (open_drive_format_FOUND)
-
diff --git a/Findopendrive_to_gazebo.cmake b/Findopendrive_to_gazebo.cmake
new file mode 100644
index 0000000..f382e3c
--- /dev/null
+++ b/Findopendrive_to_gazebo.cmake
@@ -0,0 +1,24 @@
+#edit the following line to add the librarie's header files
+FIND_PATH(opendrive_to_gazebo_INCLUDE_DIRS opendrive_to_gazebo.h adc_circuit.h adc_geometries.h adc_road.h adc_signals.h /usr/local/include/iri/opendrive_to_gazebo /usr/include/iri/opendrive_to_gazebo)
+
+FIND_LIBRARY(opendrive_to_gazebo_LIBRARIES
+ NAMES opendrive_to_gazebo
+ PATHS /usr/local/lib/iri/opendrive_to_gazebo /usr/lib/iri/opendrive_to_gazebo)
+
+SET(opendrive_to_gazebo_INCLUDE_DIR ${opendrive_to_gazebo_INCLUDE_DIRS})
+SET(opendrive_to_gazebo_LIBRARY ${opendrive_to_gazebo_LIBRARIES})
+
+IF (opendrive_to_gazebo_INCLUDE_DIRS AND opendrive_to_gazebo_LIBRARIES)
+ SET(opendrive_to_gazebo_FOUND TRUE)
+ENDIF (opendrive_to_gazebo_INCLUDE_DIRS AND opendrive_to_gazebo_LIBRARIES)
+
+IF (opendrive_to_gazebo_FOUND)
+ IF (NOT opendrive_to_gazebo_FIND_QUIETLY)
+ MESSAGE(STATUS "Found opendrive_to_gazebo: ${opendrive_to_gazebo_LIBRARIES}")
+ ENDIF (NOT opendrive_to_gazebo_FIND_QUIETLY)
+ELSE (opendrive_to_gazebo_FOUND)
+ IF (opendrive_to_gazebo_FIND_REQUIRED)
+ MESSAGE(FATAL_ERROR "Could not find opendrive_to_gazebo")
+ ENDIF (opendrive_to_gazebo_FIND_REQUIRED)
+ENDIF (opendrive_to_gazebo_FOUND)
+
diff --git a/ReadMe.md b/ReadMe.md
index 860d2ec..d54cde6 100644
--- a/ReadMe.md
+++ b/ReadMe.md
@@ -1,17 +1,47 @@
-open_drive_format {#mainpage}
+opendrive_to_gazebo {#mainpage}
============
## Description
-open_drive_format
+Library to parse a OpenDrive 1.4 road file format to generate a launch file to spawn signals and objects on gazebo.
+
+## Installation
+
+* Add the labrobotica repository if it is not already added:
+
+Run the commands on _add repository_ and _add key_ from [labrobotica_how_to installation](https://gitlab.iri.upc.edu/labrobotica/labrobotica_how_to/-/blob/master/README.md#installation)
+
+* Install the package:
+
+```bash
+sudo apt update && sudo apt install iri-opendrive-to-gazebo-dev
+```
+
+## Disclaimer
+
+Copyright (C) Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+Mantainer IRI labrobotics (labrobotica@iri.upc.edu)
+
+This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair or correction.
+
+In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
+
+You should have received a copy of the GNU Lesser General Public License
+along with this program. If not, see <http://www.gnu.org/licenses/>
+
+## For developers
+
+<details><summary>click here</summary>
+<p>
## Dependencies
This package requires of the following system libraries and packages
-* [cmake](https://www.cmake.org "CMake's Homepage"), a cross-platform build system.
-* [doxygen](http://www.doxygen.org "Doxygen's Homepage") and [graphviz](http://www.graphviz.org "Graphviz's Homepage") to generate the documentation.
-* stdc++ and pthread libraries.
+ * [cmake](https://www.cmake.org "CMake's Homepage"), a cross-platform build system.
+ * [doxygen](http://www.doxygen.org "Doxygen's Homepage") and [graphviz](http://www.graphviz.org "Graphviz's Homepage") to generate the documentation.
+ * [XSD](http://wiki.codesynthesis.com/XSD "XSD wiki main page") to enable XML support.
+ * stdc++.
Under linux all of these utilities are available in ready-to-use packages.
@@ -19,24 +49,34 @@ Under MacOS most of the packages are available via [fink](http://www.finkproject
This package also requires of the following IRI libraries:
-## Compilation and installation
+ * [iriutils](https://gitlab.iri.upc.edu/labrobotica/algorithms/iriutils "iriutils gitlab page"), a set of basic tools.
-Download this repository and create a build folder inside:
+## Compilation and installation from source
-``` mkdir build ```
+Clone this repository and create a build folder inside:
+
+```bash
+mkdir build
+```
Inside the build folder execute the following commands:
-``` cmake .. ```
+```bash
+cmake ..
+```
The default build mode is DEBUG. That is, objects and executables include debug information.
The RELEASE build mode optimizes for speed. To build in this mode execute instead
-``` cmake .. -DCMAKE_BUILD_TYPE=RELEASE ```
+```bash
+cmake .. -DCMAKE_BUILD_TYPE=RELEASE
+```
The release mode will be kept until next time cmake is executed.
-``` make ```
+```bash
+make -j $(nproc)
+```
In case no errors are reported, the generated libraries (if any) will be located at the
_lib_ folder and the executables (if any) will be located at the _bin_ folder.
@@ -44,45 +84,52 @@ _lib_ folder and the executables (if any) will be located at the _bin_ folder.
In order to be able to use the library, it it necessary to copy it into the system.
To do that, execute
-``` make install ```
+```bash
+make install
+```
-as root and the shared libraries will be copied to */usr/local/lib/iridrivers* directory
-and the header files will be copied to */usr/local/include/iridrivers* dierctory. At
-this point, the library may be used by any user.
+as root and the shared libraries will be copied to */usr/local/lib/iri/opendrive_to_gazebo* directory
+and the header files will be copied to */usr/local/include/iri/opendrive_to_gazebo* dierctory. If the
+support for XML file is enabled, all the necessary files will be copied to */usr/local/include/iri/opendrive_to_gazebo/xml*.
+At this point, the library may be used by any user.
To remove the library from the system, exceute
-``` make uninstall ```
+```bash
+make uninstall
+```
as root, and all the associated files will be removed from the system.
To generate the documentation execute the following command:
-``` make doc ```
+```bash
+make doc
+```
## How to use it
To use this library in an other library or application, in the CMakeLists.txt file, first it is necessary to locate if the library has been installed or not using the following command
-``` FIND_PACKAGE(open_drive_format) ```
+```cmake
+FIND_PACKAGE(opendrive_to_gazebo)
+```
In the case that the package is present, it is necessary to add the header files directory to the include directory path by using
-``` INCLUDE_DIRECTORIES(${open_drive_format_INCLUDE_DIR}) ```
+```cmake
+ INCLUDE_DIRECTORIES(${opendrive_to_gazebo_INCLUDE_DIRS})
+```
and it is also necessary to link with the desired libraries by using the following command
-``` TARGET_LINK_LIBRARIES(<executable name> ${open_drive_format_LIBRARY}) ```
-
-## Disclaimer
-
-Copyright (C) 2009-2018 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-Mantainer IRI labrobotics (labrobotica@iri.upc.edu)
+```cmake
+TARGET_LINK_LIBRARIES(<executable name> ${opendrive_to_gazebo_LIBRARIES})
+```
-This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair or correction.
+## Examples
-In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
-
-You should have received a copy of the GNU Lesser General Public License
-along with this program. If not, see <http://www.gnu.org/licenses/>
+There is an example to show the use of this library.
+</p>
+</details>
diff --git a/include/open_drive_format.h b/include/opendrive_to_gazebo.h
similarity index 100%
rename from include/open_drive_format.h
rename to include/opendrive_to_gazebo.h
diff --git a/spawn_signs.launch b/spawn_signs.launch
new file mode 100644
index 0000000..ce10501
--- /dev/null
+++ b/spawn_signs.launch
@@ -0,0 +1,100 @@
+<?xml version="1.0"?>
+
+<launch>
+ <arg name="parent" default="map"/>
+ <arg name="rviz" default="false"/>
+
+
+ <include file="$(find sign_description)/launch/spawn.launch">
+ <arg name="name" value="max_1008223688"/>
+ <arg name="model" value="sign"/>
+ <arg name="tag" value="alvar14"/>
+ <arg name="type" value="max_100"/>
+ <arg name="x" value="-785.318"/>
+ <arg name="y" value="-886.771"/>
+ <arg name="yaw" value="4.40075"/>
+ <arg name="parent" value="$(arg parent)"/>
+ <arg name="rviz" value="$(arg rviz)"/>
+ </include>
+
+
+ <include file="$(find sign_description)/launch/spawn.launch">
+ <arg name="name" value="max_1008225686"/>
+ <arg name="model" value="sign"/>
+ <arg name="tag" value="alvar14"/>
+ <arg name="type" value="max_100"/>
+ <arg name="x" value="-806.912"/>
+ <arg name="y" value="-878.394"/>
+ <arg name="yaw" value="4.40068"/>
+ <arg name="parent" value="$(arg parent)"/>
+ <arg name="rviz" value="$(arg rviz)"/>
+ </include>
+
+
+ <include file="$(find sign_description)/launch/spawn.launch">
+ <arg name="name" value="roadworks8986806"/>
+ <arg name="model" value="sign"/>
+ <arg name="tag" value="alvar12"/>
+ <arg name="type" value="roadworks"/>
+ <arg name="x" value="-837.75"/>
+ <arg name="y" value="-974.551"/>
+ <arg name="yaw" value="4.40369"/>
+ <arg name="parent" value="$(arg parent)"/>
+ <arg name="rviz" value="$(arg rviz)"/>
+ </include>
+
+
+ <include file="$(find sign_description)/launch/spawn.launch">
+ <arg name="name" value="roadworks8986841"/>
+ <arg name="model" value="sign"/>
+ <arg name="tag" value="alvar12"/>
+ <arg name="type" value="roadworks"/>
+ <arg name="x" value="-817.618"/>
+ <arg name="y" value="-983.322"/>
+ <arg name="yaw" value="4.40372"/>
+ <arg name="parent" value="$(arg parent)"/>
+ <arg name="rviz" value="$(arg rviz)"/>
+ </include>
+
+
+ <include file="$(find sign_description)/launch/spawn.launch">
+ <arg name="name" value="no_overtaking8225798"/>
+ <arg name="model" value="sign"/>
+ <arg name="tag" value="alvar8"/>
+ <arg name="type" value="no_overtaking"/>
+ <arg name="x" value="-688.818"/>
+ <arg name="y" value="-510.078"/>
+ <arg name="yaw" value="7.54412"/>
+ <arg name="parent" value="$(arg parent)"/>
+ <arg name="rviz" value="$(arg rviz)"/>
+ </include>
+
+
+ <include file="$(find sign_description)/launch/spawn.launch">
+ <arg name="name" value="giveway8236721"/>
+ <arg name="model" value="sign"/>
+ <arg name="tag" value="alvar5"/>
+ <arg name="type" value="giveway"/>
+ <arg name="x" value="-232.499"/>
+ <arg name="y" value="-227.554"/>
+ <arg name="yaw" value="3.26183"/>
+ <arg name="parent" value="$(arg parent)"/>
+ <arg name="rviz" value="$(arg rviz)"/>
+ </include>
+
+
+ <include file="$(find sign_description)/launch/spawn.launch">
+ <arg name="name" value="no_overtaking8223908"/>
+ <arg name="model" value="sign"/>
+ <arg name="tag" value="alvar8"/>
+ <arg name="type" value="no_overtaking"/>
+ <arg name="x" value="-672.01"/>
+ <arg name="y" value="-514.418"/>
+ <arg name="yaw" value="7.52419"/>
+ <arg name="parent" value="$(arg parent)"/>
+ <arg name="rviz" value="$(arg rviz)"/>
+ </include>
+
+
+</launch>
+
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index f3550e5..9631942 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,7 +1,7 @@
# driver source files
-SET(sources open_drive_format.cpp adc_circuit.cpp adc_road.cpp adc_geometries.cpp adc_signals.cpp)
+SET(sources opendrive_to_gazebo.cpp adc_circuit.cpp adc_road.cpp adc_geometries.cpp adc_signals.cpp)
# application header files
-SET(headers ../include/open_drive_format.h ../include/adc_circuit.h ../include/adc_road.h ../include/adc_geometries.h ../include/adc_signals.h)
+SET(headers ../include/opendrive_to_gazebo.h ../include/adc_circuit.h ../include/adc_road.h ../include/adc_geometries.h ../include/adc_signals.h)
# locate the necessary dependencies
FIND_PACKAGE(iriutils REQUIRED)
@@ -11,20 +11,20 @@ ADD_SUBDIRECTORY(xml)
INCLUDE_DIRECTORIES(../include)
INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIRS})
# create the shared library
-ADD_LIBRARY(open_drive_format SHARED ${sources} ${XSD_SOURCES})
+ADD_LIBRARY(opendrive_to_gazebo SHARED ${sources} ${XSD_SOURCES})
# link necessary libraries
-TARGET_LINK_LIBRARIES(open_drive_format ${XSD_LIBRARY})
-TARGET_LINK_LIBRARIES(open_drive_format ${iriutils_LIBRARIES})
+TARGET_LINK_LIBRARIES(opendrive_to_gazebo ${XSD_LIBRARY})
+TARGET_LINK_LIBRARIES(opendrive_to_gazebo ${iriutils_LIBRARIES})
-ADD_DEPENDENCIES(open_drive_format xsd_files_gen)
+ADD_DEPENDENCIES(opendrive_to_gazebo xsd_files_gen)
SET_SOURCE_FILES_PROPERTIES(${XSD_SOURCES} PROPERTIES GENERATED 1)
-INSTALL(TARGETS open_drive_format
+INSTALL(TARGETS opendrive_to_gazebo
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib/iri/${PROJECT_NAME}
ARCHIVE DESTINATION lib/iri/${PROJECT_NAME})
INSTALL(FILES ${headers} DESTINATION include/iri/${PROJECT_NAME})
-INSTALL(FILES ../Findopen_drive_format.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
+INSTALL(FILES ../Findopendrive_to_gazebo.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
ADD_SUBDIRECTORY(examples)
diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index 83a92a4..87968ca 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -1,4 +1,4 @@
# create an example application
-ADD_EXECUTABLE(open_drive_format_test open_drive_format_test.cpp)
+ADD_EXECUTABLE(opendrive_to_gazebo_test opendrive_to_gazebo_test.cpp)
# link necessary libraries
-TARGET_LINK_LIBRARIES(open_drive_format_test open_drive_format)
+TARGET_LINK_LIBRARIES(opendrive_to_gazebo_test opendrive_to_gazebo)
diff --git a/src/examples/open_drive_format_test.cpp b/src/examples/opendrive_to_gazebo_test.cpp
similarity index 89%
rename from src/examples/open_drive_format_test.cpp
rename to src/examples/opendrive_to_gazebo_test.cpp
index 546f175..c90354e 100644
--- a/src/examples/open_drive_format_test.cpp
+++ b/src/examples/opendrive_to_gazebo_test.cpp
@@ -1,4 +1,4 @@
-#include "open_drive_format.h"
+#include "opendrive_to_gazebo.h"
#include "exceptions.h"
#include <iostream>
#include <vector>
@@ -13,7 +13,7 @@ int main(int argc, char *argv[])
try
{
open_drive_format.load(xml_file, false);
- open_drive_format.calculate_signals_pose(true);
+ open_drive_format.calculate_signals_pose(false);
std::vector<CAdcSignals*> signals;
// open_drive_format.get_signals(signals);
diff --git a/src/open_drive_format.cpp b/src/opendrive_to_gazebo.cpp
similarity index 98%
rename from src/open_drive_format.cpp
rename to src/opendrive_to_gazebo.cpp
index 549bf12..1bb2c49 100644
--- a/src/open_drive_format.cpp
+++ b/src/opendrive_to_gazebo.cpp
@@ -1,4 +1,4 @@
-#include "open_drive_format.h"
+#include "opendrive_to_gazebo.h"
#include "exceptions.h"
#include <sys/types.h>
--
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