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Commit d6b273d2 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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Resolve "Change destination of libxxx.so for WOLF and dependencies"

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3 merge requests!436Release to start wolf public,!433After 2nd RA-L submission,!430Resolve "Change destination of libxxx.so for WOLF and dependencies"
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.gitlab-ci.yml
+ 14
− 8
View file @ d6b273d2
stages:
- license
- build_and_test
- deploy
- final
############ YAML ANCHORS ############
.preliminaries_template: &preliminaries_definition
## Install ssh-agent if not already installed, it is required by Docker.
......@@ -24,7 +30,8 @@
- cd $CI_PROJECT_DIR
# configure git
- export CI_NEW_BRANCH=ci_processing$CI_COMMIT_SHORT_SHA
- export CI_NEW_BRANCH=ci_processing$RANDOM
- echo creating new temporary branch... $CI_NEW_BRANCH
- git config --global user.email "${CI_EMAIL}"
- git config --global user.name "${CI_USERNAME}"
- git checkout -b $CI_NEW_BRANCH # temporary branch
......@@ -67,12 +74,7 @@
- ../bin/hello_wolf_autoconf
- make install
stages:
- license
- build_and_test
- deploy
- final
############ LICENSE HEADERS ############
license_header:
stage: license
image: labrobotica/wolf_deps:16.04
......@@ -81,6 +83,7 @@ license_header:
script:
- *license_header_definition
############ UBUNTU 16.04 TESTS ############
build_and_test:xenial:
stage: build_and_test
image: labrobotica/wolf_deps:16.04
......@@ -89,6 +92,7 @@ build_and_test:xenial:
script:
- *build_and_test_definition
############ UBUNTU 18.04 TESTS ############
build_and_test:bionic:
stage: build_and_test
image: labrobotica/wolf_deps:18.04
......@@ -97,6 +101,7 @@ build_and_test:bionic:
script:
- *build_and_test_definition
############ DEPLOY PLUGINS ############
deploy_imu:
stage: deploy
variables:
......@@ -145,7 +150,8 @@ deploy_bodydynamics:
project: mobile_robotics/wolf_projects/wolf_lib/plugins/bodydynamics
strategy: depend
############ WAIT FOR PLUGINS ############
final_all:
stage: final
script:
- echo "ALL PLUGINS PIPELINES SUCCEED!!!"
\ No newline at end of file
- echo "ALL PLUGINS PIPELINES SUCCEED!!!"
CMakeLists.txt
+ 110
− 138
View file @ d6b273d2
......@@ -12,7 +12,6 @@ endif(COMMAND cmake_policy)
# MAC OSX RPATH
SET(CMAKE_MACOSX_RPATH 1)
# The project name
PROJECT(core)
set(PLUGIN_NAME "wolf${PROJECT_NAME}")
......@@ -88,27 +87,17 @@ IF(BUILD_DEMOS OR BUILD_TESTS)
set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR})
ENDIF(BUILD_DEMOS OR BUILD_TESTS)
#START_SRC --------------------------------------------------------------------------------------------------------------------------------
#CMAKE modules
SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake_modules")
MESSAGE(STATUS "Cmake modules at: " ${CMAKE_MODULE_PATH})
#find dependencies.
#find dependencies
FIND_PACKAGE(Threads REQUIRED)
FIND_PACKAGE(Ceres REQUIRED) #Ceres is required
FIND_PACKAGE(Ceres REQUIRED)
FIND_PACKAGE(Eigen3 3.3 REQUIRED)
if(${EIGEN3_VERSION_STRING} VERSION_LESS 3.3)
message(FATAL_ERROR "Wolf requires Eigen >= 3.3. Found Eigen ${EIGEN3_VERSION_STRING}")
endif()
# YAML with yaml-cpp
FIND_PACKAGE(YamlCpp REQUIRED)
# Define the directory where will be the configured config.h
......@@ -138,7 +127,6 @@ ELSE (SPDLOG_INCLUDE_DIR)
MESSAGE(FATAL_ERROR "Could not find spdlog")
ENDIF (SPDLOG_INCLUDE_DIR)
# Includes
INCLUDE_DIRECTORIES("include") # In this same project
INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
......@@ -146,63 +134,6 @@ INCLUDE_DIRECTORIES(${YAMLCPP_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})
#HEADERS
SET(HDRS_COMMON
include/core/common/factory.h
include/core/common/node_base.h
include/core/common/time_stamp.h
include/core/common/wolf.h
include/core/common/params_base.h
)
SET(HDRS_MATH
include/core/math/SE2.h
include/core/math/SE3.h
include/core/math/rotations.h
include/core/math/covariance.h
)
SET(HDRS_UTILS
include/core/utils/check_log.h
include/core/utils/converter.h
include/core/utils/eigen_assert.h
include/core/utils/eigen_predicates.h
include/core/utils/graph_search.h
include/core/utils/loader.h
include/core/utils/logging.h
include/core/utils/make_unique.h
include/core/utils/params_server.h
include/core/utils/singleton.h
include/core/utils/utils_gtest.h
include/core/utils/converter_utils.h
)
SET(HDRS_PROBLEM
include/core/problem/problem.h
)
SET(HDRS_HARDWARE
include/core/hardware/hardware_base.h
)
SET(HDRS_TRAJECTORY
include/core/trajectory/trajectory_base.h
)
SET(HDRS_MAP
include/core/map/map_base.h
)
SET(HDRS_FRAME
include/core/frame/frame_base.h
)
SET(HDRS_STATE_BLOCK
include/core/state_block/factory_state_block.h
include/core/state_block/has_state_blocks.h
include/core/state_block/local_parametrization_angle.h
include/core/state_block/local_parametrization_base.h
include/core/state_block/local_parametrization_homogeneous.h
include/core/state_block/local_parametrization_quaternion.h
include/core/state_block/state_angle.h
include/core/state_block/state_block.h
include/core/state_block/state_composite.h
include/core/state_block/state_homogeneous_3d.h
include/core/state_block/state_quaternion.h
)
SET(HDRS_CAPTURE
include/core/capture/capture_base.h
include/core/capture/capture_motion.h
......@@ -212,6 +143,13 @@ SET(HDRS_CAPTURE
include/core/capture/capture_void.h
include/core/capture/capture_diff_drive.h
)
SET(HDRS_COMMON
include/core/common/factory.h
include/core/common/node_base.h
include/core/common/time_stamp.h
include/core/common/wolf.h
include/core/common/params_base.h
)
SET(HDRS_FACTOR
include/core/factor/factor_analytic.h
include/core/factor/factor_autodiff.h
......@@ -236,10 +174,28 @@ SET(HDRS_FEATURE
include/core/feature/feature_odom_2d.h
include/core/feature/feature_pose.h
)
SET(HDRS_FRAME
include/core/frame/frame_base.h
)
SET(HDRS_HARDWARE
include/core/hardware/hardware_base.h
)
SET(HDRS_LANDMARK
include/core/landmark/landmark_base.h
include/core/landmark/landmark_match.h
)
SET(HDRS_MATH
include/core/math/SE2.h
include/core/math/SE3.h
include/core/math/rotations.h
include/core/math/covariance.h
)
SET(HDRS_MAP
include/core/map/map_base.h
)
SET(HDRS_PROBLEM
include/core/problem/problem.h
)
SET(HDRS_PROCESSOR
include/core/processor/is_motion.h
include/core/processor/motion_buffer.h
......@@ -271,54 +227,48 @@ SET(HDRS_SOLVER
include/core/solver/solver_manager.h
include/core/solver/factory_solver.h
)
SET(HDRS_STATE_BLOCK
include/core/state_block/factory_state_block.h
include/core/state_block/has_state_blocks.h
include/core/state_block/local_parametrization_angle.h
include/core/state_block/local_parametrization_base.h
include/core/state_block/local_parametrization_homogeneous.h
include/core/state_block/local_parametrization_quaternion.h
include/core/state_block/state_angle.h
include/core/state_block/state_block.h
include/core/state_block/state_composite.h
include/core/state_block/state_homogeneous_3d.h
include/core/state_block/state_quaternion.h
)
SET(HDRS_TRAJECTORY
include/core/trajectory/trajectory_base.h
)
SET(HDRS_TREE_MANAGER
include/core/tree_manager/factory_tree_manager.h
include/core/tree_manager/tree_manager_base.h
include/core/tree_manager/tree_manager_sliding_window.h
include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
)
SET(HDRS_UTILS
include/core/utils/check_log.h
include/core/utils/converter.h
include/core/utils/eigen_assert.h
include/core/utils/eigen_predicates.h
include/core/utils/graph_search.h
include/core/utils/loader.h
include/core/utils/logging.h
include/core/utils/make_unique.h
include/core/utils/params_server.h
include/core/utils/singleton.h
include/core/utils/utils_gtest.h
include/core/utils/converter_utils.h
)
SET(HDRS_YAML
include/core/yaml/parser_yaml.h
include/core/yaml/yaml_conversion.h
)
#SOURCES
SET(SRCS_PROBLEM
src/problem/problem.cpp
)
SET(SRCS_HARDWARE
src/hardware/hardware_base.cpp
)
SET(SRCS_TRAJECTORY
src/trajectory/trajectory_base.cpp
)
SET(SRCS_MAP
src/map/map_base.cpp
)
SET(SRCS_FRAME
src/frame/frame_base.cpp
)
SET(SRCS_STATE_BLOCK
src/state_block/has_state_blocks.cpp
src/state_block/local_parametrization_base.cpp
src/state_block/local_parametrization_homogeneous.cpp
src/state_block/local_parametrization_quaternion.cpp
src/state_block/state_block.cpp
src/state_block/state_composite.cpp
)
SET(SRCS_COMMON
src/common/node_base.cpp
src/common/time_stamp.cpp
)
SET(SRCS_MATH
)
SET(SRCS_UTILS
src/utils/check_log.cpp
src/utils/converter_utils.cpp
src/utils/graph_search.cpp
src/utils/loader.cpp
src/utils/params_server.cpp
)
SET(SRCS_CAPTURE
src/capture/capture_base.cpp
src/capture/capture_motion.cpp
......@@ -328,6 +278,10 @@ SET(SRCS_CAPTURE
src/capture/capture_void.cpp
src/capture/capture_diff_drive.cpp
)
SET(SRCS_COMMON
src/common/node_base.cpp
src/common/time_stamp.cpp
)
SET(SRCS_FACTOR
src/factor/factor_analytic.cpp
src/factor/factor_base.cpp
......@@ -338,9 +292,21 @@ SET(SRCS_FEATURE
src/feature/feature_odom_2d.cpp
src/feature/feature_pose.cpp
)
SET(SRCS_FRAME
src/frame/frame_base.cpp
)
SET(SRCS_HARDWARE
src/hardware/hardware_base.cpp
)
SET(SRCS_LANDMARK
src/landmark/landmark_base.cpp
)
SET(SRCS_MAP
src/map/map_base.cpp
)
SET(SRCS_PROBLEM
src/problem/problem.cpp
)
SET(SRCS_PROCESSOR
src/processor/is_motion.cpp
src/processor/motion_buffer.cpp
......@@ -368,10 +334,28 @@ SET(SRCS_SENSOR
SET(SRCS_SOLVER
src/solver/solver_manager.cpp
)
SET(SRCS_STATE_BLOCK
src/state_block/has_state_blocks.cpp
src/state_block/local_parametrization_base.cpp
src/state_block/local_parametrization_homogeneous.cpp
src/state_block/local_parametrization_quaternion.cpp
src/state_block/state_block.cpp
src/state_block/state_composite.cpp
)
SET(SRCS_TRAJECTORY
src/trajectory/trajectory_base.cpp
)
SET(SRCS_TREE_MANAGER
src/tree_manager/tree_manager_sliding_window.cpp
src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
)
SET(SRCS_UTILS
src/utils/check_log.cpp
src/utils/converter_utils.cpp
src/utils/graph_search.cpp
src/utils/loader.cpp
src/utils/params_server.cpp
)
SET(SRCS_YAML
src/yaml/parser_yaml.cpp
src/yaml/processor_odom_3d_yaml.cpp
......@@ -379,10 +363,10 @@ SET(SRCS_YAML
src/yaml/sensor_odom_3d_yaml.cpp
src/yaml/sensor_pose_yaml.cpp
)
#OPTIONALS
#optional HDRS and SRCS
IF (Ceres_FOUND)
SET(HDRS_WRAPPER
SET(HDRS_CERES_WRAPPER
#ceres_wrapper/qr_manager.h
include/core/ceres_wrapper/cost_function_wrapper.h
include/core/ceres_wrapper/create_numeric_diff_cost_function.h
......@@ -392,32 +376,26 @@ IF (Ceres_FOUND)
include/core/solver/solver_manager.h
include/core/solver_suitesparse/sparse_utils.h
)
SET(SRCS_WRAPPER
SET(SRCS_CERES_WRAPPER
#ceres_wrapper/qr_manager.cpp
src/ceres_wrapper/solver_ceres.cpp
src/ceres_wrapper/local_parametrization_wrapper.cpp
src/solver/solver_manager.cpp
)
ELSE(Ceres_FOUND)
SET(HDRS_WRAPPER)
SET(SRCS_WRAPPER)
SET(HDRS_CERES_WRAPPER)
SET(SRCS_CERES_WRAPPER)
ENDIF(Ceres_FOUND)
IF (cereal_FOUND)
ADD_SUBDIRECTORY(serialization/cereal)
ENDIF(cereal_FOUND)
IF (Suitesparse_FOUND)
#DOES NOTHING?!
#ADD_SUBDIRECTORY(solver_suitesparse)
ENDIF(Suitesparse_FOUND)
# create the shared library
ADD_LIBRARY(${PLUGIN_NAME}
SHARED
${SRCS}
${SRCS_BASE}
${SRCS_CAPTURE}
${SRCS_CERES_WRAPPER}
${SRCS_COMMON}
${SRCS_FACTOR}
${SRCS_FEATURE}
......@@ -425,7 +403,6 @@ ADD_LIBRARY(${PLUGIN_NAME}
${SRCS_HARDWARE}
${SRCS_LANDMARK}
${SRCS_MAP}
${SRCS_MATH}
${SRCS_PROBLEM}
${SRCS_PROCESSOR}
${SRCS_SENSOR}
......@@ -434,7 +411,6 @@ ADD_LIBRARY(${PLUGIN_NAME}
${SRCS_TRAJECTORY}
${SRCS_TREE_MANAGER}
${SRCS_UTILS}
${SRCS_WRAPPER}
${SRCS_YAML}
)
......@@ -458,30 +434,33 @@ IF (Ceres_FOUND)
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${CERES_LIBRARIES})
ENDIF(Ceres_FOUND)
#Build tests
#===============EXAMPLE=========================
IF(BUILD_TESTS)
MESSAGE(STATUS "Will build tests.")
add_subdirectory(test)
ENDIF(BUILD_TESTS)
#Build demos
#===============EXAMPLE=========================
IF(BUILD_DEMOS)
#Build demos
MESSAGE(STATUS "Will build demos.")
ADD_SUBDIRECTORY(demos)
ENDIF(BUILD_DEMOS)
#install library
#=============================================================
INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib/iri-algorithms
ARCHIVE DESTINATION lib/iri-algorithms)
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib)
install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/cmake/${PLUGIN_NAME})
#install headers
INSTALL(FILES ${HDRS_CAPTURE}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/capture)
INSTALL(FILES ${HDRS_CERES_WRAPPER}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/ceres_wrapper)
INSTALL(FILES ${HDRS_COMMON}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/common)
INSTALL(FILES ${HDRS_FACTOR}
......@@ -504,12 +483,10 @@ INSTALL(FILES ${HDRS_PROCESSOR}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/processor)
INSTALL(FILES ${HDRS_SENSOR}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/sensor)
INSTALL(FILES ${HDRS_SERIALIZATION}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/serialization)
INSTALL(FILES ${HDRS_SOLVER}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/solver)
INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/solver_suitesparse)
#INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE}
# DESTINATION include/iri-algorithms/wolf/plugin_core/core/solver_suitesparse)
INSTALL(FILES ${HDRS_STATE_BLOCK}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/state_block)
INSTALL(FILES ${HDRS_TRAJECTORY}
......@@ -518,14 +495,14 @@ INSTALL(FILES ${HDRS_TREE_MANAGER}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/tree_manager)
INSTALL(FILES ${HDRS_UTILS}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/utils)
INSTALL(FILES ${HDRS_WRAPPER}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/ceres_wrapper)
INSTALL(FILES ${HDRS_YAML}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/yaml)
FILE(WRITE ${PLUGIN_NAME}.found "")
INSTALL(FILES ${PLUGIN_NAME}.found
DESTINATION include/iri-algorithms/wolf/plugin_core)
INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
DESTINATION include/iri-algorithms/wolf/plugin_core/core/internal)
#install Find*.cmake
configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake"
......@@ -534,9 +511,6 @@ configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake"
configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/FindYamlCpp.cmake"
"${CMAKE_BINARY_DIR}/FindYamlCpp.cmake" @ONLY)
INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
DESTINATION include/iri-algorithms/wolf/plugin_core/core/internal)
INSTALL(FILES "${CMAKE_BINARY_DIR}/${PLUGIN_NAME}Config.cmake" DESTINATION "lib/cmake/${PLUGIN_NAME}")
INSTALL(FILES "${CMAKE_BINARY_DIR}/FindYamlCpp.cmake" DESTINATION "lib/cmake/${PLUGIN_NAME}")
......@@ -544,8 +518,6 @@ INSTALL(DIRECTORY ${SPDLOG_INCLUDE_DIRS} DESTINATION "include/iri-algorithms/")
export(PACKAGE ${PLUGIN_NAME})
#-END_SRC --------------------------------------------------------------------------------------------------------------------------------
FIND_PACKAGE(Doxygen)
FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/)
......
cmake_modules/wolfcoreConfig.cmake
+ 6
− 1
View file @ d6b273d2
......@@ -12,7 +12,7 @@ ENDIF(wolfcore_INCLUDE_DIRS)
FIND_LIBRARY(
wolfcore_LIBRARIES
NAMES libwolfcore.so libwolfcore.dylib
PATHS /usr/local/lib/iri-algorithms)
PATHS /usr/local/lib)
IF(wolfcore_LIBRARIES)
MESSAGE("Found wolf core lib: ${wolfcore_LIBRARIES}")
ELSE(wolfcore_LIBRARIES)
......@@ -97,3 +97,8 @@ else (NOT wolfcore_FOUND)
list(APPEND wolfcore_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS})
endif(NOT wolfcore_FOUND)
SET(CMAKE_MODULE_PATH ${BACKUP_MODULE_PATH})
# provide both INCLUDE_DIR and INCLUDE_DIRS
SET(wolfcore_INCLUDE_DIR ${wolfcore_INCLUDE_DIRS})
# provide both LIBRARY and LIBRARIES
SET(wolfcore_LIBRARY ${wolfcore_LIBRARIES})
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