Merge branch '3-adapt-to-core-cmake-refactor' into 'devel'

Resolve "Adapt to core cmake refactor" Closes #3 See merge request !5

Merge branch '3-adapt-to-core-cmake-refactor' into 'devel'
Resolve "Adapt to core cmake refactor" Closes #3 See merge request !5
d22b6599 · Mederic Fourmy · 16f7f13b · 22aae26b · d22b6599 · d22b6599
Commit d22b6599 authored May 19, 2022 by Mederic Fourmy
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -4,6 +4,16 @@ stages:
  - demos
  
 ############ YAML ANCHORS ############
+.print_variables_template: &print_variables_definition
+  # Print variables
+  - echo $WOLF_CORE_BRANCH
+  - echo $WOLF_LASER_BRANCH
+  - echo $WOLF_ROS_NODE_NODE
+  - echo $CI_COMMIT_BRANCH
+  - echo $WOLF_ROS_LASER_NODE
+  - echo $WOLF_ROS_LASER_BRANCH
+  - echo $LASERSCANUTILS_BRANCH
+
 .preliminaries_template: &preliminaries_definition
  ## Install ssh-agent if not already installed, it is required by Docker.
  ## (change apt-get to yum if you use an RPM-based image)
@@ -91,9 +101,12 @@ stages:
  - if [ -d laser_scan_utils ]; then
  -   echo "directory laser_scan_utils exists"
  -   cd laser_scan_utils
+  -   git checkout main
+  -   git pull
+  -   git checkout $LASERSCANUTILS_BRANCH
  -   git pull
  - else
-  -   git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/laser_scan_utils.git
+  -   git clone -b $LASERSCANUTILS_BRANCH https://gitlab.iri.upc.edu/labrobotica/algorithms/laser_scan_utils.git
  -   cd laser_scan_utils
  - fi
  - mkdir -pv build
@@ -160,17 +173,13 @@ stages:
 .clone_wolfrosnode_template: &clone_wolfrosnode_definition
  - roscd
  - cd ../src
-  - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node.git
-  - cd wolf_ros_node
-  - git checkout $WOLF_ROS_CORE_BRANCH
+  - git -b $WOLF_ROS_NODE_BRANCH clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node.git

 .build_and_test_template: &build_and_test_definition
  - roscd
  - cd ../src
-  - git clone ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git
-  - cd wolf_ros_laser
-  - git checkout $CI_COMMIT_BRANCH
-  - cd ../..
+  - git clone -b $CI_COMMIT_BRANCHssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git
+  - cd ..
  - catkin_make

 ############ LICENSE HEADERS ############
@@ -179,6 +188,7 @@ license_headers:
  image: labrobotica/wolf_deps_ros:20.04
  cache: []
  before_script:
+    - *print_variables_definition
    - *preliminaries_definition
    - *install_wolf_definition
  script:
@@ -193,6 +203,7 @@ build_and_test:bionic:
      paths:
      - ci_deps
  before_script:
+    - *print_variables_definition
    - *preliminaries_definition
    - *install_wolf_definition
    - *install_csm_definition
@@ -212,6 +223,7 @@ build_and_test:focal:
      paths:
      - ci_deps
  before_script:
+    - *print_variables_definition
    - *preliminaries_definition
    - *install_wolf_definition
    - *install_csm_definition
@@ -228,7 +240,8 @@ demo_laser:
  variables:
    WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH
    WOLF_LASER_BRANCH: $WOLF_LASER_BRANCH
-    WOLF_ROS_CORE_BRANCH: $WOLF_ROS_CORE_BRANCH
+    WOLF_ROS_NODE_BRANCH: $WOLF_ROS_NODE_BRANCH
    WOLF_ROS_LASER_BRANCH: $CI_COMMIT_BRANCH
+    LASERSCANUTILS_BRANCH: $LASERSCANUTILS_BRANCH
  trigger: 
    project: mobile_robotics/wolf_projects/wolf_ros/demos/wolf_demo_laser2d
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
-cmake_minimum_required(VERSION 2.8.3)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.10)
 project(wolf_ros_laser)

 ## Compile as C++14
-add_compile_options(-std=c++14)
+add_compile_options(-std=c++14) 
+# -fPIC and -rdynamic ensure unique singleton instance across shared libraries (for factories) see: https://stackoverflow.com/a/8626922
+SET(CMAKE_CXX_FLAGS "-fPIC -rdynamic")

-# SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/wolf_ros_wrapper/cmake_modules")
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
  roscpp
  sensor_msgs
@@ -20,102 +18,11 @@ find_package(catkin REQUIRED COMPONENTS
 )

 ## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-# find_package(Ceres REQUIRED)
-# find_package(Eigen3 REQUIRED)
 find_package(wolfcore REQUIRED)
 find_package(wolflaser REQUIRED)
-find_package(falkolib QUIET)

-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-#generate_messages(
-#  DEPENDENCIES
-#  iri_gnss_msgs
-#)
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-#generate_dynamic_reconfigure_options(
-#  cfg/WolfROS.cfg
-#)
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
+# produces the XXXConfig.cmake file among other things
 catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES wolf_ros1
-#  CATKIN_DEPENDS roscpp sensor_msgs std_msgs
-#  DEPENDS system_lib
 )

 ###########
@@ -125,111 +32,44 @@ catkin_package(
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 include_directories(
-    include
-  ${EIGEN_INCLUDE_DIRS}
-  ${wolfcore_INCLUDE_DIRS}
-  ${wolflaser_INCLUDE_DIRS}
-  ${laser_scan_utils_INCLUDE_DIRS}
+  include
  ${catkin_INCLUDE_DIRS}
-  ${CERES_INCLUDE_DIRS}
 )
-# link_directories(/usr/local/lib/iri-algorithms)
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/wolf_ros.cpp
-# )
-add_library(publisher_${PROJECT_NAME})
-add_library(subscriber_${PROJECT_NAME})

-target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_laser_map.cpp)
-target_sources(subscriber_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/subscriber_laser2d.cpp)
+add_library(publisher_${PROJECT_NAME}
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_laser_map.cpp
+)
+add_library(subscriber_${PROJECT_NAME}
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/subscriber_laser2d.cpp
+)
+
+get_target_property(wolflaser_INCLUDE_DIR wolflaser INTERFACE_INCLUDE_DIRECTORIES)
+message("wolflaser_INCLUDE_DIRS: ${wolflaser_INCLUDE_DIRS}")
+find_file(FALKO laser/processor/processor_loop_closure_falko.h PATHS ${wolflaser_INCLUDE_DIR})
+find_file(ICP laser/processor/processor_odom_icp.h PATHS ${wolflaser_INCLUDE_DIR})

-if (falkolib_FOUND)
-	message("Found Falkolib. Compiling publisher_falko.")
+if (FALKO)
+	message("Found 'laser/processor/processor_loop_closure_falko.h'. Compiling publisher_falko.")
 	target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_falko.cpp)
+else()
+  message("Didn't find 'laser/processor/processor_loop_closure_falko.h'. Not compiling publisher_falko.")
 endif()

-find_file(ICP wolflaser_INCLUDE_DIRS laser/processor/processor_odom_icp.h)
-if (NOT ICP_NOTFOUND)
-	message("Found 'processor_odom_icp.h'. Compiling publisher_odom_icp.")
+if (ICP)
+	message("Found 'laser/processor/processor_odom_icp.h'. Compiling publisher_odom_icp.")
 	target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_odom_icp.cpp)
+else()
+  message("Didn't find 'laser/processor/processor_odom_icp.h'. Not compiling publisher_odom_icp.")
 endif ()

-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)
-# add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg"
-# set_target_properties(${PROJECT_NAME} PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-#add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)
-#add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
-
 ## Specify libraries to link a library or executable target against
 target_link_libraries(subscriber_${PROJECT_NAME}
-            ${wolfcore_LIBRARIES}
-            ${wolflaser_LIBRARIES}
+            wolfcore
+            wolflaser
+            ${catkin_LIBRARIES}
            )
 target_link_libraries(publisher_${PROJECT_NAME}
-            ${wolfcore_LIBRARIES}
-            ${wolflaser_LIBRARIES}
+            wolfcore
+            wolflaser
            ${catkin_LIBRARIES}
-            )
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_wolf_ros.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+            )
\ No newline at end of file