Commit d22b6599 authored by Mederic Fourmy's avatar Mederic Fourmy
Browse files

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

Resolve "Adapt to core cmake refactor"

Closes #3

See merge request !5
parents 16f7f13b 22aae26b
...@@ -4,6 +4,16 @@ stages: ...@@ -4,6 +4,16 @@ stages:
- demos - demos
############ YAML ANCHORS ############ ############ 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 .preliminaries_template: &preliminaries_definition
## Install ssh-agent if not already installed, it is required by Docker. ## Install ssh-agent if not already installed, it is required by Docker.
## (change apt-get to yum if you use an RPM-based image) ## (change apt-get to yum if you use an RPM-based image)
...@@ -91,9 +101,12 @@ stages: ...@@ -91,9 +101,12 @@ stages:
- if [ -d laser_scan_utils ]; then - if [ -d laser_scan_utils ]; then
- echo "directory laser_scan_utils exists" - echo "directory laser_scan_utils exists"
- cd laser_scan_utils - cd laser_scan_utils
- git checkout main
- git pull
- git checkout $LASERSCANUTILS_BRANCH
- git pull - git pull
- else - 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 - cd laser_scan_utils
- fi - fi
- mkdir -pv build - mkdir -pv build
...@@ -160,17 +173,13 @@ stages: ...@@ -160,17 +173,13 @@ stages:
.clone_wolfrosnode_template: &clone_wolfrosnode_definition .clone_wolfrosnode_template: &clone_wolfrosnode_definition
- roscd - roscd
- cd ../src - cd ../src
- git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node.git - git -b $WOLF_ROS_NODE_BRANCH clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node.git
- cd wolf_ros_node
- git checkout $WOLF_ROS_CORE_BRANCH
.build_and_test_template: &build_and_test_definition .build_and_test_template: &build_and_test_definition
- roscd - roscd
- cd ../src - cd ../src
- git clone ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git - git clone -b $CI_COMMIT_BRANCHssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git
- cd wolf_ros_laser - cd ..
- git checkout $CI_COMMIT_BRANCH
- cd ../..
- catkin_make - catkin_make
############ LICENSE HEADERS ############ ############ LICENSE HEADERS ############
...@@ -179,6 +188,7 @@ license_headers: ...@@ -179,6 +188,7 @@ license_headers:
image: labrobotica/wolf_deps_ros:20.04 image: labrobotica/wolf_deps_ros:20.04
cache: [] cache: []
before_script: before_script:
- *print_variables_definition
- *preliminaries_definition - *preliminaries_definition
- *install_wolf_definition - *install_wolf_definition
script: script:
...@@ -193,6 +203,7 @@ build_and_test:bionic: ...@@ -193,6 +203,7 @@ build_and_test:bionic:
paths: paths:
- ci_deps - ci_deps
before_script: before_script:
- *print_variables_definition
- *preliminaries_definition - *preliminaries_definition
- *install_wolf_definition - *install_wolf_definition
- *install_csm_definition - *install_csm_definition
...@@ -212,6 +223,7 @@ build_and_test:focal: ...@@ -212,6 +223,7 @@ build_and_test:focal:
paths: paths:
- ci_deps - ci_deps
before_script: before_script:
- *print_variables_definition
- *preliminaries_definition - *preliminaries_definition
- *install_wolf_definition - *install_wolf_definition
- *install_csm_definition - *install_csm_definition
...@@ -228,7 +240,8 @@ demo_laser: ...@@ -228,7 +240,8 @@ demo_laser:
variables: variables:
WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH
WOLF_LASER_BRANCH: $WOLF_LASER_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 WOLF_ROS_LASER_BRANCH: $CI_COMMIT_BRANCH
LASERSCANUTILS_BRANCH: $LASERSCANUTILS_BRANCH
trigger: trigger:
project: mobile_robotics/wolf_projects/wolf_ros/demos/wolf_demo_laser2d project: mobile_robotics/wolf_projects/wolf_ros/demos/wolf_demo_laser2d
cmake_minimum_required(VERSION 2.8.3) CMAKE_MINIMUM_REQUIRED(VERSION 3.10)
project(wolf_ros_laser) project(wolf_ros_laser)
## Compile as C++14 ## 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 find_package(catkin REQUIRED COMPONENTS
roscpp roscpp
sensor_msgs sensor_msgs
...@@ -20,102 +18,11 @@ find_package(catkin REQUIRED COMPONENTS ...@@ -20,102 +18,11 @@ find_package(catkin REQUIRED COMPONENTS
) )
## System dependencies are found with CMake's conventions ## 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(wolfcore REQUIRED)
find_package(wolflaser REQUIRED) find_package(wolflaser REQUIRED)
find_package(falkolib QUIET)
## Uncomment this if the package has a setup.py. This macro ensures # produces the XXXConfig.cmake file among other things
## 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
catkin_package( catkin_package(
# INCLUDE_DIRS include
# LIBRARIES wolf_ros1
# CATKIN_DEPENDS roscpp sensor_msgs std_msgs
# DEPENDS system_lib
) )
########### ###########
...@@ -125,111 +32,44 @@ catkin_package( ...@@ -125,111 +32,44 @@ catkin_package(
## Specify additional locations of header files ## Specify additional locations of header files
## Your package locations should be listed before other locations ## Your package locations should be listed before other locations
include_directories( include_directories(
include include
${EIGEN_INCLUDE_DIRS}
${wolfcore_INCLUDE_DIRS}
${wolflaser_INCLUDE_DIRS}
${laser_scan_utils_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS} ${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 ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_laser_map.cpp) add_library(publisher_${PROJECT_NAME}
target_sources(subscriber_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/subscriber_laser2d.cpp) ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_laser_map.cpp
)
add_library(subscriber_${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 ${wolflaser_INCLUDE_DIR})
if (falkolib_FOUND) if (FALKO)
message("Found Falkolib. Compiling publisher_falko.") message("Found 'laser/processor/processor_loop_closure_falko.h'. Compiling publisher_falko.")
target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_falko.cpp) target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_falko.cpp)
else()
message("Didn't find 'laser/processor/processor_loop_closure_falko.h'. Not compiling publisher_falko.")
endif() endif()
find_file(ICP wolflaser_INCLUDE_DIRS laser/processor/processor_odom_icp.h) if (ICP)
if (NOT ICP_NOTFOUND) message("Found 'laser/processor/processor_odom_icp.h'. Compiling publisher_odom_icp.")
message("Found 'processor_odom_icp.h'. Compiling publisher_odom_icp.")
target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_odom_icp.cpp) target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_odom_icp.cpp)
else()
message("Didn't find 'laser/processor/processor_odom_icp.h'. Not compiling publisher_odom_icp.")
endif () endif ()
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${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 ${PROJECT_NAME}_gencfg)
## Specify libraries to link a library or executable target against ## Specify libraries to link a library or executable target against
target_link_libraries(subscriber_${PROJECT_NAME} target_link_libraries(subscriber_${PROJECT_NAME}
${wolfcore_LIBRARIES} wolfcore
${wolflaser_LIBRARIES} wolflaser
${catkin_LIBRARIES}
) )
target_link_libraries(publisher_${PROJECT_NAME} target_link_libraries(publisher_${PROJECT_NAME}
${wolfcore_LIBRARIES} wolfcore
${wolflaser_LIBRARIES} wolflaser
${catkin_LIBRARIES} ${catkin_LIBRARIES}
) )
############# \ No newline at end of file
## 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)
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