From 516ac38702eddca8ac523728fdf2692d3a90f3ce Mon Sep 17 00:00:00 2001 From: Mederic Fourmy Date: Wed, 11 May 2022 14:09:42 +0200 Subject: [PATCH 01/13] Use more modern cmake features for wolfcore and wolflaser, falko and csm still have to be manually referenced, which is bad --- CMakeLists.txt | 214 ++++++------------------------------------------- 1 file changed, 26 insertions(+), 188 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 7f704f3..1ee62a3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,13 +1,9 @@ -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) -# 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 @@ -27,95 +23,8 @@ 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 +34,40 @@ 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} + include ${wolflaser_INCLUDE_DIRS} - ${laser_scan_utils_INCLUDE_DIRS} + # ${laser_scan_utils_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 ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_laser_map.cpp) -target_sources(subscriber_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/subscriber_laser2d.cpp) - -if (falkolib_FOUND) - message("Found Falkolib. Compiling publisher_falko.") - target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_falko.cpp) -endif() - -find_file(ICP wolflaser_INCLUDE_DIRS laser/processor/processor_odom_icp.h) -if (NOT ICP_NOTFOUND) - message("Found 'processor_odom_icp.h'. Compiling publisher_odom_icp.") - target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_odom_icp.cpp) -endif () -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg) -# add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg) +add_library(publisher_${PROJECT_NAME} + ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_laser_map.cpp +) +add_library(subscriber_${PROJECT_NAME} + ${CMAKE_CURRENT_SOURCE_DIR}/src/subscriber_laser2d.cpp +) -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide +# target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_laser_map.cpp) +# target_sources(subscriber_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/subscriber_laser2d.cpp) -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg" -# set_target_properties(${PROJECT_NAME} PROPERTIES OUTPUT_NAME node PREFIX "") +# if (falkolib_FOUND) +# message("Found Falkolib. Compiling publisher_falko.") +# target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_falko.cpp) +# endif() -## Add cmake target dependencies of the executable -## same as for the library above -#add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg) -#add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg) +# find_file(ICP wolflaser_INCLUDE_DIRS laser/processor/processor_odom_icp.h) +# if (NOT ICP_NOTFOUND) +# message("Found 'processor_odom_icp.h'. Compiling publisher_odom_icp.") +# target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_odom_icp.cpp) +# endif () ## Specify libraries to link a library or executable target against target_link_libraries(subscriber_${PROJECT_NAME} - ${wolfcore_LIBRARIES} - ${wolflaser_LIBRARIES} + wolfcore + wolflaser ) target_link_libraries(publisher_${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 ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) + ) \ No newline at end of file -- GitLab From 62b42380da1b3db99821826b29c38a4438fd842d Mon Sep 17 00:00:00 2001 From: Mederic Fourmy Date: Wed, 11 May 2022 16:27:59 +0200 Subject: [PATCH 02/13] [skip-ci] it compiles with non root installation! --- CMakeLists.txt | 30 ++++++++++++++++-------------- 1 file changed, 16 insertions(+), 14 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 1ee62a3..50b8e9a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -22,6 +22,9 @@ find_package(catkin REQUIRED COMPONENTS find_package(wolfcore REQUIRED) find_package(wolflaser REQUIRED) find_package(falkolib QUIET) +find_package(PkgConfig) +pkg_check_modules(csm QUIET csm) +link_directories(${csm_LIBRARY_DIRS}) # produces the XXXConfig.cmake file among other things catkin_package( @@ -35,11 +38,13 @@ catkin_package( ## Your package locations should be listed before other locations include_directories( include - ${wolflaser_INCLUDE_DIRS} - # ${laser_scan_utils_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ) +# Bad -> should be removed eventually +INCLUDE_DIRECTORIES("${falkolib_INCLUDE_DIRS}") +INCLUDE_DIRECTORIES("${csm_INCLUDE_DIRS}") + add_library(publisher_${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_laser_map.cpp ) @@ -47,19 +52,16 @@ add_library(subscriber_${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/src/subscriber_laser2d.cpp ) -# target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_laser_map.cpp) -# target_sources(subscriber_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/subscriber_laser2d.cpp) - -# if (falkolib_FOUND) -# message("Found Falkolib. Compiling publisher_falko.") -# target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_falko.cpp) -# endif() +if (falkolib_FOUND) + message("Found Falkolib. Compiling publisher_falko.") + target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_falko.cpp) +endif() -# find_file(ICP wolflaser_INCLUDE_DIRS laser/processor/processor_odom_icp.h) -# if (NOT ICP_NOTFOUND) -# message("Found 'processor_odom_icp.h'. Compiling publisher_odom_icp.") -# target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_odom_icp.cpp) -# endif () +find_file(ICP wolflaser_INCLUDE_DIRS laser/processor/processor_odom_icp.h) +if (NOT ICP_NOTFOUND) + message("Found 'processor_odom_icp.h'. Compiling publisher_odom_icp.") + target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_odom_icp.cpp) +endif () ## Specify libraries to link a library or executable target against target_link_libraries(subscriber_${PROJECT_NAME} -- GitLab From d18d25e3074cf04cc385f34fd4fed33240fe3c2e Mon Sep 17 00:00:00 2001 From: jvallve Date: Thu, 12 May 2022 18:04:59 +0200 Subject: [PATCH 03/13] strange linking bug fixed --- CMakeLists.txt | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 50b8e9a..2a1f3b9 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -2,7 +2,9 @@ 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") find_package(catkin REQUIRED COMPONENTS roscpp @@ -16,9 +18,6 @@ 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) -- GitLab From 9482b0a6110ebc143848a009bbedf65ba23fac0b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= Date: Mon, 16 May 2022 13:18:33 +0200 Subject: [PATCH 04/13] [skip ci] take and print variables --- .gitlab-ci.yml | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index 3d47a16..7561862 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -4,6 +4,13 @@ stages: - demos ############ YAML ANCHORS ############ +.print_variables_template: &print_variables_definition + # Print variables + - echo $WOLF_CORE_BRANCH + - echo $CI_COMMIT_BRANCH + - echo $WOLF_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 +98,12 @@ 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 @@ -179,6 +189,7 @@ license_headers: image: labrobotica/wolf_deps_ros:20.04 cache: [] before_script: + - *print_variables_definition - *preliminaries_definition - *install_wolf_definition script: @@ -193,6 +204,7 @@ build_and_test:bionic: paths: - ci_deps before_script: + - *print_variables_definition - *preliminaries_definition - *install_wolf_definition - *install_csm_definition @@ -212,6 +224,7 @@ build_and_test:focal: paths: - ci_deps before_script: + - *print_variables_definition - *preliminaries_definition - *install_wolf_definition - *install_csm_definition -- GitLab From ec162d693f51c8478bff490217a45bf8c3e3cca6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= Date: Mon, 16 May 2022 13:32:22 +0200 Subject: [PATCH 05/13] [skip ci] print variables --- .gitlab-ci.yml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index 7561862..af4d377 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -7,8 +7,10 @@ stages: .print_variables_template: &print_variables_definition # Print variables - echo $WOLF_CORE_BRANCH - - echo $CI_COMMIT_BRANCH - echo $WOLF_LASER_BRANCH + - echo $CI_COMMIT_BRANCH + - echo $WOLF_ROS_LASER_NODE + - echo $WOLF_ROS_LASER_BRANCH - echo $LASERSCANUTILS_BRANCH .preliminaries_template: &preliminaries_definition -- GitLab From 052767e7b7cd3db91c2c75ffcf6539a0b891d417 Mon Sep 17 00:00:00 2001 From: Mederic Fourmy Date: Mon, 16 May 2022 13:32:57 +0200 Subject: [PATCH 06/13] [skip-ci] remove useless commands since laser_scan_utils dependencies are properly handled now --- CMakeLists.txt | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 2a1f3b9..39fe54c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -23,7 +23,7 @@ find_package(wolflaser REQUIRED) find_package(falkolib QUIET) find_package(PkgConfig) pkg_check_modules(csm QUIET csm) -link_directories(${csm_LIBRARY_DIRS}) +# link_directories(${csm_LIBRARY_DIRS}) # produces the XXXConfig.cmake file among other things catkin_package( @@ -41,8 +41,8 @@ include_directories( ) # Bad -> should be removed eventually -INCLUDE_DIRECTORIES("${falkolib_INCLUDE_DIRS}") -INCLUDE_DIRECTORIES("${csm_INCLUDE_DIRS}") +# INCLUDE_DIRECTORIES("${falkolib_INCLUDE_DIRS}") +# INCLUDE_DIRECTORIES("${csm_INCLUDE_DIRS}") add_library(publisher_${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_laser_map.cpp -- GitLab From 449e7f0b37620ae4ddd4fd7c0801f1f7911ebad7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= Date: Mon, 16 May 2022 13:33:57 +0200 Subject: [PATCH 07/13] [skip ci] cloning directly the branch --- .gitlab-ci.yml | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index af4d377..2184856 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -172,17 +172,13 @@ 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 $WOLF_ROS_CORE_BRANCH clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node.git .build_and_test_template: &build_and_test_definition - roscd - cd ../src - - git clone ssh://git@gitlab.iri.upc.edu:2202/${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 ############ -- GitLab From 90d905a2f81106fe56edc06f55e11acf49c9b760 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= Date: Mon, 16 May 2022 13:45:58 +0200 Subject: [PATCH 08/13] [skip ci] fixing variables --- .gitlab-ci.yml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index 2184856..42ce901 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -8,6 +8,7 @@ stages: # 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 @@ -172,7 +173,7 @@ stages: .clone_wolfrosnode_template: &clone_wolfrosnode_definition - roscd - cd ../src - - git -b $WOLF_ROS_CORE_BRANCH 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 .build_and_test_template: &build_and_test_definition - roscd @@ -239,7 +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_CORE_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 -- GitLab From 04601370f6628deb763173c832275a59ad4a5302 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= Date: Mon, 16 May 2022 13:47:08 +0200 Subject: [PATCH 09/13] [skip ci] hotfix WOLF_ROS_NODE_BRANCH --- .gitlab-ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index 42ce901..45acf90 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -240,7 +240,7 @@ demo_laser: variables: WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH WOLF_LASER_BRANCH: $WOLF_LASER_BRANCH - WOLF_ROS_CORE_BRANCH: $WOLF_ROS_NODE_BRANCH + WOLF_ROS_NODE_BRANCH: $WOLF_ROS_NODE_BRANCH WOLF_ROS_LASER_BRANCH: $CI_COMMIT_BRANCH LASERSCANUTILS_BRANCH: $LASERSCANUTILS_BRANCH trigger: -- GitLab From d32449ed4828a762f8e5b2b703a72a4d1a3f166d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= Date: Tue, 17 May 2022 18:39:53 +0200 Subject: [PATCH 10/13] trying to debug cmake find file --- CMakeLists.txt | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 39fe54c..9d7b7b3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -56,8 +56,8 @@ if (falkolib_FOUND) target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_falko.cpp) endif() -find_file(ICP wolflaser_INCLUDE_DIRS laser/processor/processor_odom_icp.h) -if (NOT ICP_NOTFOUND) +find_file(ICP laser/processor/processor_odom_icp.h wolflaser_INCLUDE_DIRS) +if (NOT ICP) message("Found 'processor_odom_icp.h'. Compiling publisher_odom_icp.") target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_odom_icp.cpp) endif () @@ -66,6 +66,7 @@ endif () target_link_libraries(subscriber_${PROJECT_NAME} wolfcore wolflaser + ${catkin_LIBRARIES} ) target_link_libraries(publisher_${PROJECT_NAME} wolfcore -- GitLab From 99e51b3c93980d336fbc8b8e62d38e89c6fb6329 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= Date: Tue, 17 May 2022 18:53:28 +0200 Subject: [PATCH 11/13] still debuging --- CMakeLists.txt | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 9d7b7b3..fb33c58 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -20,9 +20,9 @@ find_package(catkin REQUIRED COMPONENTS ## System dependencies are found with CMake's conventions find_package(wolfcore REQUIRED) find_package(wolflaser REQUIRED) -find_package(falkolib QUIET) -find_package(PkgConfig) -pkg_check_modules(csm QUIET csm) +#find_package(falkolib QUIET) +#find_package(PkgConfig) +#pkg_check_modules(csm QUIET csm) # link_directories(${csm_LIBRARY_DIRS}) # produces the XXXConfig.cmake file among other things @@ -51,13 +51,14 @@ add_library(subscriber_${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/src/subscriber_laser2d.cpp ) -if (falkolib_FOUND) - message("Found Falkolib. Compiling publisher_falko.") +find_file(FALKO laser/processor/processor_loop_cosure_falko.h wolflaser_INCLUDE_DIRS) +if (FALKO) + message("Found 'processor_loop_cosure_falko.h'. Compiling publisher_falko.") target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_falko.cpp) endif() find_file(ICP laser/processor/processor_odom_icp.h wolflaser_INCLUDE_DIRS) -if (NOT ICP) +if (ICP) message("Found 'processor_odom_icp.h'. Compiling publisher_odom_icp.") target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_odom_icp.cpp) endif () -- GitLab From 9103930bc9cfac142eb4233d02562699e8b6d4b1 Mon Sep 17 00:00:00 2001 From: jvallve Date: Wed, 18 May 2022 10:37:26 +0200 Subject: [PATCH 12/13] finding processors to compile publishers --- CMakeLists.txt | 32 ++++++++++++++++++++++---------- 1 file changed, 22 insertions(+), 10 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index fb33c58..146a0f3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -20,10 +20,6 @@ find_package(catkin REQUIRED COMPONENTS ## System dependencies are found with CMake's conventions find_package(wolfcore REQUIRED) find_package(wolflaser REQUIRED) -#find_package(falkolib QUIET) -#find_package(PkgConfig) -#pkg_check_modules(csm QUIET csm) -# link_directories(${csm_LIBRARY_DIRS}) # produces the XXXConfig.cmake file among other things catkin_package( @@ -40,10 +36,6 @@ include_directories( ${catkin_INCLUDE_DIRS} ) -# Bad -> should be removed eventually -# INCLUDE_DIRECTORIES("${falkolib_INCLUDE_DIRS}") -# INCLUDE_DIRECTORIES("${csm_INCLUDE_DIRS}") - add_library(publisher_${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_laser_map.cpp ) @@ -51,16 +43,36 @@ add_library(subscriber_${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/src/subscriber_laser2d.cpp ) -find_file(FALKO laser/processor/processor_loop_cosure_falko.h wolflaser_INCLUDE_DIRS) +get_target_property(wolflaser_INCLUDE_DIRS wolflaser INTERFACE_INCLUDE_DIRECTORIES) +message("wolflaser_INCLUDE_DIRS: ${wolflaser_INCLUDE_DIRS}") +find_file(FALKO processor_loop_cosure_falko.h PATHS wolflaser_INCLUDE_DIRS PATH_SUFFIXES laser/processor /laser/processor laser/processor/ /laser/processor/ NO_DEFAULT_PATH) +find_file(ICP laser/processor/processor_odom_icp.h PATHS wolflaser_INCLUDE_DIRS NO_DEFAULT_PATH) + +message("FALKO: ${FALKO}") +if (NOT FALKO-NOTFOUND) + message("NOT FALKO-NOTFOUND") +else() + message("FALKO-NOTFOUND") +endif() +message("ICP: ${ICP}") +if (NOT ICP-NOTFOUND) + message("NOT ICP-NOTFOUND") +else() + message("ICP-NOTFOUND") +endif() + if (FALKO) message("Found 'processor_loop_cosure_falko.h'. Compiling publisher_falko.") target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_falko.cpp) +else() + message("Didn't find 'processor_loop_cosure_falko.h'. Not compiling publisher_falko.") endif() -find_file(ICP laser/processor/processor_odom_icp.h wolflaser_INCLUDE_DIRS) if (ICP) message("Found 'processor_odom_icp.h'. Compiling publisher_odom_icp.") target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_odom_icp.cpp) +else() + message("Didn't find 'processor_odom_icp.h'. Not compiling publisher_odom_icp.") endif () ## Specify libraries to link a library or executable target against -- GitLab From 22aae26b2e5a01ae5cabe15a04a430dd7abf8500 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= Date: Wed, 18 May 2022 14:14:14 +0200 Subject: [PATCH 13/13] finally solved --- CMakeLists.txt | 27 +++++++-------------------- 1 file changed, 7 insertions(+), 20 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 146a0f3..90765e7 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -43,36 +43,23 @@ add_library(subscriber_${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/src/subscriber_laser2d.cpp ) -get_target_property(wolflaser_INCLUDE_DIRS wolflaser INTERFACE_INCLUDE_DIRECTORIES) +get_target_property(wolflaser_INCLUDE_DIR wolflaser INTERFACE_INCLUDE_DIRECTORIES) message("wolflaser_INCLUDE_DIRS: ${wolflaser_INCLUDE_DIRS}") -find_file(FALKO processor_loop_cosure_falko.h PATHS wolflaser_INCLUDE_DIRS PATH_SUFFIXES laser/processor /laser/processor laser/processor/ /laser/processor/ NO_DEFAULT_PATH) -find_file(ICP laser/processor/processor_odom_icp.h PATHS wolflaser_INCLUDE_DIRS NO_DEFAULT_PATH) - -message("FALKO: ${FALKO}") -if (NOT FALKO-NOTFOUND) - message("NOT FALKO-NOTFOUND") -else() - message("FALKO-NOTFOUND") -endif() -message("ICP: ${ICP}") -if (NOT ICP-NOTFOUND) - message("NOT ICP-NOTFOUND") -else() - message("ICP-NOTFOUND") -endif() +find_file(FALKO laser/processor/processor_loop_closure_falko.h PATHS ${wolflaser_INCLUDE_DIR}) +find_file(ICP laser/processor/processor_odom_icp.h PATHS ${wolflaser_INCLUDE_DIR}) if (FALKO) - message("Found 'processor_loop_cosure_falko.h'. Compiling publisher_falko.") + message("Found 'laser/processor/processor_loop_closure_falko.h'. Compiling publisher_falko.") target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_falko.cpp) else() - message("Didn't find 'processor_loop_cosure_falko.h'. Not compiling publisher_falko.") + message("Didn't find 'laser/processor/processor_loop_closure_falko.h'. Not compiling publisher_falko.") endif() if (ICP) - message("Found 'processor_odom_icp.h'. Compiling publisher_odom_icp.") + message("Found 'laser/processor/processor_odom_icp.h'. Compiling publisher_odom_icp.") target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_odom_icp.cpp) else() - message("Didn't find 'processor_odom_icp.h'. Not compiling publisher_odom_icp.") + message("Didn't find 'laser/processor/processor_odom_icp.h'. Not compiling publisher_odom_icp.") endif () ## Specify libraries to link a library or executable target against -- GitLab