diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index ccff7c2f22701c1fb5b8a63350a5c677197a148d..05026060218f95900ef4517df78e099099b80c89 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -4,6 +4,25 @@ stages:
- deploy_packages
############ YAML ANCHORS ############
+.print_variables_template: &print_variables_definition
+ # Print variables
+ - echo $WOLF_IMU_BRANCH
+ - echo $WOLF_GNSS_BRANCH
+ - echo $WOLF_LASER_BRANCH
+ - echo $WOLF_VISION_BRANCH
+ - echo $WOLF_APRILTAG_BRANCH
+ - echo $WOLF_BODYDYNAMICS_BRANCH
+ - echo $GNSSUTILS_BRANCH
+ - echo $LASERSCANUTILS_BRANCH
+ - echo $CI_COMMIT_BRANCH
+ - echo $WOLF_ROS_NODE_BRANCH
+ - echo $WOLF_ROS_IMU_BRANCH
+ - echo $WOLF_ROS_GNSS_BRANCH
+ - echo $WOLF_ROS_LASER_BRANCH
+ - echo $WOLF_ROS_VISION_BRANCH
+ - echo $WOLF_ROS_APRILTAG_BRANCH
+ - echo $WOLF_ROS_BODYDYNAMICS_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)
@@ -145,27 +164,42 @@ deploy_imu:
variables:
WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH
WOLF_IMU_BRANCH: $WOLF_IMU_BRANCH
- WOLF_ROS_CORE_BRANCH: $CI_COMMIT_BRANCH
+ WOLF_ROS_NODE_BRANCH: $CI_COMMIT_BRANCH
trigger:
project: mobile_robotics/wolf_projects/wolf_ros/wolf_ros_imu
+ branch: $WOLF_ROS_IMU_BRANCH
deploy_gnss:
stage: deploy_packages
variables:
WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH
WOLF_APRILTAG_BRANCH: $WOLF_GNSS_BRANCH
- WOLF_ROS_CORE_BRANCH: $CI_COMMIT_BRANCH
+ WOLF_ROS_NODE_BRANCH: $CI_COMMIT_BRANCH
+ GNSSUTILS_BRANCH: $GNSSUTILS_BRANCH
trigger:
project: mobile_robotics/wolf_projects/wolf_ros/wolf_ros_gnss
+ branch: $WOLF_ROS_GNSS_BRANCH
deploy_laser:
stage: deploy_packages
variables:
WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH
WOLF_LASER_BRANCH: $WOLF_LASER_BRANCH
- WOLF_ROS_CORE_BRANCH: $CI_COMMIT_BRANCH
+ WOLF_ROS_NODE_BRANCH: $CI_COMMIT_BRANCH
+ LASERSCANUTILS_BRANCH: $LASERSCANUTILS_BRANCH
trigger:
project: mobile_robotics/wolf_projects/wolf_ros/wolf_ros_laser
+ branch: $WOLF_ROS_LASER_BRANCH
+
+deploy_vision:
+ stage: deploy_packages
+ variables:
+ WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH
+ WOLF_VISION_BRANCH: $WOLF_VISION_BRANCH
+ WOLF_ROS_NODE_BRANCH: $CI_COMMIT_BRANCH
+ trigger:
+ project: mobile_robotics/wolf_projects/wolf_ros/wolf_ros_apriltag
+ branch: $WOLF_ROS_VISION_BRANCH
deploy_apriltag:
stage: deploy_packages
@@ -173,6 +207,7 @@ deploy_apriltag:
WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH
WOLF_VISION_BRANCH: $WOLF_VISION_BRANCH
WOLF_APRILTAG_BRANCH: $WOLF_APRILTAG_BRANCH
- WOLF_ROS_CORE_BRANCH: $CI_COMMIT_BRANCH
+ WOLF_ROS_NORE_BRANCH: $CI_COMMIT_BRANCH
trigger:
project: mobile_robotics/wolf_projects/wolf_ros/wolf_ros_apriltag
+ branch: $WOLF_ROS_APRILTAG_BRANCH
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1851015a20181da59c2d94b5c351bcbe88888b42..dfb477604a3919687abde4cd76fd6618c185bacd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,13 +1,11 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.10)
project(wolf_ros_node)
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++14)
+## Compile as 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
roslib
roscpp
@@ -17,104 +15,18 @@ find_package(catkin REQUIRED COMPONENTS
tf
tf_conversions
tf2_ros
-# dynamic_reconfigure
)
## 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)
-## 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
-# sensor_msgs# std_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
+ INCLUDE_DIRS include
)
###########
@@ -123,121 +35,36 @@ INCLUDE_DIRS include
## Specify additional locations of header files
## Your package locations should be listed before other locations
-message("Wolf include path: ${wolfcore_INCLUDE_DIRS}")
include_directories(
- include
- ${EIGEN_INCLUDE_DIRS}
- ${wolfcore_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/${PROJECT_NAME}/wolf_ros.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)
-# add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME} src/node.cpp)
add_library(subscriber_${PROJECT_NAME}
- src/subscriber_diffdrive.cpp
- src/subscriber_odom2d.cpp)
-add_library(publisher_${PROJECT_NAME}
- src/publisher_graph.cpp
- src/publisher_pose.cpp
- src/publisher_trajectory.cpp
- src/publisher_state_block.cpp
- src/publisher_tf.cpp)
+ src/subscriber_diffdrive.cpp
+ src/subscriber_odom2d.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(${PROJECT_NAME} PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-## add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
+add_library(publisher_${PROJECT_NAME}
+ src/publisher_graph.cpp
+ src/publisher_pose.cpp
+ src/publisher_trajectory.cpp
+ src/publisher_state_block.cpp
+ src/publisher_tf.cpp)
## Specify libraries to link a library or executable target against
target_link_libraries(subscriber_${PROJECT_NAME}
${catkin_LIBRARIES}
- ${CERES_LIBRARIES}
- ${wolfcore_LIBRARIES}
- yaml-cpp
- dl
+ wolfcore
)
target_link_libraries(publisher_${PROJECT_NAME}
${catkin_LIBRARIES}
- ${CERES_LIBRARIES}
- ${wolfcore_LIBRARIES}
- yaml-cpp
- dl
+ wolfcore
)
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
- ${CERES_LIBRARIES}
- ${wolfcore_LIBRARIES}
- yaml-cpp
- dl
- )
-
-#############
-## 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)
+ wolfcore
+ )
\ No newline at end of file
diff --git a/include/node.h b/include/node.h
index 8ba4ef10b6cdf02f64d36710c0bd328af54189f9..8324843dbbc865276bb527563164660e32e5b19a 100644
--- a/include/node.h
+++ b/include/node.h
@@ -61,7 +61,6 @@
#include "publisher.h"
using namespace wolf;
-using namespace std;
class WolfRosNode
{