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Commit 4bf38159 authored by Mederic Fourmy's avatar Mederic Fourmy
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Merge branch '7-adapt-to-core-cmake-refactor' into 'devel' 

Resolve "Adapt to core cmake refactor"

Closes #7

See merge request !13
parents 092a08c9 f89012dc
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2 merge requests!14After cmake and const refactor,!13Resolve "Adapt to core cmake refactor"
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.gitlab-ci.yml
+ 39
− 4
View file @ 4bf38159
......@@ -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
CMakeLists.txt
+ 20
− 193
View file @ 4bf38159
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
include/node.h
+ 0
− 1
View file @ 4bf38159
......@@ -61,7 +61,6 @@
#include "publisher.h"
using namespace wolf;
using namespace std;
class WolfRosNode
{
......
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