Merge branch '2-adapt-to-core-cmake-refactor' into 'devel'

Resolve "Adapt to core cmake refactor"

Closes #2

See merge request !2

.gitlab-ci.yml

@@ -4,6 +4,14 @@ stages:
 #  - demos
   
 ############ YAML ANCHORS ############
+.print_variables_template: &print_variables_definition
+  # Print variables
+  - echo $WOLF_CORE_BRANCH
+  - echo $WOLF_VISION_BRANCH
+  - echo $WOLF_ROS_NODE_BRANCH
+  - echo $CI_COMMIT_BRANCH
+  - echo $WOLF_ROS_VISION_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)
@@ -123,17 +131,13 @@ 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 clone -b $WOLF_ROS_CORE_BRANCH 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_vision
-  - git checkout $CI_COMMIT_BRANCH
-  - cd ../..
+  - git clone -b $CI_COMMIT_BRANCH ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git
+  - cd ..
   - catkin_make
 
 ############ LICENSE HEADERS ############
@@ -142,6 +146,7 @@ license_headers:
   image: labrobotica/wolf_vision_deps_ros:20.04
   cache: []
   before_script:
+    - *print_variables_definition
     - *preliminaries_definition
     - *install_wolf_definition
   script:
@@ -162,6 +167,7 @@ build_and_test:bionic:
       paths:
       - ci_deps/vision/
   before_script:
+    - *print_variables_definition
     - *preliminaries_definition
     - *install_wolf_definition
     - *install_visionutils_definition
@@ -186,6 +192,7 @@ build_and_test:focal:
       paths:
       - ci_deps/vision/
   before_script:
+    - *print_variables_definition
     - *preliminaries_definition
     - *install_wolf_definition
     - *install_visionutils_definition
@@ -205,4 +212,4 @@ build_and_test:focal:
 #    WOLF_ROS_CORE_BRANCH: $WOLF_ROS_CORE_BRANCH
 #    WOLF_ROS_APRILTAG_BRANCH: $CI_COMMIT_BRANCH
 #  trigger: 
-#    project: mobile_robotics/wolf_projects/wolf_ros/demos/wolf_demo_apriltag_imu
+#    project: mobile_robotics/wolf_projects/wolf_ros/demos/wolf_demo_vio

CMakeLists.txt

@@ -11,20 +11,16 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
   sensor_msgs
-  std_msgs
-  tf
-  dynamic_reconfigure
-  wolf_ros_node
   cv_bridge
   image_transport
+  wolf_ros_node
 )
 
 
 
 ## System dependencies are found with CMake's conventions
-find_package(OpenCV REQUIRED)
-find_package(wolfcore REQUIRED)
-find_package(wolfvision REQUIRED)
+find_package(wolfcore REQUIRED CONFIG)
+find_package(wolfvision REQUIRED CONFIG)
 
 ###################################
 ## catkin specific configuration ##
@@ -38,37 +34,30 @@ catkin_package(
 ## Build ##
 ###########
 
-## 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}
-  ${wolfvision_INCLUDE_DIRS}
+  include
   ${catkin_INCLUDE_DIRS}
-  ${CERES_INCLUDE_DIRS}
 )
 
-## Declare a C++ library
+# create library targets for the publisher and subscribers
 add_library(publisher_${PROJECT_NAME} src/publisher_vision.cpp)
 add_library(subscriber_${PROJECT_NAME} src/subscriber_camera.cpp)
 
+
 ## Specify libraries to link a library or executable target against
-target_link_libraries(subscriber_${PROJECT_NAME}
-                                ${wolfcore_LIBRARIES}
-                                ${wolfvision_LIBRARIES}
-                                ${catkin_LIBRARIES}
-                                ${sensor_msgs_LIBRARIES}
-                                )
 target_link_libraries(publisher_${PROJECT_NAME}
-                                ${wolfcore_LIBRARIES}
-                                ${wolfvision_LIBRARIES}
-                                ${catkin_LIBRARIES}
-                                ${sensor_msgs_LIBRARIES}
-                                )
+            wolfcore
+            wolfvision
+            ${catkin_LIBRARIES}
+            )
+target_link_libraries(subscriber_${PROJECT_NAME}
+            wolfcore
+            wolfvision
+            ${catkin_LIBRARIES}
+            )
 
-# Declar a python script
+# Declare a python script
 catkin_install_python(PROGRAMS scripts/publisher_camera_info.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
+

include/publisher_vision.h

@@ -23,15 +23,19 @@
 #define PUBLISHER_VISION_DEBUG_H_
 
 
+/**************************
+ *    WOLF ROS includes   *
+ **************************/
+#include "publisher.h"
+
+
 /**************************
  *      WOLF includes     *
  **************************/
-#include "core/common/wolf.h"
-#include "vision/processor/processor_visual_odometry.h"
+#include <core/common/wolf.h>
+#include <vision/processor/processor_visual_odometry.h>
 #include <core/utils/params_server.h>
 
-#include "publisher.h"
-
 /**************************
  *      ROS includes      *
  **************************/

include/subscriber_camera.h

@@ -22,15 +22,21 @@
 #ifndef SUBSCRIBER_CAMERA_H_
 #define SUBSCRIBER_CAMERA_H_
 
+/**************************
+ *    WOLF-ROS includes   *
+ **************************/
+#include "subscriber.h"
+
+
 /**************************
  *      WOLF includes     *
  **************************/
-#include "core/yaml/parser_yaml.h"
-#include "core/common/wolf.h"
-#include "core/problem/problem.h"
-#include "core/utils/params_server.h"
-#include "vision/capture/capture_image.h"
-#include "vision/sensor/sensor_camera.h"
+#include <core/yaml/parser_yaml.h>
+#include <core/common/wolf.h>
+#include <core/problem/problem.h>
+#include <core/utils/params_server.h>
+#include <vision/capture/capture_image.h>
+#include <vision/sensor/sensor_camera.h>
 
 /**************************
  *      ROS includes      *
@@ -46,10 +52,6 @@
 #include <iomanip>
 #include <queue>
 
-/**************************
- *    WOLF-ROS includes   *
- **************************/
-#include "subscriber.h"
 
 namespace wolf
 {

package.xml

@@ -2,11 +2,10 @@
 <package format="2">
   <name>wolf_ros_vision</name>
   <version>0.0.0</version>
-  <description>The wolf_ros package of WOLF project</description>
+  <description>The wolf_ros_vision package of WOLF project</description>
 
   <maintainer email="jvallve@iri.upc.edu">jvallve</maintainer>
 
-
   <license>TODO</license>
 
   <buildtool_depend>catkin</buildtool_depend>
@@ -14,20 +13,14 @@
   <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
   <build_depend>sensor_msgs</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>tf</build_depend>
   <build_depend>wolf_ros_node</build_depend>
 
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>sensor_msgs</build_export_depend>
-  <build_export_depend>std_msgs</build_export_depend>
-  <build_export_depend>tf</build_export_depend>
   
   <exec_depend>roscpp</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>tf</exec_depend>
   <exec_depend>wolf_ros_node</exec_depend>
 
   <export>