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[WIP] Foxy Migration #2

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191981d
Initial commit
fmrico Aug 22, 2020
9caf86c
Get transform in correct time
fmrico Aug 22, 2020
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35 changes: 18 additions & 17 deletions ufomap/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -64,20 +64,14 @@ option(BUILD_DOC "Build documentation" ON)
# message("Doxygen need to be installed to generate the doxygen documentation")
# endif (DOXYGEN_FOUND)

find_package(catkin REQUIRED)
catkin_package(
INCLUDE_DIRS include ${catkin_INCLUDE_DIRS} ${UFOMAP_INCLUDE_DIRS}
LIBRARIES ${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenMP_LIBRARIES}
DEPENDS OpenMP LZ4
)
find_package(ament_cmake REQUIRED)

find_package(PkgConfig REQUIRED)
pkg_check_modules(LZ4 REQUIRED liblz4)
# find_library(LZ4 lz4)

include_directories(
include
${catkin_INCLUDE_DIRS}
${UFOMAP_INCLUDE_DIRS}
)

Expand All @@ -90,18 +84,25 @@ add_library(${PROJECT_NAME}
)
target_compile_options(${PROJECT_NAME} PRIVATE ${OpenMP_FLAGS})
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
${OpenMP_LIBRARIES}
${LZ4_LIBRARIES}
)

install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
install(DIRECTORY
include/
${UFOMAP_INCLUDE_DIRS}
DESTINATION include/
)

install(TARGETS
${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
)


ament_export_include_directories(include ${UFOMAP_INCLUDE_DIRS})
ament_export_libraries(${PROJECT_NAME})

ament_package()
6 changes: 3 additions & 3 deletions ufomap/package.xml
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@@ -1,5 +1,5 @@
<?xml version="1.0"?>
<package format="2">
<package format="3">
<name>ufomap</name>
<version>1.0.0</version>
<description>The ufomap package</description>
Expand All @@ -13,9 +13,9 @@

<!-- <buildtool_depend>cmake</buildtool_depend> -->
<!-- <exec_depend>catkin</exec_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<buildtool_depend>ament_cmake</buildtool_depend>

<export>
<!-- <build_type>cmake</build_type> -->
<build_type>ament_cmake</build_type>
</export>
</package>
229 changes: 42 additions & 187 deletions ufomap_mapping/CMakeLists.txt
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Expand Up @@ -3,223 +3,78 @@ project(ufomap_mapping)

set(CMAKE_CXX_STANDARD 17)

## 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
dynamic_reconfigure
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_sensor_msgs REQUIRED)
find_package(ufomap REQUIRED)
find_package(ufomap_msgs REQUIRED)
find_package(ufomap_ros REQUIRED)

find_package(PkgConfig REQUIRED)
pkg_check_modules(LZ4 REQUIRED liblz4)

set(dependencies
rclcpp
geometry_msgs
nodelet
roscpp
sensor_msgs
std_msgs
std_srvs
tf2
tf2_ros
tf2_sensor_msgs
ufomap
ufomap_msgs
ufomap_ros
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## 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
# ufomap_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/Server.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(
INCLUDE_DIRS include
LIBRARIES ufomap_mapping_server_nodelet
# CATKIN_DEPENDS roscpp ufomap ufomap_msgs
# DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
add_library(${PROJECT_NAME}_server_nodelet
src/server_nodelet.cpp
add_library(${PROJECT_NAME}_server
src/server.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}_server_nodelet ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

target_link_libraries(${PROJECT_NAME}_server_nodelet
${catkin_LIBRARIES}
ament_target_dependencies(${PROJECT_NAME}_server
${dependencies}
)

## 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(${PROJECT_NAME}_server_node
src/server_node.cpp
src/server.cpp
target_link_libraries(${PROJECT_NAME}_server
${OpenMP_LIBRARIES}
${LZ4_LIBRARIES}
)

## 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_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(${PROJECT_NAME}_server_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_server_node
${catkin_LIBRARIES}
add_executable(${PROJECT_NAME}_server_main
src/server_main.cpp
)

#############
## 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 for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
install(TARGETS ${PROJECT_NAME}_server_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
ament_target_dependencies(${PROJECT_NAME}_server_main
${dependencies}
)

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}_server_nodelet
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)

## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
target_link_libraries(${PROJECT_NAME}_server_main
${PROJECT_NAME}_server
)

## Mark other files for installation (e.g. launch and bag files, etc.)
install(FILES
nodelet_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
install(DIRECTORY include/
DESTINATION include/
)

install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
install(TARGETS
${PROJECT_NAME}_server
${PROJECT_NAME}_server_main
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME}
)

#############
## Testing ##
#############
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ufomap_mapping.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
ament_export_include_directories(include)
ament_export_dependencies(${dependencies})

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
ament_package()
34 changes: 0 additions & 34 deletions ufomap_mapping/cfg/Server.cfg
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