From 02044fc86a8c192dc37cb6c2b41f8573c3e982b5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Juraj=20Or=C5=A1uli=C4=87?= <juraj.orsulic@fer.hr>
Date: Thu, 9 Feb 2017 15:58:35 +0100
Subject: [PATCH] Enable adding as a CMake subproject (#262)

Add support for building libcartographer in the same project

Support adding as a CMake subproject by using the PROJECT_*_DIR variables
instead of the absolute CMAKE_*_DIR variables.

Resolve a signed-unsigned comparison compiler warning
Fix comment typo
---
 cartographer_ros/CMakeLists.txt                         | 6 +++---
 cartographer_ros/cartographer_ros/assets_writer.cc      | 2 +-
 cartographer_ros/cartographer_ros/assets_writer_main.cc | 2 +-
 cartographer_rviz/CMakeLists.txt                        | 4 ++--
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/cartographer_ros/CMakeLists.txt b/cartographer_ros/CMakeLists.txt
index 890837a..9daab4a 100644
--- a/cartographer_ros/CMakeLists.txt
+++ b/cartographer_ros/CMakeLists.txt
@@ -122,8 +122,8 @@ add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
 # Add the binary directory first, so that port.h is included after it has
 # been generated.
 target_include_directories(${PROJECT_NAME} PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
-    $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
+    $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}>
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}>
     $<INSTALL_INTERFACE:include>
 )
 
@@ -174,7 +174,7 @@ install(TARGETS ${PROJECT_NAME}
 # Install source headers.
 file(GLOB_RECURSE HDRS "*.h")
 foreach(HDR ${HDRS})
-  file(RELATIVE_PATH REL_FIL ${CMAKE_SOURCE_DIR} ${HDR})
+  file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${HDR})
   get_filename_component(INSTALL_DIR ${REL_FIL} DIRECTORY)
   install(
     FILES
diff --git a/cartographer_ros/cartographer_ros/assets_writer.cc b/cartographer_ros/cartographer_ros/assets_writer.cc
index 66d26d9..500cd9f 100644
--- a/cartographer_ros/cartographer_ros/assets_writer.cc
+++ b/cartographer_ros/cartographer_ros/assets_writer.cc
@@ -34,7 +34,7 @@ namespace {
 
 namespace carto = ::cartographer;
 
-// Writes an occupany grid.
+// Writes an occupancy grid.
 void Write2DAssets(const std::vector<::cartographer::mapping::TrajectoryNode>&
                        trajectory_nodes,
                    const NodeOptions& options, const std::string& stem) {
diff --git a/cartographer_ros/cartographer_ros/assets_writer_main.cc b/cartographer_ros/cartographer_ros/assets_writer_main.cc
index dcd8fff..0788dab 100644
--- a/cartographer_ros/cartographer_ros/assets_writer_main.cc
+++ b/cartographer_ros/cartographer_ros/assets_writer_main.cc
@@ -117,7 +117,7 @@ void HandleMessage(
       ToPointCloudWithIntensities(message);
   CHECK(point_cloud.intensities.size() == point_cloud.points.size());
 
-  for (int i = 0; i < point_cloud.points.size(); ++i) {
+  for (size_t i = 0; i < point_cloud.points.size(); ++i) {
     batch->points.push_back(sensor_to_map * point_cloud.points[i]);
     batch->intensities.push_back(point_cloud.intensities[i]);
   }
diff --git a/cartographer_rviz/CMakeLists.txt b/cartographer_rviz/CMakeLists.txt
index fea27eb..da1c14d 100644
--- a/cartographer_rviz/CMakeLists.txt
+++ b/cartographer_rviz/CMakeLists.txt
@@ -63,8 +63,8 @@ add_definitions(-DQT_NO_KEYWORDS)
 # Add the binary directory first, so that port.h is included after it has
 # been generated.
 target_include_directories(${PROJECT_NAME} PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
-    $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
+    $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}>
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}>
     $<INSTALL_INTERFACE:include>
 )