Remove use of google_library and google_test. (#234)

* Fixes Dockerfile.indigo copying.

.travis.yml

@@ -22,7 +22,6 @@ cache:
     - /home/travis/docker/
 
 env:
-  matrix:
   - ROS_RELEASE=indigo DOCKER_CACHE_FILE=/home/travis/docker/indigo-cache.tar.gz
   - ROS_RELEASE=kinetic DOCKER_CACHE_FILE=/home/travis/docker/kinetic-cache.tar.gz
 

Dockerfile.indigo

@@ -46,19 +46,19 @@ RUN cartographer_ros/scripts/install.sh --pkg ceres-solver
 RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
     cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
 
-COPY cartographer_ros_msgs catkin_ws/src/cartographer_ros/
+COPY cartographer_ros_msgs catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
 RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs && \
     cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
         --catkin-make-args run_tests && \
     cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros_msgs
 
-COPY cartographer_ros catkin_ws/src/cartographer_ros/
+COPY cartographer_ros catkin_ws/src/cartographer_ros/cartographer_ros/
 RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && \
     cartographer_ros/scripts/install.sh --pkg cartographer_ros \
         --catkin-make-args run_tests && \
     cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros
 
-COPY cartographer_rviz catkin_ws/src/cartographer_ros/
+COPY cartographer_rviz catkin_ws/src/cartographer_ros/cartographer_rviz/
 RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \
     cartographer_ros/scripts/install.sh --pkg cartographer_rviz \
         --catkin-make-args run_tests && \

cartographer_ros/CMakeLists.txt

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 2.8.12)  # Ships with Ubuntu 14.04 (Trusty)
 
 project(cartographer_ros)
 
@@ -44,6 +44,7 @@ find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES})
 include(FindPkgConfig)
 pkg_search_module(YAMLCPP REQUIRED yaml-cpp>=0.5.1)
 
+find_package(LuaGoogle REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common io)
 find_package(Eigen3 REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system iostreams)
@@ -59,10 +60,18 @@ include_directories(
   ${urdfdom_headers_INCLUDE_DIRS}
 )
 
+# Override Catkin's GTest configuration to use GMock.
+set(GTEST_FOUND TRUE)
+set(GTEST_INCLUDE_DIRS ${GMOCK_INCLUDE_DIRS})
+set(GTEST_LIBRARIES ${GMOCK_LIBRARIES})
+
 catkin_package(
   CATKIN_DEPENDS
     ${PACKAGE_DEPENDENCIES}
   DEPENDS
+    # TODO(damonkohler): This should be here but causes Catkin to abort because
+    # protobuf specifies a library '-lpthread' instead of just 'pthread'.
+    # CARTOGRAPHER
     YAMLCPP
     PCL
     EIGEN3
@@ -72,14 +81,86 @@ catkin_package(
   LIBRARIES ${PROJECT_NAME}
 )
 
-SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES")
+file(GLOB_RECURSE ALL_SRCS "*.cc" "*.h")
-
+file(GLOB_RECURSE ALL_TESTS "*_test.cc")
+file(GLOB_RECURSE ALL_EXECUTABLES "*_main.cc")
+list(REMOVE_ITEM ALL_SRCS ${ALL_TESTS})
+list(REMOVE_ITEM ALL_SRCS ${ALL_EXECUTABLES})
+add_library(${PROJECT_NAME} ${ALL_SRCS})
 add_subdirectory("cartographer_ros")
 
-google_combined_library(${PROJECT_NAME}
+target_include_directories(${PROJECT_NAME} PUBLIC ${CARTOGRAPHER_INCLUDE_DIRS})
-  SRCS "${ALL_LIBRARIES}"
+target_link_libraries(${PROJECT_NAME} PUBLIC ${CARTOGRAPHER_LIBRARIES})
+
+# YAML
+target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${YAMLCPP_INCLUDE_DIRS}")
+target_link_libraries(${PROJECT_NAME} PUBLIC ${YAMLCPP_LIBRARIES})
+
+# Lua
+target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${LUA_INCLUDE_DIR})
+
+# PCL
+target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+  "${PCL_INCLUDE_DIRS}")
+target_link_libraries(${PROJECT_NAME} PUBLIC ${PCL_LIBRARIES})
+foreach(DEFINITION ${PCL_DEFINITIONS})
+  set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${DEFINITION}")
+endforeach()
+
+# Eigen
+target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+  "${EIGEN3_INCLUDE_DIR}")
+
+# Boost
+target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+  "${Boost_INCLUDE_DIRS}")
+target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES})
+
+# Catkin
+target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
+target_link_libraries(${PROJECT_NAME} PUBLIC ${catkin_LIBRARIES})
+add_dependencies(${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}>
+    $<INSTALL_INTERFACE:include>
 )
 
+set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
+set_target_properties(${PROJECT_NAME} PROPERTIES
+  COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
+
+if (CATKIN_ENABLE_TESTING)
+  catkin_add_gtest(configuration_files_test "cartographer_ros/configuration_files_test.cc")
+  # catkin_add_gtest uses a plain (i.e. no PUBLIC/PRIVATE/INTERFACE) call to
+  # target_link_libraries. That forces us to do the same.
+  target_include_directories(configuration_files_test SYSTEM PUBLIC ${LUA_INCLUDE_DIR})
+  target_link_libraries(configuration_files_test ${LUA_LIBRARIES})
+  target_include_directories(configuration_files_test SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
+  target_link_libraries(configuration_files_test ${catkin_LIBRARIES})
+  add_dependencies(configuration_files_test ${catkin_EXPORTED_TARGETS})
+  target_include_directories(configuration_files_test SYSTEM PUBLIC ${CARTOGRAPHER_INCLUDE_DIRS})
+  target_link_libraries(configuration_files_test ${CARTOGRAPHER_LIBRARIES})
+  target_link_libraries(configuration_files_test ${PROJECT_NAME})
+  set_target_properties(configuration_files_test PROPERTIES COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
+
+  catkin_add_gtest(time_conversion_test "cartographer_ros/time_conversion_test.cc")
+  # catkin_add_gtest uses a plain (i.e. no PUBLIC/PRIVATE/INTERFACE) call to
+  # target_link_libraries. That forces us to do the same.
+  target_include_directories(time_conversion_test SYSTEM PUBLIC ${LUA_INCLUDE_DIR})
+  target_link_libraries(time_conversion_test ${LUA_LIBRARIES})
+  target_include_directories(time_conversion_test SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
+  target_link_libraries(time_conversion_test ${catkin_LIBRARIES})
+  add_dependencies(time_conversion_test ${catkin_EXPORTED_TARGETS})
+  target_include_directories(time_conversion_test SYSTEM PUBLIC ${CARTOGRAPHER_INCLUDE_DIRS})
+  target_link_libraries(time_conversion_test ${CARTOGRAPHER_LIBRARIES})
+  target_link_libraries(time_conversion_test ${PROJECT_NAME})
+  set_target_properties(time_conversion_test PROPERTIES COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
+endif()
+
 install(DIRECTORY launch urdf configuration_files
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
@@ -93,3 +174,16 @@ install(TARGETS ${PROJECT_NAME}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 )
+
+# Install source headers.
+file(GLOB_RECURSE hdrs "*.h")
+foreach(HDR ${hdrs})
+  file(RELATIVE_PATH REL_FIL ${CMAKE_SOURCE_DIR} ${HDR})
+  get_filename_component(INSTALL_DIR ${REL_FIL} DIRECTORY)
+  install(
+    FILES
+      ${HDR}
+    DESTINATION
+      include/${INSTALL_DIR}
+  )
+endforeach()

cartographer_ros/cartographer_ros/CMakeLists.txt

@@ -1,186 +1,25 @@
-google_library(assets_writer
+# Copyright 2016 The Cartographer Authors
-  USES_CARTOGRAPHER
+#
-  SRCS
+# Licensed under the Apache License, Version 2.0 (the "License");
-    assets_writer.cc
+# you may not use this file except in compliance with the License.
-  HDRS
+# You may obtain a copy of the License at
-    assets_writer.h
+#
-  DEPENDS
+#      http://www.apache.org/licenses/LICENSE-2.0
-    map_writer
+#
-    node_options
+# Unless required by applicable law or agreed to in writing, software
-    occupancy_grid
+# distributed under the License is distributed on an "AS IS" BASIS,
-)
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-
+# See the License for the specific language governing permissions and
-google_library(bag_reader
+# limitations under the License.
-  USES_CARTOGRAPHER
-  USES_GLOG
-  SRCS
-    bag_reader.cc
-  HDRS
-    bag_reader.h
-)
-
-google_library(map_builder_bridge
-  USES_CARTOGRAPHER
-  SRCS
-    map_builder_bridge.cc
-  HDRS
-    map_builder_bridge.h
-  DEPENDS
-    assets_writer
-    msg_conversion
-    node_options
-    occupancy_grid
-    sensor_bridge
-    tf_bridge
-)
-
-google_library(map_writer
-  USES_GLOG
-  USES_YAMLCPP
-  SRCS
-    map_writer.cc
-  HDRS
-    map_writer.h
-)
-
-google_library(msg_conversion
-  USES_CARTOGRAPHER
-  USES_GLOG
-  USES_PCL
-  SRCS
-    msg_conversion.cc
-  HDRS
-    msg_conversion.h
-  DEPENDS
-    time_conversion
-)
-
-google_library(node
-  USES_CARTOGRAPHER
-  USES_EIGEN
-  USES_GLOG
-  SRCS
-    node.cc
-  HDRS
-    node.h
-  DEPENDS
-    map_builder_bridge
-    msg_conversion
-    node_options
-    sensor_bridge
-    tf_bridge
-    time_conversion
-)
-
-google_library(node_options
-  USES_CARTOGRAPHER
-  USES_GLOG
-  SRCS
-    node_options.cc
-  HDRS
-    node_options.h
-  DEPENDS
-    sensor_bridge
-)
-
-google_library(occupancy_grid
-  USES_CARTOGRAPHER
-  USES_GLOG
-  SRCS
-    occupancy_grid.cc
-  HDRS
-    occupancy_grid.h
-  DEPENDS
-    node_options
-    time_conversion
-)
-
-google_library(ros_log_sink
-  USES_GLOG
-  SRCS
-    ros_log_sink.cc
-  HDRS
-    ros_log_sink.h
-)
-
-google_library(sensor_bridge
-  USES_CARTOGRAPHER
-  SRCS
-    sensor_bridge.cc
-  HDRS
-    sensor_bridge.h
-  DEPENDS
-    msg_conversion
-    tf_bridge
-    time_conversion
-)
-
-google_library(tf_bridge
-  USES_CARTOGRAPHER
-  SRCS
-    tf_bridge.cc
-  HDRS
-    tf_bridge.h
-  DEPENDS
-    msg_conversion
-    time_conversion
-)
-
-google_library(time_conversion
-  USES_CARTOGRAPHER
-  SRCS
-    time_conversion.cc
-  HDRS
-    time_conversion.h
-)
-
-google_library(urdf_reader
-  USES_CARTOGRAPHER
-  SRCS
-    urdf_reader.cc
-  HDRS
-    urdf_reader.h
-  DEPENDS
-    msg_conversion
-)
-
-google_test(configuration_files_test
-  USES_CARTOGRAPHER
-  SRCS
-    configuration_files_test.cc
-  DEPENDS
-    node_options
-)
-
-google_test(time_conversion_test
-  USES_CARTOGRAPHER
-  SRCS
-    time_conversion_test.cc
-  DEPENDS
-    time_conversion
-)
 
 google_binary(cartographer_assets_writer
-  USES_CARTOGRAPHER
-  USES_GFLAGS
-  USES_GLOG
   SRCS
     assets_writer_main.cc
-  DEPENDS
-    bag_reader
-    msg_conversion
-    time_conversion
-    urdf_reader
 )
 
 google_binary(cartographer_node
-  USES_CARTOGRAPHER
-  USES_GFLAGS
   SRCS
     node_main.cc
-  DEPENDS
-    node
-    ros_log_sink
 )
 
 install(TARGETS cartographer_node
@@ -196,15 +35,8 @@ install(TARGETS cartographer_assets_writer
 )
 
 google_binary(cartographer_offline_node
-  USES_CARTOGRAPHER
-  USES_GFLAGS
   SRCS
     offline_node_main.cc
-  DEPENDS
-    bag_reader
-    node
-    ros_log_sink
-    urdf_reader
 )
 
 install(TARGETS cartographer_offline_node

cartographer_rviz/CMakeLists.txt

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 2.8.12)  # Ships with Ubuntu 14.04 (Trusty)
 
 project(cartographer_rviz)
 
@@ -29,6 +29,7 @@ find_package(cartographer REQUIRED)
 include("${CARTOGRAPHER_CMAKE_DIR}/functions.cmake")
 google_initialize_cartographer_project()
 
+find_package(Eigen3 REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system iostreams)
 find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES})
 
@@ -39,6 +40,11 @@ catkin_package(
   INCLUDE_DIRS "."
 )
 
+file(GLOB_RECURSE ALL_SRCS "*.cc" "*.h")
+message(${ALL_SRCS})
+add_library(${PROJECT_NAME} ${ALL_SRCS})
+target_link_libraries(${PROJECT_NAME} PUBLIC ${QT_LIBRARIES})
+
 set(CMAKE_AUTOMOC ON)
 if(rviz_QT_VERSION VERSION_LESS "5")
   message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
@@ -55,26 +61,31 @@ else()
 endif()
 add_definitions(-DQT_NO_KEYWORDS)
 
-SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES")
+# Add the binary directory first, so that port.h is included after it has
-
+# been generated.
-add_subdirectory("cartographer_rviz")
+target_include_directories(${PROJECT_NAME} PUBLIC
-
+    $<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
-# Create an empty file for the shared library we require for RViz.
+    $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
-set(DUMMY_SOURCE ${CMAKE_CURRENT_BINARY_DIR}/empty.cc)
+    $<INSTALL_INTERFACE:include>
-add_custom_command(
-  OUTPUT  ${DUMMY_SOURCE}
-  COMMAND cmake -E touch ${DUMMY_SOURCE}
-  DEPENDS ${ARG_SRCS}
-)
-add_library(cartographer_rviz_submaps_visualization ${DUMMY_SOURCE})
-target_link_libraries(cartographer_rviz_submaps_visualization
-  ${QT_LIBRARIES}
-  "-Wl,--whole-archive"
-  ${ALL_LIBRARIES}
-  "-Wl,--no-whole-archive"
 )
 
-install(TARGETS cartographer_rviz_submaps_visualization
+target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+  "${EIGEN3_INCLUDE_DIR}")
+target_link_libraries(${PROJECT_NAME} PUBLIC ${EIGEN3_LIBRARIES})
+
+target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+  "${Boost_INCLUDE_DIRS}")
+target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES})
+
+target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
+target_link_libraries(${PROJECT_NAME} PUBLIC ${catkin_LIBRARIES})
+add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
+
+set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
+set_target_properties(${PROJECT_NAME} PROPERTIES
+  COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
+
+install(TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

cartographer_rviz/cartographer_rviz/CMakeLists.txt

@@ -1,18 +0,0 @@
-google_library(drawable_submap
-  USES_CARTOGRAPHER
-  USES_EIGEN
-  SRCS
-    drawable_submap.cc
-  HDRS
-    drawable_submap.h
-)
-
-google_library(submaps_display
-  USES_CARTOGRAPHER
-  SRCS
-    submaps_display.cc
-  HDRS
-    submaps_display.h
-  DEPENDS
-    drawable_submap
-)

cartographer_rviz/rviz_plugin_description.xml

@@ -14,7 +14,7 @@
   limitations under the License.
 -->
 
-<library path="lib/libcartographer_rviz_submaps_visualization">
+<library path="lib/libcartographer_rviz">
   <class name="Submaps"
          type="cartographer_rviz::SubmapsDisplay"
          base_class_type="rviz::Display">