parent
0b4fa3d5b1
commit
58069b0033
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@ -22,7 +22,6 @@ cache:
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- /home/travis/docker/
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env:
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matrix:
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- ROS_RELEASE=indigo DOCKER_CACHE_FILE=/home/travis/docker/indigo-cache.tar.gz
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- ROS_RELEASE=kinetic DOCKER_CACHE_FILE=/home/travis/docker/kinetic-cache.tar.gz
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@ -46,19 +46,19 @@ RUN cartographer_ros/scripts/install.sh --pkg ceres-solver
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RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
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cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
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COPY cartographer_ros_msgs catkin_ws/src/cartographer_ros/
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COPY cartographer_ros_msgs catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
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RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs && \
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cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
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--catkin-make-args run_tests && \
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cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros_msgs
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COPY cartographer_ros catkin_ws/src/cartographer_ros/
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COPY cartographer_ros catkin_ws/src/cartographer_ros/cartographer_ros/
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RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && \
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cartographer_ros/scripts/install.sh --pkg cartographer_ros \
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--catkin-make-args run_tests && \
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cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros
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COPY cartographer_rviz catkin_ws/src/cartographer_ros/
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COPY cartographer_rviz catkin_ws/src/cartographer_ros/cartographer_rviz/
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RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \
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cartographer_ros/scripts/install.sh --pkg cartographer_rviz \
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--catkin-make-args run_tests && \
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@ -12,7 +12,7 @@
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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required(VERSION 2.8.3)
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cmake_minimum_required(VERSION 2.8.12) # Ships with Ubuntu 14.04 (Trusty)
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project(cartographer_ros)
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@ -44,6 +44,7 @@ find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES})
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include(FindPkgConfig)
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pkg_search_module(YAMLCPP REQUIRED yaml-cpp>=0.5.1)
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find_package(LuaGoogle REQUIRED)
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find_package(PCL REQUIRED COMPONENTS common io)
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find_package(Eigen3 REQUIRED)
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find_package(Boost REQUIRED COMPONENTS system iostreams)
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@ -59,10 +60,18 @@ include_directories(
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${urdfdom_headers_INCLUDE_DIRS}
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)
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# Override Catkin's GTest configuration to use GMock.
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set(GTEST_FOUND TRUE)
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set(GTEST_INCLUDE_DIRS ${GMOCK_INCLUDE_DIRS})
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set(GTEST_LIBRARIES ${GMOCK_LIBRARIES})
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catkin_package(
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CATKIN_DEPENDS
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${PACKAGE_DEPENDENCIES}
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DEPENDS
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# TODO(damonkohler): This should be here but causes Catkin to abort because
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# protobuf specifies a library '-lpthread' instead of just 'pthread'.
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# CARTOGRAPHER
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YAMLCPP
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PCL
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EIGEN3
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@ -72,14 +81,86 @@ catkin_package(
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LIBRARIES ${PROJECT_NAME}
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)
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SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES")
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file(GLOB_RECURSE ALL_SRCS "*.cc" "*.h")
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file(GLOB_RECURSE ALL_TESTS "*_test.cc")
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file(GLOB_RECURSE ALL_EXECUTABLES "*_main.cc")
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list(REMOVE_ITEM ALL_SRCS ${ALL_TESTS})
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list(REMOVE_ITEM ALL_SRCS ${ALL_EXECUTABLES})
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add_library(${PROJECT_NAME} ${ALL_SRCS})
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add_subdirectory("cartographer_ros")
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google_combined_library(${PROJECT_NAME}
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SRCS "${ALL_LIBRARIES}"
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target_include_directories(${PROJECT_NAME} PUBLIC ${CARTOGRAPHER_INCLUDE_DIRS})
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target_link_libraries(${PROJECT_NAME} PUBLIC ${CARTOGRAPHER_LIBRARIES})
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# YAML
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${YAMLCPP_INCLUDE_DIRS}")
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target_link_libraries(${PROJECT_NAME} PUBLIC ${YAMLCPP_LIBRARIES})
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# Lua
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${LUA_INCLUDE_DIR})
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# PCL
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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"${PCL_INCLUDE_DIRS}")
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target_link_libraries(${PROJECT_NAME} PUBLIC ${PCL_LIBRARIES})
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foreach(DEFINITION ${PCL_DEFINITIONS})
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set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${DEFINITION}")
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endforeach()
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# Eigen
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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"${EIGEN3_INCLUDE_DIR}")
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# Boost
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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"${Boost_INCLUDE_DIRS}")
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target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES})
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# Catkin
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
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target_link_libraries(${PROJECT_NAME} PUBLIC ${catkin_LIBRARIES})
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add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
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# Add the binary directory first, so that port.h is included after it has
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# been generated.
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target_include_directories(${PROJECT_NAME} PUBLIC
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$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
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$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
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$<INSTALL_INTERFACE:include>
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)
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set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
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set_target_properties(${PROJECT_NAME} PROPERTIES
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COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
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if (CATKIN_ENABLE_TESTING)
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catkin_add_gtest(configuration_files_test "cartographer_ros/configuration_files_test.cc")
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# catkin_add_gtest uses a plain (i.e. no PUBLIC/PRIVATE/INTERFACE) call to
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# target_link_libraries. That forces us to do the same.
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target_include_directories(configuration_files_test SYSTEM PUBLIC ${LUA_INCLUDE_DIR})
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target_link_libraries(configuration_files_test ${LUA_LIBRARIES})
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target_include_directories(configuration_files_test SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
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target_link_libraries(configuration_files_test ${catkin_LIBRARIES})
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add_dependencies(configuration_files_test ${catkin_EXPORTED_TARGETS})
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target_include_directories(configuration_files_test SYSTEM PUBLIC ${CARTOGRAPHER_INCLUDE_DIRS})
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target_link_libraries(configuration_files_test ${CARTOGRAPHER_LIBRARIES})
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target_link_libraries(configuration_files_test ${PROJECT_NAME})
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set_target_properties(configuration_files_test PROPERTIES COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
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catkin_add_gtest(time_conversion_test "cartographer_ros/time_conversion_test.cc")
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# catkin_add_gtest uses a plain (i.e. no PUBLIC/PRIVATE/INTERFACE) call to
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# target_link_libraries. That forces us to do the same.
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target_include_directories(time_conversion_test SYSTEM PUBLIC ${LUA_INCLUDE_DIR})
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target_link_libraries(time_conversion_test ${LUA_LIBRARIES})
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target_include_directories(time_conversion_test SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
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target_link_libraries(time_conversion_test ${catkin_LIBRARIES})
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add_dependencies(time_conversion_test ${catkin_EXPORTED_TARGETS})
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target_include_directories(time_conversion_test SYSTEM PUBLIC ${CARTOGRAPHER_INCLUDE_DIRS})
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target_link_libraries(time_conversion_test ${CARTOGRAPHER_LIBRARIES})
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target_link_libraries(time_conversion_test ${PROJECT_NAME})
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set_target_properties(time_conversion_test PROPERTIES COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
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endif()
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install(DIRECTORY launch urdf configuration_files
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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@ -93,3 +174,16 @@ install(TARGETS ${PROJECT_NAME}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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# Install source headers.
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file(GLOB_RECURSE hdrs "*.h")
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foreach(HDR ${hdrs})
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file(RELATIVE_PATH REL_FIL ${CMAKE_SOURCE_DIR} ${HDR})
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get_filename_component(INSTALL_DIR ${REL_FIL} DIRECTORY)
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install(
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FILES
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${HDR}
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DESTINATION
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include/${INSTALL_DIR}
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)
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endforeach()
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@ -1,186 +1,25 @@
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google_library(assets_writer
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USES_CARTOGRAPHER
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SRCS
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assets_writer.cc
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HDRS
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assets_writer.h
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DEPENDS
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map_writer
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node_options
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occupancy_grid
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)
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google_library(bag_reader
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USES_CARTOGRAPHER
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USES_GLOG
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SRCS
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bag_reader.cc
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HDRS
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bag_reader.h
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)
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google_library(map_builder_bridge
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USES_CARTOGRAPHER
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SRCS
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map_builder_bridge.cc
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HDRS
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map_builder_bridge.h
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DEPENDS
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assets_writer
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msg_conversion
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node_options
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occupancy_grid
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sensor_bridge
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tf_bridge
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)
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google_library(map_writer
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USES_GLOG
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USES_YAMLCPP
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SRCS
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map_writer.cc
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HDRS
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map_writer.h
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)
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google_library(msg_conversion
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USES_CARTOGRAPHER
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USES_GLOG
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USES_PCL
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SRCS
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msg_conversion.cc
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HDRS
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msg_conversion.h
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DEPENDS
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time_conversion
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)
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google_library(node
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USES_CARTOGRAPHER
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USES_EIGEN
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USES_GLOG
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SRCS
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node.cc
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HDRS
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node.h
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DEPENDS
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map_builder_bridge
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msg_conversion
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node_options
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sensor_bridge
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tf_bridge
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time_conversion
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)
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google_library(node_options
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USES_CARTOGRAPHER
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USES_GLOG
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SRCS
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node_options.cc
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HDRS
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node_options.h
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DEPENDS
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sensor_bridge
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)
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google_library(occupancy_grid
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USES_CARTOGRAPHER
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USES_GLOG
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SRCS
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occupancy_grid.cc
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HDRS
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occupancy_grid.h
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DEPENDS
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node_options
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time_conversion
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)
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google_library(ros_log_sink
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USES_GLOG
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SRCS
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ros_log_sink.cc
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HDRS
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ros_log_sink.h
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)
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google_library(sensor_bridge
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USES_CARTOGRAPHER
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SRCS
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sensor_bridge.cc
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HDRS
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sensor_bridge.h
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DEPENDS
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msg_conversion
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tf_bridge
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time_conversion
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)
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google_library(tf_bridge
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USES_CARTOGRAPHER
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SRCS
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tf_bridge.cc
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HDRS
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tf_bridge.h
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DEPENDS
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msg_conversion
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time_conversion
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)
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google_library(time_conversion
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USES_CARTOGRAPHER
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SRCS
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time_conversion.cc
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HDRS
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time_conversion.h
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)
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google_library(urdf_reader
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USES_CARTOGRAPHER
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SRCS
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urdf_reader.cc
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HDRS
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urdf_reader.h
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DEPENDS
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msg_conversion
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)
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google_test(configuration_files_test
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USES_CARTOGRAPHER
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SRCS
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configuration_files_test.cc
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DEPENDS
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node_options
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)
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google_test(time_conversion_test
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USES_CARTOGRAPHER
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SRCS
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||||
time_conversion_test.cc
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||||
DEPENDS
|
||||
time_conversion
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)
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# Copyright 2016 The Cartographer Authors
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#
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||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# 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
|
||||
# limitations under the License.
|
||||
|
||||
google_binary(cartographer_assets_writer
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USES_CARTOGRAPHER
|
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USES_GFLAGS
|
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USES_GLOG
|
||||
SRCS
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||||
assets_writer_main.cc
|
||||
DEPENDS
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||||
bag_reader
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msg_conversion
|
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time_conversion
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urdf_reader
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)
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|
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google_binary(cartographer_node
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USES_CARTOGRAPHER
|
||||
USES_GFLAGS
|
||||
SRCS
|
||||
node_main.cc
|
||||
DEPENDS
|
||||
node
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||||
ros_log_sink
|
||||
)
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||||
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||||
install(TARGETS cartographer_node
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|
@ -196,15 +35,8 @@ install(TARGETS cartographer_assets_writer
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|||
)
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||||
|
||||
google_binary(cartographer_offline_node
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||||
USES_CARTOGRAPHER
|
||||
USES_GFLAGS
|
||||
SRCS
|
||||
offline_node_main.cc
|
||||
DEPENDS
|
||||
bag_reader
|
||||
node
|
||||
ros_log_sink
|
||||
urdf_reader
|
||||
)
|
||||
|
||||
install(TARGETS cartographer_offline_node
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||||
|
|
|
@ -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_subdirectory("cartographer_rviz")
|
||||
|
||||
# Create an empty file for the shared library we require for RViz.
|
||||
set(DUMMY_SOURCE ${CMAKE_CURRENT_BINARY_DIR}/empty.cc)
|
||||
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"
|
||||
${ALL_LIBRARIES}
|
||||
"-Wl,--no-whole-archive"
|
||||
# Add the binary directory first, so that port.h is included after it has
|
||||
# been generated.
|
||||
target_include_directories(${PROJECT_NAME} PUBLIC
|
||||
$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
|
||||
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
|
||||
$<INSTALL_INTERFACE:include>
|
||||
)
|
||||
|
||||
install(TARGETS cartographer_rviz_submaps_visualization
|
||||
target_include_directories(${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}
|
||||
|
|
|
@ -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
|
||||
)
|
|
@ -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">
|
||||
|
|
Loading…
Reference in New Issue