Use Cartographer's cmake functions for ROS projects. (#100)

- Move sources from <project>/src into project/project and fix includes. - Add autogenerated CMakeFiles for ROS projects. The python script is not yet fully updated to be used for keeping the files updated without manual intervention though. - Build everything with -fPIC, so we can create shared libraries.
2016-10-12 17:50:37 +02:00 · 2016-10-12 17:50:37 +02:00 · be7ce01463
parent 0e8d219eef
commit be7ce01463
29 changed files with 253 additions and 230 deletions
--- a/cartographer_ros/CMakeLists.txt
+++ b/cartographer_ros/CMakeLists.txt
@ -28,26 +28,12 @@ set(PACKAGE_DEPENDENCIES
  tf2_ros
 )

-set(CMAKE_CXX_FLAGS "-pthread -std=c++11 -Wreorder")
-
-if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
-  set(CMAKE_BUILD_TYPE Release)
-endif()
-
-if(CMAKE_BUILD_TYPE STREQUAL "Release")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -DNDEBUG")
-elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -g -DNDEBUG")
-elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
-  message(FATAL_ERROR "Cartographer is too slow to be useful in debug mode.")
-else()
-  message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
-endif()
-
-message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
+find_package(cartographer REQUIRED)
+include("${CARTOGRAPHER_CMAKE_DIR}/functions.cmake")
+google_initialize_cartographer_project()
+google_enable_testing()

 find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES})
-include_directories(${catkin_INCLUDE_DIRS})

 catkin_package(
  CATKIN_DEPENDS
@ -56,84 +42,16 @@ catkin_package(
 )

 find_package(PCL REQUIRED COMPONENTS common io)
-include_directories(${PCL_INCLUDE_DIRS})
-link_directories(${PCL_LIBRARY_DIRS})
-add_definitions(${PCL_DEFINITIONS})
-
 find_package(Eigen3 REQUIRED)
-include_directories(${EIGEN_INCLUDE_DIRS})
-
-find_package(cartographer REQUIRED)
-include_directories(${CARTOGRAPHER_INCLUDE_DIRS})
-link_directories(${CARTOGRAPHER_LIBRARY_DIRS})
-
 find_package(ZLIB REQUIRED)
-include_directories(${ZLIB_INCLUDE_DIRS})
+find_package(Boost REQUIRED COMPONENTS system iostreams)

-find_package(Boost REQUIRED
- COMPONENTS
- system
- iostreams
-)
-add_definitions(${BOOST_DEFINITIONS})
-include_directories(${Boost_INCLUDE_DIRS})
-link_directories(${Boost_LIBRARY_DIRS})
-
-add_executable(cartographer_node
-  src/cartographer_node_main.cc
-  src/map_writer.cc
-  src/map_writer.h
-  src/msg_conversion.cc
-  src/msg_conversion.h
-  src/node_options.cc
-  src/node_options.h
-  src/occupancy_grid.cc
-  src/occupancy_grid.h
-  src/ros_log_sink.cc
-  src/ros_log_sink.h
-  src/sensor_bridge.cc
-  src/sensor_bridge.h
-  src/sensor_data.h
-  src/tf_bridge.cc
-  src/tf_bridge.h
-  src/time_conversion.cc
-  src/time_conversion.h
-)
-target_link_libraries(cartographer_node
-  ${CARTOGRAPHER_LIBRARIES}
-  ${PCL_LIBRARIES}
-  ${catkin_LIBRARIES}
-  gflags
-  yaml-cpp
-)
-add_dependencies(cartographer_node
-  ${catkin_EXPORTED_TARGETS}
-)
-
-catkin_add_gtest(time_conversion_test
-  src/time_conversion_test.cc
-  src/time_conversion.h
-  src/time_conversion.cc
-)
-target_link_libraries(time_conversion_test
-  ${CARTOGRAPHER_LIBRARIES}
-  ${GTEST_BOTH_LIBRARIES}
-  ${catkin_LIBRARIES}
-)
-add_dependencies(time_conversion_test
-  ${catkin_EXPORTED_TARGETS}
-)
+add_subdirectory("cartographer_ros")

 install(DIRECTORY launch urdf configuration_files
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )

-install(TARGETS cartographer_node
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
 install(PROGRAMS scripts/tf_remove_frames.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
--- a/cartographer_ros/cartographer_ros/CMakeLists.txt
+++ b/cartographer_ros/cartographer_ros/CMakeLists.txt
@ -0,0 +1,131 @@
+google_library(map_writer
+  USES_GLOG
+  USES_ROS
+  USES_YAMLCPP
+  SRCS
+    map_writer.cc
+  HDRS
+    map_writer.h
+)
+
+google_library(msg_conversion
+  USES_CARTOGRAPHER
+  USES_GLOG
+  USES_PCL
+  USES_ROS
+  SRCS
+    msg_conversion.cc
+  HDRS
+    msg_conversion.h
+  DEPENDS
+    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
+  USES_ROS
+  SRCS
+    occupancy_grid.cc
+  HDRS
+    occupancy_grid.h
+  DEPENDS
+    node_options
+    time_conversion
+)
+
+google_library(ros_log_sink
+  USES_GLOG
+  USES_ROS
+  SRCS
+    ros_log_sink.cc
+  HDRS
+    ros_log_sink.h
+)
+
+google_library(sensor_bridge
+  USES_CARTOGRAPHER
+  USES_ROS
+  SRCS
+    sensor_bridge.cc
+  HDRS
+    sensor_bridge.h
+  DEPENDS
+    msg_conversion
+    sensor_data
+    tf_bridge
+    time_conversion
+)
+
+google_library(sensor_data
+  USES_CARTOGRAPHER
+  HDRS
+    sensor_data.h
+)
+
+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
+  USES_ROS
+  SRCS
+    time_conversion.cc
+  HDRS
+    time_conversion.h
+)
+
+google_catkin_test(time_conversion_test
+  USES_CARTOGRAPHER
+  USES_ROS
+  SRCS
+    time_conversion_test.cc
+  DEPENDS
+    time_conversion
+)
+
+google_binary(cartographer_node
+  USES_CARTOGRAPHER
+  USES_EIGEN
+  USES_GFLAGS
+  USES_GLOG
+  USES_ROS
+  SRCS
+    node_main.cc
+  DEPENDS
+    map_writer
+    msg_conversion
+    node_options
+    occupancy_grid
+    ros_log_sink
+    sensor_bridge
+    sensor_data
+    tf_bridge
+    time_conversion
+)
+
+# TODO(hrapp): The update_cmakelists.py file will happy overwrite this.
+install(TARGETS cartographer_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
--- a/cartographer_ros/cartographer_ros/map_writer.cc
+++ b/cartographer_ros/cartographer_ros/map_writer.cc
@ -14,7 +14,7 @@
 * limitations under the License.
 */

-#include "map_writer.h"
+#include "cartographer_ros/map_writer.h"

 #include <fstream>

--- a/cartographer_ros/cartographer_ros/map_writer.h
+++ b/cartographer_ros/cartographer_ros/map_writer.h
--- a/cartographer_ros/cartographer_ros/msg_conversion.cc
+++ b/cartographer_ros/cartographer_ros/msg_conversion.cc
@ -14,13 +14,14 @@
 * limitations under the License.
 */

-#include "msg_conversion.h"
+#include "cartographer_ros/msg_conversion.h"

 #include "cartographer/common/port.h"
 #include "cartographer/common/time.h"
 #include "cartographer/sensor/proto/sensor.pb.h"
 #include "cartographer/transform/proto/transform.pb.h"
 #include "cartographer/transform/transform.h"
+#include "cartographer_ros/time_conversion.h"
 #include "geometry_msgs/Pose.h"
 #include "geometry_msgs/Quaternion.h"
 #include "geometry_msgs/Transform.h"
@ -34,8 +35,6 @@
 #include "sensor_msgs/MultiEchoLaserScan.h"
 #include "sensor_msgs/PointCloud2.h"

-#include "time_conversion.h"
-
 namespace cartographer_ros {

 namespace {
--- a/cartographer_ros/cartographer_ros/msg_conversion.h
+++ b/cartographer_ros/cartographer_ros/msg_conversion.h
--- a/cartographer_ros/cartographer_ros/node_main.cc
+++ b/cartographer_ros/cartographer_ros/node_main.cc
@ -46,6 +46,15 @@
 #include "cartographer/sensor/proto/sensor.pb.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/transform.h"
+#include "cartographer_ros/map_writer.h"
+#include "cartographer_ros/msg_conversion.h"
+#include "cartographer_ros/node_options.h"
+#include "cartographer_ros/occupancy_grid.h"
+#include "cartographer_ros/ros_log_sink.h"
+#include "cartographer_ros/sensor_bridge.h"
+#include "cartographer_ros/sensor_data.h"
+#include "cartographer_ros/tf_bridge.h"
+#include "cartographer_ros/time_conversion.h"
 #include "cartographer_ros_msgs/FinishTrajectory.h"
 #include "cartographer_ros_msgs/SubmapEntry.h"
 #include "cartographer_ros_msgs/SubmapList.h"
@ -62,16 +71,6 @@
 #include "tf2_ros/transform_broadcaster.h"
 #include "tf2_ros/transform_listener.h"

-#include "map_writer.h"
-#include "msg_conversion.h"
-#include "node_options.h"
-#include "occupancy_grid.h"
-#include "ros_log_sink.h"
-#include "sensor_bridge.h"
-#include "sensor_data.h"
-#include "tf_bridge.h"
-#include "time_conversion.h"
-
 DEFINE_string(configuration_directory, "",
              "First directory in which configuration files are searched, "
              "second is always the Cartographer installation to allow "
--- a/cartographer_ros/cartographer_ros/node_options.cc
+++ b/cartographer_ros/cartographer_ros/node_options.cc
@ -14,7 +14,7 @@
 * limitations under the License.
 */

-#include "node_options.h"
+#include "cartographer_ros/node_options.h"

 #include "glog/logging.h"

--- a/cartographer_ros/cartographer_ros/node_options.h
+++ b/cartographer_ros/cartographer_ros/node_options.h
@ -23,7 +23,7 @@
 #include "cartographer/common/port.h"
 #include "cartographer/mapping/map_builder.h"

-#include "sensor_bridge.h"
+#include "cartographer_ros/sensor_bridge.h"

 namespace cartographer_ros {

--- a/cartographer_ros/cartographer_ros/occupancy_grid.cc
+++ b/cartographer_ros/cartographer_ros/occupancy_grid.cc
@ -14,10 +14,9 @@
 * limitations under the License.
 */

-#include "occupancy_grid.h"
-
-#include "time_conversion.h"
+#include "cartographer_ros/occupancy_grid.h"

+#include "cartographer_ros/time_conversion.h"
 #include "glog/logging.h"

 namespace cartographer_ros {
--- a/cartographer_ros/cartographer_ros/occupancy_grid.h
+++ b/cartographer_ros/cartographer_ros/occupancy_grid.h
@ -20,8 +20,8 @@
 #include <vector>

 #include "cartographer/mapping/trajectory_node.h"
+#include "cartographer_ros/node_options.h"
 #include "nav_msgs/OccupancyGrid.h"
-#include "node_options.h"

 namespace cartographer_ros {

--- a/cartographer_ros/cartographer_ros/ros_log_sink.cc
+++ b/cartographer_ros/cartographer_ros/ros_log_sink.cc
@ -14,7 +14,7 @@
 * limitations under the License.
 */

-#include "ros_log_sink.h"
+#include "cartographer_ros/ros_log_sink.h"

 #include <chrono>
 #include <cstring>
--- a/cartographer_ros/cartographer_ros/ros_log_sink.h
+++ b/cartographer_ros/cartographer_ros/ros_log_sink.h
--- a/cartographer_ros/cartographer_ros/sensor_bridge.cc
+++ b/cartographer_ros/cartographer_ros/sensor_bridge.cc
@ -14,12 +14,11 @@
 * limitations under the License.
 */

-#include "sensor_bridge.h"
+#include "cartographer_ros/sensor_bridge.h"

 #include "cartographer/kalman_filter/pose_tracker.h"
-
-#include "msg_conversion.h"
-#include "time_conversion.h"
+#include "cartographer_ros/msg_conversion.h"
+#include "cartographer_ros/time_conversion.h"

 namespace cartographer_ros {

--- a/cartographer_ros/cartographer_ros/sensor_bridge.h
+++ b/cartographer_ros/cartographer_ros/sensor_bridge.h
@ -20,18 +20,17 @@
 #include "cartographer/mapping/sensor_collator.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/transform.h"
+#include "cartographer_ros/sensor_data.h"
+#include "cartographer_ros/tf_bridge.h"
 #include "geometry_msgs/Transform.h"
 #include "geometry_msgs/TransformStamped.h"
 #include "nav_msgs/OccupancyGrid.h"
 #include "nav_msgs/Odometry.h"
-#include "sensor_data.h"
 #include "sensor_msgs/Imu.h"
 #include "sensor_msgs/LaserScan.h"
 #include "sensor_msgs/MultiEchoLaserScan.h"
 #include "sensor_msgs/PointCloud2.h"

-#include "tf_bridge.h"
-
 namespace cartographer_ros {

 struct SensorBridgeOptions {
--- a/cartographer_ros/cartographer_ros/sensor_data.h
+++ b/cartographer_ros/cartographer_ros/sensor_data.h
--- a/cartographer_ros/cartographer_ros/tf_bridge.cc
+++ b/cartographer_ros/cartographer_ros/tf_bridge.cc
@ -16,8 +16,8 @@

 #include "cartographer/common/make_unique.h"

-#include "msg_conversion.h"
-#include "tf_bridge.h"
+#include "cartographer_ros/msg_conversion.h"
+#include "cartographer_ros/tf_bridge.h"

 namespace cartographer_ros {

--- a/cartographer_ros/cartographer_ros/tf_bridge.h
+++ b/cartographer_ros/cartographer_ros/tf_bridge.h
@ -22,7 +22,7 @@
 #include "cartographer/transform/rigid_transform.h"
 #include "tf2_ros/buffer.h"

-#include "time_conversion.h"
+#include "cartographer_ros/time_conversion.h"

 namespace cartographer_ros {

--- a/cartographer_ros/cartographer_ros/time_conversion.cc
+++ b/cartographer_ros/cartographer_ros/time_conversion.cc
@ -14,7 +14,7 @@
 * limitations under the License.
 */

-#include "time_conversion.h"
+#include "cartographer_ros/time_conversion.h"

 #include "cartographer/common/time.h"
 #include "ros/ros.h"
--- a/cartographer_ros/cartographer_ros/time_conversion.h
+++ b/cartographer_ros/cartographer_ros/time_conversion.h
--- a/cartographer_ros/cartographer_ros/time_conversion_test.cc
+++ b/cartographer_ros/cartographer_ros/time_conversion_test.cc
@ -14,7 +14,7 @@
 * limitations under the License.
 */

-#include "time_conversion.h"
+#include "cartographer_ros/time_conversion.h"

 #include <chrono>

--- a/cartographer_ros_msgs/CMakeLists.txt
+++ b/cartographer_ros_msgs/CMakeLists.txt
@ -16,23 +16,9 @@ cmake_minimum_required(VERSION 2.8.3)

 project(cartographer_ros_msgs)

-set(CMAKE_CXX_FLAGS "-pthread -std=c++11 ${CMAKE_CXX_FLAGS}")
-
-if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
-  set(CMAKE_BUILD_TYPE Release)
-endif()
-
-if(CMAKE_BUILD_TYPE STREQUAL "Release")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -DNDEBUG")
-elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -g -DNDEBUG")
-elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
-  message(FATAL_ERROR "Cartographer is too slow to be useful in debug mode.")
-else()
-  message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
-endif()
-
-message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
+find_package(Cartographer REQUIRED)
+include("${CARTOGRAPHER_CMAKE_DIR}/functions.cmake")
+google_initialize_cartographer_project()

 find_package(catkin REQUIRED COMPONENTS geometry_msgs message_generation)

--- a/cartographer_ros_msgs/package.xml
+++ b/cartographer_ros_msgs/package.xml
@ -30,5 +30,7 @@

  <buildtool_depend>catkin</buildtool_depend>

+  <depend>cartographer</depend>
+
  <build_depend>message_generation</build_depend>
 </package>
--- a/cartographer_rviz/CMakeLists.txt
+++ b/cartographer_rviz/CMakeLists.txt
@ -23,26 +23,13 @@ set(PACKAGE_DEPENDENCIES
  rviz
 )

-set(CMAKE_CXX_FLAGS "-pthread -std=c++11 -Wreorder")
-
-if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
-  set(CMAKE_BUILD_TYPE Release)
-endif()
-
-if(CMAKE_BUILD_TYPE STREQUAL "Release")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -DNDEBUG")
-elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -g -DNDEBUG")
-elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
-  message(FATAL_ERROR "Cartographer is too slow to be useful in debug mode.")
-else()
-  message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
-endif()
-
-message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
+find_package(Cartographer REQUIRED)
+include("${CARTOGRAPHER_CMAKE_DIR}/functions.cmake")
+google_initialize_cartographer_project()

+find_package(Boost REQUIRED COMPONENTS system iostreams)
 find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES})
-include_directories(${catkin_INCLUDE_DIRS})
+find_package(ZLIB REQUIRED)

 catkin_package(
  CATKIN_DEPENDS
@ -50,13 +37,6 @@ catkin_package(
    ${PACKAGE_DEPENDENCIES}
 )

-find_package(cartographer REQUIRED)
-include_directories(${CARTOGRAPHER_INCLUDE_DIRS})
-link_directories(${CARTOGRAPHER_LIBRARY_DIRS})
-
-find_package(ZLIB REQUIRED)
-include_directories(${ZLIB_INCLUDE_DIRS})
-
 set(CMAKE_AUTOMOC ON)
 if(rviz_QT_VERSION VERSION_LESS "5")
  message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
@ -69,30 +49,23 @@ else()
 endif()
 add_definitions(-DQT_NO_KEYWORDS)

-find_package(Boost REQUIRED
- COMPONENTS
- system
- iostreams
-)
-add_definitions(${BOOST_DEFINITIONS})
-include_directories(${Boost_INCLUDE_DIRS})
-link_directories(${Boost_LIBRARY_DIRS})
+SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES")

-add_library(cartographer_rviz_submaps_visualization
-  src/drawable_submap.cc
-  src/drawable_submap.h
-  src/submaps_display.cc
-  src/submaps_display.h
+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
-  ${Boost_LIBRARIES}
-  ${CARTOGRAPHER_LIBRARIES}
  ${QT_LIBRARIES}
-  ${ZLIB_LIBRARIES}
-  ${catkin_LIBRARIES}
-)
-add_dependencies(cartographer_rviz_submaps_visualization
-  ${catkin_EXPORTED_TARGETS}
+  "-Wl,--whole-archive"
+  ${ALL_LIBRARIES}
+  "-Wl,--no-whole-archive"
 )

 install(TARGETS cartographer_rviz_submaps_visualization
--- a/cartographer_rviz/cartographer_rviz/CMakeLists.txt
+++ b/cartographer_rviz/cartographer_rviz/CMakeLists.txt
@ -0,0 +1,19 @@
+google_library(drawable_submap
+  USES_CARTOGRAPHER
+  USES_ROS
+  SRCS
+    drawable_submap.cc
+  HDRS
+    drawable_submap.h
+)
+
+google_library(submaps_display
+  USES_CARTOGRAPHER
+  USES_ROS
+  SRCS
+    submaps_display.cc
+  HDRS
+    submaps_display.h
+  DEPENDS
+    drawable_submap
+)
--- a/cartographer_rviz/cartographer_rviz/drawable_submap.cc
+++ b/cartographer_rviz/cartographer_rviz/drawable_submap.cc
@ -14,22 +14,22 @@
 * limitations under the License.
 */

-#include "drawable_submap.h"
-
-#include <OgreGpuProgramParams.h>
-#include <OgreImage.h>
-#include <cartographer/common/port.h>
-#include <cartographer_ros_msgs/SubmapQuery.h>
-#include <eigen_conversions/eigen_msg.h>
-#include <ros/ros.h>
-#include <Eigen/Core>
-#include <Eigen/Geometry>
+#include "cartographer_rviz/drawable_submap.h"

 #include <chrono>
 #include <future>
 #include <sstream>
 #include <string>

+#include "Eigen/Core"
+#include "Eigen/Geometry"
+#include "OgreGpuProgramParams.h"
+#include "OgreImage.h"
+#include "cartographer/common/port.h"
+#include "cartographer_ros_msgs/SubmapQuery.h"
+#include "eigen_conversions/eigen_msg.h"
+#include "ros/ros.h"
+
 namespace cartographer_rviz {

 namespace {
--- a/cartographer_rviz/cartographer_rviz/drawable_submap.h
+++ b/cartographer_rviz/cartographer_rviz/drawable_submap.h
@ -17,24 +17,24 @@
 #ifndef CARTOGRAPHER_RVIZ_SRC_DRAWABLE_SUBMAP_H_
 #define CARTOGRAPHER_RVIZ_SRC_DRAWABLE_SUBMAP_H_

-#include <OgreManualObject.h>
-#include <OgreMaterial.h>
-#include <OgreQuaternion.h>
-#include <OgreSceneManager.h>
-#include <OgreSceneNode.h>
-#include <OgreTexture.h>
-#include <OgreVector3.h>
-#include <cartographer/common/mutex.h>
-#include <cartographer_ros_msgs/SubmapEntry.h>
-#include <cartographer_ros_msgs/SubmapQuery.h>
-#include <ros/ros.h>
-#include <rviz/display_context.h>
-#include <rviz/frame_manager.h>
-#include <Eigen/Core>
-#include <Eigen/Geometry>
-
 #include <future>

+#include "Eigen/Core"
+#include "Eigen/Geometry"
+#include "OgreManualObject.h"
+#include "OgreMaterial.h"
+#include "OgreQuaternion.h"
+#include "OgreSceneManager.h"
+#include "OgreSceneNode.h"
+#include "OgreTexture.h"
+#include "OgreVector3.h"
+#include "cartographer/common/mutex.h"
+#include "cartographer_ros_msgs/SubmapEntry.h"
+#include "cartographer_ros_msgs/SubmapQuery.h"
+#include "ros/ros.h"
+#include "rviz/display_context.h"
+#include "rviz/frame_manager.h"
+
 namespace cartographer_rviz {

 // Contains all the information needed to render a submap onto the final
--- a/cartographer_rviz/cartographer_rviz/submaps_display.cc
+++ b/cartographer_rviz/cartographer_rviz/submaps_display.cc
@ -14,20 +14,20 @@
 * limitations under the License.
 */

-#include "submaps_display.h"
+#include "cartographer_rviz/submaps_display.h"

-#include <OgreResourceGroupManager.h>
-#include <cartographer/common/make_unique.h>
-#include <cartographer/common/mutex.h>
-#include <cartographer_ros_msgs/SubmapList.h>
-#include <cartographer_ros_msgs/SubmapQuery.h>
-#include <geometry_msgs/TransformStamped.h>
-#include <pluginlib/class_list_macros.h>
-#include <ros/package.h>
-#include <ros/ros.h>
-#include <rviz/display_context.h>
-#include <rviz/frame_manager.h>
-#include <rviz/properties/string_property.h>
+#include "OgreResourceGroupManager.h"
+#include "cartographer/common/make_unique.h"
+#include "cartographer/common/mutex.h"
+#include "cartographer_ros_msgs/SubmapList.h"
+#include "cartographer_ros_msgs/SubmapQuery.h"
+#include "geometry_msgs/TransformStamped.h"
+#include "pluginlib/class_list_macros.h"
+#include "ros/package.h"
+#include "ros/ros.h"
+#include "rviz/display_context.h"
+#include "rviz/frame_manager.h"
+#include "rviz/properties/string_property.h"

 namespace cartographer_rviz {

--- a/cartographer_rviz/cartographer_rviz/submaps_display.h
+++ b/cartographer_rviz/cartographer_rviz/submaps_display.h
@ -17,17 +17,16 @@
 #ifndef CARTOGRAPHER_RVIZ_SRC_SUBMAPS_DISPLAY_H_
 #define CARTOGRAPHER_RVIZ_SRC_SUBMAPS_DISPLAY_H_

-#include <cartographer/common/mutex.h>
-#include <cartographer/common/port.h>
-#include <cartographer_ros_msgs/SubmapList.h>
-#include <rviz/message_filter_display.h>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
-
 #include <memory>
 #include <vector>

-#include "drawable_submap.h"
+#include "cartographer/common/mutex.h"
+#include "cartographer/common/port.h"
+#include "cartographer_ros_msgs/SubmapList.h"
+#include "cartographer_rviz/drawable_submap.h"
+#include "rviz/message_filter_display.h"
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/transform_listener.h"

 namespace cartographer_rviz {