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[ROS2] grid_map_demos port 1/3 #259

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merged 10 commits into from
Sep 29, 2020
Merged

[ROS2] grid_map_demos port 1/3 #259

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7e21096
mostly linted and removed COLCON_IGNORE
Marwan99 Jul 21, 2020
118ef1c
simple_demo and tutorial_demo port
Marwan99 Aug 30, 2020
ad6e9ea
image_to_gridmap_demo and iterators_demo port
Marwan99 Sep 12, 2020
6f436fe
more linting
Marwan99 Sep 12, 2020
da1c418
visualizations fix - using one shared node accross all visualizations…
Marwan99 Sep 14, 2020
04c147e
minor fixes and formatting
Marwan99 Sep 14, 2020
192ca75
renamed node_ptr to nodePtr and removed unwanted commented code
Marwan99 Sep 25, 2020
fadac84
Merge branch 'ros2' of github.com:ANYbotics/grid_map into demo-port
Marwan99 Sep 25, 2020
17f4f87
changed grid_map_ros lib to be shared
Marwan99 Sep 27, 2020
ac8aca7
added eigen to include dirs
Marwan99 Sep 29, 2020
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340 changes: 185 additions & 155 deletions grid_map_demos/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,49 +1,39 @@
cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 3.5.0)
project(grid_map_demos)

set(CMAKE_CXX_STANDARD 11)

## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
roscpp
grid_map_core
grid_map_ros
grid_map_cv
grid_map_filters
grid_map_loader
grid_map_msgs
grid_map_octomap
grid_map_rviz_plugin
grid_map_visualization
geometry_msgs
sensor_msgs
cv_bridge
octomap_msgs
filters
)
## Find ament_cmake macros and libraries
find_package(ament_cmake REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(filters REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(grid_map_cmake_helpers REQUIRED)
find_package(grid_map_core REQUIRED)
find_package(grid_map_ros REQUIRED)
find_package(grid_map_cv REQUIRED)
# find_package(grid_map_filters REQUIRED)
# find_package(grid_map_loader REQUIRED)
find_package(grid_map_msgs REQUIRED)
find_package(grid_map_octomap REQUIRED)
find_package(grid_map_ros REQUIRED)
# find_package(grid_map_rviz_plugin REQUIRED)
# find_package(grid_map_visualization REQUIRED)
find_package(OCTOMAP REQUIRED)
find_package(octomap_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)

find_package(OpenCV REQUIRED
COMPONENTS
opencv_highgui
CONFIG
)

find_package(octomap REQUIRED)

###################################
## 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 ${PROJECT_NAME}
CATKIN_DEPENDS
# DEPENDS system_lib
grid_map_package()

set(dependencies
rclcpp
grid_map_ros
grid_map_msgs
)

###########
Expand All @@ -54,9 +44,8 @@ catkin_package(
## Your package locations should be listed before other locations
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
${OCTOMAP_INCLUDE_DIR}
# ${EIGEN3_INCLUDE_DIR}
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Dont you still need these?

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These includes seemed redundant, things building and running fine as is (locally at least atm). octomap already included when depending on grid_map_octomap and same for eigen as well (not sure which package off the top of my head). Will delete them in the final grid_map_demos port to confirm that nothing needs, if thats okay.

# ${OCTOMAP_INCLUDE_DIR}
)

## Declare a cpp executable
Expand All @@ -82,143 +71,184 @@ add_executable(
src/ImageToGridmapDemo.cpp
)

add_executable(
octomap_to_gridmap_demo
src/octomap_to_gridmap_demo_node.cpp
src/OctomapToGridmapDemo.cpp
)

add_executable(
move_demo
src/move_demo_node.cpp
)

add_executable(
iterator_benchmark
src/iterator_benchmark.cpp
)

add_executable(
opencv_demo
src/opencv_demo_node.cpp
)

add_executable(
resolution_change_demo
src/resolution_change_demo_node.cpp
)

add_executable(
filters_demo
src/filters_demo_node.cpp
src/FiltersDemo.cpp
)

add_executable(
normal_filter_comparison_demo
src/normal_filter_comparison_node.cpp
)

add_executable(
interpolation_demo
src/interpolation_demo_node.cpp
src/InterpolationDemo.cpp
)
# add_executable(
# octomap_to_gridmap_demo
# src/octomap_to_gridmap_demo_node.cpp
# src/OctomapToGridmapDemo.cpp
# )

# add_executable(
# move_demo
# src/move_demo_node.cpp
# )

# add_executable(
# iterator_benchmark
# src/iterator_benchmark.cpp
# )

# add_executable(
# opencv_demo
# src/opencv_demo_node.cpp
# )

# add_executable(
# resolution_change_demo
# src/resolution_change_demo_node.cpp
# )

# add_executable(
# filters_demo
# src/filters_demo_node.cpp
# src/FiltersDemo.cpp
# )

# add_executable(
# normal_filter_comparison_demo
# src/normal_filter_comparison_node.cpp
# )

# add_executable(
# interpolation_demo
# src/interpolation_demo_node.cpp
# src/InterpolationDemo.cpp
# )

## Specify libraries to link a library or executable target against
target_link_libraries(
ament_target_dependencies(
simple_demo
${catkin_LIBRARIES}
"rclcpp"
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Use dependencies these are all the same

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I was planning on using dependencies once I all the nodes are ported to know all the common dependencies. So this should done in an upcoming PR, is that okay.

"grid_map_ros"
"grid_map_msgs"
)

target_link_libraries(
ament_target_dependencies(
tutorial_demo
${catkin_LIBRARIES}
"rclcpp"
"grid_map_ros"
"grid_map_msgs"
)

target_link_libraries(
ament_target_dependencies(
iterators_demo
${catkin_LIBRARIES}
)

target_link_libraries(
image_to_gridmap_demo
${catkin_LIBRARIES}
)

target_link_libraries(
octomap_to_gridmap_demo
${catkin_LIBRARIES}
${OCTOMAP_LIBRARIES}
)

target_link_libraries(
move_demo
${catkin_LIBRARIES}
)

target_link_libraries(
iterator_benchmark
${catkin_LIBRARIES}
)

target_link_libraries(
opencv_demo
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
)

target_link_libraries(
resolution_change_demo
${catkin_LIBRARIES}
)

target_link_libraries(
filters_demo
${catkin_LIBRARIES}
)

target_link_libraries(
normal_filter_comparison_demo
${catkin_LIBRARIES}
)

target_link_libraries(
interpolation_demo
${catkin_LIBRARIES}
)
"rclcpp"
"grid_map_ros"
"grid_map_msgs"
)

ament_target_dependencies(image_to_gridmap_demo
"rclcpp"
"grid_map_ros"
"grid_map_msgs"
)

# ament_target_dependencies(
# octomap_to_gridmap_demo
# ${dependencies}
# ${OCTOMAP_LIBRARIES}
# )

# ament_target_dependencies(
# move_demo
# )

# ament_target_dependencies(
# iterator_benchmark
# ${dependencies}
# )

# ament_target_dependencies(
# opencv_demo
# ${dependencies}
# ${OpenCV_LIBRARIES}
# )

# ament_target_dependencies(
# resolution_change_demo
# ${dependencies}
# )

# ament_target_dependencies(
# filters_demo
# ${dependencies}
# )

# ament_target_dependencies(
# normal_filter_comparison_demo
# ${dependencies}
# )

# ament_target_dependencies(
# interpolation_demo
# ${dependencies}
# )

#############
## Install ##
#############

catkin_install_python(
PROGRAMS scripts/image_publisher.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Mark executables and/or libraries for installation
install(
TARGETS
filters_demo
TARGETS
# filters_demo
image_to_gridmap_demo
interpolation_demo
iterator_benchmark
# interpolation_demo
# iterator_benchmark
iterators_demo
move_demo
normal_filter_comparison_demo
octomap_to_gridmap_demo
opencv_demo
resolution_change_demo
# move_demo
# normal_filter_comparison_demo
# octomap_to_gridmap_demo
# opencv_demo
# resolution_change_demo
simple_demo
tutorial_demo
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME}
)

# Mark other files for installation
install(
DIRECTORY config data doc launch rviz scripts
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
DIRECTORY config data doc launch rviz
DESTINATION share/${PROJECT_NAME}
)

# Install python scripts
install(
PROGRAMS scripts/image_publisher.py
DESTINATION lib/${PROJECT_NAME}
)

#############
## Testing ##
#############

if(BUILD_TESTING)
# Linting is setup this way to add a filter
# to ament_cpplint to ignore the lack of
# copyright messages at the top of files.
# Copyright messages are being checked for by both
# ament_cmake_cpplint & ament_cmake_copyright.

find_package(ament_lint_auto REQUIRED)
find_package(ament_lint_auto QUIET)
if(ament_lint_auto_FOUND)
# exclude copyright checks
list(APPEND AMENT_LINT_AUTO_EXCLUDE
ament_cmake_cpplint
ament_cmake_copyright
)
ament_lint_auto_find_test_dependencies()

# run cpplint without copyright filter
find_package(ament_cmake_cpplint)
ament_cpplint(
FILTERS -legal/copyright
)
endif()
ament_lint_auto_find_test_dependencies()
endif()

ament_export_include_directories(include ${OCTOMAP_INCLUDE_DIRS})
# ament_export_libraries(${OCTOMAP_LIBRARIES})
ament_package()
Empty file removed grid_map_demos/COLCON_IGNORE
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