The great layout change

.github/workflows/ci_pipeline.yml

@@ -9,37 +9,22 @@ on:
 jobs:
   build-and-test:
     runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: galactic
     steps:
       - uses: actions/checkout@v3
 
-      - name: Setup cmake
-        uses: jwlawson/actions-setup-cmake@v1.13
-        with:
-          cmake-version: '3.16.x'
+      - name: Install clang-tidy
+        run: sudo apt update && sudo apt install clang-tidy-6.0 -y
 
-      - name: Install conan
-        uses: turtlebrowser/get-conan@v1.1
+      - name: Setup ROS
+        uses: ros-tooling/setup-ros@v0.2
         with:
-          version: 1.53.0
-
-      - name: Build
-        run: ./tools/build.sh
-
-      - name: Test
-        run: ./tools/test.sh
+          required-ros-distributions: ${{ env.ROS_DISTRO }}
 
-  lint:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v3
-
-      - name: Install conan
-        uses: turtlebrowser/get-conan@v1.1
+      - name: Build and test
+        uses: ros-tooling/action-ros-ci@v0.2
         with:
-          version: 1.53.0
-
-      - name: Setup clang-format
-        run: sudo apt update && sudo apt install -y clang-format
-
-      - name: Lint
-        run: ./tools/lint.sh
+          package-name: beluga
+          target-ros2-distro:  ${{ env.ROS_DISTRO }}
+          import-token: ${{ secrets.GITHUB_TOKEN }}

.clang-tidy → beluga/.clang-tidy

@@ -27,8 +27,6 @@ Checks: >
   -bugprone-easily-swappable-parameters,
   -bugprone-implicit-widening-of-multiplication-result
 
-WarningsAsErrors: "*"
-
 HeaderFilterRegex: "*"
 
 CheckOptions:

beluga/CMakeLists.txt

@@ -1,36 +1,61 @@
-include(cmake/conan.cmake)
+cmake_minimum_required(VERSION 3.16)
 
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_BINARY_DIR})
-list(APPEND CMAKE_PREFIX_PATH ${CMAKE_CURRENT_BINARY_DIR})
+project(beluga VERSION 1.0)
 
-conan_cmake_configure(
-  REQUIRES   abseil/20220623.0 range-v3/0.12.0
-  GENERATORS cmake_find_package)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
-conan_cmake_autodetect(settings)
+if(NOT CMAKE_BUILD_TYPE)
+  message(STATUS "Setting build type to 'Release' as none was specified.")
+  set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Build type" FORCE)
+endif()
 
-conan_cmake_install(
-  PATH_OR_REFERENCE .
-  BUILD missing
-  REMOTE conancenter
-  SETTINGS ${settings})
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  # TODO(nahuel): Add '-Wpedantic -Wconversion' and fix the code.
+  add_compile_options(-Wall -Werror -Wextra)
+endif()
 
-include(FetchContent)
+find_package(ament_cmake REQUIRED)
+find_package(range-v3 REQUIRED)
 
-FetchContent_Declare(
-  googletest
-  GIT_REPOSITORY https://github.com/google/googletest.git
-  GIT_TAG        release-1.11.0)
+add_library(${PROJECT_NAME} INTERFACE)
+target_include_directories(${PROJECT_NAME} INTERFACE
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+ament_target_dependencies(${PROJECT_NAME} range-v3)
+target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_17)
 
-set(BENCHMARK_ENABLE_TESTING OFF CACHE BOOL "Disable testing of the benchmark library.")
+add_executable(clang_tidy_findable)
+target_sources(clang_tidy_findable PRIVATE src/clang_tidy_findable.cpp)
+target_link_libraries(clang_tidy_findable PRIVATE ${PROJECT_NAME})
 
-FetchContent_Declare(
-  googlebenchmark
-  GIT_REPOSITORY https://github.com/google/benchmark.git
-  GIT_TAG        v1.7.0)
+if(BUILD_TESTING)
+  message(STATUS "Build testing enabled.")
 
-FetchContent_MakeAvailable(
-  googletest
-  googlebenchmark)
+  find_package(ament_cmake_clang_format REQUIRED)
+  ament_clang_format(CONFIG_FILE .clang-format)
 
-add_subdirectory(core)
+  find_package(ament_cmake_clang_tidy REQUIRED)
+  ament_clang_tidy(${CMAKE_BINARY_DIR} CONFIG_FILE .clang-tidy)
+
+  enable_testing()
+  add_subdirectory(test)
+endif()
+
+install(
+  TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+ament_export_include_directories("include/${PROJECT_NAME}")
+
+ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(range-v3)
+
+ament_package()
+
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)