Fix/cmake cleanup (autowarefoundation#1156)

* Initial Cleanup * fixed also for indigo * kf cjeck * Fix road wizard * Added travis ci * Trigger CI * Fixes to cv_tracker and lidar_tracker cmake * Fix kitti player dependencies * Removed unnecessary dependencies * messages fixing for can * Update build script travis * Travis Path * Travis Paths fix * Travis test * Eigen checks * removed unnecessary dependencies * Eigen Detection * Job number reduced * Eigen3 more fixes * More Eigen3 * Even more Eigen * find package cmake modules included * More fixes to cmake modules * Removed non ros dependency * Enable industrial_ci for indidog and kinetic * Wrong install command * fix rviz_plugin install * FastVirtualScan fix * Fix Qt5 Fastvirtualscan * Fixed qt5 system dependencies for rosdep * NDT TKU Fix catkin not pacakged * Fixes from industrial_ci
NuronLabs · Apr 17, 2018 · 1a332a4 · 1a332a4
1 parent 9a5c9a9
commit 1a332a4
Show file tree

Hide file tree

Showing 93 changed files with 2,540 additions and 2,654 deletions.
diff --git a/.travis.yml b/.travis.yml
@@ -0,0 +1,62 @@
+# Use ubuntu trusty (14.04) with sudo privileges.
+dist: trusty
+sudo: required
+language:
+  - generic
+cache:
+  - apt
+
+env:
+  global:
+    - ROS_DISTRO=indigo
+    - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
+    - CI_SOURCE_PATH=$(pwd)
+    - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
+    - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
+    # Set the python path manually to include /usr/-/python2.7/dist-packages
+    # as this is where apt-get installs python packages.
+    - PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
+
+# Install system dependencies, and Autoware pre requisites (non-ros)
+before_install:
+  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
+  - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+  # Autoware pre requisites
+  - sudo apt-get install -y libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev software-properties-common libyaml-cpp-dev python-flask python-requests libeigen3-dev
+  - sudo add-apt-repository ppa:mosquitto-dev/mosquitto-ppa -y
+  - sudo apt-get update -qq
+  - sudo apt-get install -y libmosquitto-dev python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin
+  - source /opt/ros/$ROS_DISTRO/setup.bash
+  - sudo rosdep init
+  - rosdep update
+
+# Create a catkin workspace with the package under integration.
+install:
+  - cd ros/src
+  - catkin_init_workspace
+  - cd ..
+
+# Install all ros dependencies, using wstool first and rosdep second.
+# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
+before_script:
+  # source dependencies: install using wstool.
+  - cd src
+  - wstool init
+  - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
+  - wstool up
+  # package depdencies: install using rosdep.
+  - cd ..
+  - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+
+# Compile and test (mark the build as failed if any step fails). If the
+# CATKIN_OPTIONS file exists, use it as an argument to catkin_make, for example
+# to blacklist certain packages.
+#
+# NOTE on testing: `catkin_make run_tests` will show the output of the tests
+# (gtest, nosetest, etc..) but always returns 0 (success) even if a test
+# fails. Running `catkin_test_results` aggregates all the results and returns
+# non-zero when a test fails (which notifies Travis the build failed).
+script:
+  - catkin_make clean
+  - source devel/setup.bash
+  - catkin_make -j4
diff --git a/ros/src/computing/perception/detection/lib/fusion/package.xml b/ros/src/computing/perception/detection/lib/fusion/package.xml
@@ -7,10 +7,8 @@
   <license>BSD</license>
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roscpp</build_depend>
-  <build_depend>dpm</build_depend>
   <build_depend>autoware_msgs</build_depend>
   <run_depend>roscpp</run_depend>
-  <run_depend>dpm</run_depend>
   <run_depend>autoware_msgs</run_depend>
   <export>
   </export>

diff --git a/ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt b/ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt
@@ -1,32 +1,24 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(kf)
-execute_process(
-  COMMAND rosversion -d
-  OUTPUT_VARIABLE ROS_VERSION
-  OUTPUT_STRIP_TRAILING_WHITESPACE
-)
+project(kf_lib)
 
-if ("${ROS_VERSION}" MATCHES "(indigo|jade)")
 find_package(catkin REQUIRED COMPONENTS
-  cv_bridge
-  image_transport
-  roscpp
-  sensor_msgs
-  std_msgs
-  autoware_msgs
-)
+        cv_bridge
+        image_transport
+        roscpp
+        sensor_msgs
+        std_msgs
+        autoware_msgs
+        )
 
 find_package(OpenCV REQUIRED)
 
 ###################################
 ## catkin specific configuration ##
 ###################################
 catkin_package(
-#  INCLUDE_DIRS include
-  LIBRARIES kf
-#  CATKIN_DEPENDS other_catkin_pkg
-#  DEPENDS system_lib
-  CATKIN_DEPENDS autoware_msgs
+        CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs autoware_msgs
+        INCLUDE_DIRS include
+        LIBRARIES kf_lib
 )
 
 ###########
@@ -36,17 +28,16 @@ catkin_package(
 set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}")
 
 include_directories(${catkin_INCLUDE_DIRS}
- include)
+        include)
 
 ## Declare a cpp library
-add_library(kf
-   src/kf.cpp
-)
+add_library(kf_lib
+        src/kf_lib.cpp
+        )
 
-target_link_libraries(kf
-  ${catkin_LIBRARIES}
-  ${OpenCV_LIBS}
-)
+target_link_libraries(kf_lib
+        ${catkin_LIBRARIES}
+        ${OpenCV_LIBS}
+        )
 
-add_dependencies(kf ${catkin_EXPORTED_TARGETS})
-endif()
+add_dependencies(kf_lib ${catkin_EXPORTED_TARGETS})
diff --git a/ros/src/computing/perception/detection/lib/image/kf/package.xml b/ros/src/computing/perception/detection/lib/image/kf/package.xml
@@ -1,18 +1,29 @@
 <?xml version="1.0"?>
 <package>
-  <name>kf</name>
-  <version>1.6.3</version>
-  <description>The kf package</description>
-  <maintainer email="abrahammonrroy@yahoo.com">Abraham</maintainer>
-  <license>BSD</license>
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>dpm</build_depend>
-  <build_depend>cv_bridge</build_depend>
-  <build_depend>image_transport</build_depend>
-  <build_depend>autoware_msgs</build_depend>
-  <run_depend>cv_bridge</run_depend>
-  <run_depend>image_transport</run_depend>
-  <run_depend>autoware_msgs</run_depend>
-  <export>
-  </export>
+    <name>kf_lib</name>
+    <version>1.6.3</version>
+    <description>The kf package</description>
+    <maintainer email="abrahammonrroy@yahoo.com">Abraham</maintainer>
+    <license>BSD</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+
+    <build_depend>cv_bridge</build_depend>
+    <build_depend>image_transport</build_depend>
+    <build_depend>roscpp</build_depend>
+    <build_depend>sensor_msgs</build_depend>
+    <build_depend>std_msgs</build_depend>
+    <build_depend>image_transport</build_depend>
+    <build_depend>autoware_msgs</build_depend>
+
+    <run_depend>cv_bridge</run_depend>
+    <run_depend>image_transport</run_depend>
+    <run_depend>autoware_msgs</run_depend>
+    <run_depend>roscpp</run_depend>
+    <run_depend>sensor_msgs</run_depend>
+    <run_depend>std_msgs</run_depend>
+    <run_depend>image_transport</run_depend>
+
+    <export>
+    </export>
 </package>
diff --git a/...ception/detection/lib/image/kf/src/kf.cpp → ...ion/detection/lib/image/kf/src/kf_lib.cpp b/...ception/detection/lib/image/kf/src/kf.cpp → ...ion/detection/lib/image/kf/src/kf_lib.cpp
@@ -958,7 +958,7 @@ void init_params()
 
 int kf_main(int argc, char* argv[])
 {
-	ros::init(argc, argv, "kf");
+	ros::init(argc, argv, "kf_lib");
 	ros::NodeHandle n;
 	ros::NodeHandle private_nh("~");
 

diff --git a/ros/src/computing/perception/detection/lib/image/librcnn/CMakeLists.txt b/ros/src/computing/perception/detection/lib/image/librcnn/CMakeLists.txt
@@ -3,72 +3,70 @@ project(librcnn)
 
 include(FindPkgConfig)
 find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  sensor_msgs
-  std_msgs
-)
+        roscpp
+        sensor_msgs
+        std_msgs
+        )
 FIND_PACKAGE(CUDA)
 find_package(OpenCV REQUIRED)
 
-pkg_check_modules(HDF5 hdf5)
-
 ###########################################CAFFE NEEDS TO BE PREVIOUSLY COMPILED####################
 ##############DONT FORGET TO INSTALL fastrcnn's caffe dynamic libraries to /usr/local/lib	#### 
-set(CAFFE_PATH "$ENV{HOME}/fast-rcnn/caffe-fast-rcnn/distribute")				####
+set(CAFFE_PATH "$ENV{HOME}/fast-rcnn/caffe-fast-rcnn/distribute")    ####
 ####################################################################################################
 
-if(EXISTS "${CAFFE_PATH}")
+if (EXISTS "${CAFFE_PATH}")
 
-###################################
-## catkin specific configuration ##
-###################################
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES librcnn
-)
+    ###################################
+    ## catkin specific configuration ##
+    ###################################
+    catkin_package(
+            INCLUDE_DIRS include
+            LIBRARIES librcnn
+    )
 
-###########
-## Build ##
-###########
+    ###########
+    ## Build ##
+    ###########
 
-set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}")
+    set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}")
 
-IF(CUDA_FOUND)
-  INCLUDE_DIRECTORIES(${CUDA_INCLUDE_DIRS})
-ENDIF()
+    IF (CUDA_FOUND)
+        INCLUDE_DIRECTORIES(${CUDA_INCLUDE_DIRS})
+    ENDIF ()
 
-IF(HDF5_FOUND)
-  INCLUDE_DIRECTORIES(${HDF5_INCLUDE_DIRS})
-ENDIF()
+    IF (HDF5_FOUND)
+        INCLUDE_DIRECTORIES(${HDF5_INCLUDE_DIRS})
+    ENDIF ()
 
-## Declare a cpp library
-add_library(librcnn
-   src/rcnn_detector.cpp
-)
+    ## Declare a cpp library
+    add_library(librcnn
+            src/rcnn_detector.cpp
+            )
 
-TARGET_INCLUDE_DIRECTORIES( librcnn PRIVATE
-  include
-  ${catkin_INCLUDE_DIRS}
-  ${CAFFE_PATH}/include
-)
+    TARGET_INCLUDE_DIRECTORIES(librcnn PRIVATE
+            include
+            ${catkin_INCLUDE_DIRS}
+            ${CAFFE_PATH}/include
+            )
 
-target_link_libraries(librcnn
-  ${catkin_LIBRARIES}
-  ${OpenCV_LIBS}
-  glog
-  ${CAFFE_PATH}/lib/libcaffe.so
-)
+    target_link_libraries(librcnn
+            ${catkin_LIBRARIES}
+            ${OpenCV_LIBS}
+            glog
+            ${CAFFE_PATH}/lib/libcaffe.so
+            )
 
-#############
-## Install ##
-#############
+    #############
+    ## Install ##
+    #############
 
-INSTALL(
-  DIRECTORY include
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h"
-)
+    INSTALL(
+            DIRECTORY include
+            DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+            FILES_MATCHING PATTERN "*.h"
+    )
 
-else()
-  message("'FastRCNN/Caffe ' are not installed. 'librcnn' will not be built.")
-endif()
+else ()
+    message("'FastRCNN/Caffe ' are not installed. 'librcnn' will not be built.")
+endif ()