From 0453b6cd05e67738fe60d2b35e06db2292438f3c Mon Sep 17 00:00:00 2001 From: amc-nu Date: Tue, 13 Mar 2018 15:33:02 +0900 Subject: [PATCH 01/32] Initial Cleanup --- .../detection/lib/fusion/package.xml | 2 - .../detection/lib/image/kf/CMakeLists.txt | 47 +- .../detection/lib/image/kf/package.xml | 41 +- .../lib/image/kf/src/{kf.cpp => kf_lib.cpp} | 2 +- .../lib/image/librcnn/CMakeLists.txt | 100 ++- .../detection/lib/libvectormap/CMakeLists.txt | 58 +- .../lib/libvectormap/FindEigen.cmake | 87 +++ .../detection/lib/libvectormap/package.xml | 2 - .../packages/cv_tracker/CMakeLists.txt | 659 +++++++++--------- .../detection/packages/cv_tracker/package.xml | 55 +- .../packages/lidar_tracker/CMakeLists.txt | 290 ++++---- .../packages/road_wizard/CMakeLists.txt | 280 ++++---- .../detection/packages/viewers/package.xml | 34 +- .../lib/fast_pcl/ndt_cpu/CMakeLists.txt | 1 - .../lib/fast_pcl/ndt_cpu/package.xml | 1 - .../lib/fast_pcl/ndt_gpu/CMakeLists.txt | 1 - .../lib/fast_pcl/ndt_gpu/package.xml | 1 - .../lib/pcl_omp/registration/CMakeLists.txt | 52 +- .../lib/pcl_omp/registration/package.xml | 23 +- .../packages/ndt_localizer/CMakeLists.txt | 138 ++-- .../packages/ndt_localizer/package.xml | 44 +- .../libs/libamathutils/CMakeLists.txt | 4 +- .../decision/libs/libamathutils/package.xml | 2 +- .../decision/libs/libstate/CMakeLists.txt | 46 +- .../decision/libs/libstate/package.xml | 2 +- .../packages/decision_maker/CMakeLists.txt | 76 +- .../packages/decision_maker/package.xml | 63 +- .../packages/way_planner/CMakeLists.txt | 1 - .../ff_waypoint_follower/CMakeLists.txt | 1 - .../packages/lattice_planner/package.xml | 2 - .../packages/op_simulator/CMakeLists.txt | 23 +- .../motion/packages/op_simulator/package.xml | 2 - .../op_simulator_perception/CMakeLists.txt | 1 - ros/src/data/packages/pos_db/CMakeLists.txt | 57 +- .../data/packages/pos_db/FindLibSsh2.cmake | 30 + .../system/gazebo/catvehicle/CMakeLists.txt | 2 - ros/src/system/gazebo/catvehicle/package.xml | 5 - .../packages/data_preprocessor/package.xml | 90 +-- .../CMakeLists.txt | 43 +- 39 files changed, 1195 insertions(+), 1173 deletions(-) rename ros/src/computing/perception/detection/lib/image/kf/src/{kf.cpp => kf_lib.cpp} (99%) create mode 100644 ros/src/computing/perception/detection/lib/libvectormap/FindEigen.cmake create mode 100644 ros/src/data/packages/pos_db/FindLibSsh2.cmake diff --git a/ros/src/computing/perception/detection/lib/fusion/package.xml b/ros/src/computing/perception/detection/lib/fusion/package.xml index fb9dc8e6b01..505ad3b3a38 100644 --- a/ros/src/computing/perception/detection/lib/fusion/package.xml +++ b/ros/src/computing/perception/detection/lib/fusion/package.xml @@ -7,10 +7,8 @@ BSD catkin roscpp - dpm autoware_msgs roscpp - dpm autoware_msgs diff --git a/ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt b/ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt index 080df093a5a..58332176923 100644 --- a/ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt @@ -1,20 +1,14 @@ 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) @@ -22,11 +16,7 @@ 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 autoware_msgs ) ########### @@ -36,17 +26,16 @@ 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 index 2e41f265de6..9e99b3f3efe 100644 --- 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 @@ - kf - 1.6.3 - The kf package - Abraham - BSD - catkin - dpm - cv_bridge - image_transport - autoware_msgs - cv_bridge - image_transport - autoware_msgs - - + kf_lib + 1.6.3 + The kf package + Abraham + BSD + + catkin + + cv_bridge + image_transport + roscpp + sensor_msgs + std_msgs + image_transport + autoware_msgs + + cv_bridge + image_transport + autoware_msgs + roscpp + sensor_msgs + std_msgs + image_transport + + + diff --git a/ros/src/computing/perception/detection/lib/image/kf/src/kf.cpp b/ros/src/computing/perception/detection/lib/image/kf/src/kf_lib.cpp similarity index 99% rename from ros/src/computing/perception/detection/lib/image/kf/src/kf.cpp rename to ros/src/computing/perception/detection/lib/image/kf/src/kf_lib.cpp index 3330d7a4beb..0f86145a42c 100644 --- a/ros/src/computing/perception/detection/lib/image/kf/src/kf.cpp +++ b/ros/src/computing/perception/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 index 4c6ccfee9b0..0cc4f8785bb 100644 --- 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 () diff --git a/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt b/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt index 994f68bc621..e3d09aad078 100644 --- a/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt @@ -1,25 +1,14 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 2.8.12) project(libvectormap) -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS - vector_map - ) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) -find_package(Eigen3 QUIET) -if(NOT EIGEN3_FOUND) - # Fallback to cmake_modules - find_package(cmake_modules REQUIRED) - find_package(Eigen REQUIRED) - set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) - set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only - # Possibly map additional variables to the EIGEN3_ prefix. + vector_map + ) + +if(${CMAKE_VERSION} VERSION_LESS "3.0.0") + include(FindEigen.cmake) else() - set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) + find_package(Eigen3 REQUIRED) endif() set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}") @@ -30,33 +19,32 @@ set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}") ## 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 vectormap -CATKIN_DEPENDS vector_map -DEPENDS Eigen3 + INCLUDE_DIRS include + LIBRARIES vectormap + CATKIN_DEPENDS vector_map ) include_directories( - include - ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIRS} + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} ) add_library(vectormap STATIC - src/vector_map.cpp -) + src/vector_map.cpp + ) target_link_libraries(vectormap - ${catkin_LIBRARIES} - ) + ${catkin_LIBRARIES} + ) install(TARGETS vectormap - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - PATTERN ".svn" EXCLUDE - ) + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE + ) diff --git a/ros/src/computing/perception/detection/lib/libvectormap/FindEigen.cmake b/ros/src/computing/perception/detection/lib/libvectormap/FindEigen.cmake new file mode 100644 index 00000000000..b632fb78416 --- /dev/null +++ b/ros/src/computing/perception/detection/lib/libvectormap/FindEigen.cmake @@ -0,0 +1,87 @@ +# - Try to find Eigen3 lib +# +# This module supports requiring a minimum version, e.g. you can do +# find_package(Eigen3 3.1.2) +# to require version 3.1.2 or newer of Eigen3. +# +# Once done this will define +# +# EIGEN3_FOUND - system has eigen lib with correct version +# EIGEN3_INCLUDE_DIR - the eigen include directory +# EIGEN3_VERSION - eigen version + +# Copyright (c) 2006, 2007 Montel Laurent, +# Copyright (c) 2008, 2009 Gael Guennebaud, +# Copyright (c) 2009 Benoit Jacob +# Redistribution and use is allowed according to the terms of the 2-clause BSD license. + +if(NOT Eigen3_FIND_VERSION) + if(NOT Eigen3_FIND_VERSION_MAJOR) + set(Eigen3_FIND_VERSION_MAJOR 2) + endif(NOT Eigen3_FIND_VERSION_MAJOR) + if(NOT Eigen3_FIND_VERSION_MINOR) + set(Eigen3_FIND_VERSION_MINOR 91) + endif(NOT Eigen3_FIND_VERSION_MINOR) + if(NOT Eigen3_FIND_VERSION_PATCH) + set(Eigen3_FIND_VERSION_PATCH 0) + endif(NOT Eigen3_FIND_VERSION_PATCH) + + set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}") +endif(NOT Eigen3_FIND_VERSION) + +macro(_eigen3_check_version) + file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header) + + string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}") + set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}") + string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}") + set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}") + string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}") + set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}") + + set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION}) + if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) + set(EIGEN3_VERSION_OK FALSE) + else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) + set(EIGEN3_VERSION_OK TRUE) + endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) + + if(NOT EIGEN3_VERSION_OK) + + message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, " + "but at least version ${Eigen3_FIND_VERSION} is required") + endif(NOT EIGEN3_VERSION_OK) +endmacro(_eigen3_check_version) + +if (EIGEN3_INCLUDE_DIR) + + # in cache already + _eigen3_check_version() + set(EIGEN3_FOUND ${EIGEN3_VERSION_OK}) + +else (EIGEN3_INCLUDE_DIR) + + # specific additional paths for some OS + if (WIN32) + set(EIGEN_ADDITIONAL_SEARCH_PATHS ${EIGEN_ADDITIONAL_SEARCH_PATHS} "C:/Program Files/Eigen/include" "C:/Program Files (x86)/Eigen/include") + endif(WIN32) + + find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library + PATHS + include + ${EIGEN_ADDITIONAL_SEARCH_PATHS} + ${KDE4_INCLUDE_DIR} + PATH_SUFFIXES eigen3 eigen + ) + + if(EIGEN3_INCLUDE_DIR) + _eigen3_check_version() + endif(EIGEN3_INCLUDE_DIR) + + include(FindPackageHandleStandardArgs) + find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK) + + mark_as_advanced(EIGEN3_INCLUDE_DIR) + +endif(EIGEN3_INCLUDE_DIR) + diff --git a/ros/src/computing/perception/detection/lib/libvectormap/package.xml b/ros/src/computing/perception/detection/lib/libvectormap/package.xml index bcdcb3b597f..0269c7d079e 100644 --- a/ros/src/computing/perception/detection/lib/libvectormap/package.xml +++ b/ros/src/computing/perception/detection/lib/libvectormap/package.xml @@ -7,8 +7,6 @@ BSD catkin vector_map - eigen vector_map - eigen diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt b/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt index 072ba2399e2..489aadb4945 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt @@ -1,62 +1,63 @@ cmake_minimum_required(VERSION 2.8.12) project(cv_tracker) execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE + COMMAND rosversion -d + OUTPUT_VARIABLE ROS_VERSION + OUTPUT_STRIP_TRAILING_WHITESPACE ) include(FindPkgConfig) if ("${ROS_VERSION}" MATCHES "(indigo|jade)") -FIND_PACKAGE(catkin REQUIRED COMPONENTS - cv_bridge - image_transport - roscpp - sensor_msgs - std_msgs - autoware_msgs - libdpm_ttic - fusion - tf - libdpm_ocv - kf -) + FIND_PACKAGE(catkin REQUIRED COMPONENTS + cv_bridge + image_transport + roscpp + sensor_msgs + std_msgs + autoware_msgs + libdpm_ttic + fusion + tf + libdpm_ocv + kf_lib + jsk_recognition_msgs + ) elseif ("${ROS_VERSION}" MATCHES "(kinetic)") -FIND_PACKAGE(catkin REQUIRED COMPONENTS - cv_bridge - image_transport - roscpp - std_msgs - autoware_msgs - sensor_msgs - libdpm_ttic - fusion - tf -) -endif() + FIND_PACKAGE(catkin REQUIRED COMPONENTS + cv_bridge + image_transport + roscpp + std_msgs + autoware_msgs + sensor_msgs + libdpm_ttic + fusion + tf + kf_lib + jsk_recognition_msgs + ) +endif () FIND_PACKAGE(CUDA) FIND_PACKAGE(OpenCV REQUIRED) -pkg_check_modules(HDF5 hdf5) - EXECUTE_PROCESS( - COMMAND uname -m - OUTPUT_VARIABLE ARCHITECTURE - OUTPUT_STRIP_TRAILING_WHITESPACE + COMMAND uname -m + OUTPUT_VARIABLE ARCHITECTURE + OUTPUT_STRIP_TRAILING_WHITESPACE ) if ("${ROS_VERSION}" MATCHES "(indigo|jade)") -catkin_package( - CATKIN_DEPENDS libdpm_ocv - libdpm_ttic fusion kf std_msgs geometry_msgs autoware_msgs -) + catkin_package( + CATKIN_DEPENDS libdpm_ocv + libdpm_ttic fusion kf std_msgs geometry_msgs autoware_msgs + ) elseif ("${ROS_VERSION}" MATCHES "(kinetic)") -catkin_package( - CATKIN_DEPENDS libdpm_ttic fusion std_msgs geometry_msgs autoware_msgs -) -endif() + catkin_package( + CATKIN_DEPENDS libdpm_ttic fusion std_msgs geometry_msgs autoware_msgs + ) +endif () ########### ## Build ## ########### @@ -64,172 +65,170 @@ endif() SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") INCLUDE_DIRECTORIES( - ${catkin_INCLUDE_DIRS} - lib - include + ${catkin_INCLUDE_DIRS} + lib + include ) -IF(CUDA_FOUND) -INCLUDE_DIRECTORIES(${CUDA_INCLUDE_DIRS}) +IF (CUDA_FOUND) + INCLUDE_DIRECTORIES(${CUDA_INCLUDE_DIRS}) -IF("${ARCHITECTURE}" MATCHES "^arm") -LINK_DIRECTORIES(/usr/lib/arm-linux-gnueabihf/tegra) -endif() + IF ("${ARCHITECTURE}" MATCHES "^arm") + LINK_DIRECTORIES(/usr/lib/arm-linux-gnueabihf/tegra) + endif () -ELSE() -message("CUDA is not installed. 'cv_tracker' package is not built.") -ENDIF() +ELSE () + message("CUDA is not installed. 'cv_tracker' package will not be built.") +ENDIF () ## dpm_ttic ## ADD_EXECUTABLE(dpm_ttic - nodes/dpm_ttic/dpm_ttic.cpp -) + nodes/dpm_ttic/dpm_ttic.cpp + ) TARGET_LINK_LIBRARIES(dpm_ttic - ${catkin_LIBRARIES} - ${OpenCV_LIBS} -) - -IF(CUDA_FOUND) -SET_TARGET_PROPERTIES(dpm_ttic - PROPERTIES - COMPILE_FLAGS - "-DHAS_GPU -DDEFAULT_CUBIN=${CATKIN_DEVEL_PREFIX}/lib/GPU_function.cubin -DMODEL_DIR=${CMAKE_CURRENT_SOURCE_DIR}/data/" -) -ELSE() -SET_TARGET_PROPERTIES(dpm_ttic - PROPERTIES - COMPILE_FLAGS - "-DMODEL_DIR=${CMAKE_CURRENT_SOURCE_DIR}/data/" -) -ENDIF() + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ) + +#this must be fixed to use cmake cuda commands +IF (CUDA_FOUND) + SET_TARGET_PROPERTIES(dpm_ttic + PROPERTIES + COMPILE_FLAGS + "-DHAS_GPU -DDEFAULT_CUBIN=${CATKIN_DEVEL_PREFIX}/lib/GPU_function.cubin -DMODEL_DIR=${CMAKE_CURRENT_SOURCE_DIR}/data/" + ) +ELSE () + SET_TARGET_PROPERTIES(dpm_ttic + PROPERTIES + COMPILE_FLAGS + "-DMODEL_DIR=${CMAKE_CURRENT_SOURCE_DIR}/data/" + ) +ENDIF () ADD_DEPENDENCIES(dpm_ttic - ${catkin_EXPORTED_TARGETS} -) + ${catkin_EXPORTED_TARGETS} + ) ## dpm_ocv if ("${ROS_VERSION}" MATCHES "(indigo|jade)") -INCLUDE_DIRECTORIES(../../lib/image/dpm_ocv/src) - -ADD_EXECUTABLE(dpm_ocv - nodes/dpm_ocv/dpm_ocv.cpp -) - -TARGET_LINK_LIBRARIES(dpm_ocv - ${catkin_LIBRARIES} - #${OpenCV_LIBS} -) - -ADD_DEPENDENCIES(dpm_ocv - ${catkin_EXPORTED_TARGETS} -) - -IF(CUDA_FOUND) -SET_TARGET_PROPERTIES(dpm_ocv - PROPERTIES - COMPILE_FLAGS - "-DHAS_GPU -DDEFAULT_CUBIN=${CATKIN_DEVEL_PREFIX}/lib/gpu_function.cubin -DMODEL_DIR=${CMAKE_CURRENT_SOURCE_DIR}/model/models_VOC2007/" -) -ELSE() -SET_TARGET_PROPERTIES(dpm_ocv - PROPERTIES - COMPILE_FLAGS - "-DMODEL_DIR=${CMAKE_CURRENT_SOURCE_DIR}/data/" -) - -ENDIF() -#CUDAENDIF - -ENDIF() + INCLUDE_DIRECTORIES(../../lib/image/dpm_ocv/src) + + ADD_EXECUTABLE(dpm_ocv + nodes/dpm_ocv/dpm_ocv.cpp + ) + + TARGET_LINK_LIBRARIES(dpm_ocv + ${catkin_LIBRARIES} + #${OpenCV_LIBS} + ) + + ADD_DEPENDENCIES(dpm_ocv + ${catkin_EXPORTED_TARGETS} + ) + + IF (CUDA_FOUND) + SET_TARGET_PROPERTIES(dpm_ocv + PROPERTIES + COMPILE_FLAGS + "-DHAS_GPU -DDEFAULT_CUBIN=${CATKIN_DEVEL_PREFIX}/lib/gpu_function.cubin -DMODEL_DIR=${CMAKE_CURRENT_SOURCE_DIR}/model/models_VOC2007/" + ) + ELSE () + SET_TARGET_PROPERTIES(dpm_ocv + PROPERTIES + COMPILE_FLAGS + "-DMODEL_DIR=${CMAKE_CURRENT_SOURCE_DIR}/data/" + ) + + ENDIF () + #CUDAENDIF + +ENDIF () #ROS_VERSION_ENDIF -#SET_TARGET_PROPERTIES(car_locate -# PROPERTIES COMPILE_FLAGS -# "-DCAMERA_YAML=${CAMERA_YAML}") - ## range_fusion ## ADD_EXECUTABLE(range_fusion - nodes/range_fusion/range_fusion.cpp -) + nodes/range_fusion/range_fusion.cpp + ) TARGET_LINK_LIBRARIES(range_fusion - ${catkin_LIBRARIES} - ${OpenCV_LIBS} -) + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ) ADD_DEPENDENCIES(range_fusion - ${catkin_EXPORTED_TARGETS} -) + ${catkin_EXPORTED_TARGETS} + ) ## kf_tracker ## if ("${ROS_VERSION}" MATCHES "(indigo|jade)") -ADD_EXECUTABLE(kf_track - nodes/kf_track/kf_track.cpp -) + ADD_EXECUTABLE(kf_track + nodes/kf_track/kf_track.cpp + ) -TARGET_LINK_LIBRARIES(kf_track - ${catkin_LIBRARIES} - ${OpenCV_LIBS} -) -endif() + TARGET_LINK_LIBRARIES(kf_track + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ) + add_dependencies(kf_track ${catkin_EXPORTED_TARGETS}) +endif () ## dummy_tracker ## ADD_EXECUTABLE(dummy_track - nodes/dummy_track/dummy_track.cpp -) + nodes/dummy_track/dummy_track.cpp + ) TARGET_LINK_LIBRARIES(dummy_track - ${catkin_LIBRARIES} -) + ${catkin_LIBRARIES} + ) ## obj_reproj ## ADD_EXECUTABLE(obj_reproj - nodes/obj_reproj/obj_reproj.cpp -) + nodes/obj_reproj/obj_reproj.cpp + ) TARGET_LINK_LIBRARIES(obj_reproj - ${catkin_LIBRARIES} - ${OpenCV_LIBS} -) + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ) # check whether jsk library is available or not find_package(jsk_recognition_msgs) if (jsk_recognition_msgs_FOUND) - # if jsk plugin is found, activate macro - SET_TARGET_PROPERTIES(obj_reproj - PROPERTIES COMPILE_FLAGS - "-DHAVE_JSK_PLUGIN") + # if jsk plugin is found, activate macro + SET_TARGET_PROPERTIES(obj_reproj + PROPERTIES COMPILE_FLAGS + "-DHAVE_JSK_PLUGIN") endif (jsk_recognition_msgs_FOUND) ## klt_tracker ## ADD_EXECUTABLE(klt_track - nodes/klt_track/klt_track.cpp - -) + nodes/klt_track/klt_track.cpp + + ) INCLUDE_DIRECTORIES(lib/lktracker) ADD_LIBRARY(lktracker - lib/lktracker/LkTracker.cpp -) + lib/lktracker/LkTracker.cpp + ) TARGET_LINK_LIBRARIES(lktracker - ${OpenCV_LIBS} -) + ${OpenCV_LIBS} + ) ADD_DEPENDENCIES(lktracker - ${catkin_EXPORTED_TARGETS} -) + ${catkin_EXPORTED_TARGETS} + ) TARGET_LINK_LIBRARIES(klt_track - lktracker - ${catkin_LIBRARIES} - ${OpenCV_LIBS} -) + lktracker + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ) ADD_DEPENDENCIES(klt_track - libdpm_ocv_generate_messages_cpp -) + ${catkin_EXPORTED_TARGETS} + ) ############# RCNN############# ###########################################CAFFE NEEDS TO BE PREVIOUSLY COMPILED#################### @@ -237,191 +236,191 @@ ADD_DEPENDENCIES(klt_track set(RCNN_CAFFE_PATH "$ENV{HOME}/fast-rcnn/caffe-fast-rcnn/distribute") #################################################################################################### -if(EXISTS "${RCNN_CAFFE_PATH}") - find_package(librcnn) -# INCLUDE_DIRECTORIES( -# ${librcnn_INCLUDE_DIRS} -# ${RCNN_CAFFE_PATH}/include -# ) - -IF(HDF5_FOUND) - INCLUDE_DIRECTORIES(${HDF5_INCLUDE_DIRS}) -ENDIF() - - ADD_EXECUTABLE(rcnn_msr - nodes/rcnn/rcnn_node.cpp - ) - - TARGET_LINK_LIBRARIES(rcnn_msr - librcnn - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - ${CUDA_LIBRARIES} - ${CUDA_CUBLAS_LIBRARIES} - ${CUDA_curand_LIBRARY} - ) - - TARGET_INCLUDE_DIRECTORIES (rcnn_msr PRIVATE - ${librcnn_INCLUDE_DIRS} - ${RCNN_CAFFE_PATH}/include - ) - - ADD_DEPENDENCIES(rcnn_msr - ${catkin_EXPORTED_TARGETS} - librcnn - ) -else() - message("'FastRCNN/Caffe' are not installed. 'rcnn_msr' will not be built.") -endif() +if (EXISTS "${RCNN_CAFFE_PATH}") + find_package(librcnn) + # INCLUDE_DIRECTORIES( + # ${librcnn_INCLUDE_DIRS} + # ${RCNN_CAFFE_PATH}/include + # ) + + IF (HDF5_FOUND) + INCLUDE_DIRECTORIES(${HDF5_INCLUDE_DIRS}) + ENDIF () + + ADD_EXECUTABLE(rcnn_msr + nodes/rcnn/rcnn_node.cpp + ) + + TARGET_LINK_LIBRARIES(rcnn_msr + librcnn + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ${CUDA_LIBRARIES} + ${CUDA_CUBLAS_LIBRARIES} + ${CUDA_curand_LIBRARY} + ) + + TARGET_INCLUDE_DIRECTORIES(rcnn_msr PRIVATE + ${librcnn_INCLUDE_DIRS} + ${RCNN_CAFFE_PATH}/include + ) + + ADD_DEPENDENCIES(rcnn_msr + ${catkin_EXPORTED_TARGETS} + librcnn + ) +else () + message("'FastRCNN/Caffe' are not installed. 'rcnn_msr' will not be built.") +endif () #####SSD######## ##############################SSD'sFORK of CAFFE NEEDS TO BE PREVIOUSLY COMPILED#################### set(SSD_CAFFE_PATH "$ENV{HOME}/ssdcaffe/distribute") #################################################################################################### -if(EXISTS "${SSD_CAFFE_PATH}") - - IF(HDF5_FOUND) - INCLUDE_DIRECTORIES(${HDF5_INCLUDE_DIRS}) - ENDIF() - - ADD_EXECUTABLE(ssd_unc - nodes/ssd/ssd_node.cpp - nodes/ssd/ssd_detector.cpp - ) - - TARGET_LINK_LIBRARIES(ssd_unc - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - ${CUDA_LIBRARIES} - ${CUDA_CUBLAS_LIBRARIES} - ${CUDA_curand_LIBRARY} - ${SSD_CAFFE_PATH}/lib/libcaffe.so - glog - ) - - TARGET_INCLUDE_DIRECTORIES( ssd_unc PRIVATE - ${SSD_CAFFE_PATH}/include - nodes/ssd/include - ) - - ADD_DEPENDENCIES(ssd_unc - ${catkin_EXPORTED_TARGETS} - ) -else() - message("'SSD/Caffe' is not installed. 'ssd_unc' will not be built.") -endif() +if (EXISTS "${SSD_CAFFE_PATH}") + + IF (HDF5_FOUND) + INCLUDE_DIRECTORIES(${HDF5_INCLUDE_DIRS}) + ENDIF () + + ADD_EXECUTABLE(ssd_unc + nodes/ssd/ssd_node.cpp + nodes/ssd/ssd_detector.cpp + ) + + TARGET_LINK_LIBRARIES(ssd_unc + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ${CUDA_LIBRARIES} + ${CUDA_CUBLAS_LIBRARIES} + ${CUDA_curand_LIBRARY} + ${SSD_CAFFE_PATH}/lib/libcaffe.so + glog + ) + + TARGET_INCLUDE_DIRECTORIES(ssd_unc PRIVATE + ${SSD_CAFFE_PATH}/include + nodes/ssd/include + ) + + ADD_DEPENDENCIES(ssd_unc + ${catkin_EXPORTED_TARGETS} + ) +else () + message("'SSD/Caffe' is not installed. 'ssd_unc' will not be built.") +endif () ###YOLO2#### ###########YOLO2 PATH##################################### set(YOLO2_PATH "$ENV{HOME}/darknet") ########################################################## -if(EXISTS "${YOLO2_PATH}") - - set(YOLO2_USE_CUDNN 0) - set(YOLO2_USE_GPU 1) - - list(APPEND CUDA_NVCC_FLAGS "--std=c++11 -I${YOLO2_PATH}/include -I${YOLO2_PATH}/src") - SET(CUDA_PROPAGATE_HOST_FLAGS OFF) - - - cuda_add_library(yolo2lib_wa - ${YOLO2_PATH}/src/activation_kernels.cu - ${YOLO2_PATH}/src/activation_layer.c - ${YOLO2_PATH}/src/activations.c - ${YOLO2_PATH}/src/avgpool_layer.c - ${YOLO2_PATH}/src/avgpool_layer_kernels.cu - ${YOLO2_PATH}/src/batchnorm_layer.c - ${YOLO2_PATH}/src/blas.c - ${YOLO2_PATH}/src/blas_kernels.cu - ${YOLO2_PATH}/src/box.c - ${YOLO2_PATH}/src/col2im.c - ${YOLO2_PATH}/src/col2im_kernels.cu - ${YOLO2_PATH}/src/connected_layer.c - ${YOLO2_PATH}/src/convolutional_layer.c - ${YOLO2_PATH}/src/convolutional_kernels.cu - ${YOLO2_PATH}/src/deconvolutional_layer.c - ${YOLO2_PATH}/src/deconvolutional_kernels.cu - ${YOLO2_PATH}/src/cost_layer.c - ${YOLO2_PATH}/src/crnn_layer.c - ${YOLO2_PATH}/src/crop_layer.c - ${YOLO2_PATH}/src/crop_layer_kernels.cu - ${YOLO2_PATH}/src/cuda.c - ${YOLO2_PATH}/src/data.c - ${YOLO2_PATH}/src/detection_layer.c - ${YOLO2_PATH}/src/dropout_layer.c - ${YOLO2_PATH}/src/dropout_layer_kernels.cu - ${YOLO2_PATH}/src/gemm.c - ${YOLO2_PATH}/src/gru_layer.c - ${YOLO2_PATH}/src/im2col.c - ${YOLO2_PATH}/src/im2col_kernels.cu - ${YOLO2_PATH}/src/image.c - ${YOLO2_PATH}/src/layer.c - ${YOLO2_PATH}/src/list.c - ${YOLO2_PATH}/src/local_layer.c - ${YOLO2_PATH}/src/matrix.c - ${YOLO2_PATH}/src/maxpool_layer.c - ${YOLO2_PATH}/src/maxpool_layer_kernels.cu - ${YOLO2_PATH}/src/network.c - ${YOLO2_PATH}/src/network_kernels.cu - ${YOLO2_PATH}/src/normalization_layer.c - ${YOLO2_PATH}/src/option_list.c - ${YOLO2_PATH}/src/parser.c - ${YOLO2_PATH}/src/region_layer.c - ${YOLO2_PATH}/src/reorg_layer.c - ${YOLO2_PATH}/src/rnn_layer.c - ${YOLO2_PATH}/src/route_layer.c - ${YOLO2_PATH}/src/shortcut_layer.c - ${YOLO2_PATH}/src/softmax_layer.c - ${YOLO2_PATH}/src/tree.c - ${YOLO2_PATH}/src/utils.c - - OPTIONS - -DGPU=${YOLO2_USE_GPU} -# -DCUDNN=${YOLO2_USE_CUDNN} - ) - - cuda_add_cublas_to_target(yolo2lib_wa) - - target_compile_definitions(yolo2lib_wa PUBLIC -DGPU) - - target_include_directories(yolo2lib_wa PRIVATE - ${YOLO2_PATH}/include - ${YOLO2_PATH}/src - ${CUDA_INCLUDE_DIRS} - ) - - target_link_libraries(yolo2lib_wa - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - ${CUDA_LIBRARIES} - ${CUDA_CUBLAS_LIBRARIES} - ${CUDA_curand_LIBRARY} - ) - - cuda_add_executable(yolo2_wa - nodes/yolo2/src/yolo2_node.cpp - nodes/yolo2/src/darknet/yolo2.cpp - ) - - target_compile_definitions(yolo2_wa PUBLIC -DGPU) - - target_include_directories(yolo2_wa PRIVATE - nodes/yolo2/include - ${YOLO2_PATH}/include - ${YOLO2_PATH}/src - ${CUDA_INCLUDE_DIRS} - ) - - target_link_libraries(yolo2_wa - yolo2lib_wa - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - ${CUDA_LIBRARIES} - ${CUDA_CUBLAS_LIBRARIES} - ${CUDA_curand_LIBRARY} - ) - - -else() - message("'Darknet' was not found. 'yolo2_wa' will not be built.") -endif() +if (EXISTS "${YOLO2_PATH}") + + set(YOLO2_USE_CUDNN 0) + set(YOLO2_USE_GPU 1) + + list(APPEND CUDA_NVCC_FLAGS "--std=c++11 -I${YOLO2_PATH}/include -I${YOLO2_PATH}/src") + SET(CUDA_PROPAGATE_HOST_FLAGS OFF) + + + cuda_add_library(yolo2lib_wa + ${YOLO2_PATH}/src/activation_kernels.cu + ${YOLO2_PATH}/src/activation_layer.c + ${YOLO2_PATH}/src/activations.c + ${YOLO2_PATH}/src/avgpool_layer.c + ${YOLO2_PATH}/src/avgpool_layer_kernels.cu + ${YOLO2_PATH}/src/batchnorm_layer.c + ${YOLO2_PATH}/src/blas.c + ${YOLO2_PATH}/src/blas_kernels.cu + ${YOLO2_PATH}/src/box.c + ${YOLO2_PATH}/src/col2im.c + ${YOLO2_PATH}/src/col2im_kernels.cu + ${YOLO2_PATH}/src/connected_layer.c + ${YOLO2_PATH}/src/convolutional_layer.c + ${YOLO2_PATH}/src/convolutional_kernels.cu + ${YOLO2_PATH}/src/deconvolutional_layer.c + ${YOLO2_PATH}/src/deconvolutional_kernels.cu + ${YOLO2_PATH}/src/cost_layer.c + ${YOLO2_PATH}/src/crnn_layer.c + ${YOLO2_PATH}/src/crop_layer.c + ${YOLO2_PATH}/src/crop_layer_kernels.cu + ${YOLO2_PATH}/src/cuda.c + ${YOLO2_PATH}/src/data.c + ${YOLO2_PATH}/src/detection_layer.c + ${YOLO2_PATH}/src/dropout_layer.c + ${YOLO2_PATH}/src/dropout_layer_kernels.cu + ${YOLO2_PATH}/src/gemm.c + ${YOLO2_PATH}/src/gru_layer.c + ${YOLO2_PATH}/src/im2col.c + ${YOLO2_PATH}/src/im2col_kernels.cu + ${YOLO2_PATH}/src/image.c + ${YOLO2_PATH}/src/layer.c + ${YOLO2_PATH}/src/list.c + ${YOLO2_PATH}/src/local_layer.c + ${YOLO2_PATH}/src/matrix.c + ${YOLO2_PATH}/src/maxpool_layer.c + ${YOLO2_PATH}/src/maxpool_layer_kernels.cu + ${YOLO2_PATH}/src/network.c + ${YOLO2_PATH}/src/network_kernels.cu + ${YOLO2_PATH}/src/normalization_layer.c + ${YOLO2_PATH}/src/option_list.c + ${YOLO2_PATH}/src/parser.c + ${YOLO2_PATH}/src/region_layer.c + ${YOLO2_PATH}/src/reorg_layer.c + ${YOLO2_PATH}/src/rnn_layer.c + ${YOLO2_PATH}/src/route_layer.c + ${YOLO2_PATH}/src/shortcut_layer.c + ${YOLO2_PATH}/src/softmax_layer.c + ${YOLO2_PATH}/src/tree.c + ${YOLO2_PATH}/src/utils.c + + OPTIONS + -DGPU=${YOLO2_USE_GPU} + # -DCUDNN=${YOLO2_USE_CUDNN} + ) + + cuda_add_cublas_to_target(yolo2lib_wa) + + target_compile_definitions(yolo2lib_wa PUBLIC -DGPU) + + target_include_directories(yolo2lib_wa PRIVATE + ${YOLO2_PATH}/include + ${YOLO2_PATH}/src + ${CUDA_INCLUDE_DIRS} + ) + + target_link_libraries(yolo2lib_wa + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ${CUDA_LIBRARIES} + ${CUDA_CUBLAS_LIBRARIES} + ${CUDA_curand_LIBRARY} + ) + + cuda_add_executable(yolo2_wa + nodes/yolo2/src/yolo2_node.cpp + nodes/yolo2/src/darknet/yolo2.cpp + ) + + target_compile_definitions(yolo2_wa PUBLIC -DGPU) + + target_include_directories(yolo2_wa PRIVATE + nodes/yolo2/include + ${YOLO2_PATH}/include + ${YOLO2_PATH}/src + ${CUDA_INCLUDE_DIRS} + ) + + target_link_libraries(yolo2_wa + yolo2lib_wa + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ${CUDA_LIBRARIES} + ${CUDA_CUBLAS_LIBRARIES} + ${CUDA_curand_LIBRARY} + ) + + +else () + message("'Darknet' was not found. 'yolo2_wa' will not be built.") +endif () diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/package.xml b/ros/src/computing/perception/detection/packages/cv_tracker/package.xml index 518938a1451..aa3877c3592 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/package.xml +++ b/ros/src/computing/perception/detection/packages/cv_tracker/package.xml @@ -1,29 +1,32 @@ - cv_tracker - 1.6.3 - The cv_tracker package - Syohei YOSHIDA - BSD - catkin - std_msgs - geometry_msgs - libdpm_ocv - libdpm_ttic - kf - fusion - klt - librcnn - autoware_msgs - std_msgs - geometry_msgs - libdpm_ocv - libdpm_ttic - kf - fusion - klt - librcnn - autoware_msgs - - + cv_tracker + 1.6.3 + The cv_tracker package + amc + BSD + + catkin + + std_msgs + geometry_msgs + libdpm_ocv + libdpm_ttic + kf_lib + fusion + librcnn + autoware_msgs + jsk_recognition_msgs + + std_msgs + geometry_msgs + libdpm_ocv + libdpm_ttic + kf_lib + fusion + librcnn + autoware_msgs + jsk_recognition_msgs + + diff --git a/ros/src/computing/perception/detection/packages/lidar_tracker/CMakeLists.txt b/ros/src/computing/perception/detection/packages/lidar_tracker/CMakeLists.txt index 9aff71a36f6..e7474e231d4 100644 --- a/ros/src/computing/perception/detection/packages/lidar_tracker/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/lidar_tracker/CMakeLists.txt @@ -6,24 +6,24 @@ project(lidar_tracker) ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS - pcl_conversions - pcl_ros - roscpp - sensor_msgs - autoware_msgs - tf - jsk_recognition_msgs - jsk_rviz_plugins - rosinterface - cv_bridge - vector_map - vector_map_server - op_ros_helpers - vector_map - grid_map_ros - grid_map_cv - grid_map_msgs -) + pcl_conversions + pcl_ros + roscpp + sensor_msgs + autoware_msgs + tf + jsk_recognition_msgs + jsk_rviz_plugins + rosinterface + cv_bridge + vector_map + vector_map_server + op_ros_helpers + vector_map + grid_map_ros + grid_map_cv + grid_map_msgs + ) set(CMAKE_AUTOMOC ON) #set(CMAKE_AUTOUIC ON) @@ -35,18 +35,18 @@ find_package(Qt5Widgets REQUIRED) find_package(OpenMP) execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE + COMMAND rosversion -d + OUTPUT_VARIABLE ROS_VERSION + OUTPUT_STRIP_TRAILING_WHITESPACE ) find_package(OpenCV REQUIRED) execute_process( - COMMAND pkg-config --variable=host_bins Qt5Core - OUTPUT_VARIABLE Qt5BIN - OUTPUT_STRIP_TRAILING_WHITESPACE - ) + COMMAND pkg-config --variable=host_bins Qt5Core + OUTPUT_VARIABLE Qt5BIN + OUTPUT_STRIP_TRAILING_WHITESPACE +) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") ## Uncomment this if the package has a setup.py. This macro ensures @@ -65,14 +65,14 @@ set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") ## CATKIN_DEPENDS: catkin_packages dependent projects also need ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( - CATKIN_DEPENDS message_runtime std_msgs geometry_msgs pcl_ros vector_map_server autoware_msgs + CATKIN_DEPENDS message_runtime std_msgs geometry_msgs pcl_ros vector_map_server autoware_msgs ) include_directories( - include - nodes/euclidean_cluster/includes - ${catkin_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} + include + nodes/euclidean_cluster/includes + ${catkin_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} ) link_directories(${PCL_LIBRARY_DIRS}) link_directories(${OpenCV_LIBRARY_DIRS}) @@ -85,12 +85,12 @@ link_directories(${OpenCV_LIBRARY_DIRS}) #SVM Detect add_executable(svm_lidar_detect nodes/svm_lidar_detect/svm_lidar_detect.cpp) #add_library(svm SHARED nodes/svm_lidar_detect/libsvm/svm.cpp) -target_link_libraries (svm_lidar_detect PRIVATE - ${catkin_LIBRARIES} - ${PCL_LIBRARIES} -# svm - ${OpenCV_LIBRARIES} -) +target_link_libraries(svm_lidar_detect PRIVATE + ${catkin_LIBRARIES} + ${PCL_LIBRARIES} + # svm + ${OpenCV_LIBRARIES} + ) #target_include_directories(svm_lidar_detect PRIVATE nodes/svm_lidar_detect/libsvm) add_dependencies(svm_lidar_detect ${catkin_EXPORTED_TARGETS}) @@ -102,12 +102,12 @@ add_dependencies(pf_lidar_track ${catkin_EXPORTED_TARGETS}) #KalmanFilter Track add_executable(kf_lidar_track - nodes/kf_lidar_track/kf_lidar_track.cpp - nodes/kf_lidar_track/KfLidarTracker.cpp - nodes/kf_lidar_track/HungarianAlg.cpp - nodes/kf_lidar_track/Kalman.cpp - nodes/euclidean_cluster/Cluster.cpp - ) + nodes/kf_lidar_track/kf_lidar_track.cpp + nodes/kf_lidar_track/KfLidarTracker.cpp + nodes/kf_lidar_track/HungarianAlg.cpp + nodes/kf_lidar_track/Kalman.cpp + nodes/euclidean_cluster/Cluster.cpp + ) target_include_directories(kf_lidar_track PRIVATE nodes/kf_lidar_track/includes) target_link_libraries(kf_lidar_track ${catkin_LIBRARIES} ${PCL_LIBRARIES}) add_dependencies(kf_lidar_track ${catkin_EXPORTED_TARGETS}) @@ -128,153 +128,153 @@ add_dependencies(obj_fusion ${catkin_EXPORTED_TARGETS} vector_map_server_generat # Vscan Track execute_process( - COMMAND uname -m - OUTPUT_VARIABLE ARCHITECTURE - OUTPUT_STRIP_TRAILING_WHITESPACE + COMMAND uname -m + OUTPUT_VARIABLE ARCHITECTURE + OUTPUT_STRIP_TRAILING_WHITESPACE ) #set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall -Wno-unused-result -DROS ${CMAKE_CXX_FLAGS}") -if(EXISTS "/usr/local/cuda") - include_directories( - ${catkin_INCLUDE_DIRS} - "/usr/local/cuda/include" +if (EXISTS "/usr/local/cuda") + include_directories( + ${catkin_INCLUDE_DIRS} + "/usr/local/cuda/include" ) - if("${ARCHITECTURE}" MATCHES "^arm") - LINK_DIRECTORIES(/usr/lib/arm-linux-gnueabihf/tegra) - endif() + if ("${ARCHITECTURE}" MATCHES "^arm") + LINK_DIRECTORIES(/usr/lib/arm-linux-gnueabihf/tegra) + endif () - set(CUDA_COMPILER "/usr/local/cuda/bin/nvcc") + set(CUDA_COMPILER "/usr/local/cuda/bin/nvcc") - if("${ARCHITECTURE}" MATCHES "^arm") - set(CUDA_LDFLAGS -L/usr/lib/arm-linux-gnueabihf/tegra -lcuda) - else() - set(CUDA_LDFLAGS -lcuda) - endif() + if ("${ARCHITECTURE}" MATCHES "^arm") + set(CUDA_LDFLAGS -L/usr/lib/arm-linux-gnueabihf/tegra -lcuda) + else () + set(CUDA_LDFLAGS -lcuda) + endif () - set(CUDA_CAPABILITY_VERSION_CHECKER - "${CATKIN_DEVEL_PREFIX}/lib/capability_version_checker" - ) + set(CUDA_CAPABILITY_VERSION_CHECKER + "${CATKIN_DEVEL_PREFIX}/lib/capability_version_checker" + ) - add_custom_target(gpu_arch_version_checker) - add_dependencies(gpu_arch_version_checker - libdpm_ttic - ) + add_custom_target(gpu_arch_version_checker) + add_dependencies(gpu_arch_version_checker + libdpm_ttic + ) - execute_process( - COMMAND ${CUDA_CAPABILITY_VERSION_CHECKER} - OUTPUT_VARIABLE CUDA_CAPABILITY_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE + execute_process( + COMMAND ${CUDA_CAPABILITY_VERSION_CHECKER} + OUTPUT_VARIABLE CUDA_CAPABILITY_VERSION + OUTPUT_STRIP_TRAILING_WHITESPACE ) - if("${CUDA_CAPABILITY_VERSION}" MATCHES "^[1-9][0-9]+$") - set(CUDA_ARCH "sm_${CUDA_CAPABILITY_VERSION}") - else() - set(CUDA_ARCH "sm_52") - endif() + if ("${CUDA_CAPABILITY_VERSION}" MATCHES "^[1-9][0-9]+$") + set(CUDA_ARCH "sm_${CUDA_CAPABILITY_VERSION}") + else () + set(CUDA_ARCH "sm_52") + endif () - #QT Stuff + #QT Stuff - FIND_PACKAGE(CUDA REQUIRED) - INCLUDE(FindCUDA) + FIND_PACKAGE(CUDA REQUIRED) + INCLUDE(FindCUDA) - if ("${ROS_VERSION}" MATCHES "(kinetic)") - set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-arch=${CUDA_ARCH}) - else() - set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-arch=${CUDA_ARCH};-std=c++11) - endif() + if ("${ROS_VERSION}" MATCHES "(kinetic)") + set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-arch=${CUDA_ARCH}) + else () + set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-arch=${CUDA_ARCH};-std=c++11) + endif () - INCLUDE_DIRECTORIES(${Qt5Core_INCLUDE_DIRS} - ${Qt5Widgets_INCLUDE_DIRS}) + INCLUDE_DIRECTORIES(${Qt5Core_INCLUDE_DIRS} + ${Qt5Widgets_INCLUDE_DIRS}) - #cuda pf lib - cuda_add_library(rbsspfvehicletracker - nodes/vscan_lidar_track/rbsspfvehicletracker.cu - nodes/vscan_lidar_track/rbsspfvehicletracker.cuh) + #cuda pf lib + cuda_add_library(rbsspfvehicletracker + nodes/vscan_lidar_track/rbsspfvehicletracker.cu + nodes/vscan_lidar_track/rbsspfvehicletracker.cuh) - catkin_package( - CATKIN_DEPENDS rosinterface + catkin_package( + CATKIN_DEPENDS rosinterface ) - #qt exe - include_directories(${Qt5Core_INCLUDE_DIRS} - ${Qt5Widgets_INCLUDE_DIRS} - nodes/vscan_lidar_track/) + #qt exe + include_directories(${Qt5Core_INCLUDE_DIRS} + ${Qt5Widgets_INCLUDE_DIRS} + nodes/vscan_lidar_track/) - add_definitions(${Qt5Core_DEFINITIONS}) - add_definitions(${Qt5Widgets_DEFINITIONS}) + add_definitions(${Qt5Core_DEFINITIONS}) + add_definitions(${Qt5Widgets_DEFINITIONS}) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${Qt5Core_EXECUTABLE_COMPILE_FLAGS}") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${Qt5Core_EXECUTABLE_COMPILE_FLAGS}") - qt5_wrap_ui(vscan_lidar_track_ui_mainwindow nodes/vscan_lidar_track/mainwindow.ui) + qt5_wrap_ui(vscan_lidar_track_ui_mainwindow nodes/vscan_lidar_track/mainwindow.ui) - add_executable(vscan_lidar_track - nodes/vscan_lidar_track/main.cpp - nodes/vscan_lidar_track/mainwindow.cpp - nodes/vscan_lidar_track/mainwindow.h - nodes/vscan_lidar_track/rbsspfvehicletracker.cpp - nodes/vscan_lidar_track/rbsspfvehicletracker.h - ${vscan_lidar_track_ui_mainwindow} - ) + add_executable(vscan_lidar_track + nodes/vscan_lidar_track/main.cpp + nodes/vscan_lidar_track/mainwindow.cpp + nodes/vscan_lidar_track/mainwindow.h + nodes/vscan_lidar_track/rbsspfvehicletracker.cpp + nodes/vscan_lidar_track/rbsspfvehicletracker.h + ${vscan_lidar_track_ui_mainwindow} + ) - set_target_properties(vscan_lidar_track - PROPERTIES COMPILE_FLAGS "-fPIC" - ) + set_target_properties(vscan_lidar_track + PROPERTIES COMPILE_FLAGS "-fPIC" + ) - add_dependencies(vscan_lidar_track - ${catkin_EXPORTED_TARGETS} - ) + add_dependencies(vscan_lidar_track + ${catkin_EXPORTED_TARGETS} + ) - target_link_libraries(vscan_lidar_track - ${catkin_LIBRARIES} - Qt5::Core - Qt5::Widgets - rbsspfvehicletracker - ) + target_link_libraries(vscan_lidar_track + ${catkin_LIBRARIES} + Qt5::Core + Qt5::Widgets + rbsspfvehicletracker + ) -endif() +endif () #Euclidean Cluster add_executable(euclidean_cluster nodes/euclidean_cluster/euclidean_cluster.cpp nodes/euclidean_cluster/Cluster.cpp) find_package(CUDA) -if(${CUDA_FOUND}) - INCLUDE(FindCUDA) - message("-- USING ACCELERATED CLUSTERING --") - message("Version: " ${CUDA_VERSION}) - message("Library: " ${CUDA_CUDA_LIBRARY}) - message("Runtime: " ${CUDA_CUDART_LIBRARY}) +if (${CUDA_FOUND}) + INCLUDE(FindCUDA) + message("-- USING ACCELERATED CLUSTERING --") + message("Version: " ${CUDA_VERSION}) + message("Library: " ${CUDA_CUDA_LIBRARY}) + message("Runtime: " ${CUDA_CUDART_LIBRARY}) - target_compile_definitions(euclidean_cluster PRIVATE - GPU_CLUSTERING=1 - ) + target_compile_definitions(euclidean_cluster PRIVATE + GPU_CLUSTERING=1 + ) - cuda_add_library(gpu_euclidean_clustering - nodes/euclidean_cluster/includes/gpu_euclidean_clustering.h - nodes/euclidean_cluster/gpu_euclidean_clustering.cu - ) + cuda_add_library(gpu_euclidean_clustering + nodes/euclidean_cluster/includes/gpu_euclidean_clustering.h + nodes/euclidean_cluster/gpu_euclidean_clustering.cu + ) - target_link_libraries(euclidean_cluster - ${OpenCV_LIBRARIES} - ${catkin_LIBRARIES} - ${PCL_LIBRARIES} - gpu_euclidean_clustering) + target_link_libraries(euclidean_cluster + ${OpenCV_LIBRARIES} + ${catkin_LIBRARIES} + ${PCL_LIBRARIES} + gpu_euclidean_clustering) -else() - target_link_libraries(euclidean_cluster ${OpenCV_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES}) +else () + target_link_libraries(euclidean_cluster ${OpenCV_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES}) -endif() +endif () -add_dependencies(euclidean_cluster lidar_tracker_generate_messages_cpp vector_map_server_generate_messages_cpp vector_map) +add_dependencies(euclidean_cluster ${catkin_EXPORTED_TARGETS}) if (OPENMP_FOUND) set_target_properties(euclidean_cluster PROPERTIES - COMPILE_FLAGS ${OpenMP_CXX_FLAGS} - LINK_FLAGS ${OpenMP_CXX_FLAGS} - ) -endif() + COMPILE_FLAGS ${OpenMP_CXX_FLAGS} + LINK_FLAGS ${OpenMP_CXX_FLAGS} + ) +endif () #kl contour tracker add_executable(kf_contour_tracker nodes/kf_contour_tracker/kf_contour_tracker.cpp nodes/kf_contour_tracker/src/kf_contour_tracker_core.cpp) diff --git a/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt b/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt index dd5a34ea86b..86eaafb9718 100644 --- a/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt @@ -1,38 +1,38 @@ cmake_minimum_required(VERSION 2.8.3) project(road_wizard) execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE + COMMAND rosversion -d + OUTPUT_VARIABLE ROS_VERSION + OUTPUT_STRIP_TRAILING_WHITESPACE ) include(FindPkgConfig) find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - cv_bridge - sensor_msgs - tf - libvectormap - runtime_manager - vector_map_server - geometry_msgs - waypoint_follower - cmake_modules - autoware_msgs - ) + roscpp + std_msgs + cv_bridge + sensor_msgs + tf + libvectormap + runtime_manager + vector_map_server + geometry_msgs + waypoint_follower + cmake_modules + autoware_msgs + ) find_package(OpenCV REQUIRED) find_package(Eigen3 QUIET) -if(NOT EIGEN3_FOUND) - # Fallback to cmake_modules - find_package(cmake_modules REQUIRED) - find_package(Eigen REQUIRED) - set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) - set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only - # Possibly map additional variables to the EIGEN3_ prefix. -else() - set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) -endif() +if (NOT EIGEN3_FOUND) + # Fallback to cmake_modules + find_package(cmake_modules REQUIRED) + find_package(Eigen REQUIRED) + set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) + set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only + # Possibly map additional variables to the EIGEN3_ prefix. +else () + set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) +endif () set(CMAKE_AUTOMOC ON) set(CMAKE_AUTOUIC ON) @@ -46,14 +46,14 @@ find_package(Qt5Widgets REQUIRED) ## catkin specific configuration ## ################################### include_directories( - include - ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIRS} + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} ) catkin_package( - INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS} - CATKIN_DEPENDS std_msgs message_runtime geometry_msgs vector_map_server libvectormap autoware_msgs + INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS} + CATKIN_DEPENDS std_msgs message_runtime geometry_msgs vector_map_server libvectormap autoware_msgs ) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") @@ -63,103 +63,103 @@ set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") ########### add_library(libcontext lib/Context.cpp) add_dependencies(libcontext - ${catkin_EXPORTED_TARGETS} -) + ${catkin_EXPORTED_TARGETS} + ) ### region_tlr ### add_executable(region_tlr - nodes/region_tlr/region_tlr.cpp - nodes/region_tlr/TrafficLightDetector.cpp - ) + nodes/region_tlr/region_tlr.cpp + nodes/region_tlr/TrafficLightDetector.cpp + ) target_link_libraries(region_tlr - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - libcontext -) + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + libcontext + ) add_dependencies(region_tlr - ${catkin_EXPORTED_TARGETS} -) + ${catkin_EXPORTED_TARGETS} + ) ### feat_proj ### include_directories( - ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIR} - ${libvectormap_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} + ${libvectormap_INCLUDE_DIRS} ) add_executable(feat_proj - nodes/feat_proj/feat_proj.cpp -) + nodes/feat_proj/feat_proj.cpp + ) target_link_libraries(feat_proj - ${catkin_LIBRARIES} - ${libvectormap_LIBRARIES} - ${OpenCV_LIBS} - vector_map -) + ${catkin_LIBRARIES} + ${libvectormap_LIBRARIES} + ${OpenCV_LIBS} + vector_map + ) add_dependencies(feat_proj - ${catkin_EXPORTED_TARGETS} -) + ${catkin_EXPORTED_TARGETS} + ) ### tlr_tuner ### EXECUTE_PROCESS( - COMMAND pkg-config --variable=host_bins Qt5Core - OUTPUT_VARIABLE Qt5BIN - OUTPUT_STRIP_TRAILING_WHITESPACE + COMMAND pkg-config --variable=host_bins Qt5Core + OUTPUT_VARIABLE Qt5BIN + OUTPUT_STRIP_TRAILING_WHITESPACE ) include_directories( - include - nodes/tlr_tuner/ - ${catkin_INCLUDE_DIRS} - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_CURRENT_BINARY_DIR} + include + nodes/tlr_tuner/ + ${catkin_INCLUDE_DIRS} + ${CMAKE_CURRENT_SOURCE_DIR} + ${CMAKE_CURRENT_BINARY_DIR} ) qt5_wrap_ui(tlr_tuner_ui_mainwindow nodes/tlr_tuner/mainwindow.ui) add_executable(tlr_tuner - nodes/tlr_tuner/tlr_tuner.cpp - nodes/tlr_tuner/mainwindow.cpp - nodes/tlr_tuner/mainwindow.h - nodes/tlr_tuner/tunerBody.cpp - nodes/tlr_tuner/tunerBody.h - ${tlr_tuner_ui_mainwindow} - ) + nodes/tlr_tuner/tlr_tuner.cpp + nodes/tlr_tuner/mainwindow.cpp + nodes/tlr_tuner/mainwindow.h + nodes/tlr_tuner/tunerBody.cpp + nodes/tlr_tuner/tunerBody.h + ${tlr_tuner_ui_mainwindow} + ) set_target_properties(tlr_tuner - PROPERTIES COMPILE_FLAGS "-fPIC" - ) + PROPERTIES COMPILE_FLAGS "-fPIC" + ) target_link_libraries(tlr_tuner - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - Qt5::Core - Qt5::Widgets - ) + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + Qt5::Core + Qt5::Widgets + ) ### roi_extractor ### include_directories( - ${catkin_INCLUDE_DIRS} - include + ${catkin_INCLUDE_DIRS} + include ) add_executable(roi_extractor - nodes/roi_extractor/roi_extractor.cpp - ) + nodes/roi_extractor/roi_extractor.cpp + ) target_link_libraries(roi_extractor - ${catkin_LIBRARIES} - libcontext -) + ${catkin_LIBRARIES} + libcontext + ) add_dependencies(region_tlr -road_wizard_generate_messages_cpp) + ${catkin_EXPORTED_TARGETS}) ### label_maker ### @@ -173,12 +173,12 @@ set(CMAKE_AUTOMOC ON) set(CMAKE_INCLUDE_CURRENT_DIR ON) include_directories( - ${catkin_INCLUDE_DIRS} - ${TinyXML_INCLUDE_DIRS} - nodes/label_maker/ - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_CURRENT_BINARY_DIR} - ) + ${catkin_INCLUDE_DIRS} + ${TinyXML_INCLUDE_DIRS} + nodes/label_maker/ + ${CMAKE_CURRENT_SOURCE_DIR} + ${CMAKE_CURRENT_BINARY_DIR} +) file(GLOB SOURCES "nodes/label_maker/*.cpp") file(GLOB HEADERS "nodes/label_maker/*.h") @@ -187,63 +187,63 @@ file(GLOB UI_SOURCES "nodes/label_maker/*.ui") qt5_wrap_ui(UI_HEADERS ${UI_SOURCES}) add_executable(label_maker - ${SOURCES} - ${HEADERS} - ${UI_HEADERS} - ) + ${SOURCES} + ${HEADERS} + ${UI_HEADERS} + ) set_target_properties(label_maker - PROPERTIES COMPILE_FLAGS "-fPIC" - ) + PROPERTIES COMPILE_FLAGS "-fPIC" + ) target_link_libraries(label_maker - ${catkin_LIBRARIES} - ${TinyXML_LIBRARIES} - Qt5::Core - Qt5::Gui - Qt5::Widgets - ) + ${catkin_LIBRARIES} + ${TinyXML_LIBRARIES} + Qt5::Core + Qt5::Gui + Qt5::Widgets + ) ### region_tlr_ssd ### ##############################SSD'sFORK of CAFFE NEEDS TO BE PREVIOUSLY COMPILED#################### set(SSD_CAFFE_PATH "$ENV{HOME}/ssdcaffe/distribute") #################################################################################################### -if(EXISTS "${SSD_CAFFE_PATH}") - -find_package(CUDA) -pkg_check_modules(HDF5 hdf5) - -if(HDF5_FOUND) - include_directories(${HDF5_INCLUDE_DIRS}) -endif() - -add_executable(region_tlr_ssd - nodes/region_tlr_ssd/region_tlr_ssd.cpp - nodes/region_tlr_ssd/traffic_light_recognizer.cpp - ) - -target_link_libraries(region_tlr_ssd - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - ${CUDA_LIBRARIES} - ${CUDA_CUBLAS_LIBRARIES} - ${CUDA_curand_LIBRARY} - ${SSD_CAFFE_PATH}/lib/libcaffe.so - glog - libcontext - ) - -target_include_directories(region_tlr_ssd PRIVATE - ${SSD_CAFFE_PATH}/include - ${CUDA_INCLUDE_DIRS} - nodes/region_tlr_ssd/ - ) - -add_dependencies(region_tlr_ssd - ${catkin_EXPORTED_TARGETS} - ) - -else() # if(EXISTS "${SSD_CAFFE_PATH}") - message("'SSD/Caffe' is not installed. 'region_tlr_ssd' will not be built.") -endif() # if(EXISTS "${SSD_CAFFE_PATH}") +if (EXISTS "${SSD_CAFFE_PATH}") + + find_package(CUDA) + pkg_check_modules(HDF5 hdf5) + + if (HDF5_FOUND) + include_directories(${HDF5_INCLUDE_DIRS}) + endif () + + add_executable(region_tlr_ssd + nodes/region_tlr_ssd/region_tlr_ssd.cpp + nodes/region_tlr_ssd/traffic_light_recognizer.cpp + ) + + target_link_libraries(region_tlr_ssd + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ${CUDA_LIBRARIES} + ${CUDA_CUBLAS_LIBRARIES} + ${CUDA_curand_LIBRARY} + ${SSD_CAFFE_PATH}/lib/libcaffe.so + glog + libcontext + ) + + target_include_directories(region_tlr_ssd PRIVATE + ${SSD_CAFFE_PATH}/include + ${CUDA_INCLUDE_DIRS} + nodes/region_tlr_ssd/ + ) + + add_dependencies(region_tlr_ssd + ${catkin_EXPORTED_TARGETS} + ) + +else () # if(EXISTS "${SSD_CAFFE_PATH}") + message("'SSD/Caffe' is not installed. 'region_tlr_ssd' will not be built.") +endif () # if(EXISTS "${SSD_CAFFE_PATH}") diff --git a/ros/src/computing/perception/detection/packages/viewers/package.xml b/ros/src/computing/perception/detection/packages/viewers/package.xml index 2fa2b674182..b2734f3dc49 100644 --- a/ros/src/computing/perception/detection/packages/viewers/package.xml +++ b/ros/src/computing/perception/detection/packages/viewers/package.xml @@ -1,20 +1,20 @@ - viewers - 1.6.3 - The viewers package - Syohei YOSHIDA - BSD - catkin - cv_tracker_msgs - std_msgs - autoware_msgs - std_msgs - message_runtime - points2image - runtime_manager - scan2image - autoware_msgs - - + viewers + 1.6.3 + The viewers package + Syohei YOSHIDA + BSD + catkin + + std_msgs + message_runtime + autoware_msgs + + + std_msgs + message_runtime + autoware_msgs + + diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/CMakeLists.txt b/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/CMakeLists.txt index e60f9f2c656..38d085d2557 100644 --- a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/CMakeLists.txt @@ -14,7 +14,6 @@ set(SUBSYS_DEPS common) set(LIB_NAME "fast_pcl_ndt_cpu") catkin_package( - DEPENDS ${SUBSYS_DEPS} INCLUDE_DIRS include LIBRARIES ${LIB_NAME} ) diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/package.xml b/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/package.xml index a384e1b8bda..f30fd198600 100644 --- a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/package.xml +++ b/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/package.xml @@ -8,7 +8,6 @@ BSD catkin velodyne_pointcloud - common velodyne_pointcloud diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/CMakeLists.txt b/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/CMakeLists.txt index 879cccdc198..353d4f561ca 100644 --- a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/CMakeLists.txt @@ -35,7 +35,6 @@ if (CUDA_FOUND) set(LIB_NAME "fast_pcl_ndt_gpu") catkin_package( - DEPENDS ${SUBSYS_DEPS} INCLUDE_DIRS include LIBRARIES ${LIB_NAME} ) diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/package.xml b/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/package.xml index 90d83d0814b..5ede8080842 100644 --- a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/package.xml +++ b/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/package.xml @@ -8,7 +8,6 @@ BSD catkin velodyne_pointcloud - common velodyne_pointcloud diff --git a/ros/src/computing/perception/localization/lib/pcl_omp/registration/CMakeLists.txt b/ros/src/computing/perception/localization/lib/pcl_omp/registration/CMakeLists.txt index f2e9c5ea448..5d67f0b74b2 100644 --- a/ros/src/computing/perception/localization/lib/pcl_omp/registration/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/pcl_omp/registration/CMakeLists.txt @@ -4,38 +4,36 @@ project(pcl_omp_registration) find_package(catkin REQUIRED COMPONENTS) find_package(PCL REQUIRED) -IF(PCL_VERSION VERSION_LESS "1.7.2") -message("pcl_omp requires PCL 1.7.2 or higher versions") -ELSE(PCL_VERSION VERSION_LESS "1.7.2") -set(SUBSYS_NAME pcl_omp_registration) -set(SUBSYS_DESC "Point cloud registration library") -set(SUBSYS_DEPS pcl_common octree kdtree search sample_consensus features) +IF (PCL_VERSION VERSION_LESS "1.7.2") + message("pcl_omp requires PCL 1.7.2 or higher versions") +ELSE (PCL_VERSION VERSION_LESS "1.7.2") + set(SUBSYS_NAME pcl_omp_registration) + set(SUBSYS_DESC "Point cloud registration library") -set(LIB_NAME "pcl_omp_registration") + set(LIB_NAME "pcl_omp_registration") -catkin_package( - #DEPENDS ${SUBSYS_DEPS} - INCLUDE_DIRS include - LIBRARIES ${LIB_NAME} - ) + catkin_package( + INCLUDE_DIRS include + LIBRARIES ${LIB_NAME} + ) -set(srcs - src/ndt.cpp -) + set(srcs + src/ndt.cpp + ) -set(incs - "include/pcl_omp/registration/ndt.h" - "include/pcl_omp/registration/registration.h" -) + set(incs + "include/pcl_omp/registration/ndt.h" + "include/pcl_omp/registration/registration.h" + ) -set(impl_incs - "include/pcl_omp/registration/impl/ndt.hpp" - "include/pcl_omp/registration/impl/registration.hpp" -) + set(impl_incs + "include/pcl_omp/registration/impl/ndt.hpp" + "include/pcl_omp/registration/impl/registration.hpp" + ) -include_directories(${PCL_INCLUDE_DIRS} "${CMAKE_CURRENT_SOURCE_DIR}/include") + include_directories(${PCL_INCLUDE_DIRS} "${CMAKE_CURRENT_SOURCE_DIR}/include") -add_library("${LIB_NAME}" ${srcs} ${incs} ${impl_incs}) + add_library("${LIB_NAME}" ${srcs} ${incs} ${impl_incs}) -target_link_libraries("${LIB_NAME}" ${PCL_LIBRRIES}) -ENDIF(PCL_VERSION VERSION_LESS "1.7.2") + target_link_libraries("${LIB_NAME}" ${PCL_LIBRRIES}) +ENDIF (PCL_VERSION VERSION_LESS "1.7.2") diff --git a/ros/src/computing/perception/localization/lib/pcl_omp/registration/package.xml b/ros/src/computing/perception/localization/lib/pcl_omp/registration/package.xml index b2430f76e7f..2d156f12e61 100644 --- a/ros/src/computing/perception/localization/lib/pcl_omp/registration/package.xml +++ b/ros/src/computing/perception/localization/lib/pcl_omp/registration/package.xml @@ -1,18 +1,11 @@ - pcl_omp_registration - 1.6.3 - The pcl_omp_registration package - Yuki Kitsukawa - BSD - catkin - common - octree - kdtree - search - sample_consensus - features - filters - - + pcl_omp_registration + 1.6.3 + The pcl_omp_registration package + Yuki Kitsukawa + BSD + catkin + + diff --git a/ros/src/computing/perception/localization/packages/ndt_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/ndt_localizer/CMakeLists.txt index 344c9659d92..e4332b9b963 100644 --- a/ros/src/computing/perception/localization/packages/ndt_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/ndt_localizer/CMakeLists.txt @@ -1,75 +1,68 @@ cmake_minimum_required(VERSION 2.8.3) project(ndt_localizer) execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE + COMMAND rosversion -d + OUTPUT_VARIABLE ROS_VERSION + OUTPUT_STRIP_TRAILING_WHITESPACE ) find_package(PCL REQUIRED) -IF(NOT (PCL_VERSION VERSION_LESS "1.7.2")) -SET(PCL_OPENMP_PACKAGES pcl_omp_registration) -ENDIF(NOT (PCL_VERSION VERSION_LESS "1.7.2")) +IF (NOT (PCL_VERSION VERSION_LESS "1.7.2")) + SET(PCL_OPENMP_PACKAGES pcl_omp_registration) +ENDIF (NOT (PCL_VERSION VERSION_LESS "1.7.2")) -find_package( OpenMP ) +find_package(OpenMP) if (OPENMP_FOUND) - set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}") - set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") -endif() + set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") +endif () find_package(CUDA) -if(CUDA_FOUND) +if (CUDA_FOUND) add_definitions(-DCUDA_FOUND) list(APPEND PCL_OPENMP_PACKAGES ndt_gpu) -endif() +endif () if ("${ROS_VERSION}" MATCHES "(indigo|jade)") -find_package(catkin REQUIRED COMPONENTS - roscpp - pcl_ros - sensor_msgs - autoware_msgs - pcl_conversions - velodyne_pointcloud - ${PCL_OPENMP_PACKAGES} - ndt_tku - ndt_cpu -) -elseif("${ROS_VERSION}" MATCHES "(kinetic)") -find_package(catkin REQUIRED COMPONENTS - roscpp - pcl_ros - sensor_msgs - autoware_msgs - pcl_conversions - velodyne_pointcloud - ${PCL_OPENMP_PACKAGES} - ndt_cpu -) -endif() + find_package(catkin REQUIRED COMPONENTS + roscpp + pcl_ros + sensor_msgs + autoware_msgs + pcl_conversions + velodyne_pointcloud + ${PCL_OPENMP_PACKAGES} + ndt_tku + ndt_cpu + ) +elseif ("${ROS_VERSION}" MATCHES "(kinetic)") + find_package(catkin REQUIRED COMPONENTS + roscpp + pcl_ros + sensor_msgs + autoware_msgs + pcl_conversions + velodyne_pointcloud + ${PCL_OPENMP_PACKAGES} + ndt_cpu + ) +endif () ################################### ## catkin specific configuration ## ################################### if ("${ROS_VERSION}" MATCHES "(indigo|jade)") -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES ndt_pcl - CATKIN_DEPENDS std_msgs velodyne_pointcloud autoware_msgs ${PCL_OPENMP_PACKAGES} - DEPENDS ndt_tku ndt_cpu -# DEPENDS system_lib -) -elseif("${ROS_VERSION}" MATCHES "(kinetic)") -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES ndt_pcl - CATKIN_DEPENDS std_msgs velodyne_pointcloud autoware_msgs ${PCL_OPENMP_PACKAGES} - DEPENDS ndt_cpu -# DEPENDS ndt_tku -# DEPENDS system_lib -) -endif() + catkin_package( + CATKIN_DEPENDS std_msgs velodyne_pointcloud autoware_msgs ${PCL_OPENMP_PACKAGES} + DEPENDS ndt_tku ndt_cpu + ) +elseif ("${ROS_VERSION}" MATCHES "(kinetic)") + catkin_package( + CATKIN_DEPENDS std_msgs velodyne_pointcloud autoware_msgs ${PCL_OPENMP_PACKAGES} + DEPENDS ndt_cpu + ) +endif () ########### ## Build ## @@ -80,22 +73,23 @@ include_directories(include ${catkin_INCLUDE_DIRS}) SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") add_executable(ndt_matching nodes/ndt_matching/ndt_matching.cpp) -add_executable(ndt_mapping nodes/ndt_mapping/ndt_mapping.cpp) target_link_libraries(ndt_matching ${catkin_LIBRARIES}) +add_dependencies(ndt_matching ${catkin_EXPORTED_TARGETS}) + +add_executable(ndt_mapping nodes/ndt_mapping/ndt_mapping.cpp) target_link_libraries(ndt_mapping ${catkin_LIBRARIES}) -add_dependencies(ndt_matching autoware_msgs_generate_messages_cpp) -add_dependencies(ndt_mapping autoware_msgs_generate_messages_cpp) +add_dependencies(ndt_mapping ${catkin_EXPORTED_TARGETS}) -if(CUDA_FOUND) - target_include_directories(ndt_matching PRIVATE ${CUDA_INCLUDE_DIRS}) - target_include_directories(ndt_mapping PRIVATE ${CUDA_INCLUDE_DIRS}) -endif() +if (CUDA_FOUND) + target_include_directories(ndt_matching PRIVATE ${CUDA_INCLUDE_DIRS}) + target_include_directories(ndt_mapping PRIVATE ${CUDA_INCLUDE_DIRS}) +endif () -if(NOT (PCL_VERSION VERSION_LESS "1.7.2")) - set_target_properties(ndt_matching PROPERTIES COMPILE_DEFINITIONS "USE_PCL_OPENMP") - set_target_properties(ndt_mapping PROPERTIES COMPILE_DEFINITIONS "USE_PCL_OPENMP") -endif(NOT (PCL_VERSION VERSION_LESS "1.7.2")) +if (NOT (PCL_VERSION VERSION_LESS "1.7.2")) + set_target_properties(ndt_matching PROPERTIES COMPILE_DEFINITIONS "USE_PCL_OPENMP") + set_target_properties(ndt_mapping PROPERTIES COMPILE_DEFINITIONS "USE_PCL_OPENMP") +endif (NOT (PCL_VERSION VERSION_LESS "1.7.2")) add_executable(approximate_ndt_mapping nodes/approximate_ndt_mapping/approximate_ndt_mapping.cpp) @@ -106,14 +100,14 @@ target_link_libraries(approximate_ndt_mapping ${catkin_LIBRARIES}) target_link_libraries(tf_mapping ${catkin_LIBRARIES}) target_link_libraries(lazy_ndt_mapping ${catkin_LIBRARIES}) target_link_libraries(queue_counter ${catkin_LIBRARIES}) -add_dependencies(lazy_ndt_mapping autoware_msgs_generate_messages_cpp) +add_dependencies(lazy_ndt_mapping ${catkin_EXPORTED_TARGETS}) if ("${ROS_VERSION}" MATCHES "(indigo|jade)") - #add_executable(ndt_matching_tku nodes/ndt_matching_tku/ndt_matching_tku.cpp nodes/ndt_matching_tku/newton.cpp nodes/ndt_matching_tku/algebra.cpp) - add_executable(ndt_matching_tku nodes/ndt_matching_tku/ndt_matching_tku.cpp) - add_executable(ndt_mapping_tku nodes/ndt_mapping_tku/ndt_mapping_tku.cpp) - add_executable(mapping nodes/ndt_mapping_tku/mapping.cpp) - target_link_libraries(ndt_matching_tku ndt_tku ${catkin_LIBRARIES}) - target_link_libraries(ndt_mapping_tku ndt_tku ${catkin_LIBRARIES}) - target_link_libraries(mapping ndt_tku ${catkin_LIBRARIES}) -endif() + #add_executable(ndt_matching_tku nodes/ndt_matching_tku/ndt_matching_tku.cpp nodes/ndt_matching_tku/newton.cpp nodes/ndt_matching_tku/algebra.cpp) + add_executable(ndt_matching_tku nodes/ndt_matching_tku/ndt_matching_tku.cpp) + add_executable(ndt_mapping_tku nodes/ndt_mapping_tku/ndt_mapping_tku.cpp) + add_executable(mapping nodes/ndt_mapping_tku/mapping.cpp) + target_link_libraries(ndt_matching_tku ndt_tku ${catkin_LIBRARIES}) + target_link_libraries(ndt_mapping_tku ndt_tku ${catkin_LIBRARIES}) + target_link_libraries(mapping ndt_tku ${catkin_LIBRARIES}) +endif () diff --git a/ros/src/computing/perception/localization/packages/ndt_localizer/package.xml b/ros/src/computing/perception/localization/packages/ndt_localizer/package.xml index 18a81d51c8d..3f64613ce8e 100644 --- a/ros/src/computing/perception/localization/packages/ndt_localizer/package.xml +++ b/ros/src/computing/perception/localization/packages/ndt_localizer/package.xml @@ -1,28 +1,28 @@ - ndt_localizer - 1.6.3 - The ndt_localizer package - kitsukawa - BSD - catkin + ndt_localizer + 1.6.3 + The ndt_localizer package + kitsukawa + BSD + catkin - std_msgs - velodyne_pointcloud - pcl_omp_registration - ndt_gpu - ndt_cpu - ndt_tku - autoware_msgs + std_msgs + velodyne_pointcloud + ndt_gpu + ndt_cpu + ndt_tku + autoware_msgs + pcl_omp_registration - std_msgs - velodyne_pointcloud - pcl_omp_registration - ndt_gpu - ndt_cpu - ndt_tku - autoware_msgs + std_msgs + velodyne_pointcloud + ndt_gpu + ndt_cpu + ndt_tku + autoware_msgs + pcl_omp_registration - - + + diff --git a/ros/src/computing/planning/decision/libs/libamathutils/CMakeLists.txt b/ros/src/computing/planning/decision/libs/libamathutils/CMakeLists.txt index cdac1c3aaaa..36003d57c01 100644 --- a/ros/src/computing/planning/decision/libs/libamathutils/CMakeLists.txt +++ b/ros/src/computing/planning/decision/libs/libamathutils/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 2.8.11) -project (amathutils) # autoware math utility +project (amathutils_lib) # autoware math utility find_package(catkin REQUIRED COMPONENTS roscpp autoware_msgs @@ -14,7 +14,7 @@ set(TARGET_SRC src/Amathutils.cpp catkin_package( INCLUDE_DIRS include - LIBRARIES amathutils + LIBRARIES amathutils_lib CATKIN_DEPENDS roscpp autoware_msgs ) diff --git a/ros/src/computing/planning/decision/libs/libamathutils/package.xml b/ros/src/computing/planning/decision/libs/libamathutils/package.xml index a273edabaac..9f05a0213e2 100644 --- a/ros/src/computing/planning/decision/libs/libamathutils/package.xml +++ b/ros/src/computing/planning/decision/libs/libamathutils/package.xml @@ -1,6 +1,6 @@ - amathutils + amathutils_lib 1.6.3 The libamathutils package Yusuke FUJII diff --git a/ros/src/computing/planning/decision/libs/libstate/CMakeLists.txt b/ros/src/computing/planning/decision/libs/libstate/CMakeLists.txt index 4488fcf3d54..2155a1e443a 100644 --- a/ros/src/computing/planning/decision/libs/libstate/CMakeLists.txt +++ b/ros/src/computing/planning/decision/libs/libstate/CMakeLists.txt @@ -1,44 +1,44 @@ cmake_minimum_required(VERSION 2.8.3) -project(state) +project(state_machine_lib) find_package(catkin REQUIRED COMPONENTS - roscpp - autoware_msgs -) + roscpp + autoware_msgs + ) catkin_package( - INCLUDE_DIRS include - LIBRARIES state - CATKIN_DEPENDS roscpp autoware_msgs + INCLUDE_DIRS include + LIBRARIES state_machine_lib + CATKIN_DEPENDS roscpp autoware_msgs ) SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( - include - ${catkin_INCLUDE_DIRS} - ) + include + ${catkin_INCLUDE_DIRS} +) set(TARGET ${PROJECT_NAME}) -set(TARGET_SRC - src/state_context.cpp - ) +set(TARGET_SRC + src/state_context.cpp + ) add_library(${TARGET} - ${TARGET_SRC} - ) + ${TARGET_SRC} + ) target_link_libraries(${TARGET} - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - ) + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ) add_dependencies(${TARGET} - ${catkin_EXPORTED_TARGETS} - ) + ${catkin_EXPORTED_TARGETS} + ) install(DIRECTORY include - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.hpp" - ) + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.hpp" + ) diff --git a/ros/src/computing/planning/decision/libs/libstate/package.xml b/ros/src/computing/planning/decision/libs/libstate/package.xml index 65d9e25ac61..b1586b52063 100644 --- a/ros/src/computing/planning/decision/libs/libstate/package.xml +++ b/ros/src/computing/planning/decision/libs/libstate/package.xml @@ -1,6 +1,6 @@ - state + state_machine_lib 1.6.3 The libstate package diff --git a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt index 7197ce0874f..dddc249e7f6 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt +++ b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 2.8.12) project(decision_maker) ## Compile as C++11, supported in ROS Kinetic and newer @@ -9,49 +9,53 @@ SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -pg") SET(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -pg") find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - tf - message_generation - autoware_msgs - geometry_msgs - state - vector_map_msgs - vector_map - jsk_recognition_msgs - amathutils - dynamic_reconfigure -) - -#generate_dynamic_reconfigure_options(cfg/debug_decision_dynconfig.cfg) - + roscpp + std_msgs + tf + autoware_msgs + geometry_msgs + vector_map_msgs + vector_map + jsk_recognition_msgs + dynamic_reconfigure + amathutils_lib + state_machine_lib + ) add_message_files( - FILES - DebugDecisionMaker.msg + FILES + DebugDecisionMaker.msg ) catkin_package( - INCLUDE_DIRS include - #LIBRARIES - CATKIN_DEPENDS roscpp tf std_msgs geometry_msgs autoware_msgs state vector_map vector_map_msgs jsk_recognition_msgs amathutils - DEPENDS system_lib + INCLUDE_DIRS include + CATKIN_DEPENDS roscpp + tf + std_msgs + autoware_msgs + geometry_msgs + vector_map_msgs + vector_map + jsk_recognition_msgs + vector_map_msgs + amathutils_lib + state_machine_lib ) include_directories( - include - src - ${catkin_INCLUDE_DIRS} + include + src + ${catkin_INCLUDE_DIRS} ) -set(TARGET_SRC nodes/decision_maker/decision_maker_node.cpp - nodes/decision_maker/decision_maker_node_core.cpp - nodes/decision_maker/decision_maker_node_decision.cpp - nodes/decision_maker/decision_maker_node_init.cpp - nodes/decision_maker/decision_maker_node_callback.cpp - nodes/decision_maker/decision_maker_node_stateupdate.cpp - nodes/decision_maker/decision_maker_node_publish.cpp - nodes/decision_maker/cross_road_area.cpp - ) +set(TARGET_SRC nodes/decision_maker/decision_maker_node.cpp + nodes/decision_maker/decision_maker_node_core.cpp + nodes/decision_maker/decision_maker_node_decision.cpp + nodes/decision_maker/decision_maker_node_init.cpp + nodes/decision_maker/decision_maker_node_callback.cpp + nodes/decision_maker/decision_maker_node_stateupdate.cpp + nodes/decision_maker/decision_maker_node_publish.cpp + nodes/decision_maker/cross_road_area.cpp + ) add_executable(${PROJECT_NAME}_node ${TARGET_SRC}) @@ -62,4 +66,4 @@ add_dependencies(${PROJECT_NAME}_node ${catkin_EXPORTED_TARGETS}) set(SUBPROJECT_NAME planner_selector) add_executable(${SUBPROJECT_NAME}_node nodes/planner_selector/planner_selector_node.cpp) target_link_libraries(${SUBPROJECT_NAME}_node ${catkin_LIBRARIES}) -add_dependencies(${SUBPROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ) +add_dependencies(${SUBPROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/package.xml b/ros/src/computing/planning/decision/packages/decision_maker/package.xml index 87f74f69626..eae61c88281 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/package.xml +++ b/ros/src/computing/planning/decision/packages/decision_maker/package.xml @@ -1,36 +1,37 @@ - decision_maker - 1.6.3 - The decision maker package for autoware - Yusuke Fujii - Yusuke Fujii + decision_maker + 1.6.3 + The decision maker package for autoware + Yusuke Fujii + Yusuke Fujii - BSD - catkin - roscpp - std_msgs - autoware_msgs - geometry_msgs - vector_map - vector_map_msgs - jsk_recognition_msgs - state - tf - amathutils - generated_messages - roscpp - std_msgs - autoware_msgs - geometry_msgs - vector_map - vector_map_msgs - state - tf - amathutils - jsk_recognition_msgs - generated_messages - + BSD + catkin + roscpp + std_msgs + autoware_msgs + geometry_msgs + vector_map + vector_map_msgs + jsk_recognition_msgs + tf + dynamic_reconfigure + amathutils_lib + state_machine_lib - + roscpp + std_msgs + autoware_msgs + geometry_msgs + vector_map + vector_map_msgs + tf + jsk_recognition_msgs + dynamic_reconfigure + amathutils_lib + state_machine_lib + + + diff --git a/ros/src/computing/planning/mission/packages/way_planner/CMakeLists.txt b/ros/src/computing/planning/mission/packages/way_planner/CMakeLists.txt index 9a172222611..b0a902bc988 100644 --- a/ros/src/computing/planning/mission/packages/way_planner/CMakeLists.txt +++ b/ros/src/computing/planning/mission/packages/way_planner/CMakeLists.txt @@ -28,7 +28,6 @@ catkin_package( INCLUDE_DIRS include LIBRARIES way_planner CATKIN_DEPENDS geometry_msgs vector_map_msgs roscpp rospy std_msgs waypoint_follower op_utility op_planner op_simu - DEPENDS system_lib ) ########### diff --git a/ros/src/computing/planning/motion/packages/ff_waypoint_follower/CMakeLists.txt b/ros/src/computing/planning/motion/packages/ff_waypoint_follower/CMakeLists.txt index f00ae862d0e..468e7dd145e 100644 --- a/ros/src/computing/planning/motion/packages/ff_waypoint_follower/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/ff_waypoint_follower/CMakeLists.txt @@ -23,7 +23,6 @@ catkin_package( INCLUDE_DIRS include LIBRARIES CATKIN_DEPENDS roscpp geometry_msgs runtime_manager map_file op_utility op_planner op_simu waypoint_follower - DEPENDS system_lib ) ########### diff --git a/ros/src/computing/planning/motion/packages/lattice_planner/package.xml b/ros/src/computing/planning/motion/packages/lattice_planner/package.xml index 82a3647c46e..5d92fe438d1 100644 --- a/ros/src/computing/planning/motion/packages/lattice_planner/package.xml +++ b/ros/src/computing/planning/motion/packages/lattice_planner/package.xml @@ -16,7 +16,6 @@ gnss vector_map astar_planner - libarmadillo-dev autoware_msgs roscpp @@ -26,7 +25,6 @@ waypoint_follower vector_map astar_planner - libarmadillo-dev autoware_msgs diff --git a/ros/src/computing/planning/motion/packages/op_simulator/CMakeLists.txt b/ros/src/computing/planning/motion/packages/op_simulator/CMakeLists.txt index 05a3e717641..fcef91516fe 100644 --- a/ros/src/computing/planning/motion/packages/op_simulator/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/op_simulator/CMakeLists.txt @@ -12,17 +12,10 @@ find_package(catkin REQUIRED COMPONENTS autoware_msgs ) -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - -################################### -## catkin specific configuration ## -################################### catkin_package( INCLUDE_DIRS include LIBRARIES - CATKIN_DEPENDS roscpp geometry_msgs cv_tracker op_utility op_planner op_simu autoware_msgs - DEPENDS system_lib + CATKIN_DEPENDS roscpp geometry_msgs op_utility op_planner op_simu autoware_msgs ) ########### @@ -33,14 +26,16 @@ SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall -Wno-unused-result -DROS ${CMAKE_CX include_directories( include -# /usr/local/include/zmp/minivan ${catkin_INCLUDE_DIRS} ) -## Declare a C++ library -#add_library(libplanner_x lib/libplanner_x.cpp) - link_directories(lib) -add_executable(op_simulator nodes/OpenPlannerSimulator.cpp nodes/OpenPlannerSimulator_core.cpp nodes/PolygonGenerator.cpp) -target_link_libraries(op_simulator ${catkin_LIBRARIES}) +add_executable(op_simulator + nodes/OpenPlannerSimulator.cpp + nodes/OpenPlannerSimulator_core.cpp + nodes/PolygonGenerator.cpp) +target_link_libraries(op_simulator + ${catkin_LIBRARIES}) +add_dependencies(op_simulator + ${catkin_EXPORTED_TARGETS}) diff --git a/ros/src/computing/planning/motion/packages/op_simulator/package.xml b/ros/src/computing/planning/motion/packages/op_simulator/package.xml index 41acdb67dcd..b4504e42208 100644 --- a/ros/src/computing/planning/motion/packages/op_simulator/package.xml +++ b/ros/src/computing/planning/motion/packages/op_simulator/package.xml @@ -11,7 +11,6 @@ roscpp geometry_msgs - cv_tracker pcl_conversions pcl_ros op_utility @@ -21,7 +20,6 @@ roscpp geometry_msgs - cv_tracker map_file pcl_conversions pcl_ros diff --git a/ros/src/computing/planning/motion/packages/op_simulator_perception/CMakeLists.txt b/ros/src/computing/planning/motion/packages/op_simulator_perception/CMakeLists.txt index 08ef11367dd..d0c6e56e146 100644 --- a/ros/src/computing/planning/motion/packages/op_simulator_perception/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/op_simulator_perception/CMakeLists.txt @@ -21,7 +21,6 @@ catkin_package( INCLUDE_DIRS include LIBRARIES CATKIN_DEPENDS roscpp geometry_msgs op_utility op_planner autoware_msgs - DEPENDS system_lib ) ########### diff --git a/ros/src/data/packages/pos_db/CMakeLists.txt b/ros/src/data/packages/pos_db/CMakeLists.txt index 391646f1fb2..e66a0d7c235 100644 --- a/ros/src/data/packages/pos_db/CMakeLists.txt +++ b/ros/src/data/packages/pos_db/CMakeLists.txt @@ -1,13 +1,15 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 2.8.12) project(pos_db) find_package(catkin REQUIRED COMPONENTS - roscpp - gnss - jsk_recognition_msgs - tf - autoware_msgs -) + roscpp + gnss + jsk_recognition_msgs + tf + autoware_msgs + ) + +include(FindLibSsh2.cmake) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") @@ -15,8 +17,7 @@ set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") ## catkin specific configuration ## ################################### catkin_package( - CATKIN_DEPENDS roscpp autoware_msgs - DEPENDS ssh2 + CATKIN_DEPENDS roscpp autoware_msgs ) ########### @@ -24,25 +25,35 @@ catkin_package( ########### include_directories( - include - ${catkin_INCLUDE_DIRS} + include + ${catkin_INCLUDE_DIRS} + ${LIBSSH2_INCLUDE_DIRS} ) add_library(pos_db - lib/pos_db/SendData.cpp - lib/pos_db/util.cpp -) - -add_executable(pos_downloader nodes/pos_downloader/pos_downloader.cpp) -target_link_libraries(pos_downloader ${catkin_LIBRARIES} pos_db ssh2) - -add_executable(pos_uploader nodes/pos_uploader/pos_uploader.cpp) -target_link_libraries(pos_uploader ${catkin_LIBRARIES} pos_db ssh2) -add_dependencies(pos_uploader autoware_msgs_generate_messages_cpp) + lib/pos_db/SendData.cpp + lib/pos_db/util.cpp + ) + +add_executable(pos_downloader + nodes/pos_downloader/pos_downloader.cpp) +target_link_libraries(pos_downloader + pos_db + ${catkin_LIBRARIES} + ${LIBSSH2_LIBRARIES}) + +add_executable(pos_uploader + nodes/pos_uploader/pos_uploader.cpp) +target_link_libraries(pos_uploader + pos_db + ${catkin_LIBRARIES} + ${LIBSSH2_LIBRARIES}) +add_dependencies(pos_uploader + ${catkin_EXPORTED_TARGETS}) set(CAMERA_YAML "$ENV{HOME}/.ros/autoware/camera_lidar_2d.yaml") set_target_properties(pos_uploader - PROPERTIES COMPILE_FLAGS - "-DCAMERA_YAML=${CAMERA_YAML}") + PROPERTIES COMPILE_FLAGS + "-DCAMERA_YAML=${CAMERA_YAML}") diff --git a/ros/src/data/packages/pos_db/FindLibSsh2.cmake b/ros/src/data/packages/pos_db/FindLibSsh2.cmake new file mode 100644 index 00000000000..4768f84e1e0 --- /dev/null +++ b/ros/src/data/packages/pos_db/FindLibSsh2.cmake @@ -0,0 +1,30 @@ +# - Try to find libssh2 +# Once done this will define +# LIBSSH2_FOUND - System has libssh2 +# LIBSSH2_INCLUDE_DIRS - The libssh2 include directories +# LIBSSH2_LIBRARIES - The libraries needed to use libssh2 +# LIBSSH2_DEFINITIONS - Compiler switches required for using libssh2 + +find_package(PkgConfig) +pkg_check_modules(PC_LIBSSH2 QUIET libssh2) +set(LIBSSH2_DEFINITIONS ${PC_LIBSSH2_CFLAGS_OTHER}) + +message(STATUS "Looking for libssh2...") +find_path(LIBSSH2_INCLUDE_DIR libssh2.h + HINTS ${PC_LIBSSH2_INCLUDEDIR} ${PC_LIBSSH2_INCLUDE_DIRS} + PATH_SUFFIXES libssh2 ) + +find_library(LIBSSH2_LIBRARY NAMES ssh2 libssh2 + HINTS ${PC_LIBSSH2_LIBDIR} ${PC_LIBSSH2_LIBRARY_DIRS} ) + +set(LIBSSH2_LIBRARIES ${LIBSSH2_LIBRARY} ) +set(LIBSSH2_INCLUDE_DIRS ${LIBSSH2_INCLUDE_DIR} ) + +include(FindPackageHandleStandardArgs) +# handle the QUIETLY and REQUIRED arguments and set LIBSSH2_FOUND to TRUE +# if all listed variables are TRUE +find_package_handle_standard_args(LibSsh2 DEFAULT_MSG + LIBSSH2_LIBRARY LIBSSH2_INCLUDE_DIR) + +mark_as_advanced(LIBSSH2_INCLUDE_DIR LIBSSH2_LIBRARY) + diff --git a/ros/src/system/gazebo/catvehicle/CMakeLists.txt b/ros/src/system/gazebo/catvehicle/CMakeLists.txt index 812a324f713..03e8f711553 100644 --- a/ros/src/system/gazebo/catvehicle/CMakeLists.txt +++ b/ros/src/system/gazebo/catvehicle/CMakeLists.txt @@ -18,8 +18,6 @@ find_package(catkin REQUIRED COMPONENTS roscpp rospy sensor_msgs -# sicktoolbox -# sicktoolbox_wrapper std_msgs tf transmission_interface diff --git a/ros/src/system/gazebo/catvehicle/package.xml b/ros/src/system/gazebo/catvehicle/package.xml index 1a84a9e6157..27862e65776 100644 --- a/ros/src/system/gazebo/catvehicle/package.xml +++ b/ros/src/system/gazebo/catvehicle/package.xml @@ -52,8 +52,6 @@ roscpp rospy sensor_msgs - sicktoolbox - sicktoolbox_wrapper std_msgs tf transmission_interface @@ -66,10 +64,7 @@ roscpp rospy sensor_msgs - sicktoolbox - sicktoolbox_wrapper std_msgs - obstaclestopper tf transmission_interface velocity_controllers diff --git a/ros/src/util/packages/data_preprocessor/package.xml b/ros/src/util/packages/data_preprocessor/package.xml index bebfaf9abda..63ac88851bd 100644 --- a/ros/src/util/packages/data_preprocessor/package.xml +++ b/ros/src/util/packages/data_preprocessor/package.xml @@ -1,65 +1,31 @@ - data_preprocessor - 1.6.3 - The data_preprocessor package - - - - - katou01 - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - cv_bridge - libpcl-all-dev - pcl_conversions - pcl_msgs - pcl_ros - roscpp - std_msgs - cv_bridge - libpcl-all-dev - pcd_tutorial - pcl_conversions - pcl_msgs - pcl_ros - roscpp - std_msgs - - - - - - - + data_preprocessor + 1.6.3 + The data_preprocessor package + + katou01 + + BSD + + catkin + cv_bridge + libpcl-all-dev + pcl_conversions + pcl_msgs + pcl_ros + roscpp + std_msgs + + cv_bridge + libpcl-all-dev + pcl_conversions + pcl_msgs + pcl_ros + roscpp + std_msgs + + + + diff --git a/ros/src/util/packages/requirements_version_checker/CMakeLists.txt b/ros/src/util/packages/requirements_version_checker/CMakeLists.txt index f165b2ea148..b763cc31afd 100644 --- a/ros/src/util/packages/requirements_version_checker/CMakeLists.txt +++ b/ros/src/util/packages/requirements_version_checker/CMakeLists.txt @@ -1,40 +1,17 @@ cmake_minimum_required(VERSION 2.8.3) project(requirements_version_checker) -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) -if (NOT "${ROS_VERSION}" MATCHES "(indigo|jade|kinetic)") -message( - FATAL_ERROR - "You must need ROS indigo or jade or kinetic(Your ROS version is '${ROS_VERSION}')" -) -endif() +find_package(OpenCV REQUIRED) execute_process( - COMMAND pkg-config --modversion opencv - OUTPUT_VARIABLE OPENCV_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE + COMMAND rosversion -d + OUTPUT_VARIABLE ROS_VERSION + OUTPUT_STRIP_TRAILING_WHITESPACE ) - - -if ("${OPENCV_VERSION}" VERSION_LESS "2.4.8") -execute_process( - COMMAND pkg-config --modversion opencv-3.2.0-dev - OUTPUT_VARIABLE KINETIC_OPENCV_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) -if (DEFINED KINETIC_OPENCV_VERSION) -message( - STATUS - "${KINETIC_OPENCV_VERSION}") -else() -message( - FATAL_ERROR - "You must need OpenCV 2.4.8 or higher(Your version is '${OPENCV_VERSION})'" -) -endif() -endif() +if (NOT "${ROS_VERSION}" MATCHES "(indigo|jade|kinetic)") + message( + FATAL_ERROR + "You must need ROS indigo or jade or kinetic(Your ROS version is '${ROS_VERSION}')" + ) +endif () \ No newline at end of file From 9931eeb57608b5ea7522d275256780f3d4cef944 Mon Sep 17 00:00:00 2001 From: AMC Date: Wed, 14 Mar 2018 11:58:07 +0900 Subject: [PATCH 02/32] fixed also for indigo --- .../perception/detection/lib/image/kf/CMakeLists.txt | 5 ++++- .../perception/detection/packages/cv_tracker/CMakeLists.txt | 2 +- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt b/ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt index 58332176923..e6fdbc4542d 100644 --- a/ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt @@ -16,7 +16,10 @@ find_package(OpenCV REQUIRED) ## catkin specific configuration ## ################################### catkin_package( - CATKIN_DEPENDS autoware_msgs + CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs autoware_msgs + INCLUDE_DIRS include + DEPENDS opencv + LIBRARIES kf_lib ) ########### diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt b/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt index 489aadb4945..836a27f0b10 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt @@ -51,7 +51,7 @@ EXECUTE_PROCESS( if ("${ROS_VERSION}" MATCHES "(indigo|jade)") catkin_package( CATKIN_DEPENDS libdpm_ocv - libdpm_ttic fusion kf std_msgs geometry_msgs autoware_msgs + libdpm_ttic fusion kf_lib std_msgs geometry_msgs autoware_msgs ) elseif ("${ROS_VERSION}" MATCHES "(kinetic)") catkin_package( From 575874df71a0ac9cc2e674edf6d22018e0675de8 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 9 Apr 2018 13:53:32 +0900 Subject: [PATCH 03/32] kf cjeck --- .../perception/detection/lib/image/kf/CMakeLists.txt | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt b/ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt index e6fdbc4542d..1f1118f5a23 100644 --- a/ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt @@ -17,9 +17,8 @@ find_package(OpenCV REQUIRED) ################################### catkin_package( CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs autoware_msgs - INCLUDE_DIRS include - DEPENDS opencv - LIBRARIES kf_lib + INCLUDE_DIRS include + LIBRARIES kf_lib ) ########### From 4102041303678e05b1e3ac4227e6fb947034f771 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sat, 14 Apr 2018 21:13:50 +0900 Subject: [PATCH 04/32] Fix road wizard --- .../packages/road_wizard/CMakeLists.txt | 41 ------------------- 1 file changed, 41 deletions(-) diff --git a/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt b/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt index f123f75dbd3..74a35cf90d0 100644 --- a/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt @@ -221,46 +221,6 @@ target_link_libraries(label_maker ##############################SSD'sFORK of CAFFE NEEDS TO BE PREVIOUSLY COMPILED#################### set(SSD_CAFFE_PATH "$ENV{HOME}/ssdcaffe/distribute") #################################################################################################### -<<<<<<< HEAD -if (EXISTS "${SSD_CAFFE_PATH}") - - find_package(CUDA) - pkg_check_modules(HDF5 hdf5) - - if (HDF5_FOUND) - include_directories(${HDF5_INCLUDE_DIRS}) - endif () - - add_executable(region_tlr_ssd - nodes/region_tlr_ssd/region_tlr_ssd.cpp - nodes/region_tlr_ssd/traffic_light_recognizer.cpp - ) - - target_link_libraries(region_tlr_ssd - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - ${CUDA_LIBRARIES} - ${CUDA_CUBLAS_LIBRARIES} - ${CUDA_curand_LIBRARY} - ${SSD_CAFFE_PATH}/lib/libcaffe.so - glog - libcontext - ) - - target_include_directories(region_tlr_ssd PRIVATE - ${SSD_CAFFE_PATH}/include - ${CUDA_INCLUDE_DIRS} - nodes/region_tlr_ssd/ - ) - - add_dependencies(region_tlr_ssd - ${catkin_EXPORTED_TARGETS} - ) - -else () # if(EXISTS "${SSD_CAFFE_PATH}") - message("'SSD/Caffe' is not installed. 'region_tlr_ssd' will not be built.") -endif () # if(EXISTS "${SSD_CAFFE_PATH}") -======= if(EXISTS "${SSD_CAFFE_PATH}") find_package(CUDA REQUIRED) @@ -338,4 +298,3 @@ if(EXISTS "${MXNET_PATH}") else() message("'MXNET Package' is not installed. 'region_tlr_mxnet' will not be built.") endif() ->>>>>>> develop From 2030151d9346533a0917119e9e54aa5a27d7bebc Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sat, 14 Apr 2018 22:28:07 +0900 Subject: [PATCH 05/32] Added travis ci --- .travis.yml | 72 ++++++++++++++++++ .../packages/lidar_tracker/package.xml | 75 +++++++++++-------- 2 files changed, 115 insertions(+), 32 deletions(-) create mode 100644 .travis.yml diff --git a/.travis.yml b/.travis.yml new file mode 100644 index 00000000000..9086ffb4d97 --- /dev/null +++ b/.travis.yml @@ -0,0 +1,72 @@ +# Use ubuntu trusty (14.04) with sudo privileges. +dist: trusty +sudo: required +language: + - generic +cache: + - apt + +env: + global: + - ROS_DISTRO=indigo + - ROS_CI_DESKTOP="`lsb_release -cs`" # e.g. [precise|trusty|...] + - CI_SOURCE_PATH=$(pwd) + - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall + - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options + - ROS_PARALLEL_JOBS='-j8 -l6' + # 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 +before_install: + - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" + - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 + # Autoware pre requisites + - sudo apt-get install -y libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev software-properties-common libyaml-cpp-dev python-flask python-requests + - sudo add-apt-repository ppa:mosquitto-dev/mosquitto-ppa -y + - sudo apt-get update -qq + - sudo apt-get install -y libmosquitto-dev python-catkin-pkg python-rosdep python-wstool ros-$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: + - mkdir -p ~/catkin_ws/src + - cd ~/catkin_ws/src + - catkin_init_workspace + # Create the devel/setup.bash (run catkin_make with an empty workspace) and + # source it to set the path variables. + - cd ~/catkin_ws + - catkin_make + - source devel/setup.bash + # Add the package under integration to the workspace using a symlink. + - cd ~/catkin_ws/src + - ln -s $CI_SOURCE_PATH . + +# Install all 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 ~/catkin_ws/src + - wstool init + - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi + - wstool up + # package depdencies: install using rosdep. + - cd ~/catkin_ws + - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO + +# Compile and test (mark the build as failed if any step fails). If the +# CATKIN_OPTIONS file exists, use it as an argument to catkin_make, for example +# to blacklist certain packages. +# +# NOTE on testing: `catkin_make run_tests` will show the output of the tests +# (gtest, nosetest, etc..) but always returns 0 (success) even if a test +# fails. Running `catkin_test_results` aggregates all the results and returns +# non-zero when a test fails (which notifies Travis the build failed). +script: + - source /opt/ros/$ROS_DISTRO/setup.bash + - cd ~/catkin_ws + - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS ) diff --git a/ros/src/computing/perception/detection/packages/lidar_tracker/package.xml b/ros/src/computing/perception/detection/packages/lidar_tracker/package.xml index 403ab8c0ddf..391b472bf0a 100644 --- a/ros/src/computing/perception/detection/packages/lidar_tracker/package.xml +++ b/ros/src/computing/perception/detection/packages/lidar_tracker/package.xml @@ -1,38 +1,49 @@ - lidar_tracker - 1.6.3 - The lidar_tracker package + lidar_tracker + 1.6.3 + The lidar_tracker package - amc - BSD + amc + BSD - catkin - pcl_conversions - pcl_ros - roscpp - rospy - sensor_msgs - message_generation - std_msgs - geometry_msgs - vector_map_server - autoware_msgs - rosinterface - op_ros_helpers - - message_runtime - pcl_conversions - pcl_ros - roscpp - rospy - sensor_msgs - std_msgs - geometry_msgs - autoware_msgs - rosinterface - vector_map_server - op_ros_helpers + catkin - + pcl_conversions + pcl_ros + roscpp + rospy + sensor_msgs + autoware_msgs + tf + jsk_recognition_msgs + jsk_rviz_plugins + rosinterface + cv_bridge + op_ros_helpers + vector_map_server + vector_map + grid_map_ros + grid_map_cv + grid_map_msgs + + pcl_conversions + pcl_ros + roscpp + rospy + sensor_msgs + autoware_msgs + tf + jsk_recognition_msgs + jsk_rviz_plugins + rosinterface + cv_bridge + op_ros_helpers + vector_map_server + vector_map + grid_map_ros + grid_map_cv + grid_map_msgs + + From bc1cc0961e853ccc8295d4c2ae29be39cba7c9ec Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sat, 14 Apr 2018 22:45:18 +0900 Subject: [PATCH 06/32] Trigger CI --- .travis.yml | 1 - 1 file changed, 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index 9086ffb4d97..46f7d8dfd5d 100644 --- a/.travis.yml +++ b/.travis.yml @@ -18,7 +18,6 @@ env: # as this is where apt-get installs python packages. - PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages - # Install system dependencies, and Autoware pre requisites 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" From b178f7d169aaf1b88f89e61d6e7a6fa6da3aa295 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sat, 14 Apr 2018 23:06:24 +0900 Subject: [PATCH 07/32] Fixes to cv_tracker and lidar_tracker cmake --- .../detection/packages/cv_tracker/package.xml | 26 +++++++++++++------ .../packages/lidar_tracker/CMakeLists.txt | 4 +-- .../packages/lidar_tracker/package.xml | 4 +++ 3 files changed, 24 insertions(+), 10 deletions(-) diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/package.xml b/ros/src/computing/perception/detection/packages/cv_tracker/package.xml index aa3877c3592..93446bac392 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/package.xml +++ b/ros/src/computing/perception/detection/packages/cv_tracker/package.xml @@ -8,24 +8,34 @@ catkin - std_msgs + cv_bridge + image_transport + roscpp + sensor_msgs geometry_msgs - libdpm_ocv + std_msgs + autoware_msgs libdpm_ttic - kf_lib fusion + tf + libdpm_ocv + kf_lib librcnn - autoware_msgs jsk_recognition_msgs - std_msgs + cv_bridge + image_transport + roscpp + sensor_msgs geometry_msgs - libdpm_ocv + std_msgs + autoware_msgs libdpm_ttic - kf_lib fusion + tf + libdpm_ocv + kf_lib librcnn - autoware_msgs jsk_recognition_msgs diff --git a/ros/src/computing/perception/detection/packages/lidar_tracker/CMakeLists.txt b/ros/src/computing/perception/detection/packages/lidar_tracker/CMakeLists.txt index e7474e231d4..320bb57a6e6 100644 --- a/ros/src/computing/perception/detection/packages/lidar_tracker/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/lidar_tracker/CMakeLists.txt @@ -65,7 +65,7 @@ set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") ## CATKIN_DEPENDS: catkin_packages dependent projects also need ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( - CATKIN_DEPENDS message_runtime std_msgs geometry_msgs pcl_ros vector_map_server autoware_msgs + CATKIN_DEPENDS std_msgs geometry_msgs pcl_ros vector_map_server autoware_msgs ) include_directories( @@ -124,7 +124,7 @@ target_link_libraries(vscan_filling ${catkin_LIBRARIES} ${PCL_LIBRARIES}) #Object Fusion add_executable(obj_fusion nodes/obj_fusion/obj_fusion.cpp) target_link_libraries(obj_fusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} m) -add_dependencies(obj_fusion ${catkin_EXPORTED_TARGETS} vector_map_server_generate_messages_cpp) +add_dependencies(obj_fusion ${catkin_EXPORTED_TARGETS}) # Vscan Track execute_process( diff --git a/ros/src/computing/perception/detection/packages/lidar_tracker/package.xml b/ros/src/computing/perception/detection/packages/lidar_tracker/package.xml index 391b472bf0a..33f4c7d37a9 100644 --- a/ros/src/computing/perception/detection/packages/lidar_tracker/package.xml +++ b/ros/src/computing/perception/detection/packages/lidar_tracker/package.xml @@ -13,6 +13,8 @@ pcl_ros roscpp rospy + geometry_msgs + std_msgs sensor_msgs autoware_msgs tf @@ -31,6 +33,8 @@ pcl_ros roscpp rospy + geometry_msgs + std_msgs sensor_msgs autoware_msgs tf From e9b3a6ed0eb4f800e65e8d88b9acd76e28e03a7a Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sat, 14 Apr 2018 23:37:32 +0900 Subject: [PATCH 08/32] Fix kitti player dependencies --- .../kitti_pkg/kitti_player/CMakeLists.txt | 33 ++++++------ .../kitti_pkg/kitti_player/package.xml | 54 +++++++++++-------- 2 files changed, 51 insertions(+), 36 deletions(-) diff --git a/ros/src/util/packages/kitti_pkg/kitti_player/CMakeLists.txt b/ros/src/util/packages/kitti_pkg/kitti_player/CMakeLists.txt index e0cd066f7c2..4987f3a04e3 100644 --- a/ros/src/util/packages/kitti_pkg/kitti_player/CMakeLists.txt +++ b/ros/src/util/packages/kitti_pkg/kitti_player/CMakeLists.txt @@ -1,18 +1,19 @@ cmake_minimum_required(VERSION 2.8.3) project(kitti_player) -SET (CMAKE_CXX_FLAGS "-O3 -std=c++11") +SET(CMAKE_CXX_FLAGS "-O3 -std=c++11") find_package(catkin REQUIRED COMPONENTS - roscpp - tf - tf2 - std_msgs - pcl_ros - geometry_msgs - cv_bridge - image_transport -) + roscpp + tf + tf2 + std_msgs + pcl_ros + geometry_msgs + stereo_msgs + cv_bridge + image_transport + ) find_package(PCL 1.7 REQUIRED) find_package(OpenCV REQUIRED) @@ -23,9 +24,9 @@ generate_dynamic_reconfigure_options(cfg/kitti_player.cfg) catkin_package(CATKIN_DEPENDS dynamic_reconfigure) include_directories( - ${catkin_INCLUDE_DIRS} - ${PCL_INCLUDE_DIRS} - ${OpenCV_LIBS} + ${catkin_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} + ${OpenCV_LIBS} ) link_directories(${PCL_LIBRARY_DIRS}) @@ -34,6 +35,8 @@ add_definitions(${PCL_DEFINITIONS}) add_executable(kitti_player src/kitti_player.cpp) target_link_libraries(kitti_player - ${catkin_LIBRARIES} - ${PCL_LIBRARIES} + ${catkin_LIBRARIES} + ${PCL_LIBRARIES} ${OpenCV_LIBS}) + +add_dependencies(kitti_player ${catkin_EXPORTED_TARGETS}) diff --git a/ros/src/util/packages/kitti_pkg/kitti_player/package.xml b/ros/src/util/packages/kitti_pkg/kitti_player/package.xml index df35a81f1ef..3b8d1a3f8dc 100644 --- a/ros/src/util/packages/kitti_pkg/kitti_player/package.xml +++ b/ros/src/util/packages/kitti_pkg/kitti_player/package.xml @@ -1,28 +1,40 @@ - kitti_player - 1.6.3 - - This node aims to play the kitti data into ROS. This repository is a - catkin upgrade from the original work by Francesco Sacchi - http://irawiki.disco.unimib.it/irawiki/index.php/Kitti_Player - + kitti_player + 1.6.3 + + This node aims to play the kitti data into ROS. This repository is a + catkin upgrade from the original work by Francesco Sacchi + http://irawiki.disco.unimib.it/irawiki/index.php/Kitti_Player + - Augusto Luis Ballardini + Augusto Luis Ballardini - BSD + BSD - catkin - roscpp - tf - message_filters - dynamic_reconfigure - pcl_ros - - roscpp - tf - message_filters - dynamic_reconfigure - pcl_ros + catkin + roscpp + tf + tf2 + std_msgs + pcl_ros + geometry_msgs + stereo_msgs + cv_bridge + message_filters + dynamic_reconfigure + image_transport + + roscpp + tf + tf2 + std_msgs + pcl_ros + geometry_msgs + stereo_msgs + cv_bridge + message_filters + dynamic_reconfigure + image_transport From 75fa3effd5c3a03c3b436f1ac12eaf4f217daf47 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 00:29:39 +0900 Subject: [PATCH 09/32] Removed unnecessary dependencies --- .../packages/icp_localizer/CMakeLists.txt | 20 +- .../packages/orb_localizer/CMakeLists.txt | 324 +++++++++--------- .../packages/object_map/CMakeLists.txt | 132 +++---- .../packages/lane_planner/CMakeLists.txt | 48 +-- .../op_simulator_perception/CMakeLists.txt | 34 +- .../packages/waypoint_maker/CMakeLists.txt | 42 +-- .../state/state_machine/CMakeLists.txt | 27 +- ros/src/data/packages/obj_db/CMakeLists.txt | 28 +- .../packages/vector_map_server/CMakeLists.txt | 100 +++--- .../can/packages/kvaser/CMakeLists.txt | 199 ++--------- .../xsens/src/custom_msgs/package.xml | 4 +- .../calibration_camera_lidar/CMakeLists.txt | 204 +++++------ .../packages/points2image/CMakeLists.txt | 104 +++--- .../fusion/packages/scan2image/CMakeLists.txt | 28 +- .../packages/mqtt_socket/CMakeLists.txt | 56 +-- .../packages/tablet_socket/CMakeLists.txt | 27 +- .../packages/udon_socket/CMakeLists.txt | 20 +- .../packages/runtime_manager/CMakeLists.txt | 11 +- 18 files changed, 621 insertions(+), 787 deletions(-) diff --git a/ros/src/computing/perception/localization/packages/icp_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/icp_localizer/CMakeLists.txt index 33ab53ca779..93e44b992e8 100644 --- a/ros/src/computing/perception/localization/packages/icp_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/icp_localizer/CMakeLists.txt @@ -2,23 +2,19 @@ cmake_minimum_required(VERSION 2.8.3) project(icp_localizer) find_package(catkin REQUIRED COMPONENTS - roscpp - pcl_ros -# sensor_msgs - autoware_msgs - pcl_conversions - velodyne_pointcloud -) + roscpp + pcl_ros + autoware_msgs + pcl_conversions + velodyne_pointcloud + ) ################################### ## catkin specific configuration ## ################################### catkin_package( -# INCLUDE_DIRS include -# LIBRARIES ndt_pcl - CATKIN_DEPENDS std_msgs autoware_msgs -# DEPENDS system_lib + CATKIN_DEPENDS std_msgs autoware_msgs ) ########### @@ -33,5 +29,5 @@ add_executable(icp_matching nodes/icp_matching/icp_matching.cpp) target_link_libraries(icp_matching ${catkin_LIBRARIES}) -add_dependencies(icp_matching autoware_msgs_generate_messages_cpp) +add_dependencies(icp_matching ${catkin_EXPORTED_TARGETS}) diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt index 17d7eec3d40..f5885b5c621 100644 --- a/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt @@ -1,233 +1,231 @@ -cmake_minimum_required (VERSION 2.8.3) -project (orb_localizer) - -find_package (catkin REQUIRED - COMPONENTS - roscpp - tf - sensor_msgs - image_transport - cv_bridge - message_generation - std_msgs -) +cmake_minimum_required(VERSION 2.8.3) +project(orb_localizer) + +find_package(catkin REQUIRED + COMPONENTS + roscpp + tf + sensor_msgs + image_transport + cv_bridge + message_generation + std_msgs + ) LIST(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules) # Force using C++11 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fPIC") -find_package (Boost REQUIRED COMPONENTS system serialization python) -find_package (OpenCV REQUIRED) -find_package (OpenGL REQUIRED) -find_package (GLEW REQUIRED) -find_package (BLAS REQUIRED) -find_package (LAPACK REQUIRED) -find_package (GLUT REQUIRED) -find_package (OpenMP) -find_package (Eigen3 REQUIRED) -find_package (PCL 1.7 REQUIRED COMPONENTS common octree) -find_package (PythonLibs REQUIRED) -find_package (X11 REQUIRED) +find_package(Boost REQUIRED COMPONENTS system serialization python) +find_package(OpenCV REQUIRED) +find_package(OpenGL REQUIRED) +find_package(GLEW REQUIRED) +find_package(BLAS REQUIRED) +find_package(LAPACK REQUIRED) +find_package(GLUT REQUIRED) +find_package(OpenMP) +find_package(Eigen3 REQUIRED) +find_package(PCL 1.7 REQUIRED COMPONENTS common octree) +find_package(PythonLibs REQUIRED) +find_package(X11 REQUIRED) -add_message_files ( - FILES - debug.msg +add_message_files( + FILES + debug.msg ) -generate_messages ( - DEPENDENCIES - std_msgs +generate_messages( + DEPENDENCIES + std_msgs ) catkin_package( - INCLUDE_DIRS include - CATKIN_DEPENDS message_runtime - DEPENDS OpenCV GLEW PCL + INCLUDE_DIRS include + CATKIN_DEPENDS message_runtime + DEPENDS OpenCV GLEW PCL ) # Vocabulary file -set (orb_slam_vocabulary_file ${CATKIN_DEVEL_PREFIX}/share/${PROJECT_NAME}/ORBvoc.txt) -add_custom_target (orb_vocabulary ALL - [ ! -e ${orb_slam_vocabulary_file} ] && tar -zxf ${PROJECT_SOURCE_DIR}/Vocabulary/ORBvoc.txt.tar.gz --directory ${CATKIN_DEVEL_PREFIX}/share/${PROJECT_NAME} || return 0 - DEPENDS Vocabulary/ORBvoc.txt.tar.gz -) -add_definitions ( - -DORB_SLAM_VOCABULARY="${orb_slam_vocabulary_file}" +set(orb_slam_vocabulary_file ${CATKIN_DEVEL_PREFIX}/share/${PROJECT_NAME}/ORBvoc.txt) +add_custom_target(orb_vocabulary ALL + [ ! -e ${orb_slam_vocabulary_file} ] && tar -zxf ${PROJECT_SOURCE_DIR}/Vocabulary/ORBvoc.txt.tar.gz --directory ${CATKIN_DEVEL_PREFIX}/share/${PROJECT_NAME} || return 0 + DEPENDS Vocabulary/ORBvoc.txt.tar.gz + ) +add_definitions( + -DORB_SLAM_VOCABULARY="${orb_slam_vocabulary_file}" ) # For building Pangolin -add_subdirectory (Thirdparty/Pangolin) +add_subdirectory(Thirdparty/Pangolin) # For building DBoW2 -add_subdirectory (Thirdparty/DBoW2) +add_subdirectory(Thirdparty/DBoW2) # For building g2o -add_subdirectory (Thirdparty/g2o) +add_subdirectory(Thirdparty/g2o) + + +include_directories( + # my own + include + ${catkin_INCLUDE_DIRS} + # Important libraries + ${OpenCV_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ${PYTHON_INCLUDE_DIR} + + # Third parties + Thirdparty + Thirdparty/g2o + Thirdparty/Pangolin/include -include_directories ( - # my own - include - ${catkin_INCLUDE_DIRS} - -# Important libraries - ${OpenCV_INCLUDE_DIRS} - ${PCL_INCLUDE_DIRS} - ${Boost_INCLUDE_DIRS} - ${PYTHON_INCLUDE_DIR} - -# Third parties - Thirdparty - Thirdparty/g2o - Thirdparty/Pangolin/include - ) add_library( - orb_slam2 STATIC - src/System.cc - src/Tracking.cc - src/LocalMapping.cc - src/LoopClosing.cc - src/ORBextractor.cc - src/ORBmatcher.cc - src/FrameDrawer.cc - src/Converter.cc - src/MapPoint.cc - src/KeyFrame.cc - src/Map.cc - src/MapDrawer.cc - src/Optimizer.cc - src/PnPsolver.cc - src/Frame.cc - src/KeyFrameDatabase.cc - src/Sim3Solver.cc - src/Initializer.cc - src/Viewer.cc -) - - -list (APPEND LINK_LIBRARIES - boost_system - boost_serialization - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - ${EIGEN3_LIBS} - ${X11_LIBRARIES} - ${OPENGL_LIBRARIES} - ${GLEW_LIBRARIES} - ${PCL_LIBRARIES} - ${GLUT_LIBRARIES} -) - -list (APPEND ORB_BIN_LINKS - orb_slam2 - DBoW2 - g2o - pangolin -) + orb_slam2 STATIC + src/System.cc + src/Tracking.cc + src/LocalMapping.cc + src/LoopClosing.cc + src/ORBextractor.cc + src/ORBmatcher.cc + src/FrameDrawer.cc + src/Converter.cc + src/MapPoint.cc + src/KeyFrame.cc + src/Map.cc + src/MapDrawer.cc + src/Optimizer.cc + src/PnPsolver.cc + src/Frame.cc + src/KeyFrameDatabase.cc + src/Sim3Solver.cc + src/Initializer.cc + src/Viewer.cc +) + + +list(APPEND LINK_LIBRARIES + boost_system + boost_serialization + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ${EIGEN3_LIBS} + ${X11_LIBRARIES} + ${OPENGL_LIBRARIES} + ${GLEW_LIBRARIES} + ${PCL_LIBRARIES} + ${GLUT_LIBRARIES} + ) + +list(APPEND ORB_BIN_LINKS + orb_slam2 + DBoW2 + g2o + pangolin + ) # Main Executables -add_executable ( - orb_mapping - nodes/orb_mapping/orb_mapping.cpp - nodes/common.cpp +add_executable( + orb_mapping + nodes/orb_mapping/orb_mapping.cpp + nodes/common.cpp ) -target_link_libraries ( - orb_mapping - ${ORB_BIN_LINKS} - ${LINK_LIBRARIES} +target_link_libraries( + orb_mapping + ${ORB_BIN_LINKS} + ${LINK_LIBRARIES} ) -add_executable ( - orb_matching - nodes/orb_matching/orb_matching.cpp - nodes/orb_matching/Matcher.cpp -# nodes/orb_matching/FusionOdometry.cpp - nodes/common.cpp +add_executable( + orb_matching + nodes/orb_matching/orb_matching.cpp + nodes/orb_matching/Matcher.cpp + nodes/common.cpp ) -add_dependencies(orb_matching orb_localizer_generate_messages_cpp) +add_dependencies(orb_matching ${catkin_EXPORTED_TARGETS}) -target_link_libraries ( - orb_matching - ${ORB_BIN_LINKS} - ${LINK_LIBRARIES} +target_link_libraries( + orb_matching + ${ORB_BIN_LINKS} + ${LINK_LIBRARIES} ) -add_executable ( - orb_matching_pf - nodes/orb_matching/orb_matching_pf.cpp - nodes/orb_matching/Matcher.cpp - nodes/orb_matching/FusionOdometry.cpp - nodes/common.cpp +add_executable( + orb_matching_pf + nodes/orb_matching/orb_matching_pf.cpp + nodes/orb_matching/Matcher.cpp + nodes/orb_matching/FusionOdometry.cpp + nodes/common.cpp ) -add_dependencies(orb_matching_pf orb_localizer_generate_messages_cpp) +add_dependencies(orb_matching_pf ${catkin_EXPORTED_TARGETS}) -target_link_libraries ( - orb_matching_pf - ${ORB_BIN_LINKS} - ${LINK_LIBRARIES} +target_link_libraries( + orb_matching_pf + ${ORB_BIN_LINKS} + ${LINK_LIBRARIES} ) +add_executable(dumpmap + nodes/dumpmap/dumpmap.cc + ) -add_executable (dumpmap - nodes/dumpmap/dumpmap.cc -) - -target_link_libraries (dumpmap - ${ORB_BIN_LINKS} - ${LINK_LIBRARIES} -) +target_link_libraries(dumpmap + ${ORB_BIN_LINKS} + ${LINK_LIBRARIES} + ) -add_executable ( - orb_mapping_offline - nodes/orb_mapping/orb_mapping_offline.cpp - nodes/common.cpp +add_executable( + orb_mapping_offline + nodes/orb_mapping/orb_mapping_offline.cpp + nodes/common.cpp ) -target_link_libraries ( - orb_mapping_offline - ${ORB_BIN_LINKS} - ${LINK_LIBRARIES} - boost_program_options +target_link_libraries( + orb_mapping_offline + ${ORB_BIN_LINKS} + ${LINK_LIBRARIES} + boost_program_options ) -add_executable ( +add_executable( map_publisher - nodes/visualization/map_publisher.cc - nodes/common.cpp + nodes/visualization/map_publisher.cc + nodes/common.cpp ) -target_link_libraries ( +target_link_libraries( map_publisher - ${catkin_LIBRARIES} - ${ORB_BIN_LINKS} - ${LINK_LIBRARIES} + ${catkin_LIBRARIES} + ${ORB_BIN_LINKS} + ${LINK_LIBRARIES} ) -add_executable ( - imgprocx - nodes/imgprocx/imgprocx.cpp - nodes/imgprocx/ImagePreprocessor.cpp +add_executable( + imgprocx + nodes/imgprocx/imgprocx.cpp + nodes/imgprocx/ImagePreprocessor.cpp ) -target_link_libraries ( - imgprocx - ${catkin_LIBRARIES} +target_link_libraries( + imgprocx + ${catkin_LIBRARIES} ) diff --git a/ros/src/computing/perception/semantics/packages/object_map/CMakeLists.txt b/ros/src/computing/perception/semantics/packages/object_map/CMakeLists.txt index 508685455b2..6c115612941 100644 --- a/ros/src/computing/perception/semantics/packages/object_map/CMakeLists.txt +++ b/ros/src/computing/perception/semantics/packages/object_map/CMakeLists.txt @@ -3,18 +3,18 @@ cmake_minimum_required(VERSION 2.8.12) project(object_map) find_package(catkin REQUIRED COMPONENTS - roscpp - pcl_ros - pcl_conversions - tf - sensor_msgs - nav_msgs - grid_map_ros - grid_map_cv - grid_map_msgs - autoware_msgs - vector_map -) + roscpp + pcl_ros + pcl_conversions + tf + sensor_msgs + nav_msgs + grid_map_ros + grid_map_cv + grid_map_msgs + autoware_msgs + vector_map + ) find_package(Qt5Core REQUIRED) find_package(OpenCV REQUIRED) @@ -27,7 +27,7 @@ if (OPENMP_FOUND) endif () catkin_package( - CATKIN_DEPENDS roscpp pcl_ros pcl_conversions tf sensor_msgs nav_msgs autoware_msgs vector_map + CATKIN_DEPENDS roscpp pcl_ros pcl_conversions tf sensor_msgs nav_msgs autoware_msgs vector_map ) @@ -35,88 +35,88 @@ set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( - ${catkin_INCLUDE_DIRS} - include + ${catkin_INCLUDE_DIRS} + include ) ### object_map_utils ### add_library(object_map_utils_lib - include/object_map_utils.cpp - include/object_map_utils.hpp -) + include/object_map_utils.cpp + include/object_map_utils.hpp + ) target_link_libraries(object_map_utils_lib - ${catkin_LIBRARIES} - vector_map -) + ${catkin_LIBRARIES} + vector_map + ) ### laserscan2costmap ### add_executable(laserscan2costmap - nodes/laserscan2costmap/laserscan2costmap.cpp -) + nodes/laserscan2costmap/laserscan2costmap.cpp + ) target_link_libraries(laserscan2costmap - ${catkin_LIBRARIES} -) + ${catkin_LIBRARIES} + ) ### points2costmap ### add_executable(points2costmap - nodes/points2costmap/points2costmap.cpp -) + nodes/points2costmap/points2costmap.cpp + ) target_link_libraries(points2costmap - ${catkin_LIBRARIES} -) + ${catkin_LIBRARIES} + ) ### potential_field ### add_executable(potential_field - nodes/potential_field/potential_field.cpp -) + nodes/potential_field/potential_field.cpp + ) add_dependencies(potential_field - autoware_msgs_generate_messages_cpp -) + ${catkin_EXPORTED_TARGETS} + ) target_link_libraries(potential_field - ${catkin_LIBRARIES} -) + ${catkin_LIBRARIES} + ) ### grid_map_filter ### add_library(grid_map_filter_lib - nodes/grid_map_filter/grid_map_filter.h - include/object_map_utils.hpp - nodes/grid_map_filter/grid_map_filter.cpp -) + nodes/grid_map_filter/grid_map_filter.h + include/object_map_utils.hpp + nodes/grid_map_filter/grid_map_filter.cpp + ) target_link_libraries(grid_map_filter_lib - ${catkin_LIBRARIES} - vector_map - object_map_utils_lib -) + ${catkin_LIBRARIES} + vector_map + object_map_utils_lib + ) add_executable(grid_map_filter - nodes/grid_map_filter/grid_map_filter_node.cpp - nodes/grid_map_filter/grid_map_filter.h -) + nodes/grid_map_filter/grid_map_filter_node.cpp + nodes/grid_map_filter/grid_map_filter.h + ) target_link_libraries(grid_map_filter - ${catkin_LIBRARIES} - vector_map - object_map_utils_lib - grid_map_filter_lib -) + ${catkin_LIBRARIES} + vector_map + object_map_utils_lib + grid_map_filter_lib + ) ### wayarea2grid ### add_library(wayarea2grid_lib - nodes/wayarea2grid/wayarea2grid.h - include/object_map_utils.hpp - nodes/wayarea2grid/wayarea2grid.cpp -) + nodes/wayarea2grid/wayarea2grid.h + include/object_map_utils.hpp + nodes/wayarea2grid/wayarea2grid.cpp + ) target_link_libraries(wayarea2grid_lib - ${catkin_LIBRARIES} - vector_map - object_map_utils_lib -) + ${catkin_LIBRARIES} + vector_map + object_map_utils_lib + ) add_executable(wayarea2grid - nodes/wayarea2grid/wayarea2grid.h - nodes/wayarea2grid/wayarea2grid_node.cpp -) + nodes/wayarea2grid/wayarea2grid.h + nodes/wayarea2grid/wayarea2grid_node.cpp + ) target_link_libraries(wayarea2grid - ${catkin_LIBRARIES} - vector_map - wayarea2grid_lib -) + ${catkin_LIBRARIES} + vector_map + wayarea2grid_lib + ) diff --git a/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt b/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt index 852bd3bf9bf..6af21fb9d9f 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt +++ b/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt @@ -2,55 +2,55 @@ cmake_minimum_required(VERSION 2.8.3) project(lane_planner) find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - tablet_socket - waypoint_follower - vector_map - gnss - autoware_msgs -) + roscpp + std_msgs + tablet_socket + waypoint_follower + vector_map + gnss + autoware_msgs + ) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") catkin_package( - INCLUDE_DIRS include - LIBRARIES vmap - CATKIN_DEPENDS tablet_socket waypoint_follower vector_map autoware_msgs - DEPENDS gnss + INCLUDE_DIRS include + LIBRARIES vmap + CATKIN_DEPENDS tablet_socket waypoint_follower vector_map autoware_msgs + DEPENDS gnss ) include_directories( - include - ${catkin_INCLUDE_DIRS} + include + ${catkin_INCLUDE_DIRS} ) add_library(vmap lib/lane_planner/vmap.cpp) target_link_libraries(vmap ${catkin_LIBRARIES}) add_dependencies(vmap - autoware_msgs_generate_messages_cpp -) + ${catkin_EXPORTED_TARGETS} + ) add_executable(lane_navi nodes/lane_navi/lane_navi.cpp) target_link_libraries(lane_navi vmap ${catkin_LIBRARIES}) add_dependencies(lane_navi - autoware_msgs_generate_messages_cpp -) + ${catkin_EXPORTED_TARGETS} + ) add_executable(lane_rule nodes/lane_rule/lane_rule.cpp) target_link_libraries(lane_rule vmap ${catkin_LIBRARIES}) add_dependencies(lane_rule - autoware_msgs_generate_messages_cpp -) + ${catkin_EXPORTED_TARGETS} + ) add_executable(lane_stop nodes/lane_stop/lane_stop.cpp) target_link_libraries(lane_stop vmap ${catkin_LIBRARIES}) add_dependencies(lane_stop - autoware_msgs_generate_messages_cpp -) + ${catkin_EXPORTED_TARGETS} + ) add_executable(lane_select nodes/lane_select/lane_select_node.cpp nodes/lane_select/lane_select_core.cpp nodes/lane_select/hermite_curve.cpp) target_link_libraries(lane_select ${catkin_LIBRARIES}) add_dependencies(lane_select - autoware_msgs_generate_messages_cpp -) + ${catkin_EXPORTED_TARGETS} + ) diff --git a/ros/src/computing/planning/motion/packages/op_simulator_perception/CMakeLists.txt b/ros/src/computing/planning/motion/packages/op_simulator_perception/CMakeLists.txt index d0c6e56e146..d55197a9607 100644 --- a/ros/src/computing/planning/motion/packages/op_simulator_perception/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/op_simulator_perception/CMakeLists.txt @@ -2,14 +2,14 @@ cmake_minimum_required(VERSION 2.8.3) project(op_simulator_perception) find_package(catkin REQUIRED COMPONENTS - roscpp - geometry_msgs - pcl_conversions - pcl_ros - op_utility - op_planner - autoware_msgs -) + roscpp + geometry_msgs + pcl_conversions + pcl_ros + op_utility + op_planner + autoware_msgs + ) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) @@ -18,9 +18,9 @@ find_package(catkin REQUIRED COMPONENTS ## catkin specific configuration ## ################################### catkin_package( - INCLUDE_DIRS include - LIBRARIES - CATKIN_DEPENDS roscpp geometry_msgs op_utility op_planner autoware_msgs + INCLUDE_DIRS include + LIBRARIES + CATKIN_DEPENDS roscpp geometry_msgs op_utility op_planner autoware_msgs ) ########### @@ -30,9 +30,9 @@ catkin_package( SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall -Wno-unused-result -DROS ${CMAKE_CXX_FLAGS}") include_directories( - include -# /usr/local/include/zmp/minivan - ${catkin_INCLUDE_DIRS} + include + # /usr/local/include/zmp/minivan + ${catkin_INCLUDE_DIRS} ) @@ -44,6 +44,6 @@ link_directories(lib) add_executable(op_simulator_perception nodes/OpenPlannerSimulatorPerception.cpp nodes/OpenPlannerSimulatorPerception_core.cpp) target_link_libraries(op_simulator_perception ${catkin_LIBRARIES}) -add_dependencies(op_simulator_perception -autoware_msgs_generate_messages_cpp -) +add_dependencies(op_simulator_perception + ${catkin_EXPORTED_TARGETS} + ) diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/CMakeLists.txt b/ros/src/computing/planning/motion/packages/waypoint_maker/CMakeLists.txt index cce3012d314..438d804345a 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/CMakeLists.txt @@ -2,17 +2,17 @@ cmake_minimum_required(VERSION 2.8.3) project(waypoint_maker) find_package(catkin REQUIRED COMPONENTS - gnss - roscpp - std_msgs - geometry_msgs - nav_msgs - tf - waypoint_follower - vector_map - lane_planner - autoware_msgs -) + gnss + roscpp + std_msgs + geometry_msgs + nav_msgs + tf + waypoint_follower + vector_map + lane_planner + autoware_msgs + ) find_package(Boost REQUIRED) @@ -20,10 +20,10 @@ find_package(Boost REQUIRED) ## catkin specific configuration ## ################################### catkin_package( -# INCLUDE_DIRS include -# LIBRARIES lane_follower - CATKIN_DEPENDS roscpp std_msgs tf waypoint_follower vector_map lane_planner autoware_msgs - DEPENDS gnss + # INCLUDE_DIRS include + # LIBRARIES lane_follower + CATKIN_DEPENDS roscpp std_msgs tf waypoint_follower vector_map lane_planner autoware_msgs + DEPENDS gnss ) ########### @@ -33,19 +33,19 @@ catkin_package( SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( - ${catkin_INCLUDE_DIRS} - ${Boost_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} ) add_executable(waypoint_loader nodes/waypoint_loader/waypoint_loader_core nodes/waypoint_loader/waypoint_loader_node.cpp) target_link_libraries(waypoint_loader ${catkin_LIBRARIES}) add_dependencies(waypoint_loader - autoware_msgs_generate_messages_cpp) + ${catkin_EXPORTED_TARGETS}) add_executable(waypoint_saver nodes/waypoint_saver/waypoint_saver.cpp) target_link_libraries(waypoint_saver ${catkin_LIBRARIES}) add_dependencies(waypoint_saver - autoware_msgs_generate_messages_cpp) + ${catkin_EXPORTED_TARGETS}) add_executable(waypoint_clicker nodes/waypoint_clicker/waypoint_clicker.cpp) target_link_libraries(waypoint_clicker ${catkin_LIBRARIES}) @@ -53,9 +53,9 @@ target_link_libraries(waypoint_clicker ${catkin_LIBRARIES}) add_executable(waypoint_marker_publisher nodes/waypoint_marker_publisher/waypoint_marker_publisher.cpp) target_link_libraries(waypoint_marker_publisher ${catkin_LIBRARIES}) add_dependencies(waypoint_marker_publisher - autoware_msgs_generate_messages_cpp) + ${catkin_EXPORTED_TARGETS}) add_executable(waypoint_velocity_visualizer nodes/waypoint_velocity_visualizer/waypoint_velocity_visualizer.cpp) target_link_libraries(waypoint_velocity_visualizer ${catkin_LIBRARIES} ${Boost_LIBRARIES}) add_dependencies(waypoint_velocity_visualizer - autoware_msgs_generate_messages_cpp) + ${catkin_EXPORTED_TARGETS}) diff --git a/ros/src/computing/planning/state/state_machine/CMakeLists.txt b/ros/src/computing/planning/state/state_machine/CMakeLists.txt index a5525cd6ae6..a7b4db55e45 100644 --- a/ros/src/computing/planning/state/state_machine/CMakeLists.txt +++ b/ros/src/computing/planning/state/state_machine/CMakeLists.txt @@ -2,22 +2,17 @@ cmake_minimum_required(VERSION 2.8.3) project(state_machine) find_package(catkin REQUIRED COMPONENTS - roscpp - geometry_msgs - autoware_msgs -) + roscpp + geometry_msgs + autoware_msgs + ) -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) ################################### ## catkin specific configuration ## ################################### catkin_package( -# INCLUDE_DIRS include -# LIBRARIES libnode_template - CATKIN_DEPENDS roscpp geometry_msgs autoware_msgs -# DEPENDS system_lib + CATKIN_DEPENDS roscpp geometry_msgs autoware_msgs ) ########### @@ -27,14 +22,14 @@ catkin_package( SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall -Wno-unused-result -DROS ${CMAKE_CXX_FLAGS}") include_directories( - include - ${catkin_INCLUDE_DIRS} + include + ${catkin_INCLUDE_DIRS} ) add_executable(state_machine - nodes/state_machine/state_machine_node.cpp - nodes/state_machine/state_machine_core.cpp - nodes/state_machine/state_machine.cpp) -add_dependencies(state_machine autoware_msgs_generate_messages_cpp) + nodes/state_machine/state_machine_node.cpp + nodes/state_machine/state_machine_core.cpp + nodes/state_machine/state_machine.cpp) +add_dependencies(state_machine ${catkin_EXPORTED_TARGETS}) target_link_libraries(state_machine ${catkin_LIBRARIES}) diff --git a/ros/src/data/packages/obj_db/CMakeLists.txt b/ros/src/data/packages/obj_db/CMakeLists.txt index d7d61dba7b9..63ad8456116 100644 --- a/ros/src/data/packages/obj_db/CMakeLists.txt +++ b/ros/src/data/packages/obj_db/CMakeLists.txt @@ -2,11 +2,11 @@ cmake_minimum_required(VERSION 2.8.3) project(obj_db) find_package(catkin REQUIRED COMPONENTS - roscpp - gnss - visualization_msgs - autoware_msgs -) + roscpp + gnss + visualization_msgs + autoware_msgs + ) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") @@ -14,7 +14,7 @@ set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") ## catkin specific configuration ## ################################### catkin_package( - CATKIN_DEPENDS roscpp autoware_msgs + CATKIN_DEPENDS roscpp autoware_msgs ) ########### @@ -22,14 +22,14 @@ catkin_package( ########### include_directories( - include - ${catkin_INCLUDE_DIRS} + include + ${catkin_INCLUDE_DIRS} ) add_library(obj_db - lib/obj_db/SendData.cpp - lib/obj_db/util.cpp -) + lib/obj_db/SendData.cpp + lib/obj_db/util.cpp + ) add_executable(obj_downloader nodes/obj_downloader/obj_downloader.cpp) target_link_libraries(obj_downloader ${catkin_LIBRARIES} obj_db) @@ -40,9 +40,9 @@ target_link_libraries(obj_uploader ${catkin_LIBRARIES} obj_db) set(CAMERA_YAML "$ENV{HOME}/.ros/autoware/camera_lidar_2d.yaml") set_target_properties(obj_uploader - PROPERTIES COMPILE_FLAGS - "-DCAMERA_YAML=${CAMERA_YAML}") + PROPERTIES COMPILE_FLAGS + "-DCAMERA_YAML=${CAMERA_YAML}") add_executable(can_uploader nodes/can_uploader/can_uploader.cpp) target_link_libraries(can_uploader ${catkin_LIBRARIES} obj_db) -add_dependencies(can_uploader autoware_msgs_generate_messages_cpp) +add_dependencies(can_uploader ${catkin_EXPORTED_TARGETS}) diff --git a/ros/src/data/packages/vector_map_server/CMakeLists.txt b/ros/src/data/packages/vector_map_server/CMakeLists.txt index 1abcfb6edb9..aaae842c726 100644 --- a/ros/src/data/packages/vector_map_server/CMakeLists.txt +++ b/ros/src/data/packages/vector_map_server/CMakeLists.txt @@ -2,79 +2,77 @@ cmake_minimum_required(VERSION 2.8.3) project(vector_map_server) find_package(catkin REQUIRED COMPONENTS - roscpp - geometry_msgs - visualization_msgs - autoware_msgs - vector_map_msgs - vector_map - message_generation -) + roscpp + geometry_msgs + visualization_msgs + autoware_msgs + vector_map_msgs + vector_map + message_generation + ) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") add_service_files( - FILES - GetDTLane.srv - GetNode.srv - GetLane.srv - GetWayArea.srv - GetRoadEdge.srv - GetGutter.srv - GetCurb.srv - GetWhiteLine.srv - GetStopLine.srv - GetZebraZone.srv - GetCrossWalk.srv - GetRoadMark.srv - GetRoadPole.srv - GetRoadSign.srv - GetSignal.srv - GetStreetLight.srv - GetUtilityPole.srv - GetGuardRail.srv - GetSideWalk.srv - GetDriveOnPortion.srv - GetCrossRoad.srv - GetSideStrip.srv - GetCurveMirror.srv - GetWall.srv - GetFence.srv - GetRailCrossing.srv - PositionState.srv + FILES + GetDTLane.srv + GetNode.srv + GetLane.srv + GetWayArea.srv + GetRoadEdge.srv + GetGutter.srv + GetCurb.srv + GetWhiteLine.srv + GetStopLine.srv + GetZebraZone.srv + GetCrossWalk.srv + GetRoadMark.srv + GetRoadPole.srv + GetRoadSign.srv + GetSignal.srv + GetStreetLight.srv + GetUtilityPole.srv + GetGuardRail.srv + GetSideWalk.srv + GetDriveOnPortion.srv + GetCrossRoad.srv + GetSideStrip.srv + GetCurveMirror.srv + GetWall.srv + GetFence.srv + GetRailCrossing.srv + PositionState.srv ) generate_messages( - DEPENDENCIES - geometry_msgs - autoware_msgs - vector_map_msgs + DEPENDENCIES + geometry_msgs + autoware_msgs + vector_map_msgs ) catkin_package( - CATKIN_DEPENDS message_runtime roscpp geometry_msgs autoware_msgs vector_map_msgs vector_map + CATKIN_DEPENDS message_runtime roscpp geometry_msgs autoware_msgs vector_map_msgs vector_map ) include_directories( - ${catkin_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} ) add_executable(vector_map_server nodes/vector_map_server/vector_map_server.cpp) target_link_libraries(vector_map_server ${catkin_LIBRARIES}) add_dependencies(vector_map_server - vector_map_server_generate_messages_cpp - ${catkin_EXPORTED_TARGETS} -) + ${catkin_EXPORTED_TARGETS} + ) add_executable(vector_map_client nodes/vector_map_client/vector_map_client.cpp) target_link_libraries(vector_map_client ${catkin_LIBRARIES}) add_dependencies(vector_map_client - vector_map_server_generate_messages_cpp - ${catkin_EXPORTED_TARGETS} -) + ${catkin_EXPORTED_TARGETS} + ) install(TARGETS vector_map_server vector_map_client - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) diff --git a/ros/src/sensing/drivers/can/packages/kvaser/CMakeLists.txt b/ros/src/sensing/drivers/can/packages/kvaser/CMakeLists.txt index a8c476e6372..d05ea067b08 100644 --- a/ros/src/sensing/drivers/can/packages/kvaser/CMakeLists.txt +++ b/ros/src/sensing/drivers/can/packages/kvaser/CMakeLists.txt @@ -5,199 +5,54 @@ project(kvaser) ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS - roscpp - rospy - std_msgs - visualization_msgs - message_generation -) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - + roscpp + rospy + std_msgs + visualization_msgs + message_generation + ) -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependencies might have been -## pulled in transitively but can be declared for certainty nonetheless: -## * add a build_depend tag for "message_generation" -## * add a run_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -#add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) add_message_files( - #DIRECTORY - # msg - FILES - CANPacket.msg -# Vibration.msg + #DIRECTORY + # msg + FILES + CANPacket.msg + # Vibration.msg ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs# visualization_msgs -# ) generate_messages( - DEPENDENCIES - std_msgs - visualization_msgs + DEPENDENCIES + std_msgs + visualization_msgs ) -################################### -## 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 you 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 particle_filter - CATKIN_DEPENDS message_runtime std_msgs visualization_msgs -# DEPENDS system_lib + CATKIN_DEPENDS message_runtime std_msgs visualization_msgs ) ########### ## Build ## ########### -## Specify additional locations of header files -## Your package locations should be listed before other locations -# include_directories(include) include_directories( - ${catkin_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} ) -## Declare a cpp library -# add_library(particle_filter -# src/${PROJECT_NAME}/particle_filter.cpp -# ) - -## Declare a cpp executable -# add_executable(particle_filter_node src/particle_filter_node.cpp) - -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -# add_dependencies(particle_filter_node particle_filter_generate_messages_cpp) - -## Specify libraries to link a library or executable target against -# target_link_libraries(particle_filter_node -# ${catkin_LIBRARIES} -# ) -if(EXISTS "/usr/include/canlib.h") -add_executable(can_listener nodes/can_listener/can_listener.cpp) -target_link_libraries(can_listener ${catkin_LIBRARIES}) -target_link_libraries(can_listener canlib) -add_dependencies(can_listener kvaser_generate_messages_cpp) -else() -message("'canlib' is not installed. 'can_listener' is not built.") -endif() +if (EXISTS "/usr/include/canlib.h") + add_executable(can_listener nodes/can_listener/can_listener.cpp) + target_link_libraries(can_listener ${catkin_LIBRARIES}) + target_link_libraries(can_listener canlib) + add_dependencies(can_listener ${catkin_EXPORTED_TARGETS}) +else () + message("'canlib' is not installed. 'can_listener' is not built.") +endif () add_executable(can_converter nodes/can_converter/can_converter.cpp) target_link_libraries(can_converter ${catkin_LIBRARIES}) -add_dependencies(can_converter kvaser_generate_messages_cpp) +add_dependencies(can_converter ${catkin_EXPORTED_TARGETS}) add_executable(can_draw nodes/can_draw/can_draw.cpp) target_link_libraries(can_draw ${catkin_LIBRARIES}) -add_dependencies(can_draw kvaser_generate_messages_cpp) - -#add_executable(vib_controler src/vib_controler.cpp) -#target_link_libraries(vib_controler ${catkin_LIBRARIES}) -#add_dependencies(vib_controler CAN_tools_generate_messages_cpp) - -#add_executable(vibration src/vibration.cpp) -#target_link_libraries(vibration ${catkin_LIBRARIES}) -#add_dependencies(vibration CAN_tools_generate_messages_cpp) - - - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS particle_filter particle_filter_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_particle_filter.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +add_dependencies(can_draw ${catkin_EXPORTED_TARGETS}) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/ros/src/sensing/drivers/imu/packages/xsens/src/custom_msgs/package.xml b/ros/src/sensing/drivers/imu/packages/xsens/src/custom_msgs/package.xml index e1240e26be5..ac4fb07b600 100755 --- a/ros/src/sensing/drivers/imu/packages/xsens/src/custom_msgs/package.xml +++ b/ros/src/sensing/drivers/imu/packages/xsens/src/custom_msgs/package.xml @@ -18,9 +18,7 @@ sensor_msgs rospy roscpp - rosjava_bootstrap - rosjava_messages - + geometry_msgs message_runtime std_msgs diff --git a/ros/src/sensing/fusion/packages/calibration_camera_lidar/CMakeLists.txt b/ros/src/sensing/fusion/packages/calibration_camera_lidar/CMakeLists.txt index 1ceda24d354..0288621237d 100644 --- a/ros/src/sensing/fusion/packages/calibration_camera_lidar/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/calibration_camera_lidar/CMakeLists.txt @@ -1,25 +1,25 @@ cmake_minimum_required(VERSION 2.8.3) project(calibration_camera_lidar) execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE + COMMAND rosversion -d + OUTPUT_VARIABLE ROS_VERSION + OUTPUT_STRIP_TRAILING_WHITESPACE ) include(FindPkgConfig) include(FindLibXml2) find_package(catkin REQUIRED COMPONENTS - roscpp - rosconsole - std_msgs - sensor_msgs - glviewer - rosinterface - cv_bridge - pcl_ros - image_transport - autoware_msgs -) + roscpp + rosconsole + std_msgs + sensor_msgs + glviewer + rosinterface + cv_bridge + pcl_ros + image_transport + autoware_msgs + ) find_package(OpenCV REQUIRED) @@ -33,118 +33,118 @@ find_package(Qt5Widgets REQUIRED) find_package(Qt5OpenGL REQUIRED) catkin_package( -# INCLUDE_DIRS include -# LIBRARIES camera - CATKIN_DEPENDS glviewer rosinterface std_msgs message_runtime autoware_msgs -# DEPENDS system_lib + # INCLUDE_DIRS include + # LIBRARIES camera + CATKIN_DEPENDS glviewer rosinterface std_msgs message_runtime autoware_msgs + # DEPENDS system_lib ) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall -g ${CMAKE_CXX_FLAGS}") EXECUTE_PROCESS( - COMMAND pkg-config --variable=host_bins Qt5Core - OUTPUT_VARIABLE Qt5BIN - OUTPUT_STRIP_TRAILING_WHITESPACE + COMMAND pkg-config --variable=host_bins Qt5Core + OUTPUT_VARIABLE Qt5BIN + OUTPUT_STRIP_TRAILING_WHITESPACE ) ## Specify additional locations of header files ## Your package locations should be listed before other locations # include_directories(include) include_directories( - CalibrationToolkit - nodes/calibration_toolkit - ${catkin_INCLUDE_DIRS} - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_CURRENT_BINARY_DIR} + CalibrationToolkit + nodes/calibration_toolkit + ${catkin_INCLUDE_DIRS} + ${CMAKE_CURRENT_SOURCE_DIR} + ${CMAKE_CURRENT_BINARY_DIR} ) ## Declare a cpp library if ("${ROS_VERSION}" MATCHES "(indigo|jade|kinetic)") -add_library(calibrationtoolkit - CalibrationToolkit/calibrationtoolkit.cpp - CalibrationToolkit/calibrationtoolkit.h - CalibrationToolkit/selectionwidget.cpp - CalibrationToolkit/selectionwidget.h -) - -target_link_libraries(calibrationtoolkit - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - Qt5::Core - Qt5::Widgets - Qt5::OpenGL -) - -include_directories( - CalibrationToolkit - nodes/calibration_toolkit - ${catkin_INCLUDE_DIRS} - ${LIBXML2_INCLUDE_DIR} - ${OpenCV_INCLUDE_DIRS} - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_CURRENT_BINARY_DIR} -) -endif() + add_library(calibrationtoolkit + CalibrationToolkit/calibrationtoolkit.cpp + CalibrationToolkit/calibrationtoolkit.h + CalibrationToolkit/selectionwidget.cpp + CalibrationToolkit/selectionwidget.h + ) + + target_link_libraries(calibrationtoolkit + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + Qt5::Core + Qt5::Widgets + Qt5::OpenGL + ) + + include_directories( + CalibrationToolkit + nodes/calibration_toolkit + ${catkin_INCLUDE_DIRS} + ${LIBXML2_INCLUDE_DIR} + ${OpenCV_INCLUDE_DIRS} + ${CMAKE_CURRENT_SOURCE_DIR} + ${CMAKE_CURRENT_BINARY_DIR} + ) +endif () ## 2D if ("${ROS_VERSION}" MATCHES "(indigo|jade|kinetic)") -add_executable(calibration_test - nodes/calibration_test/chessboard.cpp - nodes/calibration_test/trans.cpp - nodes/calibration_test/scan_window.cpp - nodes/calibration_test/common_2d_calib.cpp - nodes/calibration_test/image_window.cpp - nodes/calibration_test/camera_lidar2d_offline_calib.cpp) - -set(PARAM_YAML "${CMAKE_CURRENT_SOURCE_DIR}/param.yaml") -set(CAMERA_YAML "$ENV{HOME}/.ros/autoware/camera_lidar_2d.yaml") - -set_target_properties(calibration_test - PROPERTIES COMPILE_FLAGS - "-DPARAM_YAML=${PARAM_YAML} -DCAMERA_YAML=${CAMERA_YAML}") - -target_link_libraries(calibration_test - ${catkin_LIBRARIES} ${OpenCV_LIBS} xml2) -endif() + add_executable(calibration_test + nodes/calibration_test/chessboard.cpp + nodes/calibration_test/trans.cpp + nodes/calibration_test/scan_window.cpp + nodes/calibration_test/common_2d_calib.cpp + nodes/calibration_test/image_window.cpp + nodes/calibration_test/camera_lidar2d_offline_calib.cpp) + + set(PARAM_YAML "${CMAKE_CURRENT_SOURCE_DIR}/param.yaml") + set(CAMERA_YAML "$ENV{HOME}/.ros/autoware/camera_lidar_2d.yaml") + + set_target_properties(calibration_test + PROPERTIES COMPILE_FLAGS + "-DPARAM_YAML=${PARAM_YAML} -DCAMERA_YAML=${CAMERA_YAML}") + + target_link_libraries(calibration_test + ${catkin_LIBRARIES} ${OpenCV_LIBS} xml2) +endif () ## 3D if ("${ROS_VERSION}" MATCHES "(indigo|jade|kinetic)") -qt5_wrap_ui(calibration_toolkit_ui_mainwindow nodes/calibration_toolkit/mainwindow.ui) - - -add_executable(calibration_toolkit - nodes/calibration_toolkit/main.cpp - nodes/calibration_toolkit/mainwindow.cpp - nodes/calibration_toolkit/mainwindow.h - ${calibration_toolkit_ui_mainwindow} -) - -set_target_properties(calibration_toolkit - PROPERTIES COMPILE_FLAGS "-fPIC" -) - -## Specify libraries to link a library or executable target against -target_link_libraries(calibration_toolkit - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - calibrationtoolkit - glut - GLU - nlopt - Qt5::Core - Qt5::Widgets - Qt5::OpenGL -) -endif() + qt5_wrap_ui(calibration_toolkit_ui_mainwindow nodes/calibration_toolkit/mainwindow.ui) + + + add_executable(calibration_toolkit + nodes/calibration_toolkit/main.cpp + nodes/calibration_toolkit/mainwindow.cpp + nodes/calibration_toolkit/mainwindow.h + ${calibration_toolkit_ui_mainwindow} + ) + + set_target_properties(calibration_toolkit + PROPERTIES COMPILE_FLAGS "-fPIC" + ) + + ## Specify libraries to link a library or executable target against + target_link_libraries(calibration_toolkit + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + calibrationtoolkit + glut + GLU + nlopt + Qt5::Core + Qt5::Widgets + Qt5::OpenGL + ) +endif () # calibration_publisher add_executable(calibration_publisher - nodes/calibration_publisher/calibration_publisher.cpp - ) + nodes/calibration_publisher/calibration_publisher.cpp + ) add_dependencies(calibration_publisher - autoware_msgs_generate_messages_cpp -) + ${catkin_EXPORTED_TARGETS} + ) target_link_libraries(calibration_publisher - ${catkin_LIBRARIES} - ) + ${catkin_LIBRARIES} + ) diff --git a/ros/src/sensing/fusion/packages/points2image/CMakeLists.txt b/ros/src/sensing/fusion/packages/points2image/CMakeLists.txt index 5c16c635a92..bf27d7cab59 100644 --- a/ros/src/sensing/fusion/packages/points2image/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/points2image/CMakeLists.txt @@ -3,17 +3,17 @@ project(points2image) include(FindPkgConfig) find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - sensor_msgs - autoware_msgs - rosinterface - fastvirtualscan - cv_bridge - tf - pcl_ros - pcl_conversions -) + roscpp + std_msgs + sensor_msgs + autoware_msgs + rosinterface + fastvirtualscan + cv_bridge + tf + pcl_ros + pcl_conversions + ) find_package(OpenCV REQUIRED) @@ -30,10 +30,10 @@ find_package(Qt5Widgets REQUIRED) ################################################ catkin_package( -# INCLUDE_DIRS include -# LIBRARIES camera_lidar3d - CATKIN_DEPENDS rosinterface message_runtime std_msgs sensor_msgs autoware_msgs -# DEPENDS system_lib + # INCLUDE_DIRS include + # LIBRARIES camera_lidar3d + CATKIN_DEPENDS rosinterface message_runtime std_msgs sensor_msgs autoware_msgs + # DEPENDS system_lib ) ########### @@ -43,71 +43,71 @@ catkin_package( set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") EXECUTE_PROCESS( - COMMAND pkg-config --variable=host_bins Qt5Core - OUTPUT_VARIABLE Qt5BIN - OUTPUT_STRIP_TRAILING_WHITESPACE + COMMAND pkg-config --variable=host_bins Qt5Core + OUTPUT_VARIABLE Qt5BIN + OUTPUT_STRIP_TRAILING_WHITESPACE ) include_directories( - include - ${catkin_INCLUDE_DIRS} - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_CURRENT_BINARY_DIR} + include + ${catkin_INCLUDE_DIRS} + ${CMAKE_CURRENT_SOURCE_DIR} + ${CMAKE_CURRENT_BINARY_DIR} ) # library add_library(points_image - lib/points_image/points_image.cpp -) -add_dependencies(points_image autoware_msgs_generate_messages_cpp) + lib/points_image/points_image.cpp + ) +add_dependencies(points_image ${catkin_EXPORTED_TARGETS}) qt5_wrap_ui(points2vscan_ui_mainwindow nodes/points2vscan/mainwindow.ui) # points2vscan add_executable(points2vscan - nodes/points2vscan/main.cpp - nodes/points2vscan/mainwindow.cpp - nodes/points2vscan/mainwindow.h - ${points2vscan_ui_mainwindow} -) + nodes/points2vscan/main.cpp + nodes/points2vscan/mainwindow.cpp + nodes/points2vscan/mainwindow.h + ${points2vscan_ui_mainwindow} + ) set_target_properties(points2vscan - PROPERTIES COMPILE_FLAGS "-fPIC" -) + PROPERTIES COMPILE_FLAGS "-fPIC" + ) target_link_libraries(points2vscan - ${catkin_LIBRARIES} - Qt5::Core - Qt5::Widgets -) + ${catkin_LIBRARIES} + Qt5::Core + Qt5::Widgets + ) # points2image add_executable(points2image nodes/points2image/points2image.cpp) target_link_libraries(points2image - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - points_image -) + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + points_image + ) add_dependencies(points2image - points_image - autoware_msgs_generate_messages_cpp -) + points_image + ${catkin_EXPORTED_TARGETS} + ) # vscan2image add_executable(vscan2image nodes/vscan2image/vscan2image.cpp) target_link_libraries(vscan2image - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - points_image -) + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + points_image + ) add_dependencies(vscan2image - points_image - autoware_msgs_generate_messages_cpp -) + points_image + ${catkin_EXPORTED_TARGETS} + ) # vscan2linelist add_executable(vscan2linelist nodes/vscan2linelist/vscan2linelist.cpp) target_link_libraries(vscan2linelist - ${catkin_LIBRARIES} -) + ${catkin_LIBRARIES} + ) diff --git a/ros/src/sensing/fusion/packages/scan2image/CMakeLists.txt b/ros/src/sensing/fusion/packages/scan2image/CMakeLists.txt index 580ac06df10..81831496421 100644 --- a/ros/src/sensing/fusion/packages/scan2image/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/scan2image/CMakeLists.txt @@ -5,22 +5,22 @@ project(scan2image) ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS - cv_bridge - image_transport - roscpp - sensor_msgs - std_msgs - autoware_msgs -) + cv_bridge + image_transport + roscpp + sensor_msgs + std_msgs + autoware_msgs + ) find_package(OpenCV REQUIRED) ################################### ## catkin specific configuration ## ################################### catkin_package( -# INCLUDE_DIRS include - CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs autoware_msgs message_runtime - #DEPENDS system_lib + # INCLUDE_DIRS include + CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs autoware_msgs message_runtime + #DEPENDS system_lib ) ########### @@ -35,10 +35,10 @@ set(CAMERA_YAML "$ENV{HOME}/.ros/autoware/camera_lidar_2d.yaml") set(MANUAL_YAML "${CMAKE_CURRENT_SOURCE_DIR}/manual.yaml") set_target_properties(scan2image - PROPERTIES COMPILE_FLAGS - "-DCAMERA_YAML=${CAMERA_YAML} -DMANUAL_YAML=${MANUAL_YAML}") + PROPERTIES COMPILE_FLAGS + "-DCAMERA_YAML=${CAMERA_YAML} -DMANUAL_YAML=${MANUAL_YAML}") target_link_libraries(scan2image ${catkin_LIBRARIES} ${OpenCV_LIBS}) add_dependencies(scan2image - autoware_msgs_generate_messages_cpp -) + ${catkin_EXPORTED_TARGETS} + ) diff --git a/ros/src/socket/packages/mqtt_socket/CMakeLists.txt b/ros/src/socket/packages/mqtt_socket/CMakeLists.txt index 6f5b775df24..405480cc5a2 100644 --- a/ros/src/socket/packages/mqtt_socket/CMakeLists.txt +++ b/ros/src/socket/packages/mqtt_socket/CMakeLists.txt @@ -1,36 +1,36 @@ cmake_minimum_required(VERSION 2.8.3) project(mqtt_socket) -if(EXISTS /usr/include/mosquitto.h) - find_package(catkin REQUIRED COMPONENTS - roscpp - roslib - std_msgs - autoware_msgs - ) +if (EXISTS /usr/include/mosquitto.h) + find_package(catkin REQUIRED COMPONENTS + roscpp + roslib + std_msgs + autoware_msgs + ) - set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall -fpermissive ${CMAKE_CXX_FLAGS}") + set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall -fpermissive ${CMAKE_CXX_FLAGS}") - catkin_package( - CATKIN_DEPENDS roscpp roslib std_msgs autoware_msgs - ) + catkin_package( + CATKIN_DEPENDS roscpp roslib std_msgs autoware_msgs + ) - include_directories( - include - ${catkin_INCLUDE_DIRS} - ) + include_directories( + include + ${catkin_INCLUDE_DIRS} + ) - add_executable(mqtt_sender nodes/mqtt_sender/mqtt_sender.cpp) - target_link_libraries(mqtt_sender -lmosquitto -lyaml-cpp ${catkin_LIBRARIES}) - add_dependencies(mqtt_sender - autoware_msgs_generate_messages_cpp - ) + add_executable(mqtt_sender nodes/mqtt_sender/mqtt_sender.cpp) + target_link_libraries(mqtt_sender -lmosquitto -lyaml-cpp ${catkin_LIBRARIES}) + add_dependencies(mqtt_sender + ${catkin_EXPORTED_TARGETS} + ) - add_executable(mqtt_receiver nodes/mqtt_receiver/mqtt_receiver.cpp) - target_link_libraries(mqtt_receiver -lmosquitto -lyaml-cpp ${catkin_LIBRARIES}) - add_dependencies(mqtt_receiver - autoware_msgs_generate_messages_cpp - ) -else() - message("'libmosquitto-dev' is not installed. 'mqtt_sender' and 'mqtt_receiver' will not be built.") -endif() + add_executable(mqtt_receiver nodes/mqtt_receiver/mqtt_receiver.cpp) + target_link_libraries(mqtt_receiver -lmosquitto -lyaml-cpp ${catkin_LIBRARIES}) + add_dependencies(mqtt_receiver + ${catkin_EXPORTED_TARGETS} + ) +else () + message("'libmosquitto-dev' is not installed. 'mqtt_sender' and 'mqtt_receiver' will not be built.") +endif () diff --git a/ros/src/socket/packages/tablet_socket/CMakeLists.txt b/ros/src/socket/packages/tablet_socket/CMakeLists.txt index f5841a00d6f..3909e41da93 100644 --- a/ros/src/socket/packages/tablet_socket/CMakeLists.txt +++ b/ros/src/socket/packages/tablet_socket/CMakeLists.txt @@ -2,32 +2,31 @@ cmake_minimum_required(VERSION 2.8.3) project(tablet_socket) find_package(catkin REQUIRED COMPONENTS - roscpp - tf - gnss - tablet_socket_msgs - autoware_msgs -) + roscpp + tf + gnss + tablet_socket_msgs + autoware_msgs + ) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") catkin_package( - CATKIN_DEPENDS tf tablet_socket_msgs autoware_msgs - DEPENDS gnss + CATKIN_DEPENDS tf tablet_socket_msgs autoware_msgs + DEPENDS gnss ) include_directories( - include - ${catkin_INCLUDE_DIRS} + include + ${catkin_INCLUDE_DIRS} ) add_executable(tablet_receiver nodes/tablet_receiver/tablet_receiver.cpp) target_link_libraries(tablet_receiver ${catkin_LIBRARIES}) -add_dependencies(tablet_receiver tablet_socket_msgs_generate_messages_cpp) +add_dependencies(tablet_receiver ${catkin_EXPORTED_TARGETS}) add_executable(tablet_sender nodes/tablet_sender/tablet_sender.cpp) target_link_libraries(tablet_sender ${catkin_LIBRARIES}) add_dependencies(tablet_sender - tablet_socket_msgs_generate_messages_cpp - autoware_msgs_generate_messages_cpp -) + ${catkin_EXPORTED_TARGETS} + ) diff --git a/ros/src/socket/packages/udon_socket/CMakeLists.txt b/ros/src/socket/packages/udon_socket/CMakeLists.txt index 85174929cbf..26d2fdc59e1 100644 --- a/ros/src/socket/packages/udon_socket/CMakeLists.txt +++ b/ros/src/socket/packages/udon_socket/CMakeLists.txt @@ -2,21 +2,21 @@ cmake_minimum_required(VERSION 2.8.3) project(udon_socket) find_package(catkin REQUIRED COMPONENTS - roscpp - tablet_socket_msgs -) + roscpp + tablet_socket_msgs + ) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") catkin_package( - INCLUDE_DIRS include - LIBRARIES udon - CATKIN_DEPENDS tablet_socket_msgs + INCLUDE_DIRS include + LIBRARIES udon + CATKIN_DEPENDS tablet_socket_msgs ) include_directories( - include - ${catkin_INCLUDE_DIRS} + include + ${catkin_INCLUDE_DIRS} ) add_library(udon lib/udon_socket/udon.cpp) @@ -27,5 +27,5 @@ target_link_libraries(udon_receiver udon ${catkin_LIBRARIES}) add_executable(udon_sender nodes/udon_sender/udon_sender.cpp) target_link_libraries(udon_sender udon ${catkin_LIBRARIES}) add_dependencies(udon_sender - tablet_socket_msgs_generate_messages_cpp -) + ${catkin_EXPORTED_TARGETS} + ) diff --git a/ros/src/util/packages/runtime_manager/CMakeLists.txt b/ros/src/util/packages/runtime_manager/CMakeLists.txt index 0a0bb0e0460..5209a75681c 100644 --- a/ros/src/util/packages/runtime_manager/CMakeLists.txt +++ b/ros/src/util/packages/runtime_manager/CMakeLists.txt @@ -2,15 +2,10 @@ cmake_minimum_required(VERSION 2.8.3) project(runtime_manager) find_package(catkin REQUIRED COMPONENTS - rospy -) + rospy + ) catkin_package( -# INCLUDE_DIRS include -# LIBRARIES runtime_manager - CATKIN_DEPENDS rospy std_msgs message_runtime -# DEPENDS system_lib + CATKIN_DEPENDS rospy std_msgs message_runtime ) -#add_executable(runtime_manager scripts/runtime_manager.py) -#add_dependencies(runtime_manager runtime_manager_generate_messages_cpp) From 0af2b00bb52f8c6f02ff988e6ba2f87b565847ec Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 01:20:19 +0900 Subject: [PATCH 10/32] messages fixing for can --- ros/src/msgs/autoware_msgs/CMakeLists.txt | 205 +++++++++--------- .../autoware_msgs}/msg/CANData.msg | 0 .../autoware_msgs}/msg/CANPacket.msg | 0 .../can/packages/kvaser/CMakeLists.txt | 22 +- .../nodes/can_converter/can_converter.cpp | 7 +- .../kvaser/nodes/can_draw/can_draw.cpp | 6 +- .../nodes/can_listener/can_listener.cpp | 8 +- .../drivers/can/packages/kvaser/package.xml | 73 ++----- 8 files changed, 137 insertions(+), 184 deletions(-) rename ros/src/{sensing/drivers/can/packages/kvaser => msgs/autoware_msgs}/msg/CANData.msg (100%) rename ros/src/{sensing/drivers/can/packages/kvaser => msgs/autoware_msgs}/msg/CANPacket.msg (100%) diff --git a/ros/src/msgs/autoware_msgs/CMakeLists.txt b/ros/src/msgs/autoware_msgs/CMakeLists.txt index cbe7fd9958e..b73e4f44d1f 100644 --- a/ros/src/msgs/autoware_msgs/CMakeLists.txt +++ b/ros/src/msgs/autoware_msgs/CMakeLists.txt @@ -2,120 +2,123 @@ cmake_minimum_required(VERSION 2.8.3) project(autoware_msgs) find_package(catkin REQUIRED COMPONENTS - message_generation - std_msgs - geometry_msgs - sensor_msgs - jsk_recognition_msgs -) + message_generation + std_msgs + geometry_msgs + sensor_msgs + jsk_recognition_msgs + ) ## Generate messages in the 'msg' folder add_message_files( - FILES - CanInfo.msg - ControlCommandStamped.msg - CloudCluster.msg - CloudClusterArray.msg - ColorSet.msg - ControlCommand.msg - DetectedObject.msg - DetectedObjectArray.msg - ExtractedPosition.msg - ImageLaneObjects.msg - ImageObjects.msg - LaneArray.msg - PointsImage.msg - ScanImage.msg - Signals.msg - TunedResult.msg - ValueSet.msg - centroids.msg - dtlane.msg - geometric_rectangle.msg - icp_stat.msg - image_obj.msg - image_obj_ranged.msg - image_obj_tracked.msg - image_rect.msg - image_rect_ranged.msg - lane.msg - ndt_stat.msg - obj_label.msg - obj_pose.msg - projection_matrix.msg - vscan_tracked.msg - vscan_tracked_array.msg - waypoint.msg - VehicleCmd.msg - TrafficLightResult.msg - TrafficLightResultArray.msg + DIRECTORY msg + FILES + CanInfo.msg + CANData.msg + CANPacket.msg + ControlCommandStamped.msg + CloudCluster.msg + CloudClusterArray.msg + ColorSet.msg + ControlCommand.msg + DetectedObject.msg + DetectedObjectArray.msg + ExtractedPosition.msg + ImageLaneObjects.msg + ImageObjects.msg + LaneArray.msg + PointsImage.msg + ScanImage.msg + Signals.msg + TunedResult.msg + ValueSet.msg + centroids.msg + dtlane.msg + geometric_rectangle.msg + icp_stat.msg + image_obj.msg + image_obj_ranged.msg + image_obj_tracked.msg + image_rect.msg + image_rect_ranged.msg + lane.msg + ndt_stat.msg + obj_label.msg + obj_pose.msg + projection_matrix.msg + vscan_tracked.msg + vscan_tracked_array.msg + waypoint.msg + VehicleCmd.msg + TrafficLightResult.msg + TrafficLightResultArray.msg -## Runtime Manager ## - ConfigApproximateNdtMapping.msg - ConfigCarDpm.msg - ConfigCarFusion.msg - ConfigCarKf.msg - ConfigDecisionMaker.msg - ConfigDistanceFilter.msg - ConfigRingGroundFilter.msg - ConfigICP.msg - ConfigLaneRule.msg - ConfigLaneSelect.msg - ConfigLaneStop.msg - ConfigLatticeVelocitySet.msg - ConfigNdt.msg - ConfigNdtMapping.msg - ConfigNdtMappingOutput.msg - ConfigPedestrianDpm.msg - ConfigPedestrianFusion.msg - ConfigPedestrianKf.msg - ConfigPlannerSelector.msg - ConfigPoints2Polygon.msg - ConfigPointsConcatFilter.msg - ConfigRandomFilter.msg - ConfigRcnn.msg - ConfigRingFilter.msg - ConfigRayGroundFilter.msg - ConfigSsd.msg - ConfigTwistFilter.msg - ConfigVelocitySet.msg - ConfigVoxelGridFilter.msg - ConfigWaypointFollower.msg - accel_cmd.msg - adjust_xy.msg - brake_cmd.msg - indicator_cmd.msg - lamp_cmd.msg - steer_cmd.msg - traffic_light.msg - state_cmd.msg - WaypointState.msg - state.msg + ## Runtime Manager ## + ConfigApproximateNdtMapping.msg + ConfigCarDpm.msg + ConfigCarFusion.msg + ConfigCarKf.msg + ConfigDecisionMaker.msg + ConfigDistanceFilter.msg + ConfigRingGroundFilter.msg + ConfigICP.msg + ConfigLaneRule.msg + ConfigLaneSelect.msg + ConfigLaneStop.msg + ConfigLatticeVelocitySet.msg + ConfigNdt.msg + ConfigNdtMapping.msg + ConfigNdtMappingOutput.msg + ConfigPedestrianDpm.msg + ConfigPedestrianFusion.msg + ConfigPedestrianKf.msg + ConfigPlannerSelector.msg + ConfigPoints2Polygon.msg + ConfigPointsConcatFilter.msg + ConfigRandomFilter.msg + ConfigRcnn.msg + ConfigRingFilter.msg + ConfigRayGroundFilter.msg + ConfigSsd.msg + ConfigTwistFilter.msg + ConfigVelocitySet.msg + ConfigVoxelGridFilter.msg + ConfigWaypointFollower.msg + accel_cmd.msg + adjust_xy.msg + brake_cmd.msg + indicator_cmd.msg + lamp_cmd.msg + steer_cmd.msg + traffic_light.msg + state_cmd.msg + WaypointState.msg + state.msg -## Sync - Sync_time_monitor.msg - Sync_time_diff.msg + ## Sync + Sync_time_monitor.msg + Sync_time_diff.msg -## Remote Control - RemoteCmd.msg + ## Remote Control + RemoteCmd.msg ) ## Generate added messages and services with any dependencies listed here generate_messages( - DEPENDENCIES - std_msgs - geometry_msgs - sensor_msgs - jsk_recognition_msgs + DEPENDENCIES + std_msgs + geometry_msgs + sensor_msgs + jsk_recognition_msgs ) catkin_package( - CATKIN_DEPENDS - message_runtime - std_msgs - geometry_msgs - sensor_msgs - jsk_recognition_msgs + CATKIN_DEPENDS + message_runtime + std_msgs + geometry_msgs + sensor_msgs + jsk_recognition_msgs ) diff --git a/ros/src/sensing/drivers/can/packages/kvaser/msg/CANData.msg b/ros/src/msgs/autoware_msgs/msg/CANData.msg similarity index 100% rename from ros/src/sensing/drivers/can/packages/kvaser/msg/CANData.msg rename to ros/src/msgs/autoware_msgs/msg/CANData.msg diff --git a/ros/src/sensing/drivers/can/packages/kvaser/msg/CANPacket.msg b/ros/src/msgs/autoware_msgs/msg/CANPacket.msg similarity index 100% rename from ros/src/sensing/drivers/can/packages/kvaser/msg/CANPacket.msg rename to ros/src/msgs/autoware_msgs/msg/CANPacket.msg diff --git a/ros/src/sensing/drivers/can/packages/kvaser/CMakeLists.txt b/ros/src/sensing/drivers/can/packages/kvaser/CMakeLists.txt index d05ea067b08..2ba6114c208 100644 --- a/ros/src/sensing/drivers/can/packages/kvaser/CMakeLists.txt +++ b/ros/src/sensing/drivers/can/packages/kvaser/CMakeLists.txt @@ -9,26 +9,11 @@ find_package(catkin REQUIRED COMPONENTS rospy std_msgs visualization_msgs - message_generation + autoware_msgs ) - -add_message_files( - #DIRECTORY - # msg - FILES - CANPacket.msg - # Vibration.msg -) - -generate_messages( - DEPENDENCIES - std_msgs - visualization_msgs -) - catkin_package( - CATKIN_DEPENDS message_runtime std_msgs visualization_msgs + CATKIN_DEPENDS std_msgs visualization_msgs autoware_msgs ) ########### @@ -41,6 +26,7 @@ include_directories( if (EXISTS "/usr/include/canlib.h") add_executable(can_listener nodes/can_listener/can_listener.cpp) + target_include_directories(can_listener PRIVATE ${catkin_INCLUDE_DIRS}) target_link_libraries(can_listener ${catkin_LIBRARIES}) target_link_libraries(can_listener canlib) add_dependencies(can_listener ${catkin_EXPORTED_TARGETS}) @@ -49,10 +35,12 @@ else () endif () add_executable(can_converter nodes/can_converter/can_converter.cpp) +target_include_directories(can_converter PRIVATE ${catkin_INCLUDE_DIRS}) target_link_libraries(can_converter ${catkin_LIBRARIES}) add_dependencies(can_converter ${catkin_EXPORTED_TARGETS}) add_executable(can_draw nodes/can_draw/can_draw.cpp) +target_include_directories(can_draw PRIVATE ${catkin_INCLUDE_DIRS}) target_link_libraries(can_draw ${catkin_LIBRARIES}) add_dependencies(can_draw ${catkin_EXPORTED_TARGETS}) diff --git a/ros/src/sensing/drivers/can/packages/kvaser/nodes/can_converter/can_converter.cpp b/ros/src/sensing/drivers/can/packages/kvaser/nodes/can_converter/can_converter.cpp index 29cc3c465d6..d87c5f85623 100644 --- a/ros/src/sensing/drivers/can/packages/kvaser/nodes/can_converter/can_converter.cpp +++ b/ros/src/sensing/drivers/can/packages/kvaser/nodes/can_converter/can_converter.cpp @@ -1,9 +1,8 @@ #include -#include "kvaser/CANPacket.h" +#include "autoware_msgs/CANPacket.h" - -void chatterCallback(const kvaser::CANPacket::ConstPtr& msg) +void chatterCallback(const autoware_msgs::CANPacket::ConstPtr& msg) { unsigned short w; static int enc_sum; @@ -82,7 +81,7 @@ void chatterCallback(const kvaser::CANPacket::ConstPtr& msg) int main (int argc, char *argv[]){ - kvaser::CANPacket candat; + autoware_msgs::CANPacket candat; ros::init(argc, argv, "can_converter"); ros::NodeHandle n; diff --git a/ros/src/sensing/drivers/can/packages/kvaser/nodes/can_draw/can_draw.cpp b/ros/src/sensing/drivers/can/packages/kvaser/nodes/can_draw/can_draw.cpp index 0166c3c53f2..ef0a5828fc8 100644 --- a/ros/src/sensing/drivers/can/packages/kvaser/nodes/can_draw/can_draw.cpp +++ b/ros/src/sensing/drivers/can/packages/kvaser/nodes/can_draw/can_draw.cpp @@ -1,5 +1,5 @@ #include -#include "kvaser/CANPacket.h" +#include "autoware_msgs/CANPacket.h" #include #include @@ -7,7 +7,7 @@ ros::Publisher pub; double g_steer,g_speed; -void chatterCallback(const kvaser::CANPacket::ConstPtr& msg) +void chatterCallback(const autoware_msgs::CANPacket::ConstPtr& msg) { unsigned short w; static int enc_sum; @@ -85,7 +85,7 @@ void chatterCallback(const kvaser::CANPacket::ConstPtr& msg) int main (int argc, char *argv[]){ - kvaser::CANPacket candat; + autoware_msgs::CANPacket candat; ros::init(argc, argv, "can_draw"); ros::NodeHandle n; diff --git a/ros/src/sensing/drivers/can/packages/kvaser/nodes/can_listener/can_listener.cpp b/ros/src/sensing/drivers/can/packages/kvaser/nodes/can_listener/can_listener.cpp index 8c1dc5ff8e0..4d88944d17d 100644 --- a/ros/src/sensing/drivers/can/packages/kvaser/nodes/can_listener/can_listener.cpp +++ b/ros/src/sensing/drivers/can/packages/kvaser/nodes/can_listener/can_listener.cpp @@ -1,5 +1,5 @@ /* -** Copyright 2012 by Kvaser AB, Mölndal, Sweden +** Copyright 2012 by Kvaser AB, M�lndal, Sweden ** http://www.kvaser.com ** ** This software is dual licensed under the following two licenses: @@ -62,7 +62,7 @@ #include #include #include -#include "kvaser/CANPacket.h" +#include "autoware_msgs/CANPacket.h" int i = 0; unsigned char willExit = 0; @@ -94,12 +94,12 @@ int main (int argc, char *argv[]) int channel = 0; int bitrate = BAUD_500K; int j; - kvaser::CANPacket candat; + autoware_msgs::CANPacket candat; ros::init(argc, argv, "can_listener"); ros::NodeHandle n; - ros::Publisher can_pub = n.advertise("can_raw", 10); + ros::Publisher can_pub = n.advertise("can_raw", 10); errno = 0; if (argc != 2 || (channel = atoi(argv[1]), errno) != 0) { diff --git a/ros/src/sensing/drivers/can/packages/kvaser/package.xml b/ros/src/sensing/drivers/can/packages/kvaser/package.xml index 432f77b2186..ef62f83cb93 100644 --- a/ros/src/sensing/drivers/can/packages/kvaser/package.xml +++ b/ros/src/sensing/drivers/can/packages/kvaser/package.xml @@ -1,63 +1,26 @@ - kvaser - 1.6.3 - can tools package + kvaser + 1.6.3 + can tools package - - - - etake + etake + TODO - - - - TODO + catkin + roscpp + rospy + std_msgs + visualization_msgs + autoware_msgs + roscpp + rospy + std_msgs + visualization_msgs + autoware_msgs - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - rospy - std_msgs - visualization_msgs - message_generation - roscpp - rospy - std_msgs - visualization_msgs - message_runtime - - - - - - - - - - + + From 2724a8a0cdf60ace1a9767b2516d8ab602f374ca Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 02:39:02 +0900 Subject: [PATCH 11/32] Update build script travis --- .travis.yml | 21 +++++++-------------- 1 file changed, 7 insertions(+), 14 deletions(-) diff --git a/.travis.yml b/.travis.yml index 46f7d8dfd5d..4c5c03a12b2 100644 --- a/.travis.yml +++ b/.travis.yml @@ -33,28 +33,22 @@ before_install: # Create a catkin workspace with the package under integration. install: - - mkdir -p ~/catkin_ws/src - - cd ~/catkin_ws/src + - cd Autoware/ros/src - catkin_init_workspace - # Create the devel/setup.bash (run catkin_make with an empty workspace) and - # source it to set the path variables. - - cd ~/catkin_ws - - catkin_make + - cd ../ + - catkin_make clean - source devel/setup.bash - # Add the package under integration to the workspace using a symlink. - - cd ~/catkin_ws/src - - ln -s $CI_SOURCE_PATH . # Install all 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 ~/catkin_ws/src + - cd src - wstool init - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi - wstool up # package depdencies: install using rosdep. - - cd ~/catkin_ws + - cd .. - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO # Compile and test (mark the build as failed if any step fails). If the @@ -66,6 +60,5 @@ before_script: # fails. Running `catkin_test_results` aggregates all the results and returns # non-zero when a test fails (which notifies Travis the build failed). script: - - source /opt/ros/$ROS_DISTRO/setup.bash - - cd ~/catkin_ws - - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS ) + - source devel/setup.bash + - catkin_make -j8 -l6 From 77b8ae3111f608613fdef81459132e6c4da1bf5d Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 02:42:17 +0900 Subject: [PATCH 12/32] Travis Path --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index 4c5c03a12b2..28042b6165f 100644 --- a/.travis.yml +++ b/.travis.yml @@ -33,7 +33,7 @@ before_install: # Create a catkin workspace with the package under integration. install: - - cd Autoware/ros/src + - cd CPFL/Autoware/ros/src - catkin_init_workspace - cd ../ - catkin_make clean From 30a392ff554cd8b8620a6282f07f76ad07c25392 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 02:53:24 +0900 Subject: [PATCH 13/32] Travis Paths fix --- .travis.yml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.travis.yml b/.travis.yml index 28042b6165f..14485ab0713 100644 --- a/.travis.yml +++ b/.travis.yml @@ -33,11 +33,10 @@ before_install: # Create a catkin workspace with the package under integration. install: - - cd CPFL/Autoware/ros/src + - cd ros/src - catkin_init_workspace - - cd ../ + - cd .. - catkin_make clean - - source devel/setup.bash # Install all dependencies, using wstool first and rosdep second. # wstool looks for a ROSINSTALL_FILE defined in the environment variables. @@ -60,5 +59,6 @@ before_script: # fails. Running `catkin_test_results` aggregates all the results and returns # non-zero when a test fails (which notifies Travis the build failed). script: + - source /opt/ros/$ROS_DISTRO/setup.bash - source devel/setup.bash - - catkin_make -j8 -l6 + - catkin_make $ROS_PARALLEL_JOBS From 6d4f52737abd6ef842724d84cfaa7f6f489438e2 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 03:07:10 +0900 Subject: [PATCH 14/32] Travis test --- .travis.yml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/.travis.yml b/.travis.yml index 14485ab0713..02541e5ac99 100644 --- a/.travis.yml +++ b/.travis.yml @@ -36,7 +36,6 @@ install: - cd ros/src - catkin_init_workspace - cd .. - - catkin_make clean # Install all dependencies, using wstool first and rosdep second. # wstool looks for a ROSINSTALL_FILE defined in the environment variables. @@ -59,6 +58,6 @@ before_script: # fails. Running `catkin_test_results` aggregates all the results and returns # non-zero when a test fails (which notifies Travis the build failed). script: - - source /opt/ros/$ROS_DISTRO/setup.bash + - catkin_make clean - source devel/setup.bash - catkin_make $ROS_PARALLEL_JOBS From 8b273353d3fff648dd8ca1ba4284a0cbf4d9a5d7 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 03:33:25 +0900 Subject: [PATCH 15/32] Eigen checks --- .travis.yml | 2 +- .../lib/openplanner/op_simu/CMakeLists.txt | 6 +- .../openplanner/op_simu/cmake/FindEigen.cmake | 87 +++++++++++++++++++ 3 files changed, 93 insertions(+), 2 deletions(-) create mode 100644 ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindEigen.cmake diff --git a/.travis.yml b/.travis.yml index 02541e5ac99..aef69da9411 100644 --- a/.travis.yml +++ b/.travis.yml @@ -23,7 +23,7 @@ before_install: - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 # Autoware pre requisites - - sudo apt-get install -y libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev software-properties-common libyaml-cpp-dev python-flask python-requests + - sudo apt-get install -y libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev software-properties-common libyaml-cpp-dev python-flask python-requests libeigen3-dev - sudo add-apt-repository ppa:mosquitto-dev/mosquitto-ppa -y - sudo apt-get update -qq - sudo apt-get install -y libmosquitto-dev python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/CMakeLists.txt b/ros/src/computing/planning/common/lib/openplanner/op_simu/CMakeLists.txt index 6cd62a2d6a5..c1f96e0bcda 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/CMakeLists.txt +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/CMakeLists.txt @@ -19,7 +19,11 @@ find_package(OpenCV REQUIRED) find_package(OpenGL REQUIRED) find_package(GLEW REQUIRED) find_package(GLUT REQUIRED) -find_package(Eigen3 REQUIRED) +if(${CMAKE_VERSION} VERSION_LESS "3.0.0") + include(cmake/FindEigen.cmake) +else() + find_package(Eigen3 REQUIRED) +endif() find_package(X11 REQUIRED) find_package(Threads REQUIRED) #find_package(TinyXML REQUIRED) diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindEigen.cmake b/ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindEigen.cmake new file mode 100644 index 00000000000..b632fb78416 --- /dev/null +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindEigen.cmake @@ -0,0 +1,87 @@ +# - Try to find Eigen3 lib +# +# This module supports requiring a minimum version, e.g. you can do +# find_package(Eigen3 3.1.2) +# to require version 3.1.2 or newer of Eigen3. +# +# Once done this will define +# +# EIGEN3_FOUND - system has eigen lib with correct version +# EIGEN3_INCLUDE_DIR - the eigen include directory +# EIGEN3_VERSION - eigen version + +# Copyright (c) 2006, 2007 Montel Laurent, +# Copyright (c) 2008, 2009 Gael Guennebaud, +# Copyright (c) 2009 Benoit Jacob +# Redistribution and use is allowed according to the terms of the 2-clause BSD license. + +if(NOT Eigen3_FIND_VERSION) + if(NOT Eigen3_FIND_VERSION_MAJOR) + set(Eigen3_FIND_VERSION_MAJOR 2) + endif(NOT Eigen3_FIND_VERSION_MAJOR) + if(NOT Eigen3_FIND_VERSION_MINOR) + set(Eigen3_FIND_VERSION_MINOR 91) + endif(NOT Eigen3_FIND_VERSION_MINOR) + if(NOT Eigen3_FIND_VERSION_PATCH) + set(Eigen3_FIND_VERSION_PATCH 0) + endif(NOT Eigen3_FIND_VERSION_PATCH) + + set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}") +endif(NOT Eigen3_FIND_VERSION) + +macro(_eigen3_check_version) + file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header) + + string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}") + set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}") + string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}") + set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}") + string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}") + set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}") + + set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION}) + if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) + set(EIGEN3_VERSION_OK FALSE) + else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) + set(EIGEN3_VERSION_OK TRUE) + endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) + + if(NOT EIGEN3_VERSION_OK) + + message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, " + "but at least version ${Eigen3_FIND_VERSION} is required") + endif(NOT EIGEN3_VERSION_OK) +endmacro(_eigen3_check_version) + +if (EIGEN3_INCLUDE_DIR) + + # in cache already + _eigen3_check_version() + set(EIGEN3_FOUND ${EIGEN3_VERSION_OK}) + +else (EIGEN3_INCLUDE_DIR) + + # specific additional paths for some OS + if (WIN32) + set(EIGEN_ADDITIONAL_SEARCH_PATHS ${EIGEN_ADDITIONAL_SEARCH_PATHS} "C:/Program Files/Eigen/include" "C:/Program Files (x86)/Eigen/include") + endif(WIN32) + + find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library + PATHS + include + ${EIGEN_ADDITIONAL_SEARCH_PATHS} + ${KDE4_INCLUDE_DIR} + PATH_SUFFIXES eigen3 eigen + ) + + if(EIGEN3_INCLUDE_DIR) + _eigen3_check_version() + endif(EIGEN3_INCLUDE_DIR) + + include(FindPackageHandleStandardArgs) + find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK) + + mark_as_advanced(EIGEN3_INCLUDE_DIR) + +endif(EIGEN3_INCLUDE_DIR) + From 2d49cc9254c8f1ad13046c83fafbc99890c894b6 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 03:43:53 +0900 Subject: [PATCH 16/32] removed unnecessary dependencies --- .../lib/openplanner/op_simu/CMakeLists.txt | 8 -- .../openplanner/op_simu/cmake/FindEigen.cmake | 87 ------------------- .../op_simu/cmake/FindTinyXML.cmake | 74 ---------------- 3 files changed, 169 deletions(-) delete mode 100644 ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindEigen.cmake delete mode 100644 ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindTinyXML.cmake diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/CMakeLists.txt b/ros/src/computing/planning/common/lib/openplanner/op_simu/CMakeLists.txt index c1f96e0bcda..c72e82946a6 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/CMakeLists.txt +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/CMakeLists.txt @@ -19,14 +19,8 @@ find_package(OpenCV REQUIRED) find_package(OpenGL REQUIRED) find_package(GLEW REQUIRED) find_package(GLUT REQUIRED) -if(${CMAKE_VERSION} VERSION_LESS "3.0.0") - include(cmake/FindEigen.cmake) -else() - find_package(Eigen3 REQUIRED) -endif() find_package(X11 REQUIRED) find_package(Threads REQUIRED) -#find_package(TinyXML REQUIRED) ################################### ## catkin specific configuration ## @@ -77,7 +71,6 @@ target_link_libraries(${PROJECT_NAME} ${GLUT_LIBRARIES} ${GLEW_LIBRARIES} ${X11_LIBRARIES} - ${TinyXML_LIBRARIES} ) add_executable(Simu ${SIMUH_SRC} @@ -93,7 +86,6 @@ target_link_libraries(Simu ${GLEW_LIBRARIES} ${X11_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT} - ${TinyXML_LIBRARIES} ) diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindEigen.cmake b/ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindEigen.cmake deleted file mode 100644 index b632fb78416..00000000000 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindEigen.cmake +++ /dev/null @@ -1,87 +0,0 @@ -# - Try to find Eigen3 lib -# -# This module supports requiring a minimum version, e.g. you can do -# find_package(Eigen3 3.1.2) -# to require version 3.1.2 or newer of Eigen3. -# -# Once done this will define -# -# EIGEN3_FOUND - system has eigen lib with correct version -# EIGEN3_INCLUDE_DIR - the eigen include directory -# EIGEN3_VERSION - eigen version - -# Copyright (c) 2006, 2007 Montel Laurent, -# Copyright (c) 2008, 2009 Gael Guennebaud, -# Copyright (c) 2009 Benoit Jacob -# Redistribution and use is allowed according to the terms of the 2-clause BSD license. - -if(NOT Eigen3_FIND_VERSION) - if(NOT Eigen3_FIND_VERSION_MAJOR) - set(Eigen3_FIND_VERSION_MAJOR 2) - endif(NOT Eigen3_FIND_VERSION_MAJOR) - if(NOT Eigen3_FIND_VERSION_MINOR) - set(Eigen3_FIND_VERSION_MINOR 91) - endif(NOT Eigen3_FIND_VERSION_MINOR) - if(NOT Eigen3_FIND_VERSION_PATCH) - set(Eigen3_FIND_VERSION_PATCH 0) - endif(NOT Eigen3_FIND_VERSION_PATCH) - - set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}") -endif(NOT Eigen3_FIND_VERSION) - -macro(_eigen3_check_version) - file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header) - - string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}") - set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}") - string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}") - set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}") - string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}") - set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}") - - set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION}) - if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) - set(EIGEN3_VERSION_OK FALSE) - else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) - set(EIGEN3_VERSION_OK TRUE) - endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) - - if(NOT EIGEN3_VERSION_OK) - - message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, " - "but at least version ${Eigen3_FIND_VERSION} is required") - endif(NOT EIGEN3_VERSION_OK) -endmacro(_eigen3_check_version) - -if (EIGEN3_INCLUDE_DIR) - - # in cache already - _eigen3_check_version() - set(EIGEN3_FOUND ${EIGEN3_VERSION_OK}) - -else (EIGEN3_INCLUDE_DIR) - - # specific additional paths for some OS - if (WIN32) - set(EIGEN_ADDITIONAL_SEARCH_PATHS ${EIGEN_ADDITIONAL_SEARCH_PATHS} "C:/Program Files/Eigen/include" "C:/Program Files (x86)/Eigen/include") - endif(WIN32) - - find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library - PATHS - include - ${EIGEN_ADDITIONAL_SEARCH_PATHS} - ${KDE4_INCLUDE_DIR} - PATH_SUFFIXES eigen3 eigen - ) - - if(EIGEN3_INCLUDE_DIR) - _eigen3_check_version() - endif(EIGEN3_INCLUDE_DIR) - - include(FindPackageHandleStandardArgs) - find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK) - - mark_as_advanced(EIGEN3_INCLUDE_DIR) - -endif(EIGEN3_INCLUDE_DIR) - diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindTinyXML.cmake b/ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindTinyXML.cmake deleted file mode 100644 index aabb323d50c..00000000000 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindTinyXML.cmake +++ /dev/null @@ -1,74 +0,0 @@ -################################################################################################## -# -# CMake script for finding TinyXML. -# -# Input variables: -# -# - TinyXML_ROOT_DIR (optional): When specified, header files and libraries will be searched for in -# ${TinyXML_ROOT_DIR}/include -# ${TinyXML_ROOT_DIR}/libs -# respectively, and the default CMake search order will be ignored. When unspecified, the default -# CMake search order is used. -# This variable can be specified either as a CMake or environment variable. If both are set, -# preference is given to the CMake variable. -# Use this variable for finding packages installed in a nonstandard location, or for enforcing -# that one of multiple package installations is picked up. -# -# -# Cache variables (not intended to be used in CMakeLists.txt files) -# -# - TinyXML_INCLUDE_DIR: Absolute path to package headers. -# - TinyXML_LIBRARY: Absolute path to library. -# -# -# Output variables: -# -# - TinyXML_FOUND: Boolean that indicates if the package was found -# - TinyXML_INCLUDE_DIRS: Paths to the necessary header files -# - TinyXML_LIBRARIES: Package libraries -# -# -# Example usage: -# -# find_package(TinyXML) -# if(NOT TinyXML_FOUND) -# # Error handling -# endif() -# ... -# include_directories(${TinyXML_INCLUDE_DIRS} ...) -# ... -# target_link_libraries(my_target ${TinyXML_LIBRARIES}) -# -################################################################################################## - -# Get package location hint from environment variable (if any) -if(NOT TinyXML_ROOT_DIR AND DEFINED ENV{TinyXML_ROOT_DIR}) - set(TinyXML_ROOT_DIR "$ENV{TinyXML_ROOT_DIR}" CACHE PATH - "TinyXML base directory location (optional, used for nonstandard installation paths)") -endif() - -# Search path for nonstandard package locations -if(TinyXML_ROOT_DIR) - set(TinyXML_INCLUDE_PATH PATHS "${TinyXML_ROOT_DIR}/include" NO_DEFAULT_PATH) - set(TinyXML_LIBRARY_PATH PATHS "${TinyXML_ROOT_DIR}/lib" NO_DEFAULT_PATH) -endif() - -# Find headers and libraries -find_path(TinyXML_INCLUDE_DIR NAMES tinyxml.h PATH_SUFFIXES "tinyxml" ${TinyXML_INCLUDE_PATH}) -find_library(TinyXML_LIBRARY NAMES tinyxml PATH_SUFFIXES "tinyxml" ${TinyXML_LIBRARY_PATH}) - -mark_as_advanced(TinyXML_INCLUDE_DIR - TinyXML_LIBRARY) - -# Output variables generation -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(TinyXML DEFAULT_MSG TinyXML_LIBRARY - TinyXML_INCLUDE_DIR) - -set(TinyXML_FOUND ${TINYXML_FOUND}) # Enforce case-correctness: Set appropriately cased variable... -unset(TINYXML_FOUND) # ...and unset uppercase variable generated by find_package_handle_standard_args - -if(TinyXML_FOUND) - set(TinyXML_INCLUDE_DIRS ${TinyXML_INCLUDE_DIR}) - set(TinyXML_LIBRARIES ${TinyXML_LIBRARY}) -endif() From bea231f475b90f693d51192fa1ac6cd3437d25be Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 04:01:41 +0900 Subject: [PATCH 17/32] Eigen Detection --- .../detection/lib/libvectormap/CMakeLists.txt | 16 +- .../packages/orb_localizer/CMakeLists.txt | 12 +- .../Thirdparty/g2o/CMakeLists.txt | 226 +++++++++--------- 3 files changed, 141 insertions(+), 113 deletions(-) diff --git a/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt b/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt index e3d09aad078..f628cdc81dd 100644 --- a/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt @@ -5,11 +5,17 @@ find_package(catkin REQUIRED COMPONENTS vector_map ) -if(${CMAKE_VERSION} VERSION_LESS "3.0.0") - include(FindEigen.cmake) -else() - find_package(Eigen3 REQUIRED) -endif() +find_package(Eigen3 QUIET) +if (NOT EIGEN3_FOUND) + # Fallback to cmake_modules + find_package(cmake_modules REQUIRED) + find_package(Eigen REQUIRED) + set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) + set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only + # Possibly map additional variables to the EIGEN3_ prefix. +else () + set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) +endif () set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}") diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt index f5885b5c621..24bb1d0b86a 100644 --- a/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt @@ -25,7 +25,17 @@ find_package(BLAS REQUIRED) find_package(LAPACK REQUIRED) find_package(GLUT REQUIRED) find_package(OpenMP) -find_package(Eigen3 REQUIRED) +find_package(Eigen3 QUIET) +if (NOT EIGEN3_FOUND) + # Fallback to cmake_modules + find_package(cmake_modules REQUIRED) + find_package(Eigen REQUIRED) + set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) + set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only + # Possibly map additional variables to the EIGEN3_ prefix. +else () + set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) +endif () find_package(PCL 1.7 REQUIRED COMPONENTS common octree) find_package(PythonLibs REQUIRED) find_package(X11 REQUIRED) diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt b/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt index 4a5639dff49..5e6b48cfd97 100644 --- a/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt @@ -1,123 +1,135 @@ -cmake_minimum_required (VERSION 2.6) +cmake_minimum_required(VERSION 2.6) -project (g2o) +project(g2o) FIND_PACKAGE(BLAS REQUIRED) FIND_PACKAGE(LAPACK REQUIRED) FIND_PACKAGE(OpenMP) -SET (g2o_C_FLAGS "-std=c++11") -SET (g2o_CXX_FLAGS "-std=c++11") +SET(g2o_C_FLAGS "-std=c++11") +SET(g2o_CXX_FLAGS "-std=c++11") SET(G2O_USE_OPENMP OFF CACHE BOOL "Build g2o with OpenMP support (EXPERIMENTAL)") -IF(OPENMP_FOUND AND G2O_USE_OPENMP) - SET (G2O_OPENMP 1) - SET(g2o_C_FLAGS "${g2o_C_FLAGS} ${OpenMP_C_FLAGS}") - SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -DEIGEN_DONT_PARALLELIZE ${OpenMP_CXX_FLAGS}") - MESSAGE(STATUS "Compiling with OpenMP support") -ENDIF(OPENMP_FOUND AND G2O_USE_OPENMP) -FIND_PACKAGE(Eigen3 REQUIRED) -IF(EIGEN3_FOUND) - SET(G2O_EIGEN3_INCLUDE ${EIGEN3_INCLUDE_DIR} CACHE PATH "Directory of Eigen3") -ELSE(EIGEN3_FOUND) - SET(G2O_EIGEN3_INCLUDE "" CACHE PATH "Directory of Eigen3") -ENDIF(EIGEN3_FOUND) +IF (OPENMP_FOUND AND G2O_USE_OPENMP) + SET(G2O_OPENMP 1) + SET(g2o_C_FLAGS "${g2o_C_FLAGS} ${OpenMP_C_FLAGS}") + SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -DEIGEN_DONT_PARALLELIZE ${OpenMP_CXX_FLAGS}") + MESSAGE(STATUS "Compiling with OpenMP support") +ENDIF (OPENMP_FOUND AND G2O_USE_OPENMP) + +find_package(Eigen3 QUIET) +if (NOT EIGEN3_FOUND) + # Fallback to cmake_modules + find_package(cmake_modules REQUIRED) + find_package(Eigen REQUIRED) + set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) + set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only + # Possibly map additional variables to the EIGEN3_ prefix. +else () + set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) +endif () + +IF (EIGEN3_FOUND) + SET(G2O_EIGEN3_INCLUDE ${EIGEN3_INCLUDE_DIR} CACHE PATH "Directory of Eigen3") +ELSE (EIGEN3_FOUND) + SET(G2O_EIGEN3_INCLUDE "" CACHE PATH "Directory of Eigen3") +ENDIF (EIGEN3_FOUND) configure_file( - config.h.in - ${CMAKE_CURRENT_SOURCE_DIR}/g2o/config.h + config.h.in + ${CMAKE_CURRENT_SOURCE_DIR}/g2o/config.h ) -include_directories ( - ${CMAKE_CURRENT_SOURCE_DIR} - ${G2O_EIGEN3_INCLUDE} +include_directories( + ${CMAKE_CURRENT_SOURCE_DIR} + ${G2O_EIGEN3_INCLUDE} ) -add_library (g2o STATIC - #types - g2o/types/types_sba.h - g2o/types/types_six_dof_expmap.h - g2o/types/types_sba.cpp - g2o/types/types_six_dof_expmap.cpp - g2o/types/types_seven_dof_expmap.cpp - g2o/types/types_seven_dof_expmap.h - g2o/types/se3quat.h - g2o/types/se3_ops.h - g2o/types/se3_ops.hpp - #core - g2o/core/base_edge.h - g2o/core/base_binary_edge.h - g2o/core/hyper_graph_action.cpp - g2o/core/base_binary_edge.hpp - g2o/core/hyper_graph_action.h - g2o/core/base_multi_edge.h - g2o/core/hyper_graph.cpp - g2o/core/base_multi_edge.hpp - g2o/core/hyper_graph.h - g2o/core/base_unary_edge.h - g2o/core/linear_solver.h - g2o/core/base_unary_edge.hpp - g2o/core/marginal_covariance_cholesky.cpp - g2o/core/base_vertex.h - g2o/core/marginal_covariance_cholesky.h - g2o/core/base_vertex.hpp - g2o/core/matrix_structure.cpp - g2o/core/batch_stats.cpp - g2o/core/matrix_structure.h - g2o/core/batch_stats.h - g2o/core/openmp_mutex.h - g2o/core/block_solver.h - g2o/core/block_solver.hpp - g2o/core/parameter.cpp - g2o/core/parameter.h - g2o/core/cache.cpp - g2o/core/cache.h - g2o/core/optimizable_graph.cpp - g2o/core/optimizable_graph.h - g2o/core/solver.cpp - g2o/core/solver.h - g2o/core/creators.h - g2o/core/optimization_algorithm_factory.cpp - g2o/core/estimate_propagator.cpp - g2o/core/optimization_algorithm_factory.h - g2o/core/estimate_propagator.h - g2o/core/factory.cpp - g2o/core/optimization_algorithm_property.h - g2o/core/factory.h - g2o/core/sparse_block_matrix.h - g2o/core/sparse_optimizer.cpp - g2o/core/sparse_block_matrix.hpp - g2o/core/sparse_optimizer.h - g2o/core/hyper_dijkstra.cpp - g2o/core/hyper_dijkstra.h - g2o/core/parameter_container.cpp - g2o/core/parameter_container.h - g2o/core/optimization_algorithm.cpp - g2o/core/optimization_algorithm.h - g2o/core/optimization_algorithm_with_hessian.cpp - g2o/core/optimization_algorithm_with_hessian.h - g2o/core/optimization_algorithm_levenberg.cpp - g2o/core/optimization_algorithm_levenberg.h - g2o/core/jacobian_workspace.cpp - g2o/core/jacobian_workspace.h - g2o/core/robust_kernel.cpp - g2o/core/robust_kernel.h - g2o/core/robust_kernel_factory.cpp - g2o/core/robust_kernel_factory.h - g2o/core/robust_kernel_impl.cpp - g2o/core/robust_kernel_impl.h - #stuff - g2o/stuff/string_tools.h - g2o/stuff/color_macros.h - g2o/stuff/macros.h - g2o/stuff/timeutil.cpp - g2o/stuff/misc.h - g2o/stuff/timeutil.h - g2o/stuff/os_specific.c - g2o/stuff/os_specific.h - g2o/stuff/string_tools.cpp - g2o/stuff/property.cpp - g2o/stuff/property.h -) +add_library(g2o STATIC + #types + g2o/types/types_sba.h + g2o/types/types_six_dof_expmap.h + g2o/types/types_sba.cpp + g2o/types/types_six_dof_expmap.cpp + g2o/types/types_seven_dof_expmap.cpp + g2o/types/types_seven_dof_expmap.h + g2o/types/se3quat.h + g2o/types/se3_ops.h + g2o/types/se3_ops.hpp + #core + g2o/core/base_edge.h + g2o/core/base_binary_edge.h + g2o/core/hyper_graph_action.cpp + g2o/core/base_binary_edge.hpp + g2o/core/hyper_graph_action.h + g2o/core/base_multi_edge.h + g2o/core/hyper_graph.cpp + g2o/core/base_multi_edge.hpp + g2o/core/hyper_graph.h + g2o/core/base_unary_edge.h + g2o/core/linear_solver.h + g2o/core/base_unary_edge.hpp + g2o/core/marginal_covariance_cholesky.cpp + g2o/core/base_vertex.h + g2o/core/marginal_covariance_cholesky.h + g2o/core/base_vertex.hpp + g2o/core/matrix_structure.cpp + g2o/core/batch_stats.cpp + g2o/core/matrix_structure.h + g2o/core/batch_stats.h + g2o/core/openmp_mutex.h + g2o/core/block_solver.h + g2o/core/block_solver.hpp + g2o/core/parameter.cpp + g2o/core/parameter.h + g2o/core/cache.cpp + g2o/core/cache.h + g2o/core/optimizable_graph.cpp + g2o/core/optimizable_graph.h + g2o/core/solver.cpp + g2o/core/solver.h + g2o/core/creators.h + g2o/core/optimization_algorithm_factory.cpp + g2o/core/estimate_propagator.cpp + g2o/core/optimization_algorithm_factory.h + g2o/core/estimate_propagator.h + g2o/core/factory.cpp + g2o/core/optimization_algorithm_property.h + g2o/core/factory.h + g2o/core/sparse_block_matrix.h + g2o/core/sparse_optimizer.cpp + g2o/core/sparse_block_matrix.hpp + g2o/core/sparse_optimizer.h + g2o/core/hyper_dijkstra.cpp + g2o/core/hyper_dijkstra.h + g2o/core/parameter_container.cpp + g2o/core/parameter_container.h + g2o/core/optimization_algorithm.cpp + g2o/core/optimization_algorithm.h + g2o/core/optimization_algorithm_with_hessian.cpp + g2o/core/optimization_algorithm_with_hessian.h + g2o/core/optimization_algorithm_levenberg.cpp + g2o/core/optimization_algorithm_levenberg.h + g2o/core/jacobian_workspace.cpp + g2o/core/jacobian_workspace.h + g2o/core/robust_kernel.cpp + g2o/core/robust_kernel.h + g2o/core/robust_kernel_factory.cpp + g2o/core/robust_kernel_factory.h + g2o/core/robust_kernel_impl.cpp + g2o/core/robust_kernel_impl.h + #stuff + g2o/stuff/string_tools.h + g2o/stuff/color_macros.h + g2o/stuff/macros.h + g2o/stuff/timeutil.cpp + g2o/stuff/misc.h + g2o/stuff/timeutil.h + g2o/stuff/os_specific.c + g2o/stuff/os_specific.h + g2o/stuff/string_tools.cpp + g2o/stuff/property.cpp + g2o/stuff/property.h + ) From c999e85f47896ead7130da9c4534c1e1b0b6dacc Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 04:14:22 +0900 Subject: [PATCH 18/32] Job number reduced --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index aef69da9411..61f27f07280 100644 --- a/.travis.yml +++ b/.travis.yml @@ -60,4 +60,4 @@ before_script: script: - catkin_make clean - source devel/setup.bash - - catkin_make $ROS_PARALLEL_JOBS + - catkin_make -j4 From b20a6a57c43f77fc3365cb7478a9b4ff49ce4e85 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 04:39:37 +0900 Subject: [PATCH 19/32] Eigen3 more fixes --- .../detection/lib/libvectormap/CMakeLists.txt | 13 ++----------- .../detection/packages/road_wizard/CMakeLists.txt | 14 +++----------- .../packages/orb_localizer/CMakeLists.txt | 15 ++++----------- .../orb_localizer/Thirdparty/g2o/CMakeLists.txt | 13 ++----------- 4 files changed, 11 insertions(+), 44 deletions(-) diff --git a/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt b/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt index f628cdc81dd..0df780cb624 100644 --- a/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt @@ -5,17 +5,8 @@ find_package(catkin REQUIRED COMPONENTS vector_map ) -find_package(Eigen3 QUIET) -if (NOT EIGEN3_FOUND) - # Fallback to cmake_modules - find_package(cmake_modules REQUIRED) - find_package(Eigen REQUIRED) - set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) - set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only - # Possibly map additional variables to the EIGEN3_ prefix. -else () - set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) -endif () +find_package(PkgConfig) +pkg_search_module(Eigen3 REQUIRED eigen3) set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}") diff --git a/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt b/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt index 74a35cf90d0..ffed4a0a208 100644 --- a/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt @@ -22,17 +22,9 @@ find_package(catkin REQUIRED COMPONENTS autoware_msgs ) find_package(OpenCV REQUIRED) -find_package(Eigen3 QUIET) -if (NOT EIGEN3_FOUND) - # Fallback to cmake_modules - find_package(cmake_modules REQUIRED) - find_package(Eigen REQUIRED) - set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) - set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only - # Possibly map additional variables to the EIGEN3_ prefix. -else () - set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) -endif () + +find_package(PkgConfig) +pkg_search_module(Eigen3 REQUIRED eigen3) set(CMAKE_AUTOMOC ON) set(CMAKE_AUTOUIC ON) diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt index 24bb1d0b86a..54c037596e4 100644 --- a/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt @@ -25,17 +25,10 @@ find_package(BLAS REQUIRED) find_package(LAPACK REQUIRED) find_package(GLUT REQUIRED) find_package(OpenMP) -find_package(Eigen3 QUIET) -if (NOT EIGEN3_FOUND) - # Fallback to cmake_modules - find_package(cmake_modules REQUIRED) - find_package(Eigen REQUIRED) - set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) - set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only - # Possibly map additional variables to the EIGEN3_ prefix. -else () - set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) -endif () + +find_package(PkgConfig) +pkg_search_module(Eigen3 REQUIRED eigen3) + find_package(PCL 1.7 REQUIRED COMPONENTS common octree) find_package(PythonLibs REQUIRED) find_package(X11 REQUIRED) diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt b/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt index 5e6b48cfd97..740aa5d31a6 100644 --- a/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt @@ -17,17 +17,8 @@ IF (OPENMP_FOUND AND G2O_USE_OPENMP) MESSAGE(STATUS "Compiling with OpenMP support") ENDIF (OPENMP_FOUND AND G2O_USE_OPENMP) -find_package(Eigen3 QUIET) -if (NOT EIGEN3_FOUND) - # Fallback to cmake_modules - find_package(cmake_modules REQUIRED) - find_package(Eigen REQUIRED) - set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) - set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only - # Possibly map additional variables to the EIGEN3_ prefix. -else () - set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) -endif () +find_package(PkgConfig) +pkg_search_module(Eigen3 REQUIRED eigen3) IF (EIGEN3_FOUND) SET(G2O_EIGEN3_INCLUDE ${EIGEN3_INCLUDE_DIR} CACHE PATH "Directory of Eigen3") From 4a6df7ca7521547f983b1052d1a5444f5b61f715 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 05:00:38 +0900 Subject: [PATCH 20/32] More Eigen3 --- .../perception/detection/lib/libvectormap/CMakeLists.txt | 3 +-- .../detection/packages/road_wizard/CMakeLists.txt | 5 ++--- .../localization/packages/orb_localizer/CMakeLists.txt | 3 +-- .../packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt | 9 ++++----- ros/src/util/packages/sample_data/CMakeLists.txt | 2 +- 5 files changed, 9 insertions(+), 13 deletions(-) diff --git a/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt b/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt index 0df780cb624..cf6b4db8c86 100644 --- a/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt @@ -5,8 +5,7 @@ find_package(catkin REQUIRED COMPONENTS vector_map ) -find_package(PkgConfig) -pkg_search_module(Eigen3 REQUIRED eigen3) +FIND_PACKAGE(Eigen3) set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}") diff --git a/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt b/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt index ffed4a0a208..f6d73b5c042 100644 --- a/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt @@ -23,8 +23,7 @@ find_package(catkin REQUIRED COMPONENTS ) find_package(OpenCV REQUIRED) -find_package(PkgConfig) -pkg_search_module(Eigen3 REQUIRED eigen3) +FIND_PACKAGE(Eigen3) set(CMAKE_AUTOMOC ON) set(CMAKE_AUTOUIC ON) @@ -90,7 +89,7 @@ add_dependencies(region_tlr ### feat_proj ### include_directories( ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIR} + ${EIGEN_INCLUDE_DIR} ${libvectormap_INCLUDE_DIRS} ) diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt index 54c037596e4..39b737422f1 100644 --- a/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt @@ -26,8 +26,7 @@ find_package(LAPACK REQUIRED) find_package(GLUT REQUIRED) find_package(OpenMP) -find_package(PkgConfig) -pkg_search_module(Eigen3 REQUIRED eigen3) +FIND_PACKAGE(Eigen3) find_package(PCL 1.7 REQUIRED COMPONENTS common octree) find_package(PythonLibs REQUIRED) diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt b/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt index 740aa5d31a6..98b0b2d975f 100644 --- a/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt @@ -17,14 +17,13 @@ IF (OPENMP_FOUND AND G2O_USE_OPENMP) MESSAGE(STATUS "Compiling with OpenMP support") ENDIF (OPENMP_FOUND AND G2O_USE_OPENMP) -find_package(PkgConfig) -pkg_search_module(Eigen3 REQUIRED eigen3) +FIND_PACKAGE(Eigen3) -IF (EIGEN3_FOUND) +IF (EIGEN_FOUND) SET(G2O_EIGEN3_INCLUDE ${EIGEN3_INCLUDE_DIR} CACHE PATH "Directory of Eigen3") -ELSE (EIGEN3_FOUND) +ELSE (EIGEN_FOUND) SET(G2O_EIGEN3_INCLUDE "" CACHE PATH "Directory of Eigen3") -ENDIF (EIGEN3_FOUND) +ENDIF (EIGEN_FOUND) configure_file( diff --git a/ros/src/util/packages/sample_data/CMakeLists.txt b/ros/src/util/packages/sample_data/CMakeLists.txt index fce37dbbcb8..c0faffe229e 100644 --- a/ros/src/util/packages/sample_data/CMakeLists.txt +++ b/ros/src/util/packages/sample_data/CMakeLists.txt @@ -9,7 +9,7 @@ find_package(catkin REQUIRED COMPONENTS visualization_msgs ) pkg_check_modules(PCL_IO REQUIRED pcl_io-1.7) -pkg_check_modules(EIGEN3 REQUIRED eigen3) +FIND_PACKAGE(Eigen3) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") From 5e51436842bb2e7ef027f373d8fbe79f73edb7c0 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 05:19:28 +0900 Subject: [PATCH 21/32] Even more Eigen --- .../detection/lib/libvectormap/CMakeLists.txt | 13 ++++++++++++- .../packages/road_wizard/CMakeLists.txt | 13 ++++++++++++- .../packages/orb_localizer/CMakeLists.txt | 14 ++++++++++++-- .../Thirdparty/g2o/CMakeLists.txt | 19 +++++++++++++++---- .../util/packages/sample_data/CMakeLists.txt | 13 ++++++++++++- 5 files changed, 63 insertions(+), 9 deletions(-) diff --git a/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt b/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt index cf6b4db8c86..7c1a352b0d7 100644 --- a/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt @@ -5,7 +5,18 @@ find_package(catkin REQUIRED COMPONENTS vector_map ) -FIND_PACKAGE(Eigen3) +find_package(Eigen3 QUIET) +if (NOT EIGEN3_FOUND) + # Fallback to cmake_modules + find_package(cmake_modules REQUIRED) + find_package(Eigen REQUIRED) + set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) + set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only + # Possibly map additional variables to the EIGEN3_ prefix. + set(EIGEN3_FOUND 1) +else () + set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) +endif () set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}") diff --git a/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt b/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt index f6d73b5c042..5c582600dec 100644 --- a/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt @@ -23,7 +23,18 @@ find_package(catkin REQUIRED COMPONENTS ) find_package(OpenCV REQUIRED) -FIND_PACKAGE(Eigen3) +find_package(Eigen3 QUIET) +if (NOT EIGEN3_FOUND) + # Fallback to cmake_modules + find_package(cmake_modules REQUIRED) + find_package(Eigen REQUIRED) + set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) + set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only + # Possibly map additional variables to the EIGEN3_ prefix. + set(EIGEN3_FOUND 1) +else () + set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) +endif () set(CMAKE_AUTOMOC ON) set(CMAKE_AUTOUIC ON) diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt index 39b737422f1..01c93987539 100644 --- a/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt @@ -26,8 +26,18 @@ find_package(LAPACK REQUIRED) find_package(GLUT REQUIRED) find_package(OpenMP) -FIND_PACKAGE(Eigen3) - +find_package(Eigen3 QUIET) +if (NOT EIGEN3_FOUND) + # Fallback to cmake_modules + find_package(cmake_modules REQUIRED) + find_package(Eigen REQUIRED) + set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) + set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only + # Possibly map additional variables to the EIGEN3_ prefix. + set(EIGEN3_FOUND 1) +else () + set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) +endif () find_package(PCL 1.7 REQUIRED COMPONENTS common octree) find_package(PythonLibs REQUIRED) find_package(X11 REQUIRED) diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt b/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt index 98b0b2d975f..0ec0a6b955f 100644 --- a/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt @@ -17,13 +17,24 @@ IF (OPENMP_FOUND AND G2O_USE_OPENMP) MESSAGE(STATUS "Compiling with OpenMP support") ENDIF (OPENMP_FOUND AND G2O_USE_OPENMP) -FIND_PACKAGE(Eigen3) +find_package(Eigen3 QUIET) +if (NOT EIGEN3_FOUND) + # Fallback to cmake_modules + find_package(cmake_modules REQUIRED) + find_package(Eigen REQUIRED) + set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) + set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only + # Possibly map additional variables to the EIGEN3_ prefix. + set(EIGEN3_FOUND 1) +else () + set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) +endif () -IF (EIGEN_FOUND) +IF (EIGEN3_FOUND) SET(G2O_EIGEN3_INCLUDE ${EIGEN3_INCLUDE_DIR} CACHE PATH "Directory of Eigen3") -ELSE (EIGEN_FOUND) +ELSE (EIGEN3_FOUND) SET(G2O_EIGEN3_INCLUDE "" CACHE PATH "Directory of Eigen3") -ENDIF (EIGEN_FOUND) +ENDIF (EIGEN3_FOUND) configure_file( diff --git a/ros/src/util/packages/sample_data/CMakeLists.txt b/ros/src/util/packages/sample_data/CMakeLists.txt index c0faffe229e..b9c6cceb416 100644 --- a/ros/src/util/packages/sample_data/CMakeLists.txt +++ b/ros/src/util/packages/sample_data/CMakeLists.txt @@ -9,7 +9,18 @@ find_package(catkin REQUIRED COMPONENTS visualization_msgs ) pkg_check_modules(PCL_IO REQUIRED pcl_io-1.7) -FIND_PACKAGE(Eigen3) +find_package(Eigen3 QUIET) +if (NOT EIGEN3_FOUND) + # Fallback to cmake_modules + find_package(cmake_modules REQUIRED) + find_package(Eigen REQUIRED) + set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) + set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only + # Possibly map additional variables to the EIGEN3_ prefix. + set(EIGEN3_FOUND 1) +else () + set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) +endif () set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") From e83bbacd64ce8d807b00ed71075b74f26dca123d Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 12:45:20 +0900 Subject: [PATCH 22/32] find package cmake modules included --- .../detection/lib/libvectormap/package.xml | 2 + .../packages/road_wizard/package.xml | 48 ++++++++++--------- .../packages/orb_localizer/package.xml | 38 +++++++++------ ros/src/util/packages/sample_data/package.xml | 2 + 4 files changed, 53 insertions(+), 37 deletions(-) diff --git a/ros/src/computing/perception/detection/lib/libvectormap/package.xml b/ros/src/computing/perception/detection/lib/libvectormap/package.xml index 0269c7d079e..9860b39b4ae 100644 --- a/ros/src/computing/perception/detection/lib/libvectormap/package.xml +++ b/ros/src/computing/perception/detection/lib/libvectormap/package.xml @@ -7,6 +7,8 @@ BSD catkin vector_map + cmake_modules + cmake_modules vector_map diff --git a/ros/src/computing/perception/detection/packages/road_wizard/package.xml b/ros/src/computing/perception/detection/packages/road_wizard/package.xml index 2b5dff323e8..226259c49ae 100644 --- a/ros/src/computing/perception/detection/packages/road_wizard/package.xml +++ b/ros/src/computing/perception/detection/packages/road_wizard/package.xml @@ -1,26 +1,28 @@ - road_wizard - 1.6.3 - The road_wizard package - Manato HIRABAYASHI - BSD - catkin - std_msgs - libvectormap - runtime_manager - autoware_msgs - vector_map_server - geometry_msgs - waypoint_follower - runtime_manager - std_msgs - message_runtime - libvectormap - autoware_msgs - vector_map_server - geometry_msgs - waypoint_follower - - + road_wizard + 1.6.3 + The road_wizard package + Manato HIRABAYASHI + BSD + catkin + std_msgs + libvectormap + runtime_manager + autoware_msgs + vector_map_server + geometry_msgs + waypoint_follower + cmake_modules + cmake_modules + runtime_manager + std_msgs + message_runtime + libvectormap + autoware_msgs + vector_map_server + geometry_msgs + waypoint_follower + + diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/package.xml b/ros/src/computing/perception/localization/packages/orb_localizer/package.xml index be94a684f93..b7227b8bf9b 100644 --- a/ros/src/computing/perception/localization/packages/orb_localizer/package.xml +++ b/ros/src/computing/perception/localization/packages/orb_localizer/package.xml @@ -1,19 +1,29 @@ - - orb_localizer - 1.6.3 - Vision-based Localization Derived from ORB-SLAM2 + + orb_localizer + 1.6.3 + Vision-based Localization Derived from ORB-SLAM2 - Adi Sujiwo + Adi Sujiwo - GPL - roscpp - tf - image_transportmessage_runtime - catkin - message_generation - - + GPL + catkin - + roscpp + tf + image_transport + message_runtime + message_generation + cmake_modules + + cmake_modules + roscpp + tf + image_transport + message_runtime + message_generation + + + + \ No newline at end of file diff --git a/ros/src/util/packages/sample_data/package.xml b/ros/src/util/packages/sample_data/package.xml index 063042cc78a..5d8d6634707 100644 --- a/ros/src/util/packages/sample_data/package.xml +++ b/ros/src/util/packages/sample_data/package.xml @@ -7,6 +7,8 @@ BSD catkin gnss + cmake_modules + cmake_modules gnss From 92c568aeb6738de533e7c548de526af60984142d Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 13:18:38 +0900 Subject: [PATCH 23/32] More fixes to cmake modules --- .../detection/lib/libvectormap/CMakeLists.txt | 16 +++---------- .../packages/road_wizard/CMakeLists.txt | 20 ++++------------ .../packages/orb_localizer/CMakeLists.txt | 17 ++++---------- .../Thirdparty/g2o/CMakeLists.txt | 23 +++---------------- .../util/packages/sample_data/CMakeLists.txt | 17 ++++---------- 5 files changed, 19 insertions(+), 74 deletions(-) diff --git a/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt b/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt index 7c1a352b0d7..8da070cf576 100644 --- a/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt @@ -5,18 +5,8 @@ find_package(catkin REQUIRED COMPONENTS vector_map ) -find_package(Eigen3 QUIET) -if (NOT EIGEN3_FOUND) - # Fallback to cmake_modules - find_package(cmake_modules REQUIRED) - find_package(Eigen REQUIRED) - set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) - set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only - # Possibly map additional variables to the EIGEN3_ prefix. - set(EIGEN3_FOUND 1) -else () - set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) -endif () +find_package(cmake_modules REQUIRED) +find_package(Eigen REQUIRED) set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}") @@ -34,7 +24,7 @@ catkin_package( include_directories( include ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIR} + ${Eigen_INCLUDE_DIRS} ) diff --git a/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt b/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt index 5c582600dec..94a36caf8a9 100644 --- a/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt @@ -23,18 +23,8 @@ find_package(catkin REQUIRED COMPONENTS ) find_package(OpenCV REQUIRED) -find_package(Eigen3 QUIET) -if (NOT EIGEN3_FOUND) - # Fallback to cmake_modules - find_package(cmake_modules REQUIRED) - find_package(Eigen REQUIRED) - set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) - set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only - # Possibly map additional variables to the EIGEN3_ prefix. - set(EIGEN3_FOUND 1) -else () - set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) -endif () +find_package(cmake_modules REQUIRED) +find_package(Eigen REQUIRED) set(CMAKE_AUTOMOC ON) set(CMAKE_AUTOUIC ON) @@ -50,11 +40,11 @@ find_package(Qt5Widgets REQUIRED) include_directories( include ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIRS} + ${Eigen_INCLUDE_DIRS} ) catkin_package( - INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS} + INCLUDE_DIRS ${Eigen_INCLUDE_DIRS} CATKIN_DEPENDS std_msgs message_runtime geometry_msgs vector_map_server libvectormap autoware_msgs ) @@ -100,7 +90,7 @@ add_dependencies(region_tlr ### feat_proj ### include_directories( ${catkin_INCLUDE_DIRS} - ${EIGEN_INCLUDE_DIR} + ${Eigen_INCLUDE_DIRS} ${libvectormap_INCLUDE_DIRS} ) diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt index 01c93987539..88d3c26d66d 100644 --- a/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt @@ -26,18 +26,9 @@ find_package(LAPACK REQUIRED) find_package(GLUT REQUIRED) find_package(OpenMP) -find_package(Eigen3 QUIET) -if (NOT EIGEN3_FOUND) - # Fallback to cmake_modules - find_package(cmake_modules REQUIRED) - find_package(Eigen REQUIRED) - set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) - set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only - # Possibly map additional variables to the EIGEN3_ prefix. - set(EIGEN3_FOUND 1) -else () - set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) -endif () +find_package(cmake_modules REQUIRED) +find_package(Eigen REQUIRED) + find_package(PCL 1.7 REQUIRED COMPONENTS common octree) find_package(PythonLibs REQUIRED) find_package(X11 REQUIRED) @@ -91,6 +82,7 @@ include_directories( ${PCL_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${PYTHON_INCLUDE_DIR} + ${Eigen_INCLUDE_DIRS} # Third parties Thirdparty @@ -129,7 +121,6 @@ list(APPEND LINK_LIBRARIES boost_serialization ${catkin_LIBRARIES} ${OpenCV_LIBS} - ${EIGEN3_LIBS} ${X11_LIBRARIES} ${OPENGL_LIBRARIES} ${GLEW_LIBRARIES} diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt b/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt index 0ec0a6b955f..82ce2ea945c 100644 --- a/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt @@ -17,25 +17,8 @@ IF (OPENMP_FOUND AND G2O_USE_OPENMP) MESSAGE(STATUS "Compiling with OpenMP support") ENDIF (OPENMP_FOUND AND G2O_USE_OPENMP) -find_package(Eigen3 QUIET) -if (NOT EIGEN3_FOUND) - # Fallback to cmake_modules - find_package(cmake_modules REQUIRED) - find_package(Eigen REQUIRED) - set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) - set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only - # Possibly map additional variables to the EIGEN3_ prefix. - set(EIGEN3_FOUND 1) -else () - set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) -endif () - -IF (EIGEN3_FOUND) - SET(G2O_EIGEN3_INCLUDE ${EIGEN3_INCLUDE_DIR} CACHE PATH "Directory of Eigen3") -ELSE (EIGEN3_FOUND) - SET(G2O_EIGEN3_INCLUDE "" CACHE PATH "Directory of Eigen3") -ENDIF (EIGEN3_FOUND) - +find_package(cmake_modules REQUIRED) +find_package(Eigen REQUIRED) configure_file( config.h.in @@ -44,7 +27,7 @@ configure_file( include_directories( ${CMAKE_CURRENT_SOURCE_DIR} - ${G2O_EIGEN3_INCLUDE} + ${Eigen_INCLUDE_DIRS} ) diff --git a/ros/src/util/packages/sample_data/CMakeLists.txt b/ros/src/util/packages/sample_data/CMakeLists.txt index b9c6cceb416..94487b430ca 100644 --- a/ros/src/util/packages/sample_data/CMakeLists.txt +++ b/ros/src/util/packages/sample_data/CMakeLists.txt @@ -9,18 +9,9 @@ find_package(catkin REQUIRED COMPONENTS visualization_msgs ) pkg_check_modules(PCL_IO REQUIRED pcl_io-1.7) -find_package(Eigen3 QUIET) -if (NOT EIGEN3_FOUND) - # Fallback to cmake_modules - find_package(cmake_modules REQUIRED) - find_package(Eigen REQUIRED) - set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) - set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only - # Possibly map additional variables to the EIGEN3_ prefix. - set(EIGEN3_FOUND 1) -else () - set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) -endif () + +find_package(cmake_modules REQUIRED) +find_package(Eigen REQUIRED) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") @@ -42,7 +33,7 @@ target_link_libraries(sample_vector_map ${catkin_LIBRARIES}) include_directories( ${catkin_INCLUDE_DIRS} ${PCL_IO_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIRS} + ${Eigen_INCLUDE_DIRS} ) add_executable(sample_points_map nodes/sample_points_map/sample_points_map.cpp) From bb645046c3a1b8c44f36e8bfe17394ba33812dc4 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 16 Apr 2018 14:39:45 +0900 Subject: [PATCH 24/32] Removed non ros dependency --- .travis.yml | 5 ++--- .../sensing/drivers/camera/packages/pointgrey/package.xml | 2 -- 2 files changed, 2 insertions(+), 5 deletions(-) diff --git a/.travis.yml b/.travis.yml index 61f27f07280..138cf1fc834 100644 --- a/.travis.yml +++ b/.travis.yml @@ -13,12 +13,11 @@ env: - CI_SOURCE_PATH=$(pwd) - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options - - ROS_PARALLEL_JOBS='-j8 -l6' # 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 +# Install system dependencies, and Autoware pre requisites (non-ros) before_install: - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 @@ -37,7 +36,7 @@ install: - catkin_init_workspace - cd .. -# Install all dependencies, using wstool first and rosdep second. +# Install all ros dependencies, using wstool first and rosdep second. # wstool looks for a ROSINSTALL_FILE defined in the environment variables. before_script: # source dependencies: install using wstool. diff --git a/ros/src/sensing/drivers/camera/packages/pointgrey/package.xml b/ros/src/sensing/drivers/camera/packages/pointgrey/package.xml index c1fbb2b09ce..c98927645b9 100644 --- a/ros/src/sensing/drivers/camera/packages/pointgrey/package.xml +++ b/ros/src/sensing/drivers/camera/packages/pointgrey/package.xml @@ -11,13 +11,11 @@ std_msgs message_generation tf - xerces cv_bridge roscpp std_msgs message_generation tf - xerces cv_bridge From a311d34a3a8907e202dcd2a59b54d43f69f968a6 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 16 Apr 2018 15:13:33 +0900 Subject: [PATCH 25/32] Enable industrial_ci for indidog and kinetic --- .travis.yml | 80 ++++++++++++++--------------------------------------- 1 file changed, 20 insertions(+), 60 deletions(-) diff --git a/.travis.yml b/.travis.yml index 138cf1fc834..adaf7f1614b 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,62 +1,22 @@ -# Use ubuntu trusty (14.04) with sudo privileges. -dist: trusty -sudo: required -language: - - generic -cache: - - apt - +sudo: required +dist: trusty +language: generic +compiler: + - gcc +notifications: + email: + on_success: always + on_failure: always + recipients: + - abrahammonrroy@yahoo.com env: - global: - - ROS_DISTRO=indigo - - ROS_CI_DESKTOP="`lsb_release -cs`" # e.g. [precise|trusty|...] - - CI_SOURCE_PATH=$(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. + matrix: + - USE_DEB=true ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu + - USE_DEB=true ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu + - USE_DEB=true ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu + - USE_DEB=true ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu 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 + - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config +script: + - source .ci_config/travis.sh +# - source ./travis.sh # Enable this when you have a package-local script \ No newline at end of file From c98bd7d193595a2437cb99dcc75e60093f32db98 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 16 Apr 2018 15:29:33 +0900 Subject: [PATCH 26/32] Wrong install command --- .../xsens/src/custom_msgs/CMakeLists.txt | 21 +------------------ 1 file changed, 1 insertion(+), 20 deletions(-) diff --git a/ros/src/sensing/drivers/imu/packages/xsens/src/custom_msgs/CMakeLists.txt b/ros/src/sensing/drivers/imu/packages/xsens/src/custom_msgs/CMakeLists.txt index 629dedb3f55..8272e1586b3 100755 --- a/ros/src/sensing/drivers/imu/packages/xsens/src/custom_msgs/CMakeLists.txt +++ b/ros/src/sensing/drivers/imu/packages/xsens/src/custom_msgs/CMakeLists.txt @@ -148,23 +148,4 @@ include_directories( # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} # FILES_MATCHING PATTERN "*.h" # PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -install( - DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_test_py.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +# ) \ No newline at end of file From 54903fd298d64a1bd132009bb3815af9ebcd6006 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 16 Apr 2018 15:45:33 +0900 Subject: [PATCH 27/32] fix rviz_plugin install --- ros/src/util/packages/autoware_rviz_plugins/CMakeLists.txt | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/ros/src/util/packages/autoware_rviz_plugins/CMakeLists.txt b/ros/src/util/packages/autoware_rviz_plugins/CMakeLists.txt index 50e8f3d99d1..a63bb83cd3b 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/CMakeLists.txt +++ b/ros/src/util/packages/autoware_rviz_plugins/CMakeLists.txt @@ -71,7 +71,4 @@ install(DIRECTORY media/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/media) install(DIRECTORY icons/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/icons) - -install(PROGRAMS scripts/send_test_msgs.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/icons) \ No newline at end of file From 07acaac370f18feec934c2299911dddbcbc02003 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 16 Apr 2018 16:27:24 +0900 Subject: [PATCH 28/32] FastVirtualScan fix --- ros/src/util/packages/RobotSDK/fastvirtualscan/CMakeLists.txt | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/ros/src/util/packages/RobotSDK/fastvirtualscan/CMakeLists.txt b/ros/src/util/packages/RobotSDK/fastvirtualscan/CMakeLists.txt index 2560a8ac4d8..e6a9c21ea8c 100644 --- a/ros/src/util/packages/RobotSDK/fastvirtualscan/CMakeLists.txt +++ b/ros/src/util/packages/RobotSDK/fastvirtualscan/CMakeLists.txt @@ -1,13 +1,12 @@ cmake_minimum_required(VERSION 2.8.3) project(fastvirtualscan) -include(FindPkgConfig) find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs ) -pkg_check_modules(Qt5Core REQUIRED Qt5Core) +find_package(Qt5Core REQUIRED) ################################### ## catkin specific configuration ## From dfc641b26db1554985b52bc5d04654aa5c715907 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 16 Apr 2018 16:47:53 +0900 Subject: [PATCH 29/32] Fix Qt5 Fastvirtualscan --- .../RobotSDK/fastvirtualscan/package.xml | 27 ++++++++++--------- 1 file changed, 15 insertions(+), 12 deletions(-) diff --git a/ros/src/util/packages/RobotSDK/fastvirtualscan/package.xml b/ros/src/util/packages/RobotSDK/fastvirtualscan/package.xml index 39baeed976c..54f459fdf92 100644 --- a/ros/src/util/packages/RobotSDK/fastvirtualscan/package.xml +++ b/ros/src/util/packages/RobotSDK/fastvirtualscan/package.xml @@ -1,15 +1,18 @@ - fastvirtualscan - 1.6.3 - The fastvirtualscan package - Syohei YOSHIDA - BSD - catkin - roscpp - sensor_msgs - roscpp - sensor_msgs - - + fastvirtualscan + 1.6.3 + The fastvirtualscan package + Syohei YOSHIDA + BSD + catkin + roscpp + sensor_msgs + qtbase5-dev + + roscpp + sensor_msgs + libqt5-core + + From 0e32f88941869035720ccba3b70c0734b4f4d01b Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 16 Apr 2018 17:35:02 +0900 Subject: [PATCH 30/32] Fixed qt5 system dependencies for rosdep --- .../packages/integrated_viewer/package.xml | 37 ++++++----- .../packages/lidar_tracker/package.xml | 5 +- .../packages/road_wizard/package.xml | 6 ++ .../semantics/packages/object_map/package.xml | 63 ++++++++++--------- .../road_occupancy_processor/package.xml | 59 +++++++++-------- .../packages/points_preprocessor/package.xml | 50 ++++++++------- .../package.xml | 51 ++++++++------- .../calibration_camera_lidar/package.xml | 46 ++++++++------ .../multi_lidar_calibrator/package.xml | 2 + .../fusion/packages/points2image/package.xml | 43 +++++++------ .../fusion/packages/scan2image/package.xml | 44 ++++++------- .../packages/points2polygon/package.xml | 24 ++++--- .../RobotSDK/fastvirtualscan/package.xml | 2 + .../packages/RobotSDK/glviewer/package.xml | 25 +++++--- .../autoware_rviz_plugins/package.xml | 36 ++++++----- .../kitti_pkg/kitti_player/package.xml | 2 + 16 files changed, 279 insertions(+), 216 deletions(-) diff --git a/ros/src/computing/perception/detection/packages/integrated_viewer/package.xml b/ros/src/computing/perception/detection/packages/integrated_viewer/package.xml index 472acaa2052..e090b90131b 100644 --- a/ros/src/computing/perception/detection/packages/integrated_viewer/package.xml +++ b/ros/src/computing/perception/detection/packages/integrated_viewer/package.xml @@ -1,26 +1,29 @@ - integrated_viewer - 1.6.3 - The integrated_viewer package + integrated_viewer + 1.6.3 + The integrated_viewer package - hirabayashi + hirabayashi - BSD + BSD - catkin - autoware_msgs - std_msgs - rviz + catkin + autoware_msgs + std_msgs + rviz + qtbase5-dev - autoware_msgs - std_msgs - rviz + autoware_msgs + std_msgs + rviz + libqt5-core + libqt5-widgets - - - - - + + + + + diff --git a/ros/src/computing/perception/detection/packages/lidar_tracker/package.xml b/ros/src/computing/perception/detection/packages/lidar_tracker/package.xml index 33f4c7d37a9..f66e1e12f52 100644 --- a/ros/src/computing/perception/detection/packages/lidar_tracker/package.xml +++ b/ros/src/computing/perception/detection/packages/lidar_tracker/package.xml @@ -4,7 +4,7 @@ 1.6.3 The lidar_tracker package - amc + amc BSD catkin @@ -28,6 +28,7 @@ grid_map_ros grid_map_cv grid_map_msgs + qtbase5-dev pcl_conversions pcl_ros @@ -48,6 +49,8 @@ grid_map_ros grid_map_cv grid_map_msgs + libqt5-core + libqt5-widgets diff --git a/ros/src/computing/perception/detection/packages/road_wizard/package.xml b/ros/src/computing/perception/detection/packages/road_wizard/package.xml index 226259c49ae..f8e3e84fc09 100644 --- a/ros/src/computing/perception/detection/packages/road_wizard/package.xml +++ b/ros/src/computing/perception/detection/packages/road_wizard/package.xml @@ -14,6 +14,8 @@ geometry_msgs waypoint_follower cmake_modules + qtbase5-dev + cmake_modules runtime_manager std_msgs @@ -23,6 +25,10 @@ vector_map_server geometry_msgs waypoint_follower + libqt5-core + libqt5-gui + libqt5-widgets + diff --git a/ros/src/computing/perception/semantics/packages/object_map/package.xml b/ros/src/computing/perception/semantics/packages/object_map/package.xml index 8fc9548df6c..410ccc3d0cb 100644 --- a/ros/src/computing/perception/semantics/packages/object_map/package.xml +++ b/ros/src/computing/perception/semantics/packages/object_map/package.xml @@ -1,38 +1,41 @@ - object_map - 1.6.3 - The object_map package - ando + object_map + 1.6.3 + The object_map package + ando + amc - BSD + BSD - catkin + catkin - roscpp - pcl_ros - pcl_conversions - tf - sensor_msgs - nav_msgs - grid_map_ros - grid_map_cv - grid_map_msgs - autoware_msgs - vector_map + roscpp + pcl_ros + pcl_conversions + tf + sensor_msgs + nav_msgs + grid_map_ros + grid_map_cv + grid_map_msgs + autoware_msgs + vector_map + qtbase5-dev - roscpp - pcl_ros - pcl_conversions - tf - sensor_msgs - nav_msgs - grid_map_ros - grid_map_cv - grid_map_msgs - autoware_msgs - vector_map + roscpp + pcl_ros + pcl_conversions + tf + sensor_msgs + nav_msgs + grid_map_ros + grid_map_cv + grid_map_msgs + autoware_msgs + vector_map + libqt5-core - - + + diff --git a/ros/src/computing/perception/semantics/packages/road_occupancy_processor/package.xml b/ros/src/computing/perception/semantics/packages/road_occupancy_processor/package.xml index ce0713c317d..c9a2598e74c 100644 --- a/ros/src/computing/perception/semantics/packages/road_occupancy_processor/package.xml +++ b/ros/src/computing/perception/semantics/packages/road_occupancy_processor/package.xml @@ -1,31 +1,38 @@ - road_occupancy_processor - 1.0.0 - Road Occupancy Grid Processor - Abraham Monrroy - BSD - catkin + road_occupancy_processor + 1.0.0 + Road Occupancy Grid Processor + Abraham Monrroy + BSD + catkin - roscpp - sensor_msgs - nav_msgs - pcl_conversions - pcl_ros - grid_map_ros - grid_map_cv - grid_map_msgs - vector_map - tf + roscpp + sensor_msgs + cv_bridge + image_transport + nav_msgs + pcl_conversions + pcl_ros + grid_map_ros + grid_map_cv + grid_map_msgs + vector_map + tf + qtbase5-dev + + roscpp + sensor_msgs + cv_bridge + image_transport + nav_msgs + pcl_conversions + pcl_ros + grid_map_ros + grid_map_cv + grid_map_msgs + vector_map + tf + libqt5-core - roscpp - sensor_msgs - nav_msgs - pcl_conversions - pcl_ros - grid_map_ros - grid_map_cv - grid_map_msgs - vector_map - tf diff --git a/ros/src/sensing/filters/packages/points_preprocessor/package.xml b/ros/src/sensing/filters/packages/points_preprocessor/package.xml index 79e98891d5b..33e824e7a34 100644 --- a/ros/src/sensing/filters/packages/points_preprocessor/package.xml +++ b/ros/src/sensing/filters/packages/points_preprocessor/package.xml @@ -1,33 +1,35 @@ - points_preprocessor - 1.6.3 - The points_preprocessor package + points_preprocessor + 1.6.3 + The points_preprocessor package - amc-nu - n-patiphon + amc-nu + n-patiphon - BSD + BSD - catkin - roscpp - std_msgs - sensor_msgs - pcl_conversions - pcl_ros - cv_bridge - velodyne_pointcloud + catkin + roscpp + std_msgs + sensor_msgs + pcl_conversions + pcl_ros + cv_bridge + velodyne_pointcloud + qtbase5-dev - message_runtime - pcl_conversions - pcl_ros - roscpp - sensor_msgs - sensor_msgs - cv_bridge - velodyne_pointcloud + message_runtime + pcl_conversions + pcl_ros + roscpp + sensor_msgs + std_msgs + cv_bridge + velodyne_pointcloud + libqt5-core - rosunit + rosunit - + diff --git a/ros/src/sensing/fusion/packages/autoware_camera_lidar_calibrator/package.xml b/ros/src/sensing/fusion/packages/autoware_camera_lidar_calibrator/package.xml index 2d5e9ea5974..cc1a39909a8 100644 --- a/ros/src/sensing/fusion/packages/autoware_camera_lidar_calibrator/package.xml +++ b/ros/src/sensing/fusion/packages/autoware_camera_lidar_calibrator/package.xml @@ -1,31 +1,36 @@ - autoware_camera_lidar_calibrator - 1.0.0 - Autoware CameraLidarCalibration tools, this package includes work from http://www.ros.org/wiki/camera_calibration - Abraham Monrroy - Jacob Lambert + autoware_camera_lidar_calibrator + 1.0.0 + Autoware CameraLidarCalibration tools, this package includes work from + http://www.ros.org/wiki/camera_calibration + + Abraham Monrroy + Jacob Lambert - Jacob Lambert - Abraham Monrroy + Jacob Lambert + Abraham Monrroy - BSD + BSD - catkin + catkin - cv_bridge - image_transport - roscpp - sensor_msgs - pcl_conversions - pcl_ros - autoware_msgs - tf - geometry_msgs - image_geometry - message_filters - rospy - std_srvs + cv_bridge + image_transport + roscpp + sensor_msgs + pcl_conversions + pcl_ros + autoware_msgs + tf + geometry_msgs + image_geometry + message_filters + rospy + std_srvs - rostest + qtbase5-dev + libqt5-core + + rostest diff --git a/ros/src/sensing/fusion/packages/calibration_camera_lidar/package.xml b/ros/src/sensing/fusion/packages/calibration_camera_lidar/package.xml index 04d64ffff70..021f0244a44 100644 --- a/ros/src/sensing/fusion/packages/calibration_camera_lidar/package.xml +++ b/ros/src/sensing/fusion/packages/calibration_camera_lidar/package.xml @@ -1,23 +1,29 @@ - calibration_camera_lidar - 1.6.3 - The calibration_camera_lidar package - Syohei YOSHIDA - BSD - catkin - catkin - std_msgs - glviewer - nlopt - rosinterface - autoware_msgs - rosinterface - message_runtime - std_msgs - glviewer - nlopt - autoware_msgs - - + calibration_camera_lidar + 1.6.3 + The calibration_camera_lidar package + Syohei YOSHIDA + amc + BSD + catkin + std_msgs + glviewer + libnlopt-dev + rosinterface + autoware_msgs + qtbase5-dev + libqt5-opengl-dev + + rosinterface + message_runtime + std_msgs + glviewer + nlopt + autoware_msgs + libqt5-core + libqt5-widgets + libqt5-opengl + + diff --git a/ros/src/sensing/fusion/packages/multi_lidar_calibrator/package.xml b/ros/src/sensing/fusion/packages/multi_lidar_calibrator/package.xml index e923f4c773d..f45aad543f3 100644 --- a/ros/src/sensing/fusion/packages/multi_lidar_calibrator/package.xml +++ b/ros/src/sensing/fusion/packages/multi_lidar_calibrator/package.xml @@ -16,6 +16,7 @@ sensor_msgs pcl_conversions pcl_ros + qtbase5-dev message_runtime roscpp @@ -24,6 +25,7 @@ sensor_msgs pcl_conversions pcl_ros + libqt5-core rosunit diff --git a/ros/src/sensing/fusion/packages/points2image/package.xml b/ros/src/sensing/fusion/packages/points2image/package.xml index be6df3952c2..87687deb0da 100644 --- a/ros/src/sensing/fusion/packages/points2image/package.xml +++ b/ros/src/sensing/fusion/packages/points2image/package.xml @@ -1,22 +1,27 @@ - points2image - 1.6.3 - The points2image package - Syohei YOSHIDA - BSD - catkin - rosinterface - std_msgs - sensor_msgs - fastvirtualscan - autoware_msgs - rosinterface - message_runtime - std_msgs - sensor_msgs - fastvirtualscan - autoware_msgs - - + points2image + 1.6.3 + The points2image package + Syohei YOSHIDA + amc + BSD + catkin + rosinterface + std_msgs + sensor_msgs + fastvirtualscan + autoware_msgs + qtbase5-dev + + rosinterface + message_runtime + std_msgs + sensor_msgs + fastvirtualscan + autoware_msgs + libqt5-core + libqt5-widgets + + diff --git a/ros/src/sensing/fusion/packages/scan2image/package.xml b/ros/src/sensing/fusion/packages/scan2image/package.xml index 7bf4627c596..e619ea90bbd 100644 --- a/ros/src/sensing/fusion/packages/scan2image/package.xml +++ b/ros/src/sensing/fusion/packages/scan2image/package.xml @@ -1,25 +1,25 @@ - scan2image - 1.6.3 - The scan2image package - kondoh - BSD - message_generation - message_runtime - catkin - cv_bridge - image_transport - roscpp - sensor_msgs - std_msgs - autoware_msgs - cv_bridge - image_transport - roscpp - sensor_msgs - std_msgs - autoware_msgs - - + scan2image + 1.6.3 + The scan2image package + kondoh + BSD + message_generation + message_runtime + catkin + cv_bridge + image_transport + roscpp + sensor_msgs + std_msgs + autoware_msgs + cv_bridge + image_transport + roscpp + sensor_msgs + std_msgs + autoware_msgs + + diff --git a/ros/src/sensing/polygon/packages/points2polygon/package.xml b/ros/src/sensing/polygon/packages/points2polygon/package.xml index 6c4fc46c091..8d0fd701c83 100644 --- a/ros/src/sensing/polygon/packages/points2polygon/package.xml +++ b/ros/src/sensing/polygon/packages/points2polygon/package.xml @@ -1,13 +1,17 @@ - points2polygon - 1.6.3 - The points2polygon package - syouji - BSD - catkin - autoware_msgs - autoware_msgs - - + points2polygon + 1.6.3 + The points2polygon package + syouji + BSD + catkin + autoware_msgs + qtbase5-dev + + autoware_msgs + libqt5-core + + + diff --git a/ros/src/util/packages/RobotSDK/fastvirtualscan/package.xml b/ros/src/util/packages/RobotSDK/fastvirtualscan/package.xml index 54f459fdf92..493796958dc 100644 --- a/ros/src/util/packages/RobotSDK/fastvirtualscan/package.xml +++ b/ros/src/util/packages/RobotSDK/fastvirtualscan/package.xml @@ -13,6 +13,8 @@ roscpp sensor_msgs libqt5-core + libqt5-widgets + diff --git a/ros/src/util/packages/RobotSDK/glviewer/package.xml b/ros/src/util/packages/RobotSDK/glviewer/package.xml index ab9ca1c1194..bff434717b1 100644 --- a/ros/src/util/packages/RobotSDK/glviewer/package.xml +++ b/ros/src/util/packages/RobotSDK/glviewer/package.xml @@ -1,11 +1,20 @@ - glviewer - 1.6.3 - The glviewer package - Syohei YOSHIDA - BSD - catkin - - + glviewer + 1.6.3 + The glviewer package + Syohei YOSHIDA + BSD + catkin + + qtbase5-dev + libqt5-opengl-dev + + libqt5-core + libqt5-gui + libqt5-widgets + libqt5-opengl + + + diff --git a/ros/src/util/packages/autoware_rviz_plugins/package.xml b/ros/src/util/packages/autoware_rviz_plugins/package.xml index 42f5cf2f646..b206a20697c 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/package.xml +++ b/ros/src/util/packages/autoware_rviz_plugins/package.xml @@ -1,24 +1,28 @@ - autoware_rviz_plugins - 1.6.3 - The autoware_rviz_plugins package + autoware_rviz_plugins + 1.6.3 + The autoware_rviz_plugins package - Yusuke FUJII - Yusuke FUJII - h_ohta + Yusuke FUJII + Yusuke FUJII + h_ohta - BSD + BSD - catkin - rviz - std_msgs - rviz - std_msgs + catkin + rviz + std_msgs + qtbase5-dev + rviz + std_msgs + libqt5-core + libqt5-widgets - - - - + + + + + diff --git a/ros/src/util/packages/kitti_pkg/kitti_player/package.xml b/ros/src/util/packages/kitti_pkg/kitti_player/package.xml index 3b8d1a3f8dc..9ace0b04f90 100644 --- a/ros/src/util/packages/kitti_pkg/kitti_player/package.xml +++ b/ros/src/util/packages/kitti_pkg/kitti_player/package.xml @@ -24,6 +24,7 @@ message_filters dynamic_reconfigure image_transport + qtbase5-dev roscpp tf @@ -36,5 +37,6 @@ message_filters dynamic_reconfigure image_transport + libqt5-core From d8bc116510fe74ed92a4e33f670bfbd0ccf6afe1 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 16 Apr 2018 17:56:59 +0900 Subject: [PATCH 31/32] NDT TKU Fix catkin not pacakged --- .../localization/lib/ndt_tku/CMakeLists.txt | 3 +++ .../localization/lib/ndt_tku/package.xml | 17 +++++++++-------- 2 files changed, 12 insertions(+), 8 deletions(-) diff --git a/ros/src/computing/perception/localization/lib/ndt_tku/CMakeLists.txt b/ros/src/computing/perception/localization/lib/ndt_tku/CMakeLists.txt index 5598416f12b..6fcc0947e32 100644 --- a/ros/src/computing/perception/localization/lib/ndt_tku/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/ndt_tku/CMakeLists.txt @@ -4,6 +4,9 @@ project(ndt_tku) ################################### ## catkin specific configuration ## ################################### +find_package(catkin REQUIRED COMPONENTS + roscpp + ) catkin_package( INCLUDE_DIRS include diff --git a/ros/src/computing/perception/localization/lib/ndt_tku/package.xml b/ros/src/computing/perception/localization/lib/ndt_tku/package.xml index 4cb27ce8907..c541aec508d 100644 --- a/ros/src/computing/perception/localization/lib/ndt_tku/package.xml +++ b/ros/src/computing/perception/localization/lib/ndt_tku/package.xml @@ -1,11 +1,12 @@ - ndt_tku - 1.6.3 - The ndt_tku package - Yuki Kitsukawa - BSD - catkin - - + ndt_tku + 1.6.3 + The ndt_tku package + Yuki Kitsukawa + BSD + catkin + roscpp + + From c40ae81d05443b093642a06a03e9d0edd5691591 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 16 Apr 2018 17:59:49 +0900 Subject: [PATCH 32/32] Fixes from industrial_ci --- .travis.yml | 80 +++++++++++++++++++++++++++++++++++++++-------------- 1 file changed, 60 insertions(+), 20 deletions(-) diff --git a/.travis.yml b/.travis.yml index adaf7f1614b..8bf6b56977b 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,22 +1,62 @@ -sudo: required -dist: trusty -language: generic -compiler: - - gcc -notifications: - email: - on_success: always - on_failure: always - recipients: - - abrahammonrroy@yahoo.com +# Use ubuntu trusty (14.04) with sudo privileges. +dist: trusty +sudo: required +language: + - generic +cache: + - apt + env: - matrix: - - USE_DEB=true ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu - - USE_DEB=true ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu - - USE_DEB=true ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu - - USE_DEB=true ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu + 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: - - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config -script: - - source .ci_config/travis.sh -# - source ./travis.sh # Enable this when you have a package-local script \ No newline at end of file + - 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 \ No newline at end of file