From 0453b6cd05e67738fe60d2b35e06db2292438f3c Mon Sep 17 00:00:00 2001 From: amc-nu Date: Tue, 13 Mar 2018 15:33:02 +0900 Subject: [PATCH 01/92] 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 fb9dc8e6b0..505ad3b3a3 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 080df093a5..5833217692 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 2e41f265de..9e99b3f3ef 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 3330d7a4be..0f86145a42 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 4c6ccfee9b..0cc4f8785b 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 994f68bc62..e3d09aad07 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 ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE + ) diff --git a/ros/src/computing/perception/detection/lib/libvectormap/FindEigen.cmake b/ros/src/computing/perception/detection/lib/libvectormap/FindEigen.cmake new file mode 100644 index 0000000000..b632fb7841 --- /dev/null +++ b/ros/src/computing/perception/detection/lib/libvectormap/FindEigen.cmake @@ -0,0 +1,87 @@ +# - Try to find Eigen3 lib +# +# This module supports requiring a minimum version, e.g. you can do +# find_package(Eigen3 3.1.2) +# to require version 3.1.2 or newer of Eigen3. +# +# Once done this will define +# +# EIGEN3_FOUND - system has eigen lib with correct version +# EIGEN3_INCLUDE_DIR - the eigen include directory +# EIGEN3_VERSION - eigen version + +# Copyright (c) 2006, 2007 Montel Laurent, +# Copyright (c) 2008, 2009 Gael Guennebaud, +# Copyright (c) 2009 Benoit Jacob +# Redistribution and use is allowed according to the terms of the 2-clause BSD license. + +if(NOT Eigen3_FIND_VERSION) + if(NOT Eigen3_FIND_VERSION_MAJOR) + set(Eigen3_FIND_VERSION_MAJOR 2) + endif(NOT Eigen3_FIND_VERSION_MAJOR) + if(NOT Eigen3_FIND_VERSION_MINOR) + set(Eigen3_FIND_VERSION_MINOR 91) + endif(NOT Eigen3_FIND_VERSION_MINOR) + if(NOT Eigen3_FIND_VERSION_PATCH) + set(Eigen3_FIND_VERSION_PATCH 0) + endif(NOT Eigen3_FIND_VERSION_PATCH) + + set(Eigen3_FIND_VERSION "${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} + ${KDE4_INCLUDE_DIR} + PATH_SUFFIXES eigen3 eigen + ) + + if(EIGEN3_INCLUDE_DIR) + _eigen3_check_version() + endif(EIGEN3_INCLUDE_DIR) + + include(FindPackageHandleStandardArgs) + find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK) + + mark_as_advanced(EIGEN3_INCLUDE_DIR) + +endif(EIGEN3_INCLUDE_DIR) + diff --git a/ros/src/computing/perception/detection/lib/libvectormap/package.xml b/ros/src/computing/perception/detection/lib/libvectormap/package.xml index bcdcb3b597..0269c7d079 100644 --- a/ros/src/computing/perception/detection/lib/libvectormap/package.xml +++ b/ros/src/computing/perception/detection/lib/libvectormap/package.xml @@ -7,8 +7,6 @@ BSD catkin vector_map - eigen vector_map - eigen diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt b/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt index 072ba2399e..489aadb494 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt @@ -1,62 +1,63 @@ cmake_minimum_required(VERSION 2.8.12) project(cv_tracker) execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE + COMMAND rosversion -d + OUTPUT_VARIABLE ROS_VERSION + OUTPUT_STRIP_TRAILING_WHITESPACE ) include(FindPkgConfig) if ("${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 518938a145..aa3877c359 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 9aff71a36f..e7474e231d 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 dd5a34ea86..86eaafb971 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 2fa2b67418..b2734f3dc4 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 e60f9f2c65..38d085d255 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 a384e1b8bd..f30fd19860 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 879cccdc19..353d4f561c 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 90d83d0814..5ede808084 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 f2e9c5ea44..5d67f0b74b 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}" ${PCL_LIBRRIES}) +ENDIF (PCL_VERSION VERSION_LESS "1.7.2") diff --git a/ros/src/computing/perception/localization/lib/pcl_omp/registration/package.xml b/ros/src/computing/perception/localization/lib/pcl_omp/registration/package.xml index b2430f76e7..2d156f12e6 100644 --- a/ros/src/computing/perception/localization/lib/pcl_omp/registration/package.xml +++ b/ros/src/computing/perception/localization/lib/pcl_omp/registration/package.xml @@ -1,18 +1,11 @@ - pcl_omp_registration - 1.6.3 - The pcl_omp_registration package - Yuki Kitsukawa - BSD - catkin - common - octree - kdtree - search - sample_consensus - features - filters - - + pcl_omp_registration + 1.6.3 + The pcl_omp_registration package + Yuki Kitsukawa + BSD + catkin + + diff --git a/ros/src/computing/perception/localization/packages/ndt_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/ndt_localizer/CMakeLists.txt index 344c9659d9..e4332b9b96 100644 --- a/ros/src/computing/perception/localization/packages/ndt_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/ndt_localizer/CMakeLists.txt @@ -1,75 +1,68 @@ cmake_minimum_required(VERSION 2.8.3) project(ndt_localizer) execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE + COMMAND rosversion -d + OUTPUT_VARIABLE ROS_VERSION + OUTPUT_STRIP_TRAILING_WHITESPACE ) find_package(PCL REQUIRED) -IF(NOT (PCL_VERSION VERSION_LESS "1.7.2")) -SET(PCL_OPENMP_PACKAGES pcl_omp_registration) -ENDIF(NOT (PCL_VERSION VERSION_LESS "1.7.2")) +IF (NOT (PCL_VERSION VERSION_LESS "1.7.2")) + SET(PCL_OPENMP_PACKAGES pcl_omp_registration) +ENDIF (NOT (PCL_VERSION VERSION_LESS "1.7.2")) -find_package( OpenMP ) +find_package(OpenMP) if (OPENMP_FOUND) - set (CMAKE_C_FLAGS "${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 18a81d51c8..3f64613ce8 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 cdac1c3aaa..36003d57c0 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 a273edabaa..9f05a0213e 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 4488fcf3d5..2155a1e443 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 ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.hpp" + ) diff --git a/ros/src/computing/planning/decision/libs/libstate/package.xml b/ros/src/computing/planning/decision/libs/libstate/package.xml index 65d9e25ac6..b1586b5206 100644 --- a/ros/src/computing/planning/decision/libs/libstate/package.xml +++ b/ros/src/computing/planning/decision/libs/libstate/package.xml @@ -1,6 +1,6 @@ - state + state_machine_lib 1.6.3 The libstate package diff --git a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt index 7197ce0874..dddc249e7f 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt +++ b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 2.8.12) project(decision_maker) ## Compile as C++11, supported in ROS Kinetic and newer @@ -9,49 +9,53 @@ SET(CMAKE_EXE_LINKER_FLAGS "${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 87f74f6962..eae61c8828 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 9a17222261..b0a902bc98 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 f00ae862d0..468e7dd145 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 82a3647c46..5d92fe438d 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 05a3e71764..fcef91516f 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 41acdb67dc..b4504e4220 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 08ef11367d..d0c6e56e14 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 391646f1fb..e66a0d7c23 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 0000000000..4768f84e1e --- /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 812a324f71..03e8f71155 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 1a84a9e615..27862e6577 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 bebfaf9abd..63ac88851b 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 f165b2ea14..b763cc31af 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 02/92] 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 5833217692..e6fdbc4542 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 489aadb494..836a27f0b1 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 03/92] 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 e6fdbc4542..1f1118f5a2 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 04/92] 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 f123f75dbd..74a35cf90d 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 "${MXNET_PATH}") else() message("'MXNET Package' is not installed. 'region_tlr_mxnet' will not be built.") endif() ->>>>>>> develop From 2030151d9346533a0917119e9e54aa5a27d7bebc Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sat, 14 Apr 2018 22:28:07 +0900 Subject: [PATCH 05/92] Added travis ci --- .travis.yml | 72 ++++++++++++++++++ .../packages/lidar_tracker/package.xml | 75 +++++++++++-------- 2 files changed, 115 insertions(+), 32 deletions(-) create mode 100644 .travis.yml diff --git a/.travis.yml b/.travis.yml new file mode 100644 index 0000000000..9086ffb4d9 --- /dev/null +++ b/.travis.yml @@ -0,0 +1,72 @@ +# Use ubuntu trusty (14.04) with sudo privileges. +dist: trusty +sudo: required +language: + - generic +cache: + - apt + +env: + global: + - ROS_DISTRO=indigo + - ROS_CI_DESKTOP="`lsb_release -cs`" # e.g. [precise|trusty|...] + - CI_SOURCE_PATH=$(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 $CATKIN_OPTIONS ) diff --git a/ros/src/computing/perception/detection/packages/lidar_tracker/package.xml b/ros/src/computing/perception/detection/packages/lidar_tracker/package.xml index 403ab8c0dd..391b472bf0 100644 --- a/ros/src/computing/perception/detection/packages/lidar_tracker/package.xml +++ b/ros/src/computing/perception/detection/packages/lidar_tracker/package.xml @@ -1,38 +1,49 @@ - lidar_tracker - 1.6.3 - The lidar_tracker package + lidar_tracker + 1.6.3 + The lidar_tracker package - amc - BSD + amc + BSD - catkin - pcl_conversions - pcl_ros - roscpp - rospy - sensor_msgs - message_generation - std_msgs - geometry_msgs - vector_map_server - autoware_msgs - rosinterface - op_ros_helpers - - message_runtime - pcl_conversions - pcl_ros - roscpp - rospy - sensor_msgs - std_msgs - geometry_msgs - autoware_msgs - rosinterface - vector_map_server - op_ros_helpers + catkin - + pcl_conversions + pcl_ros + roscpp + rospy + sensor_msgs + autoware_msgs + tf + jsk_recognition_msgs + jsk_rviz_plugins + rosinterface + cv_bridge + op_ros_helpers + vector_map_server + vector_map + grid_map_ros + grid_map_cv + grid_map_msgs + + pcl_conversions + pcl_ros + roscpp + rospy + sensor_msgs + autoware_msgs + tf + jsk_recognition_msgs + jsk_rviz_plugins + rosinterface + cv_bridge + op_ros_helpers + vector_map_server + vector_map + grid_map_ros + grid_map_cv + grid_map_msgs + + From bc1cc0961e853ccc8295d4c2ae29be39cba7c9ec Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sat, 14 Apr 2018 22:45:18 +0900 Subject: [PATCH 06/92] Trigger CI --- .travis.yml | 1 - 1 file changed, 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index 9086ffb4d9..46f7d8dfd5 100644 --- a/.travis.yml +++ b/.travis.yml @@ -18,7 +18,6 @@ env: # as this is where apt-get installs python packages. - PYTHONPATH=$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 07/92] 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 aa3877c359..93446bac39 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 e7474e231d..320bb57a6e 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 391b472bf0..33f4c7d37a 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 08/92] 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 e0cd066f7c..4987f3a04e 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 df35a81f1e..3b8d1a3f8d 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 09/92] 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 33ab53ca77..93e44b992e 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 17d7eec3d4..f5885b5c62 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 508685455b..6c11561294 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 852bd3bf9b..6af21fb9d9 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 d0c6e56e14..d55197a960 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 cce3012d31..438d804345 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 a5525cd6ae..a7b4db55e4 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 d7d61dba7b..63ad845611 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 1abcfb6edb..aaae842c72 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 a8c476e637..d05ea067b0 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 e1240e26be..ac4fb07b60 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 1ceda24d35..0288621237 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 5c16c635a9..bf27d7cab5 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} -) + ${catkin_LIBRARIES} + ) diff --git a/ros/src/sensing/fusion/packages/scan2image/CMakeLists.txt b/ros/src/sensing/fusion/packages/scan2image/CMakeLists.txt index 580ac06df1..8183149642 100644 --- a/ros/src/sensing/fusion/packages/scan2image/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/scan2image/CMakeLists.txt @@ -5,22 +5,22 @@ project(scan2image) ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS - cv_bridge - image_transport - roscpp - sensor_msgs - std_msgs - autoware_msgs -) + cv_bridge + image_transport + roscpp + sensor_msgs + std_msgs + autoware_msgs + ) find_package(OpenCV REQUIRED) ################################### ## catkin specific configuration ## ################################### catkin_package( -# INCLUDE_DIRS include - CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs autoware_msgs message_runtime - #DEPENDS system_lib + # INCLUDE_DIRS include + CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs autoware_msgs message_runtime + #DEPENDS system_lib ) ########### @@ -35,10 +35,10 @@ set(CAMERA_YAML "$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 6f5b775df2..405480cc5a 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 f5841a00d6..3909e41da9 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 85174929cb..26d2fdc59e 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 0a0bb0e046..5209a75681 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 10/92] 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 cbe7fd9958..b73e4f44d1 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 d05ea067b0..2ba6114c20 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 29cc3c465d..d87c5f8562 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 0166c3c53f..ef0a5828fc 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 8c1dc5ff8e..4d88944d17 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 432f77b218..ef62f83cb9 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 11/92] Update build script travis --- .travis.yml | 21 +++++++-------------- 1 file changed, 7 insertions(+), 14 deletions(-) diff --git a/.travis.yml b/.travis.yml index 46f7d8dfd5..4c5c03a12b 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 $CATKIN_OPTIONS ) + - source devel/setup.bash + - catkin_make -j8 -l6 From 77b8ae3111f608613fdef81459132e6c4da1bf5d Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 02:42:17 +0900 Subject: [PATCH 12/92] Travis Path --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index 4c5c03a12b..28042b6165 100644 --- a/.travis.yml +++ b/.travis.yml @@ -33,7 +33,7 @@ before_install: # Create a catkin workspace with the package under integration. install: - - cd Autoware/ros/src + - cd CPFL/Autoware/ros/src - catkin_init_workspace - cd ../ - catkin_make clean From 30a392ff554cd8b8620a6282f07f76ad07c25392 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 02:53:24 +0900 Subject: [PATCH 13/92] Travis Paths fix --- .travis.yml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.travis.yml b/.travis.yml index 28042b6165..14485ab071 100644 --- a/.travis.yml +++ b/.travis.yml @@ -33,11 +33,10 @@ before_install: # Create a catkin workspace with the package under integration. install: - - cd CPFL/Autoware/ros/src + - cd ros/src - catkin_init_workspace - - cd ../ + - cd .. - catkin_make clean - - source devel/setup.bash # Install all dependencies, using wstool first and rosdep second. # wstool looks for a ROSINSTALL_FILE defined in the environment variables. @@ -60,5 +59,6 @@ before_script: # fails. Running `catkin_test_results` aggregates all the results and returns # non-zero when a test fails (which notifies Travis the build failed). script: + - source /opt/ros/$ROS_DISTRO/setup.bash - source devel/setup.bash - - catkin_make -j8 -l6 + - catkin_make $ROS_PARALLEL_JOBS From 6d4f52737abd6ef842724d84cfaa7f6f489438e2 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 03:07:10 +0900 Subject: [PATCH 14/92] Travis test --- .travis.yml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/.travis.yml b/.travis.yml index 14485ab071..02541e5ac9 100644 --- a/.travis.yml +++ b/.travis.yml @@ -36,7 +36,6 @@ install: - cd ros/src - catkin_init_workspace - cd .. - - catkin_make clean # Install all dependencies, using wstool first and rosdep second. # wstool looks for a ROSINSTALL_FILE defined in the environment variables. @@ -59,6 +58,6 @@ before_script: # fails. Running `catkin_test_results` aggregates all the results and returns # non-zero when a test fails (which notifies Travis the build failed). script: - - source /opt/ros/$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 15/92] 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 02541e5ac9..aef69da941 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 6cd62a2d6a..c1f96e0bcd 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(${CMAKE_VERSION} VERSION_LESS "3.0.0") + include(cmake/FindEigen.cmake) +else() + find_package(Eigen3 REQUIRED) +endif() find_package(X11 REQUIRED) find_package(Threads REQUIRED) #find_package(TinyXML REQUIRED) diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindEigen.cmake b/ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindEigen.cmake new file mode 100644 index 0000000000..b632fb7841 --- /dev/null +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindEigen.cmake @@ -0,0 +1,87 @@ +# - Try to find Eigen3 lib +# +# This module supports requiring a minimum version, e.g. you can do +# find_package(Eigen3 3.1.2) +# to require version 3.1.2 or newer of Eigen3. +# +# Once done this will define +# +# EIGEN3_FOUND - system has eigen lib with correct version +# EIGEN3_INCLUDE_DIR - the eigen include directory +# EIGEN3_VERSION - eigen version + +# Copyright (c) 2006, 2007 Montel Laurent, +# Copyright (c) 2008, 2009 Gael Guennebaud, +# Copyright (c) 2009 Benoit Jacob +# Redistribution and use is allowed according to the terms of the 2-clause BSD license. + +if(NOT Eigen3_FIND_VERSION) + if(NOT Eigen3_FIND_VERSION_MAJOR) + set(Eigen3_FIND_VERSION_MAJOR 2) + endif(NOT Eigen3_FIND_VERSION_MAJOR) + if(NOT Eigen3_FIND_VERSION_MINOR) + set(Eigen3_FIND_VERSION_MINOR 91) + endif(NOT Eigen3_FIND_VERSION_MINOR) + if(NOT Eigen3_FIND_VERSION_PATCH) + set(Eigen3_FIND_VERSION_PATCH 0) + endif(NOT Eigen3_FIND_VERSION_PATCH) + + set(Eigen3_FIND_VERSION "${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} + ${KDE4_INCLUDE_DIR} + PATH_SUFFIXES eigen3 eigen + ) + + if(EIGEN3_INCLUDE_DIR) + _eigen3_check_version() + endif(EIGEN3_INCLUDE_DIR) + + include(FindPackageHandleStandardArgs) + find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK) + + mark_as_advanced(EIGEN3_INCLUDE_DIR) + +endif(EIGEN3_INCLUDE_DIR) + From 2d49cc9254c8f1ad13046c83fafbc99890c894b6 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 03:43:53 +0900 Subject: [PATCH 16/92] removed unnecessary dependencies --- .../lib/openplanner/op_simu/CMakeLists.txt | 8 -- .../openplanner/op_simu/cmake/FindEigen.cmake | 87 ------------------- .../op_simu/cmake/FindTinyXML.cmake | 74 ---------------- 3 files changed, 169 deletions(-) delete mode 100644 ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindEigen.cmake delete mode 100644 ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindTinyXML.cmake diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/CMakeLists.txt b/ros/src/computing/planning/common/lib/openplanner/op_simu/CMakeLists.txt index c1f96e0bcd..c72e82946a 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/CMakeLists.txt +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/CMakeLists.txt @@ -19,14 +19,8 @@ find_package(OpenCV REQUIRED) find_package(OpenGL REQUIRED) find_package(GLEW REQUIRED) find_package(GLUT REQUIRED) -if(${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} - ${TinyXML_LIBRARIES} ) diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindEigen.cmake b/ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindEigen.cmake deleted file mode 100644 index b632fb7841..0000000000 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/cmake/FindEigen.cmake +++ /dev/null @@ -1,87 +0,0 @@ -# - Try to find Eigen3 lib -# -# This module supports requiring a minimum version, e.g. you can do -# find_package(Eigen3 3.1.2) -# to require version 3.1.2 or newer of Eigen3. -# -# Once done this will define -# -# EIGEN3_FOUND - system has eigen lib with correct version -# EIGEN3_INCLUDE_DIR - the eigen include directory -# EIGEN3_VERSION - eigen version - -# Copyright (c) 2006, 2007 Montel Laurent, -# Copyright (c) 2008, 2009 Gael Guennebaud, -# Copyright (c) 2009 Benoit Jacob -# Redistribution and use is allowed according to the terms of the 2-clause BSD license. - -if(NOT Eigen3_FIND_VERSION) - if(NOT Eigen3_FIND_VERSION_MAJOR) - set(Eigen3_FIND_VERSION_MAJOR 2) - endif(NOT Eigen3_FIND_VERSION_MAJOR) - if(NOT Eigen3_FIND_VERSION_MINOR) - set(Eigen3_FIND_VERSION_MINOR 91) - endif(NOT Eigen3_FIND_VERSION_MINOR) - if(NOT Eigen3_FIND_VERSION_PATCH) - set(Eigen3_FIND_VERSION_PATCH 0) - endif(NOT Eigen3_FIND_VERSION_PATCH) - - set(Eigen3_FIND_VERSION "${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 aabb323d50..0000000000 --- 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 ${TinyXML_LIBRARY}) -endif() From bea231f475b90f693d51192fa1ac6cd3437d25be Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 15 Apr 2018 04:01:41 +0900 Subject: [PATCH 17/92] Eigen Detection --- .../detection/lib/libvectormap/CMakeLists.txt | 16 +- .../packages/orb_localizer/CMakeLists.txt | 12 +- .../Thirdparty/g2o/CMakeLists.txt | 226 +++++++++--------- 3 files changed, 141 insertions(+), 113 deletions(-) diff --git a/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt b/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt index e3d09aad07..f628cdc81d 100644 --- a/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt @@ -5,11 +5,17 @@ find_package(catkin REQUIRED COMPONENTS vector_map ) -if(${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 f5885b5c62..24bb1d0b86 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 ${EIGEN3_INCLUDE_DIR}) +endif () find_package(PCL 1.7 REQUIRED COMPONENTS common octree) find_package(PythonLibs REQUIRED) find_package(X11 REQUIRED) diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt b/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt index 4a5639dff4..5e6b48cfd9 100644 --- a/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/orb_localizer/Thirdparty/g2o/CMakeLists.txt @@ -1,123 +1,135 @@ -cmake_minimum_required (VERSION 2.6) +cmake_minimum_required(VERSION 2.6) -project (g2o) +project(g2o) FIND_PACKAGE(BLAS REQUIRED) FIND_PACKAGE(LAPACK REQUIRED) FIND_PACKAGE(OpenMP) -SET (g2o_C_FLAGS "-std=c++11") -SET (g2o_CXX_FLAGS "-std=c++11") +SET(g2o_C_FLAGS "-std=c++11") +SET(g2o_CXX_FLAGS "-std=c++11") SET(G2O_USE_OPENMP OFF CACHE BOOL "Build g2o with OpenMP support (EXPERIMENTAL)") -IF(OPENMP_FOUND AND G2O_USE_OPENMP) - SET (G2O_OPENMP 1) - SET(g2o_C_FLAGS "${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 18/92] Job number reduced --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index aef69da941..61f27f0728 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 19/92] 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 f628cdc81d..0df780cb62 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 74a35cf90d..ffed4a0a20 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 24bb1d0b86..54c037596e 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 5e6b48cfd9..740aa5d31a 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 20/92] 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 0df780cb62..cf6b4db8c8 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 ffed4a0a20..f6d73b5c04 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 54c037596e..39b737422f 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 740aa5d31a..98b0b2d975 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 fce37dbbcb..c0faffe229 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 21/92] 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 cf6b4db8c8..7c1a352b0d 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 f6d73b5c04..5c582600de 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 39b737422f..01c9398753 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 98b0b2d975..0ec0a6b955 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 c0faffe229..b9c6cceb41 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 22/92] 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 0269c7d079..9860b39b4a 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 2b5dff323e..226259c49a 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 be94a684f9..b7227b8bf9 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 063042cc78..5d8d663470 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 23/92] 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 7c1a352b0d..8da070cf57 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 5c582600de..94a36caf8a 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 01c9398753..88d3c26d66 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 0ec0a6b955..82ce2ea945 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 b9c6cceb41..94487b430c 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} + ${Eigen_INCLUDE_DIRS} ) add_executable(sample_points_map nodes/sample_points_map/sample_points_map.cpp) From bb645046c3a1b8c44f36e8bfe17394ba33812dc4 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 16 Apr 2018 14:39:45 +0900 Subject: [PATCH 24/92] Removed non ros dependency --- .travis.yml | 5 ++--- .../sensing/drivers/camera/packages/pointgrey/package.xml | 2 -- 2 files changed, 2 insertions(+), 5 deletions(-) diff --git a/.travis.yml b/.travis.yml index 61f27f0728..138cf1fc83 100644 --- a/.travis.yml +++ b/.travis.yml @@ -13,12 +13,11 @@ env: - CI_SOURCE_PATH=$(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 $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 @@ -37,7 +36,7 @@ install: - catkin_init_workspace - cd .. -# Install all dependencies, using wstool first and rosdep second. +# Install all ros dependencies, using wstool first and rosdep second. # wstool looks for a ROSINSTALL_FILE defined in the environment variables. before_script: # source dependencies: install using wstool. diff --git a/ros/src/sensing/drivers/camera/packages/pointgrey/package.xml b/ros/src/sensing/drivers/camera/packages/pointgrey/package.xml index c1fbb2b09c..c98927645b 100644 --- a/ros/src/sensing/drivers/camera/packages/pointgrey/package.xml +++ b/ros/src/sensing/drivers/camera/packages/pointgrey/package.xml @@ -11,13 +11,11 @@ std_msgs message_generation tf - xerces cv_bridge roscpp std_msgs message_generation tf - xerces cv_bridge From a311d34a3a8907e202dcd2a59b54d43f69f968a6 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 16 Apr 2018 15:13:33 +0900 Subject: [PATCH 25/92] Enable industrial_ci for indidog and kinetic --- .travis.yml | 80 ++++++++++++++--------------------------------------- 1 file changed, 20 insertions(+), 60 deletions(-) diff --git a/.travis.yml b/.travis.yml index 138cf1fc83..adaf7f1614 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,62 +1,22 @@ -# Use ubuntu trusty (14.04) with sudo privileges. -dist: trusty -sudo: required -language: - - generic -cache: - - apt - +sudo: required +dist: trusty +language: generic +compiler: + - gcc +notifications: + email: + on_success: always + on_failure: always + recipients: + - abrahammonrroy@yahoo.com env: - global: - - ROS_DISTRO=indigo - - ROS_CI_DESKTOP="`lsb_release -cs`" # e.g. [precise|trusty|...] - - CI_SOURCE_PATH=$(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 26/92] 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 629dedb3f5..8272e1586b 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 27/92] 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 50e8f3d99d..a63bb83cd3 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 28/92] 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 2560a8ac4d..e6a9c21ea8 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 29/92] 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 39baeed976..54f459fdf9 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 30/92] 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 472acaa205..e090b90131 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 33f4c7d37a..f66e1e12f5 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 226259c49a..f8e3e84fc0 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 8fc9548df6..410ccc3d0c 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 ce0713c317..c9a2598e74 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 79e98891d5..33e824e7a3 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 2d5e9ea597..cc1a39909a 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 04d64ffff7..021f0244a4 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 e923f4c773..f45aad543f 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 be6df3952c..87687deb0d 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 7bf4627c59..e619ea90bb 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 6c4fc46c09..8d0fd701c8 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 54f459fdf9..493796958d 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 ab9ca1c119..bff434717b 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 42f5cf2f64..b206a20697 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 3b8d1a3f8d..9ace0b04f9 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 31/92] 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 5598416f12..6fcc0947e3 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 4cb27ce890..c541aec508 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 8e6ba29e8e94aacf9ab413f095df31aa0cea26a3 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Fri, 20 Apr 2018 22:58:10 +0900 Subject: [PATCH 32/92] More in detail dependencies fixes for more packages --- .travis.yml | 4 +- .../vehicles/packages/as/CMakeLists.txt | 79 +++--- .../vehicles/packages/ymc/CMakeLists.txt | 62 ++--- .../detection/lib/fusion/CMakeLists.txt | 40 +-- .../detection/lib/fusion/package.xml | 26 +- .../lib/image/dpm_ocv/CMakeLists.txt | 251 +++++++++--------- .../detection/lib/image/dpm_ocv/package.xml | 28 +- .../lib/image/dpm_ttic/CMakeLists.txt | 234 ++++++++-------- .../detection/lib/image/dpm_ttic/package.xml | 25 +- .../detection/lib/image/kf/CMakeLists.txt | 4 + .../lib/image/librcnn/CMakeLists.txt | 4 - .../detection/lib/image/librcnn/package.xml | 27 +- .../detection/lib/libvectormap/CMakeLists.txt | 27 +- .../lib/libvectormap/FindEigen.cmake | 87 ------ .../detection/lib/libvectormap/package.xml | 27 +- .../packages/cv_tracker/CMakeLists.txt | 72 +++-- .../detection/packages/cv_tracker/package.xml | 1 + .../packages/image_segmenter/CMakeLists.txt | 97 +++---- .../packages/image_segmenter/package.xml | 38 +-- .../packages/integrated_viewer/CMakeLists.txt | 147 +++++----- .../packages/integrated_viewer/package.xml | 8 + .../packages/lane_detector/CMakeLists.txt | 46 ++-- .../packages/lane_detector/package.xml | 35 +-- .../packages/lidar_tracker/CMakeLists.txt | 12 +- .../packages/road_wizard/CMakeLists.txt | 247 ++++++++++------- .../packages/road_wizard/package.xml | 19 +- .../detection/packages/viewers/CMakeLists.txt | 208 ++++++++------- .../detection/packages/viewers/package.xml | 12 +- .../lib/fast_pcl/ndt_cpu/CMakeLists.txt | 82 +++--- .../lib/fast_pcl/ndt_cpu/package.xml | 29 +- .../lib/fast_pcl/ndt_gpu/CMakeLists.txt | 167 ++++++------ .../lib/fast_pcl/ndt_gpu/package.xml | 27 +- .../localization/lib/gnss/CMakeLists.txt | 41 ++- .../localization/lib/ndt_tku/CMakeLists.txt | 44 +-- .../localization/lib/ndt_tku/package.xml | 3 +- .../autoware_connector/CMakeLists.txt | 64 ++--- .../packages/autoware_connector/package.xml | 38 +-- .../packages/gnss_localizer/CMakeLists.txt | 57 ++-- .../packages/gnss_localizer/package.xml | 39 +-- .../packages/icp_localizer/CMakeLists.txt | 9 +- .../packages/icp_localizer/package.xml | 38 ++- .../packages/ndt_localizer/CMakeLists.txt | 124 +++++---- .../packages/ndt_localizer/package.xml | 26 +- .../packages/orb_localizer/CMakeLists.txt | 21 +- .../Thirdparty/g2o/CMakeLists.txt | 16 +- .../packages/orb_localizer/package.xml | 2 + .../packages/object_map/CMakeLists.txt | 18 ++ .../road_occupancy_processor/CMakeLists.txt | 8 + .../lib/openplanner/op_planner/CMakeLists.txt | 6 +- .../openplanner/op_ros_helpers/CMakeLists.txt | 6 +- .../lib/openplanner/op_simu/CMakeLists.txt | 6 +- .../lib/openplanner/op_utility/CMakeLists.txt | 32 +-- .../libs/libamathutils/CMakeLists.txt | 45 ++-- .../packages/decision_maker/CMakeLists.txt | 11 + .../motion/packages/dp_planner/CMakeLists.txt | 6 +- .../packages/op_local_planner/CMakeLists.txt | 6 +- .../packages/image_processor/CMakeLists.txt | 65 ++--- .../packages/image_processor/package.xml | 2 - .../points_preprocessor/CMakeLists.txt | 18 +- .../packages/points_preprocessor/package.xml | 20 +- .../calibration_camera_lidar/CMakeLists.txt | 6 +- .../packages/points2polygon/CMakeLists.txt | 6 +- .../packages/tablet_socket/CMakeLists.txt | 5 +- .../socket/packages/tablet_socket/package.xml | 39 +-- .../tablet_socket_msgs/CMakeLists.txt | 2 +- .../packages/tablet_socket_msgs/package.xml | 57 +--- .../system/gazebo/catvehicle/CMakeLists.txt | 6 +- .../CMakeLists.txt | 6 +- .../util/packages/sample_data/CMakeLists.txt | 14 +- 69 files changed, 1633 insertions(+), 1451 deletions(-) delete mode 100644 ros/src/computing/perception/detection/lib/libvectormap/FindEigen.cmake diff --git a/.travis.yml b/.travis.yml index adaf7f1614..4cd1907236 100644 --- a/.travis.yml +++ b/.travis.yml @@ -12,9 +12,9 @@ notifications: 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="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 +# - USE_DEB=true ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu install: - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config script: diff --git a/ros/src/actuation/vehicles/packages/as/CMakeLists.txt b/ros/src/actuation/vehicles/packages/as/CMakeLists.txt index d685456c2b..ceace4eac5 100644 --- a/ros/src/actuation/vehicles/packages/as/CMakeLists.txt +++ b/ros/src/actuation/vehicles/packages/as/CMakeLists.txt @@ -3,38 +3,47 @@ project(as) # If submodule is not cloned this project will not be build. set(AS_MSG_PATH "${CMAKE_SOURCE_DIR}/msgs/platform_automation_msgs/module_comm_msgs") -if(EXISTS "${AS_MSG_PATH}") - -find_package( - catkin REQUIRED COMPONENTS - roscpp - std_msgs - geometry_msgs - module_comm_msgs - dbw_mkz_msgs -) - -catkin_package( - CATKIN_DEPENDS - roscpp - std_msgs - geometry_msgs - module_comm_msgs - dbw_mkz_msgs -) - -SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") - -include_directories( - ${catkin_INCLUDE_DIRS} -) - - -add_executable(pacmod_interface - nodes/pacmod_interface/pacmod_interface_node.cpp - nodes/pacmod_interface/pacmod_interface.cpp - ) -target_link_libraries(pacmod_interface ${catkin_LIBRARIES}) -add_dependencies(pacmod_interface ${catkin_EXPORTED_TARGETS} ) - -endif() +if (EXISTS "${AS_MSG_PATH}") + + find_package( + catkin REQUIRED COMPONENTS + roscpp + std_msgs + geometry_msgs + module_comm_msgs + dbw_mkz_msgs + ) + + catkin_package( + CATKIN_DEPENDS + roscpp + std_msgs + geometry_msgs + module_comm_msgs + dbw_mkz_msgs + ) + + SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") + + include_directories( + ${catkin_INCLUDE_DIRS} + ) + + add_executable(pacmod_interface + nodes/pacmod_interface/pacmod_interface_node.cpp + nodes/pacmod_interface/pacmod_interface.cpp + ) + target_link_libraries(pacmod_interface ${catkin_LIBRARIES}) + add_dependencies(pacmod_interface ${catkin_EXPORTED_TARGETS}) + + install(TARGETS pacmod_interface + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + + install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) + +endif () diff --git a/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt b/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt index 872b4b3753..9bdee166fe 100755 --- a/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt +++ b/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt @@ -4,50 +4,50 @@ project(ymc) set(CMAKE_CXX_FLAGS "-std=c++11 -Wall ${CMAKE_CXX_FLAGS}") find_package( - catkin REQUIRED COMPONENTS - roscpp - geometry_msgs - rosconsole - ) + catkin REQUIRED COMPONENTS + roscpp + geometry_msgs + rosconsole +) catkin_package( - CATKIN_DEPENDS - roscpp - geometry_msgs - rosconsole - ) + CATKIN_DEPENDS + roscpp + geometry_msgs + rosconsole +) EXECUTE_PROCESS( - COMMAND uname -m - OUTPUT_VARIABLE ARCHITECTURE - OUTPUT_STRIP_TRAILING_WHITESPACE + COMMAND uname -m + OUTPUT_VARIABLE ARCHITECTURE + OUTPUT_STRIP_TRAILING_WHITESPACE ) -IF("${ARCHITECTURE}" STREQUAL "aarch64") - set(LIB_ARCH _aarch64) -ELSE() - unset(LIB_ARCH) -ENDIF() +IF ("${ARCHITECTURE}" STREQUAL "aarch64") + set(LIB_ARCH _aarch64) +ELSE () + unset(LIB_ARCH) +ENDIF () include_directories( - ${catkin_INCLUDE_DIRS} - include - ) + ${catkin_INCLUDE_DIRS} + include +) -IF(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 5.1) - set(LIB_VERSION 2.0) # _GLIBCXX_USE_CXX11_ABI is 1 -ELSE() - set(LIB_VERSION 1.0) # _GLIBCXX_USE_CXX11_ABI is 0 -ENDIF() +IF (CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 5.1) + set(LIB_VERSION 2.0) # _GLIBCXX_USE_CXX11_ABI is 1 +ELSE () + set(LIB_VERSION 1.0) # _GLIBCXX_USE_CXX11_ABI is 0 +ENDIF () find_library(ymc_can NAMES libymc_can_${LIB_VERSION}${LIB_ARCH}.a PATHS lib) add_executable(g30esli_interface - node/g30esli_interface/g30esli_interface.cpp - ) + node/g30esli_interface/g30esli_interface.cpp + ) target_link_libraries(g30esli_interface - ${catkin_LIBRARIES} - ${ymc_can} - ) + ${catkin_LIBRARIES} + ${ymc_can} + ) diff --git a/ros/src/computing/perception/detection/lib/fusion/CMakeLists.txt b/ros/src/computing/perception/detection/lib/fusion/CMakeLists.txt index 152751a60f..784abea3ab 100644 --- a/ros/src/computing/perception/detection/lib/fusion/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/fusion/CMakeLists.txt @@ -2,40 +2,40 @@ cmake_minimum_required(VERSION 2.8.3) project(fusion) find_package(catkin REQUIRED COMPONENTS - roscpp - cv_bridge - autoware_msgs -) + roscpp + cv_bridge + autoware_msgs + ) find_package(OpenCV REQUIRED) catkin_package( - INCLUDE_DIRS include - LIBRARIES fusion - CATKIN_DEPENDS roscpp autoware_msgs + INCLUDE_DIRS include + LIBRARIES fusion + 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} ) add_library(fusion - fusion.cpp - search_distance.cpp -) + fusion.cpp + search_distance.cpp + ) target_link_libraries(fusion - ${catkin_LIBRARIES} - ${OpenCV_LIBS} -) + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ) add_dependencies(fusion - ${catkin_EXPORTED_TARGETS} - ) + ${catkin_EXPORTED_TARGETS} + ) # Mark cpp header files for installation install(DIRECTORY include - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "fusion_func.h" -) + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "fusion_func.h" + ) diff --git a/ros/src/computing/perception/detection/lib/fusion/package.xml b/ros/src/computing/perception/detection/lib/fusion/package.xml index 505ad3b3a3..3d39ace74e 100644 --- a/ros/src/computing/perception/detection/lib/fusion/package.xml +++ b/ros/src/computing/perception/detection/lib/fusion/package.xml @@ -1,15 +1,17 @@ - fusion - 1.6.3 - The fusion package - Masao KONDOH - BSD - catkin - roscpp - autoware_msgs - roscpp - autoware_msgs - - + fusion + 1.6.3 + The fusion package + Masao KONDOH + BSD + catkin + roscpp + autoware_msgs + cv_bridge + roscpp + autoware_msgs + cv_bridge + + diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/CMakeLists.txt b/ros/src/computing/perception/detection/lib/image/dpm_ocv/CMakeLists.txt index c7bd3e99f4..7765956198 100644 --- a/ros/src/computing/perception/detection/lib/image/dpm_ocv/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/image/dpm_ocv/CMakeLists.txt @@ -1,131 +1,128 @@ cmake_minimum_required(VERSION 2.8.3) project(libdpm_ocv) -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) + +set(ROS_VERSION $ENV{ROS_DISTRO}) if ("${ROS_VERSION}" MATCHES "(indigo|jade)") -find_package(catkin REQUIRED COMPONENTS - std_msgs - autoware_msgs -) -FIND_PACKAGE(CUDA) -find_package(OpenCV REQUIRED) - -SET(CMAKE_CXX_FLAGS "-O2 -g -Wall -Wno-unused-result -std=c++11 -DUSE_GPU -DCUBIN_PATH=${CATKIN_DEVEL_PREFIX}/lib/gpu_function.cubin ${CMAKE_CXX_FLAGS}") -SET(CMAKE_NVCC_FLAGS "-use_fast_math") - -catkin_package( - INCLUDE_DIRS include/dpm_ocv - LIBRARIES libdpm_ocv - CATKIN_DEPENDS message_runtime std_msgs -# DEPENDS system_lib -) - -IF(CUDA_FOUND) -INCLUDE_DIRECTORIES( - ${catkin_INCLUDE_DIRS} - "include/dpm_ocv" - ${CUDA_INCLUDE_DIRS} -) - -## Declare a cpp library -ADD_LIBRARY(libdpm_ocv - gpu/gpu_init.cpp - gpu/dpm_ocv_gpu.cpp - gpu/featurepyramid_gpu.cpp - gpu/matching_gpu.cpp - gpu/resizeimg_gpu.cpp - gpu/routine_gpu.cpp - cpu/dpm_ocv_cpu.cpp -) - -SET_TARGET_PROPERTIES(libdpm_ocv - PROPERTIES COMPILE_FLAGS - "-DDPM_GPU_ROOT=${DPM_GPU_ROOT}" -) - -TARGET_LINK_LIBRARIES(libdpm_ocv - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - cuda -) - -SET(CUDA_COMPILER "${CUDA_TOOLKIT_ROOT_DIR}/bin/nvcc") - -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" -) - -EXECUTE_PROCESS( - COMMAND - ${CUDA_COMPILER} - -o ${CUDA_CAPABILITY_VERSION_CHECKER} - "${CMAKE_CURRENT_SOURCE_DIR}/../dpm_ttic/util/capability_version_checker.cpp" - ${CUDA_LDFLAGS} -) - -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() - -ADD_CUSTOM_COMMAND( - OUTPUT gpu_function.cubin - COMMAND - ${CUDA_COMPILER} "-arch=${CUDA_ARCH}" - "-o" "${CATKIN_DEVEL_PREFIX}/lib/gpu_function.cubin" - "-cubin" "-Xptxas" "-v" "--maxrregcount" "32" - "${CMAKE_CURRENT_SOURCE_DIR}/gpu/gpu_function.cu" "${CMAKE_NVCC_FLAGS}" - DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/gpu/gpu_function.cu" -) - -ADD_CUSTOM_TARGET(cuda_binary_ DEPENDS gpu_function.cubin) -ADD_DEPENDENCIES(libdpm_ocv cuda_binary_) - -ELSE() - -INCLUDE_DIRECTORIES( - ${catkin_INCLUDE_DIRS} - "include/dpm_ocv" -) - -ADD_LIBRARY(libdpm_ocv - cpu/dpm_ocv_cpu.cpp -) - -TARGET_LINK_LIBRARIES(libdpm_ocv - ${catkin_LIBRARIES} - ${OpenCV_LIBS} -) - -ENDIF() - -SET_TARGET_PROPERTIES(libdpm_ocv PROPERTIES OUTPUT_NAME dpm_ocv) -ADD_DEPENDENCIES(libdpm_ocv ${catkin_EXPORTED_TARGETS}) - -############# -## Install ## -############# - -INSTALL( - DIRECTORY include/dpm_ocv - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.hpp" -) -endif() + find_package(catkin REQUIRED COMPONENTS + std_msgs + autoware_msgs + ) + FIND_PACKAGE(CUDA) + find_package(OpenCV REQUIRED) + + SET(CMAKE_CXX_FLAGS "-O2 -g -Wall -Wno-unused-result -std=c++11 -DUSE_GPU -DCUBIN_PATH=${CATKIN_DEVEL_PREFIX}/lib/gpu_function.cubin ${CMAKE_CXX_FLAGS}") + SET(CMAKE_NVCC_FLAGS "-use_fast_math") + + catkin_package( + INCLUDE_DIRS include/dpm_ocv + LIBRARIES libdpm_ocv + CATKIN_DEPENDS message_runtime std_msgs + # DEPENDS system_lib + ) + + IF (CUDA_FOUND) + INCLUDE_DIRECTORIES( + ${catkin_INCLUDE_DIRS} + "include/dpm_ocv" + ${CUDA_INCLUDE_DIRS} + ) + + ## Declare a cpp library + ADD_LIBRARY(libdpm_ocv + gpu/gpu_init.cpp + gpu/dpm_ocv_gpu.cpp + gpu/featurepyramid_gpu.cpp + gpu/matching_gpu.cpp + gpu/resizeimg_gpu.cpp + gpu/routine_gpu.cpp + cpu/dpm_ocv_cpu.cpp + ) + + SET_TARGET_PROPERTIES(libdpm_ocv + PROPERTIES COMPILE_FLAGS + "-DDPM_GPU_ROOT=${DPM_GPU_ROOT}" + ) + + TARGET_LINK_LIBRARIES(libdpm_ocv + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + cuda + ) + + SET(CUDA_COMPILER "${CUDA_TOOLKIT_ROOT_DIR}/bin/nvcc") + + 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" + ) + + EXECUTE_PROCESS( + COMMAND + ${CUDA_COMPILER} + -o ${CUDA_CAPABILITY_VERSION_CHECKER} + "${CMAKE_CURRENT_SOURCE_DIR}/../dpm_ttic/util/capability_version_checker.cpp" + ${CUDA_LDFLAGS} + ) + + 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 () + + ADD_CUSTOM_COMMAND( + OUTPUT gpu_function.cubin + COMMAND + ${CUDA_COMPILER} "-arch=${CUDA_ARCH}" + "-o" "${CATKIN_DEVEL_PREFIX}/lib/gpu_function.cubin" + "-cubin" "-Xptxas" "-v" "--maxrregcount" "32" + "${CMAKE_CURRENT_SOURCE_DIR}/gpu/gpu_function.cu" "${CMAKE_NVCC_FLAGS}" + DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/gpu/gpu_function.cu" + ) + + ADD_CUSTOM_TARGET(cuda_binary_ DEPENDS gpu_function.cubin) + ADD_DEPENDENCIES(libdpm_ocv cuda_binary_) + + ELSE () + + INCLUDE_DIRECTORIES( + ${catkin_INCLUDE_DIRS} + "include/dpm_ocv" + ) + + ADD_LIBRARY(libdpm_ocv + cpu/dpm_ocv_cpu.cpp + ) + + TARGET_LINK_LIBRARIES(libdpm_ocv + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ) + + ENDIF () + + SET_TARGET_PROPERTIES(libdpm_ocv PROPERTIES OUTPUT_NAME dpm_ocv) + ADD_DEPENDENCIES(libdpm_ocv ${catkin_EXPORTED_TARGETS}) + + ############# + ## Install ## + ############# + + INSTALL( + DIRECTORY include/dpm_ocv + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.hpp" + ) +endif () diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/package.xml b/ros/src/computing/perception/detection/lib/image/dpm_ocv/package.xml index e5e9a3cf9b..04886ceb61 100644 --- a/ros/src/computing/perception/detection/lib/image/dpm_ocv/package.xml +++ b/ros/src/computing/perception/detection/lib/image/dpm_ocv/package.xml @@ -1,16 +1,18 @@ - libdpm_ocv - 1.6.3 - The opencv_dpm_gpu package - Yusuke Fujii - hoshika - BSD - catkin - std_msgs - autoware_msgs - message_runtime - std_msgs - - + libdpm_ocv + 1.6.3 + The opencv_dpm_gpu package + Yusuke Fujii + BSD + catkin + std_msgs + autoware_msgs + cv_bridge + + std_msgs + autoware_msgs + cv_bridge + + diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ttic/CMakeLists.txt b/ros/src/computing/perception/detection/lib/image/dpm_ttic/CMakeLists.txt index 7c106d56c8..f72f99c604 100644 --- a/ros/src/computing/perception/detection/lib/image/dpm_ttic/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/image/dpm_ttic/CMakeLists.txt @@ -2,139 +2,139 @@ cmake_minimum_required(VERSION 2.8.3) project(libdpm_ttic) FIND_PACKAGE(catkin REQUIRED COMPONENTS - sensor_msgs - std_msgs -) + sensor_msgs + std_msgs + ) FIND_PACKAGE(OpenCV REQUIRED) FIND_PACKAGE(CUDA) EXECUTE_PROCESS( - COMMAND uname -m - OUTPUT_VARIABLE ARCHITECTURE - OUTPUT_STRIP_TRAILING_WHITESPACE + COMMAND uname -m + OUTPUT_VARIABLE ARCHITECTURE + OUTPUT_STRIP_TRAILING_WHITESPACE ) catkin_package( - INCLUDE_DIRS include/dpm_ttic - LIBRARIES libdpm_ttic + INCLUDE_DIRS include/dpm_ttic + LIBRARIES libdpm_ttic ) SET(CMAKE_C_FLAGS "-O2 -g -Wall -Wno-unused-result ${CMAKE_C_FLAGS}") SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall -Wno-unused-result ${CMAKE_CXX_FLAGS}") -IF(CUDA_FOUND) -INCLUDE_DIRECTORIES( - include/dpm_ttic - ${catkin_INCLUDE_DIRS} - ${CUDA_INCLUDE_DIRS} - "common" - "cpu" - "gpu" -) - -IF("${ARCHITECTURE}" MATCHES "^arm") -LINK_DIRECTORIES(/usr/lib/arm-linux-gnueabihf/tegra) -ENDIF() - -FILE(GLOB DPM_TTIC_COMMON_IMPL_SOURCES "common/*.cpp") -FILE(GLOB DPM_TTIC_CPU_IMPL_SOURCES "cpu/*.cpp") -FILE(GLOB DPM_TTIC_GPU_IMPL_SOURCES "gpu/*.cpp") - -## Declare a cpp library -ADD_LIBRARY(libdpm_ttic - ${DPM_TTIC_COMMON_IMPL_SOURCES} - ${DPM_TTIC_CPU_IMPL_SOURCES} - ${DPM_TTIC_GPU_IMPL_SOURCES} -) -#SET_TARGET_PROPERTIES(libdpm_ttic PROPERTIES OUTPUT_NAME dpm_ttic) - -TARGET_LINK_LIBRARIES(libdpm_ttic - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - cuda -) - -SET(CUDA_COMPILER "${CUDA_TOOLKIT_ROOT_DIR}/bin/nvcc") - -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" -) - -EXECUTE_PROCESS( - COMMAND - ${CUDA_COMPILER} - -o ${CUDA_CAPABILITY_VERSION_CHECKER} - "${CMAKE_CURRENT_SOURCE_DIR}/util/capability_version_checker.cpp" - ${CUDA_LDFLAGS} -) - -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() - -SET(CUDA_FILE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/gpu") -ADD_CUSTOM_COMMAND( - OUTPUT GPU_function.cubin - COMMAND - ${CUDA_COMPILER} "-arch=${CUDA_ARCH}" - "-o" "${CATKIN_DEVEL_PREFIX}/lib/GPU_function.cubin" - "-cubin" "-Xptxas" "-v" "--maxrregcount" "32" "-I${CUDA_FILE_PATH}" - "${CMAKE_CURRENT_SOURCE_DIR}/gpu/GPU_function.cu" - DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/gpu/GPU_function.cu" -) - -ADD_CUSTOM_TARGET(cuda_binary DEPENDS GPU_function.cubin) -ADD_DEPENDENCIES(libdpm_ttic - cuda_binary -) - -ELSE() - -INCLUDE_DIRECTORIES( - include/dpm_ttic - ${catkin_INCLUDE_DIRS} - "common" - "cpu" -) - -FILE(GLOB DPM_TTIC_COMMON_IMPL_SOURCES "common/*.cpp") -FILE(GLOB DPM_TTIC_CPU_IMPL_SOURCES "cpu/*.cpp") - -## Declare a cpp library -ADD_LIBRARY(libdpm_ttic - ${DPM_TTIC_COMMON_IMPL_SOURCES} - ${DPM_TTIC_CPU_IMPL_SOURCES} -) -SET_TARGET_PROPERTIES(libdpm_ttic PROPERTIES OUTPUT_NAME dpm_ttic) - -TARGET_LINK_LIBRARIES(libdpm_ttic - ${catkin_LIBRARIES} - ${OpenCV_LIBS} -) - - -ENDIF() +IF (CUDA_FOUND) + INCLUDE_DIRECTORIES( + include/dpm_ttic + ${catkin_INCLUDE_DIRS} + ${CUDA_INCLUDE_DIRS} + "common" + "cpu" + "gpu" + ) + + IF ("${ARCHITECTURE}" MATCHES "^arm") + LINK_DIRECTORIES(/usr/lib/arm-linux-gnueabihf/tegra) + ENDIF () + + FILE(GLOB DPM_TTIC_COMMON_IMPL_SOURCES "common/*.cpp") + FILE(GLOB DPM_TTIC_CPU_IMPL_SOURCES "cpu/*.cpp") + FILE(GLOB DPM_TTIC_GPU_IMPL_SOURCES "gpu/*.cpp") + + ## Declare a cpp library + ADD_LIBRARY(libdpm_ttic + ${DPM_TTIC_COMMON_IMPL_SOURCES} + ${DPM_TTIC_CPU_IMPL_SOURCES} + ${DPM_TTIC_GPU_IMPL_SOURCES} + ) + #SET_TARGET_PROPERTIES(libdpm_ttic PROPERTIES OUTPUT_NAME dpm_ttic) + + TARGET_LINK_LIBRARIES(libdpm_ttic + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + cuda + ) + + SET(CUDA_COMPILER "${CUDA_TOOLKIT_ROOT_DIR}/bin/nvcc") + + 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" + ) + + EXECUTE_PROCESS( + COMMAND + ${CUDA_COMPILER} + -o ${CUDA_CAPABILITY_VERSION_CHECKER} + "${CMAKE_CURRENT_SOURCE_DIR}/util/capability_version_checker.cpp" + ${CUDA_LDFLAGS} + ) + + 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 () + + SET(CUDA_FILE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/gpu") + ADD_CUSTOM_COMMAND( + OUTPUT GPU_function.cubin + COMMAND + ${CUDA_COMPILER} "-arch=${CUDA_ARCH}" + "-o" "${CATKIN_DEVEL_PREFIX}/lib/GPU_function.cubin" + "-cubin" "-Xptxas" "-v" "--maxrregcount" "32" "-I${CUDA_FILE_PATH}" + "${CMAKE_CURRENT_SOURCE_DIR}/gpu/GPU_function.cu" + DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/gpu/GPU_function.cu" + ) + + ADD_CUSTOM_TARGET(cuda_binary DEPENDS GPU_function.cubin) + ADD_DEPENDENCIES(libdpm_ttic + cuda_binary + ) + +ELSE ()#No CUDA + + INCLUDE_DIRECTORIES( + include/dpm_ttic + ${catkin_INCLUDE_DIRS} + "common" + "cpu" + ) + + FILE(GLOB DPM_TTIC_COMMON_IMPL_SOURCES "common/*.cpp") + FILE(GLOB DPM_TTIC_CPU_IMPL_SOURCES "cpu/*.cpp") + + ## Declare a cpp library + ADD_LIBRARY(libdpm_ttic + ${DPM_TTIC_COMMON_IMPL_SOURCES} + ${DPM_TTIC_CPU_IMPL_SOURCES} + ) + SET_TARGET_PROPERTIES(libdpm_ttic PROPERTIES OUTPUT_NAME dpm_ttic) + + TARGET_LINK_LIBRARIES(libdpm_ttic + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ) + + +ENDIF () ############# ## Install ## ############# INSTALL( - DIRECTORY include/dpm_ttic - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.hpp" + DIRECTORY include/dpm_ttic + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.hpp" ) diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ttic/package.xml b/ros/src/computing/perception/detection/lib/image/dpm_ttic/package.xml index 43a3c41cf1..ffd7ea3b82 100644 --- a/ros/src/computing/perception/detection/lib/image/dpm_ttic/package.xml +++ b/ros/src/computing/perception/detection/lib/image/dpm_ttic/package.xml @@ -1,11 +1,20 @@ - libdpm_ttic - 1.6.3 - The dpm_ttic package - Syohei YOSHIDA - BSD - catkin - - + libdpm_ttic + 1.6.3 + The dpm_ttic package + Syohei YOSHIDA + BSD + catkin + + sensor_msgs + std_msgs + cv_bridge + + sensor_msgs + std_msgs + cv_bridge + + + 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 1f1118f5a2..0b9bd6d7d7 100644 --- a/ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt @@ -41,3 +41,7 @@ target_link_libraries(kf_lib ) add_dependencies(kf_lib ${catkin_EXPORTED_TARGETS}) + +install(DIRECTORY include + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + ) diff --git a/ros/src/computing/perception/detection/lib/image/librcnn/CMakeLists.txt b/ros/src/computing/perception/detection/lib/image/librcnn/CMakeLists.txt index 0cc4f8785b..389ddcf921 100644 --- a/ros/src/computing/perception/detection/lib/image/librcnn/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/image/librcnn/CMakeLists.txt @@ -35,10 +35,6 @@ if (EXISTS "${CAFFE_PATH}") INCLUDE_DIRECTORIES(${CUDA_INCLUDE_DIRS}) ENDIF () - IF (HDF5_FOUND) - INCLUDE_DIRECTORIES(${HDF5_INCLUDE_DIRS}) - ENDIF () - ## Declare a cpp library add_library(librcnn src/rcnn_detector.cpp diff --git a/ros/src/computing/perception/detection/lib/image/librcnn/package.xml b/ros/src/computing/perception/detection/lib/image/librcnn/package.xml index 55f90678ac..e69160e44b 100644 --- a/ros/src/computing/perception/detection/lib/image/librcnn/package.xml +++ b/ros/src/computing/perception/detection/lib/image/librcnn/package.xml @@ -1,11 +1,22 @@ - librcnn - 1.6.3 - librcnn package - - BSD - catkin - - + librcnn + 1.6.3 + librcnn package + amc + BSD + catkin + + roscpp + sensor_msgs + std_msgs + cv_bridge + + roscpp + sensor_msgs + std_msgs + cv_bridge + + + diff --git a/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt b/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt index 8da070cf57..faf71a67f6 100644 --- a/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/libvectormap/CMakeLists.txt @@ -5,8 +5,18 @@ find_package(catkin REQUIRED COMPONENTS vector_map ) -find_package(cmake_modules REQUIRED) -find_package(Eigen 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 () set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}") @@ -16,27 +26,28 @@ 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 + INCLUDE_DIRS include ${EIGEN3_INCLUDE_DIRS} + LIBRARIES libvectormap CATKIN_DEPENDS vector_map ) include_directories( include ${catkin_INCLUDE_DIRS} - ${Eigen_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} ) -add_library(vectormap STATIC +add_library(libvectormap STATIC src/vector_map.cpp ) -target_link_libraries(vectormap +target_link_libraries(libvectormap ${catkin_LIBRARIES} + ${EIGEN3_LIBRARIES} ) -install(TARGETS vectormap +install(TARGETS libvectormap ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) diff --git a/ros/src/computing/perception/detection/lib/libvectormap/FindEigen.cmake b/ros/src/computing/perception/detection/lib/libvectormap/FindEigen.cmake deleted file mode 100644 index b632fb7841..0000000000 --- a/ros/src/computing/perception/detection/lib/libvectormap/FindEigen.cmake +++ /dev/null @@ -1,87 +0,0 @@ -# - Try to find Eigen3 lib -# -# This module supports requiring a minimum version, e.g. you can do -# find_package(Eigen3 3.1.2) -# to require version 3.1.2 or newer of Eigen3. -# -# Once done this will define -# -# EIGEN3_FOUND - system has eigen lib with correct version -# EIGEN3_INCLUDE_DIR - the eigen include directory -# EIGEN3_VERSION - eigen version - -# Copyright (c) 2006, 2007 Montel Laurent, -# Copyright (c) 2008, 2009 Gael Guennebaud, -# Copyright (c) 2009 Benoit Jacob -# Redistribution and use is allowed according to the terms of the 2-clause BSD license. - -if(NOT Eigen3_FIND_VERSION) - if(NOT Eigen3_FIND_VERSION_MAJOR) - set(Eigen3_FIND_VERSION_MAJOR 2) - endif(NOT Eigen3_FIND_VERSION_MAJOR) - if(NOT Eigen3_FIND_VERSION_MINOR) - set(Eigen3_FIND_VERSION_MINOR 91) - endif(NOT Eigen3_FIND_VERSION_MINOR) - if(NOT Eigen3_FIND_VERSION_PATCH) - set(Eigen3_FIND_VERSION_PATCH 0) - endif(NOT Eigen3_FIND_VERSION_PATCH) - - set(Eigen3_FIND_VERSION "${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/perception/detection/lib/libvectormap/package.xml b/ros/src/computing/perception/detection/lib/libvectormap/package.xml index 9860b39b4a..fa60a9739b 100644 --- a/ros/src/computing/perception/detection/lib/libvectormap/package.xml +++ b/ros/src/computing/perception/detection/lib/libvectormap/package.xml @@ -1,14 +1,19 @@ - libvectormap - 1.6.3 - Common Library to Read Vector Map - sujiwo - BSD - catkin - vector_map - cmake_modules - cmake_modules - vector_map - + libvectormap + 1.6.3 + Common Library to Read Vector Map + sujiwo + BSD + catkin + + vector_map + cmake_modules + eigen + + cmake_modules + 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 836a27f0b1..8cac79c21d 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt @@ -1,10 +1,7 @@ cmake_minimum_required(VERSION 2.8.12) project(cv_tracker) -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) + +set(ROS_VERSION $ENV{ROS_DISTRO}) include(FindPkgConfig) @@ -111,6 +108,12 @@ ADD_DEPENDENCIES(dpm_ttic ${catkin_EXPORTED_TARGETS} ) +install(TARGETS dpm_ttic + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + ## dpm_ocv if ("${ROS_VERSION}" MATCHES "(indigo|jade)") INCLUDE_DIRECTORIES(../../lib/image/dpm_ocv/src) @@ -143,6 +146,11 @@ if ("${ROS_VERSION}" MATCHES "(indigo|jade)") ENDIF () #CUDAENDIF + install(TARGETS dpm_ocv + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) ENDIF () #ROS_VERSION_ENDIF @@ -161,6 +169,12 @@ ADD_DEPENDENCIES(range_fusion ${catkin_EXPORTED_TARGETS} ) +install(TARGETS range_fusion + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + ## kf_tracker ## if ("${ROS_VERSION}" MATCHES "(indigo|jade)") ADD_EXECUTABLE(kf_track @@ -181,6 +195,11 @@ ADD_EXECUTABLE(dummy_track TARGET_LINK_LIBRARIES(dummy_track ${catkin_LIBRARIES} ) +install(TARGETS dummy_track + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) ## obj_reproj ## ADD_EXECUTABLE(obj_reproj @@ -192,6 +211,12 @@ TARGET_LINK_LIBRARIES(obj_reproj ${OpenCV_LIBS} ) +install(TARGETS obj_reproj + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + # check whether jsk library is available or not find_package(jsk_recognition_msgs) @@ -205,7 +230,6 @@ endif (jsk_recognition_msgs_FOUND) ## klt_tracker ## ADD_EXECUTABLE(klt_track nodes/klt_track/klt_track.cpp - ) INCLUDE_DIRECTORIES(lib/lktracker) @@ -229,6 +253,12 @@ TARGET_LINK_LIBRARIES(klt_track ADD_DEPENDENCIES(klt_track ${catkin_EXPORTED_TARGETS} ) +install(TARGETS klt_track + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + ############# RCNN############# ###########################################CAFFE NEEDS TO BE PREVIOUSLY COMPILED#################### @@ -238,14 +268,6 @@ set(RCNN_CAFFE_PATH "$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 @@ -263,12 +285,18 @@ if (EXISTS "${RCNN_CAFFE_PATH}") TARGET_INCLUDE_DIRECTORIES(rcnn_msr PRIVATE ${librcnn_INCLUDE_DIRS} ${RCNN_CAFFE_PATH}/include + ${catkin_INCLUDE_DIRS} ) ADD_DEPENDENCIES(rcnn_msr ${catkin_EXPORTED_TARGETS} librcnn ) + install(TARGETS rcnn_msr + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) else () message("'FastRCNN/Caffe' are not installed. 'rcnn_msr' will not be built.") endif () @@ -279,10 +307,6 @@ set(SSD_CAFFE_PATH "$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 @@ -306,6 +330,12 @@ if (EXISTS "${SSD_CAFFE_PATH}") ADD_DEPENDENCIES(ssd_unc ${catkin_EXPORTED_TARGETS} ) + + install(TARGETS ssd_unc + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) else () message("'SSD/Caffe' is not installed. 'ssd_unc' will not be built.") endif () @@ -420,6 +450,12 @@ if (EXISTS "${YOLO2_PATH}") ${CUDA_curand_LIBRARY} ) + install(TARGETS yolo2_wa + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + else () message("'Darknet' was not found. 'yolo2_wa' will not be built.") diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/package.xml b/ros/src/computing/perception/detection/packages/cv_tracker/package.xml index 93446bac39..b889b1aba4 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/package.xml +++ b/ros/src/computing/perception/detection/packages/cv_tracker/package.xml @@ -37,6 +37,7 @@ kf_lib librcnn jsk_recognition_msgs + diff --git a/ros/src/computing/perception/detection/packages/image_segmenter/CMakeLists.txt b/ros/src/computing/perception/detection/packages/image_segmenter/CMakeLists.txt index c4e17d07df..aa2b4d5a5a 100644 --- a/ros/src/computing/perception/detection/packages/image_segmenter/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/image_segmenter/CMakeLists.txt @@ -1,38 +1,21 @@ cmake_minimum_required(VERSION 2.8.12) project(image_segmenter) -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) - -include(FindPkgConfig) -if ("${ROS_VERSION}" MATCHES "(indigo|jade)") FIND_PACKAGE(catkin REQUIRED COMPONENTS - cv_bridge - image_transport - roscpp - sensor_msgs -) -elseif ("${ROS_VERSION}" MATCHES "(kinetic)") -FIND_PACKAGE(catkin REQUIRED COMPONENTS - cv_bridge - image_transport - roscpp - sensor_msgs -) -endif() - + cv_bridge + image_transport + roscpp + sensor_msgs + ) FIND_PACKAGE(CUDA) FIND_PACKAGE(OpenCV REQUIRED) catkin_package(CATKIN_DEPENDS - cv_bridge - image_transport - roscpp - sensor_msgs -) + cv_bridge + image_transport + roscpp + sensor_msgs + ) ########### ## Build ## ########### @@ -40,7 +23,7 @@ catkin_package(CATKIN_DEPENDS SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") INCLUDE_DIRECTORIES( - ${catkin_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} ) @@ -48,32 +31,32 @@ INCLUDE_DIRECTORIES( ##############################ENet's CAFFE FORK NEEDS TO BE PREVIOUSLY COMPILED#################### set(ENET_CAFFE_PATH "$ENV{HOME}/ENet/caffe-enet/distribute") #################################################################################################### -if(EXISTS "${ENET_CAFFE_PATH}") - - ADD_EXECUTABLE(image_segmenter_enet - src/image_segmenter_enet_node.cpp - src/image_segmenter_enet.cpp - ) - - TARGET_LINK_LIBRARIES(image_segmenter_enet - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - ${CUDA_LIBRARIES} - ${CUDA_CUBLAS_LIBRARIES} - ${CUDA_curand_LIBRARY} - ${ENET_CAFFE_PATH}/lib/libcaffe.so - glog - ) - - TARGET_INCLUDE_DIRECTORIES(image_segmenter_enet PRIVATE - ${CUDA_INCLUDE_DIRS} - ${ENET_CAFFE_PATH}/include - include - ) - - ADD_DEPENDENCIES(image_segmenter_enet - ${catkin_EXPORTED_TARGETS} - ) -else() - message("'ENet/Caffe' is not installed. 'image_segmenter_enet' will not be built.") -endif() \ No newline at end of file +if (EXISTS "${ENET_CAFFE_PATH}" AND ${CUDA_FOUND}) + + ADD_EXECUTABLE(image_segmenter_enet + src/image_segmenter_enet_node.cpp + src/image_segmenter_enet.cpp + ) + + TARGET_LINK_LIBRARIES(image_segmenter_enet + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ${CUDA_LIBRARIES} + ${CUDA_CUBLAS_LIBRARIES} + ${CUDA_curand_LIBRARY} + ${ENET_CAFFE_PATH}/lib/libcaffe.so + glog + ) + + TARGET_INCLUDE_DIRECTORIES(image_segmenter_enet PRIVATE + ${CUDA_INCLUDE_DIRS} + ${ENET_CAFFE_PATH}/include + include + ) + + ADD_DEPENDENCIES(image_segmenter_enet + ${catkin_EXPORTED_TARGETS} + ) +else () + message("'ENet/Caffe' is not installed. 'image_segmenter_enet' will not be built.") +endif () \ No newline at end of file diff --git a/ros/src/computing/perception/detection/packages/image_segmenter/package.xml b/ros/src/computing/perception/detection/packages/image_segmenter/package.xml index 6263130d7a..faa1a1f45c 100644 --- a/ros/src/computing/perception/detection/packages/image_segmenter/package.xml +++ b/ros/src/computing/perception/detection/packages/image_segmenter/package.xml @@ -1,18 +1,26 @@ - image_segmenter - 1.6.3 - Image Segmentation - Abraham Monrroy - BSD - catkin - cv_bridge - image_transport - roscpp - sensor_msgs - cv_bridge - image_transport - roscpp - cv_bridge - sensor_msgs + image_segmenter + 1.6.3 + Image Segmentation + Abraham Monrroy + BSD + catkin + + cv_bridge + image_transport + roscpp + sensor_msgs + libgflags-dev + libgoogle-glog-dev + + + cv_bridge + image_transport + roscpp + cv_bridge + sensor_msgs + libgflags-dev + libgoogle-glog-dev + diff --git a/ros/src/computing/perception/detection/packages/integrated_viewer/CMakeLists.txt b/ros/src/computing/perception/detection/packages/integrated_viewer/CMakeLists.txt index 782cde7b20..0d623b5875 100644 --- a/ros/src/computing/perception/detection/packages/integrated_viewer/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/integrated_viewer/CMakeLists.txt @@ -1,69 +1,62 @@ -# cmake_minimum_required(VERSION 2.8.3) cmake_minimum_required(VERSION 2.8.7) project(integrated_viewer) -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) -#if ("${ROS_VERSION}" MATCHES "(indigo|jade)") find_package(catkin REQUIRED COMPONENTS - cv_bridge - image_transport - roscpp - sensor_msgs - std_msgs - rviz - autoware_msgs - ) + cv_bridge + image_transport + roscpp + sensor_msgs + std_msgs + rviz + autoware_msgs + ) set(CMAKE_CXX_FLAGS - "-std=c++11 -Wall ${CMAKE_CXX_FLAGS}" - ) + "-std=c++11 -Wall ${CMAKE_CXX_FLAGS}" + ) catkin_package( - DEPENDS rviz - ) - -if(rviz_QT_VERSION VERSION_LESS "5") - find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui) - include(${QT_USE_FILE}) -# Qt's user-interface compiler. - qt4_wrap_ui(UI_HEADERS - node/traffic_light_plugin/form.ui - node/image_viewer_plugin/image_viewer_form.ui - ) - -# Here we specify which header files need to be run through "moc", -# Qt's meta-object compiler. - qt4_wrap_cpp(MOC_FILES - node/traffic_light_plugin/traffic_light_plugin.h - node/image_viewer_plugin/image_viewer_plugin.h - ) -else() - find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets Quick) - set(QT_LIBRARIES Qt5::Widgets) -# Qt's user-interface compiler. - qt5_wrap_ui(UI_HEADERS - node/traffic_light_plugin/form.ui - node/image_viewer_plugin/image_viewer_form.ui - ) - -# Here we specify which header files need to be run through "moc", -# Qt's meta-object compiler. - qt5_wrap_cpp(MOC_FILES - node/traffic_light_plugin/traffic_light_plugin.h - node/image_viewer_plugin/image_viewer_plugin.h - ) -endif() + DEPENDS rviz +) + +if (rviz_QT_VERSION VERSION_LESS "5") + find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui) + include(${QT_USE_FILE}) + # Qt's user-interface compiler. + qt4_wrap_ui(UI_HEADERS + node/traffic_light_plugin/form.ui + node/image_viewer_plugin/image_viewer_form.ui + ) + + # Here we specify which header files need to be run through "moc", + # Qt's meta-object compiler. + qt4_wrap_cpp(MOC_FILES + node/traffic_light_plugin/traffic_light_plugin.h + node/image_viewer_plugin/image_viewer_plugin.h + ) +else () + find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets Quick) + set(QT_LIBRARIES Qt5::Widgets) + # Qt's user-interface compiler. + qt5_wrap_ui(UI_HEADERS + node/traffic_light_plugin/form.ui + node/image_viewer_plugin/image_viewer_form.ui + ) + + # Here we specify which header files need to be run through "moc", + # Qt's meta-object compiler. + qt5_wrap_cpp(MOC_FILES + node/traffic_light_plugin/traffic_light_plugin.h + node/image_viewer_plugin/image_viewer_plugin.h + ) +endif () include_directories( - lib/ - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_CURRENT_BINARY_DIR} - ${catkin_INCLUDE_DIRS} - include + lib/ + ${CMAKE_CURRENT_SOURCE_DIR} + ${CMAKE_CURRENT_BINARY_DIR} + ${catkin_INCLUDE_DIRS} + include ) link_directories(${catkin_LIBRARY_DIRS}) @@ -76,14 +69,14 @@ add_definitions(-DQT_NO_KEYWORDS) # Here we specify the list of source files, including the output of # the previous command which is stored in ``${MOC_FILES}`` and ``${UI_HEADERS}``. set(SOURCE_FILES - lib/convert_image.h - node/traffic_light_plugin/traffic_light_plugin.cpp - node/image_viewer_plugin/image_viewer_plugin.cpp - node/image_viewer_plugin/draw_rects.cpp - node/image_viewer_plugin/draw_points.cpp - node/image_viewer_plugin/draw_lane.cpp - ${MOC_FILES} - ${UI_HEADERS}) + lib/convert_image.h + node/traffic_light_plugin/traffic_light_plugin.cpp + node/image_viewer_plugin/image_viewer_plugin.cpp + node/image_viewer_plugin/draw_rects.cpp + node/image_viewer_plugin/draw_points.cpp + node/image_viewer_plugin/draw_lane.cpp + ${MOC_FILES} + ${UI_HEADERS}) # An rviz plugin is just a shared library, so here we declare the # library to be called ``${PROJECT_NAME}`` (which is @@ -92,19 +85,19 @@ set(SOURCE_FILES # in ``${SOURCE_FILES}``. # add_library(${PROJECT_NAME} - ${SOURCE_FILES} -) + ${SOURCE_FILES} + ) set_target_properties(${PROJECT_NAME} - PROPERTIES - COMPILE_FLAGS - "-DIMAGE_VIEWER_DEFAULT_IMAGE=${CMAKE_CURRENT_SOURCE_DIR}/node/image_viewer_plugin/autoware_logo.png" -) + PROPERTIES + COMPILE_FLAGS + "-DIMAGE_VIEWER_DEFAULT_IMAGE=${CMAKE_CURRENT_SOURCE_DIR}/node/image_viewer_plugin/autoware_logo.png" + ) ## Specify libraries to link a library or executable target against target_link_libraries(${PROJECT_NAME} - ${QT_LIBRARIES} - ${catkin_LIBRARIES}) + ${QT_LIBRARIES} + ${catkin_LIBRARIES}) ############# @@ -112,15 +105,15 @@ target_link_libraries(${PROJECT_NAME} ############# ## Mark executables and/or libraries for installation install(TARGETS ${PROJECT_NAME} - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) ## Mark other files for installation (e.g. launch and bag files, etc.) install(FILES rviz_plugin_description.xml - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) add_dependencies(${PROJECT_NAME} - ${catkin_EXPORTED_TARGETS} -) + ${catkin_EXPORTED_TARGETS} + ) #endif() 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 e090b90131..3acb4b1e70 100644 --- a/ros/src/computing/perception/detection/packages/integrated_viewer/package.xml +++ b/ros/src/computing/perception/detection/packages/integrated_viewer/package.xml @@ -13,12 +13,20 @@ std_msgs rviz qtbase5-dev + cv_bridge + image_transport + roscpp + sensor_msgs autoware_msgs std_msgs rviz libqt5-core libqt5-widgets + cv_bridge + image_transport + roscpp + sensor_msgs diff --git a/ros/src/computing/perception/detection/packages/lane_detector/CMakeLists.txt b/ros/src/computing/perception/detection/packages/lane_detector/CMakeLists.txt index 01d37cf1d4..98316b6297 100644 --- a/ros/src/computing/perception/detection/packages/lane_detector/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/lane_detector/CMakeLists.txt @@ -2,11 +2,11 @@ cmake_minimum_required(VERSION 2.8.3) project(lane_detector) find_package(catkin REQUIRED COMPONENTS - cv_bridge - image_transport - roscpp - autoware_msgs -) + cv_bridge + image_transport + roscpp + autoware_msgs + ) find_package(OpenCV REQUIRED) ################################### @@ -14,10 +14,10 @@ find_package(OpenCV REQUIRED) ################################### catkin_package( -# INCLUDE_DIRS include -# LIBRARIES lane_detector - CATKIN_DEPENDS roscpp message_runtime -# DEPENDS system_lib + # INCLUDE_DIRS include + # LIBRARIES lane_detector + CATKIN_DEPENDS roscpp + # DEPENDS system_lib ) ########### @@ -25,19 +25,25 @@ catkin_package( ########### include_directories( - ${catkin_INCLUDE_DIRS} - nodes/lane_detector - ${OpenCV_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + nodes/lane_detector + ${OpenCV_INCLUDE_DIRS} ) add_executable(lane_detector - nodes/lane_detector/lane_detector.cpp -) + nodes/lane_detector/lane_detector.cpp + ) target_link_libraries(lane_detector - ${catkin_LIBRARIES} - opencv_highgui opencv_core opencv_imgproc m -) -add_dependencies(lane_detector - ${catkin_EXPORTED_TARGETS} -) + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) +add_dependencies(lane_detector + ${catkin_EXPORTED_TARGETS} + ) + +install(TARGETS lane_detector + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) \ No newline at end of file diff --git a/ros/src/computing/perception/detection/packages/lane_detector/package.xml b/ros/src/computing/perception/detection/packages/lane_detector/package.xml index 9450c8bf30..d707aceb03 100644 --- a/ros/src/computing/perception/detection/packages/lane_detector/package.xml +++ b/ros/src/computing/perception/detection/packages/lane_detector/package.xml @@ -1,20 +1,21 @@ - lane_detector - 1.6.3 - The lane_detector package - Syoeh YOSHIDA - BSD - catkin - roscpp - message_generation - std_msgs - sensor_msgs - autoware_msgs - roscpp - message_runtime - std_msgs - sensor_msgs - - + lane_detector + 1.6.3 + The lane_detector package + Syoeh YOSHIDA + BSD + catkin + + roscpp + cv_bridge + image_transport + autoware_msgs + + roscpp + cv_bridge + image_transport + sensor_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 320bb57a6e..ff7d9acf81 100644 --- a/ros/src/computing/perception/detection/packages/lidar_tracker/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/lidar_tracker/CMakeLists.txt @@ -34,11 +34,7 @@ find_package(Qt5Core REQUIRED) find_package(Qt5Widgets REQUIRED) find_package(OpenMP) -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) +set(ROS_VERSION $ENV{ROS_DISTRO}) find_package(OpenCV REQUIRED) @@ -134,11 +130,11 @@ execute_process( ) #set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall -Wno-unused-result -DROS ${CMAKE_CXX_FLAGS}") - -if (EXISTS "/usr/local/cuda") +FIND_PACKAGE(CUDA) +if (${CUDA_FOUND}) include_directories( ${catkin_INCLUDE_DIRS} - "/usr/local/cuda/include" + ${CUDA_INCLUDE_DIRS} ) if ("${ARCHITECTURE}" MATCHES "^arm") 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 94a36caf8a..7adcd2ef10 100644 --- a/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/road_wizard/CMakeLists.txt @@ -1,30 +1,37 @@ cmake_minimum_required(VERSION 2.8.3) project(road_wizard) -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) -include(FindPkgConfig) +set(ROS_VERSION $ENV{ROS_DISTRO}) + find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs + autoware_msgs + cmake_modules cv_bridge + geometry_msgs + libvectormap + roscpp sensor_msgs + std_msgs tf - libvectormap - runtime_manager + vector_map vector_map_server - geometry_msgs + visualization_msgs waypoint_follower - cmake_modules - autoware_msgs ) -find_package(OpenCV REQUIRED) -find_package(cmake_modules REQUIRED) -find_package(Eigen REQUIRED) +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 () set(CMAKE_AUTOMOC ON) set(CMAKE_AUTOUIC ON) @@ -40,12 +47,26 @@ find_package(Qt5Widgets REQUIRED) include_directories( include ${catkin_INCLUDE_DIRS} - ${Eigen_INCLUDE_DIRS} + ${Eigen3_INCLUDE_DIRS} ) catkin_package( - INCLUDE_DIRS ${Eigen_INCLUDE_DIRS} - CATKIN_DEPENDS std_msgs message_runtime geometry_msgs vector_map_server libvectormap autoware_msgs + INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS} + CATKIN_DEPENDS + autoware_msgs + cmake_modules + cv_bridge + geometry_msgs + libvectormap + roscpp + sensor_msgs + std_msgs + tf + vector_map + vector_map_server + visualization_msgs + + LIBRARIES libcontext ) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall -Wunused-variable ${CMAKE_CXX_FLAGS}") @@ -60,16 +81,16 @@ add_dependencies(libcontext ### tl_switch ### add_executable(tl_switch - nodes/tl_switch/tl_switch.cpp - ) + nodes/tl_switch/tl_switch.cpp + ) target_link_libraries(tl_switch - ${catkin_LIBRARIES} -) + ${catkin_LIBRARIES} + ) add_dependencies(tl_switch - ${catkin_EXPORTED_TARGETS} -) + ${catkin_EXPORTED_TARGETS} + ) ### region_tlr ### add_executable(region_tlr @@ -90,8 +111,7 @@ add_dependencies(region_tlr ### feat_proj ### include_directories( ${catkin_INCLUDE_DIRS} - ${Eigen_INCLUDE_DIRS} - ${libvectormap_INCLUDE_DIRS} + ${Eigen3_INCLUDE_DIRS} ) add_executable(feat_proj @@ -100,9 +120,7 @@ add_executable(feat_proj target_link_libraries(feat_proj ${catkin_LIBRARIES} - ${libvectormap_LIBRARIES} ${OpenCV_LIBS} - vector_map ) add_dependencies(feat_proj @@ -213,80 +231,109 @@ target_link_libraries(label_maker ##############################SSD'sFORK of CAFFE NEEDS TO BE PREVIOUSLY COMPILED#################### set(SSD_CAFFE_PATH "$ENV{HOME}/ssdcaffe/distribute") #################################################################################################### -if(EXISTS "${SSD_CAFFE_PATH}") - -find_package(CUDA REQUIRED) - -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) + + 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} + ) + + install(TARGETS region_tlr_ssd + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +else () # if(EXISTS "${SSD_CAFFE_PATH}") + message("'SSD/Caffe' is not installed. 'region_tlr_ssd' will not be built.") +endif () # if(EXISTS "${SSD_CAFFE_PATH}") + + +install(TARGETS region_tlr feat_proj tlr_tuner roi_extractor label_maker + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +install(DIRECTORY include + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE + ) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) + ### region_tlr_mxnet ### ##############################MXNET with CPP_PACKAGE NEEDS TO BE PREVIOUSLY COMPILED################ #############Please follow README file for instructions############################################# set(MXNET_PATH "$ENV{HOME}/mxnet/") #################################################################################################### -if(EXISTS "${MXNET_PATH}") - - find_package(CUDA REQUIRED) - - add_executable(region_tlr_mxnet - nodes/region_tlr_mxnet/region_tlr_mxnet.cpp - nodes/region_tlr_mxnet/mxnet_traffic_light_recognizer.cpp - nodes/region_tlr_mxnet/region_tlr_mxnet.h - nodes/region_tlr_mxnet/mxnet_traffic_light_recognizer.h - ) - - target_link_libraries(region_tlr_mxnet - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - ${CUDA_LIBRARIES} - ${CUDA_CUBLAS_LIBRARIES} - ${CUDA_curand_LIBRARY} - ${MXNET_PATH}/lib/libmxnet.so - libcontext - ) - - target_include_directories(region_tlr_mxnet PRIVATE - ${MXNET_PATH}/nnvm/include/ - ${MXNET_PATH}/cpp-package/include/ - ${MXNET_PATH}/include/ - ${MXNET_PATH}/dmlc-core/include/ - ${CUDA_INCLUDE_DIRS} - nodes/region_tlr_mxnet/ - include - ) - - add_dependencies(region_tlr_mxnet - ${catkin_EXPORTED_TARGETS} - ) - -else() - message("'MXNET Package' is not installed. 'region_tlr_mxnet' will not be built.") -endif() +if (EXISTS "${MXNET_PATH}") + + find_package(CUDA REQUIRED) + + add_executable(region_tlr_mxnet + nodes/region_tlr_mxnet/region_tlr_mxnet.cpp + nodes/region_tlr_mxnet/mxnet_traffic_light_recognizer.cpp + nodes/region_tlr_mxnet/region_tlr_mxnet.h + nodes/region_tlr_mxnet/mxnet_traffic_light_recognizer.h + ) + + target_link_libraries(region_tlr_mxnet + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ${CUDA_LIBRARIES} + ${CUDA_CUBLAS_LIBRARIES} + ${CUDA_curand_LIBRARY} + ${MXNET_PATH}/lib/libmxnet.so + libcontext + ) + + target_include_directories(region_tlr_mxnet PRIVATE + ${MXNET_PATH}/nnvm/include/ + ${MXNET_PATH}/cpp-package/include/ + ${MXNET_PATH}/include/ + ${MXNET_PATH}/dmlc-core/include/ + ${CUDA_INCLUDE_DIRS} + nodes/region_tlr_mxnet/ + include + ) + + add_dependencies(region_tlr_mxnet + ${catkin_EXPORTED_TARGETS} + ) + + install(TARGETS region_tlr_mxnet + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +else () + message("'MXNET Package' is not installed. 'region_tlr_mxnet' will not be built.") +endif () 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 f8e3e84fc0..620d182b39 100644 --- a/ros/src/computing/perception/detection/packages/road_wizard/package.xml +++ b/ros/src/computing/perception/detection/packages/road_wizard/package.xml @@ -13,14 +13,21 @@ vector_map_server geometry_msgs waypoint_follower - cmake_modules qtbase5-dev + cv_bridge + cmake_modules + eigen + libvectormap + roscpp + sensor_msgs + tf + vector_map + visualization_msgs cmake_modules runtime_manager std_msgs message_runtime - libvectormap autoware_msgs vector_map_server geometry_msgs @@ -28,6 +35,14 @@ libqt5-core libqt5-gui libqt5-widgets + cv_bridge + eigen + libvectormap + roscpp + sensor_msgs + tf + vector_map + visualization_msgs diff --git a/ros/src/computing/perception/detection/packages/viewers/CMakeLists.txt b/ros/src/computing/perception/detection/packages/viewers/CMakeLists.txt index 2debe897cb..b68bb6b674 100644 --- a/ros/src/computing/perception/detection/packages/viewers/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/viewers/CMakeLists.txt @@ -1,102 +1,114 @@ cmake_minimum_required(VERSION 2.8.3) project(viewers) -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) + +set(ROS_VERSION $ENV{ROS_DISTRO}) if ("${ROS_VERSION}" MATCHES "(indigo|jade)") -find_package(catkin REQUIRED COMPONENTS - cv_bridge - image_transport - roscpp - sensor_msgs - std_msgs - autoware_msgs -) - -set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") -find_package(OpenCV REQUIRED) - -################################### -## catkin specific configuration ## -################################### -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES debug - CATKIN_DEPENDS std_msgs message_runtime autoware_msgs -# DEPENDS system_lib -) - -########### -## Build ## -########### - -add_executable(image_viewer nodes/image_viewer/image_viewer.cpp) -target_link_libraries(image_viewer - ${catkin_LIBRARIES} - opencv_highgui opencv_core opencv_imgproc -) -add_dependencies(image_viewer ${catkin_EXPORTED_TARGETS}) - -add_executable(scan_image_viewer nodes/scan_image_viewer/scan_image_viewer.cpp) -target_link_libraries(scan_image_viewer - ${catkin_LIBRARIES} - opencv_highgui opencv_core opencv_imgproc -) -add_dependencies(scan_image_viewer ${catkin_EXPORTED_TARGETS}) - -add_executable(scan_image_d_viewer nodes/scan_image_d_viewer/scan_image_d_viewer.cpp) -target_link_libraries(scan_image_d_viewer - ${catkin_LIBRARIES} - opencv_highgui opencv_core opencv_imgproc -) -add_dependencies(scan_image_d_viewer ${catkin_EXPORTED_TARGETS}) - -add_executable(points_image_viewer nodes/points_image_viewer/points_image_viewer.cpp) -target_link_libraries(points_image_viewer - ${catkin_LIBRARIES} - opencv_highgui opencv_core opencv_imgproc -) -add_dependencies(points_image_viewer ${catkin_EXPORTED_TARGETS}) - -add_executable(image_d_viewer nodes/image_d_viewer/image_d_viewer.cpp) -target_link_libraries(image_d_viewer - ${catkin_LIBRARIES} - opencv_highgui opencv_core opencv_imgproc -) -add_dependencies(image_d_viewer ${catkin_EXPORTED_TARGETS}) - -add_executable(points_image_d_viewer nodes/points_image_d_viewer/points_image_d_viewer.cpp) -target_link_libraries(points_image_d_viewer - ${catkin_LIBRARIES} - opencv_highgui opencv_core opencv_imgproc -) -add_dependencies(points_image_d_viewer ${catkin_EXPORTED_TARGETS}) - -add_executable(vscan_image_viewer nodes/vscan_image_viewer/vscan_image_viewer.cpp) -target_link_libraries(vscan_image_viewer - ${catkin_LIBRARIES} - opencv_highgui opencv_core opencv_imgproc -) -add_dependencies(vscan_image_viewer ${catkin_EXPORTED_TARGETS}) - -add_executable(vscan_image_d_viewer nodes/vscan_image_d_viewer/vscan_image_d_viewer.cpp) -target_link_libraries(vscan_image_d_viewer - ${catkin_LIBRARIES} - opencv_highgui opencv_core opencv_imgproc -) -add_dependencies(vscan_image_d_viewer ${catkin_EXPORTED_TARGETS}) - -include_directories( - ${catkin_INCLUDE_DIRS} - include -) -add_executable(traffic_light_viewer nodes/traffic_light_viewer/traffic_light_viewer.cpp) -target_link_libraries(traffic_light_viewer - ${catkin_LIBRARIES} - opencv_highgui opencv_core opencv_imgproc -) -add_dependencies(traffic_light_viewer ${catkin_EXPORTED_TARGETS}) -endif() + find_package(catkin REQUIRED COMPONENTS + cv_bridge + image_transport + roscpp + sensor_msgs + std_msgs + autoware_msgs + ) + + set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") + find_package(OpenCV REQUIRED) + + ################################### + ## catkin specific configuration ## + ################################### + catkin_package( + # INCLUDE_DIRS include + # LIBRARIES debug + CATKIN_DEPENDS std_msgs autoware_msgs + # DEPENDS system_lib + ) + + ########### + ## Build ## + ########### + + add_executable(image_viewer nodes/image_viewer/image_viewer.cpp) + target_link_libraries(image_viewer + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) + add_dependencies(image_viewer ${catkin_EXPORTED_TARGETS}) + + add_executable(scan_image_viewer nodes/scan_image_viewer/scan_image_viewer.cpp) + target_link_libraries(scan_image_viewer + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) + add_dependencies(scan_image_viewer ${catkin_EXPORTED_TARGETS}) + + add_executable(scan_image_d_viewer nodes/scan_image_d_viewer/scan_image_d_viewer.cpp) + target_link_libraries(scan_image_d_viewer + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) + add_dependencies(scan_image_d_viewer ${catkin_EXPORTED_TARGETS}) + + add_executable(points_image_viewer nodes/points_image_viewer/points_image_viewer.cpp) + target_link_libraries(points_image_viewer + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) + add_dependencies(points_image_viewer ${catkin_EXPORTED_TARGETS}) + + add_executable(image_d_viewer nodes/image_d_viewer/image_d_viewer.cpp) + target_link_libraries(image_d_viewer + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) + add_dependencies(image_d_viewer ${catkin_EXPORTED_TARGETS}) + + add_executable(points_image_d_viewer nodes/points_image_d_viewer/points_image_d_viewer.cpp) + target_link_libraries(points_image_d_viewer + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) + add_dependencies(points_image_d_viewer ${catkin_EXPORTED_TARGETS}) + + add_executable(vscan_image_viewer nodes/vscan_image_viewer/vscan_image_viewer.cpp) + target_link_libraries(vscan_image_viewer + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) + add_dependencies(vscan_image_viewer ${catkin_EXPORTED_TARGETS}) + + add_executable(vscan_image_d_viewer nodes/vscan_image_d_viewer/vscan_image_d_viewer.cpp) + target_link_libraries(vscan_image_d_viewer + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) + add_dependencies(vscan_image_d_viewer ${catkin_EXPORTED_TARGETS}) + + include_directories( + ${catkin_INCLUDE_DIRS} + include + ) + add_executable(traffic_light_viewer nodes/traffic_light_viewer/traffic_light_viewer.cpp) + target_link_libraries(traffic_light_viewer + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) + add_dependencies(traffic_light_viewer ${catkin_EXPORTED_TARGETS}) + + install(TARGETS + image_viewer + traffic_light_viewer + vscan_image_d_viewer + points_image_d_viewer + image_d_viewer + scan_image_d_viewer + scan_image_viewer + image_viewer + + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) + +endif () diff --git a/ros/src/computing/perception/detection/packages/viewers/package.xml b/ros/src/computing/perception/detection/packages/viewers/package.xml index b2734f3dc4..6ac5d126ee 100644 --- a/ros/src/computing/perception/detection/packages/viewers/package.xml +++ b/ros/src/computing/perception/detection/packages/viewers/package.xml @@ -7,14 +7,20 @@ BSD catkin + cv_bridge + image_transport + roscpp + sensor_msgs std_msgs - message_runtime autoware_msgs - + cv_bridge + image_transport + roscpp + sensor_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 38d085d255..a182ec7934 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 @@ -1,46 +1,66 @@ cmake_minimum_required(VERSION 2.8.3) project(ndt_cpu) -find_package(catkin REQUIRED COMPONENTS - velodyne_pointcloud -) +find_package(catkin REQUIRED COMPONENTS velodyne_pointcloud) find_package(PCL REQUIRED) - - -set(SUBSYS_NAME ndt_cpu) -set(SUBSYS_DESC "Point cloud ndt cpu library for testing") -set(SUBSYS_DEPS common) -set(LIB_NAME "fast_pcl_ndt_cpu") - +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 () + catkin_package( - INCLUDE_DIRS include - LIBRARIES ${LIB_NAME} + INCLUDE_DIRS include + LIBRARIES ndt_cpu #The exported libraries from the project + DEPENDS PCL + CATKIN_DEPENDS velodyne_pointcloud ) include_directories( - ${PCL_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} - "${CMAKE_CURRENT_SOURCE_DIR}/include" + ${PCL_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + "${CMAKE_CURRENT_SOURCE_DIR}/include" + ${EIGEN3_INCLUDE_DIRS} ) set(srcs - src/NormalDistributionsTransform.cpp - src/Registration.cpp - src/VoxelGrid.cpp - src/Octree.cpp -) - + src/NormalDistributionsTransform.cpp + src/Registration.cpp + src/VoxelGrid.cpp + src/Octree.cpp + ) + set(incs - include/fast_pcl/ndt_cpu/debug.h - include/fast_pcl/ndt_cpu/NormalDistributionsTransform.h - include/fast_pcl/ndt_cpu/Registration.h - include/fast_pcl/ndt_cpu/SymmetricEigenSolver.h - include/fast_pcl/ndt_cpu/VoxelGrid.h - include/fast_pcl/ndt_cpu/Octree.h -) + include/fast_pcl/ndt_cpu/debug.h + include/fast_pcl/ndt_cpu/NormalDistributionsTransform.h + include/fast_pcl/ndt_cpu/Registration.h + include/fast_pcl/ndt_cpu/SymmetricEigenSolver.h + include/fast_pcl/ndt_cpu/VoxelGrid.h + include/fast_pcl/ndt_cpu/Octree.h + ) + +add_library(ndt_cpu ${incs} ${srcs}) + +target_link_libraries(ndt_cpu + ${PCL_LIBRARIES} + ${catkin_LIBRARIES} + ) -add_library("${LIB_NAME}" ${incs} ${srcs}) - -target_link_libraries("${LIB_NAME}" ${PCL_LIBRRIES}) +install(TARGETS ndt_cpu + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) +install(DIRECTORY include/fast_pcl/ndt_cpu/ + DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE + ) \ No newline at end of file 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 f30fd19860..e81330afbd 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 @@ -1,14 +1,19 @@ - ndt_cpu - 1.6.3 - The ndt_cpu package - Yuki Kitsukawa - Anh Viet Nguyen - BSD - catkin - velodyne_pointcloud - velodyne_pointcloud - - - + ndt_cpu + 1.6.3 + The ndt_cpu package + Yuki Kitsukawa + Anh Viet Nguyen + BSD + catkin + + velodyne_pointcloud + libpcl-all-dev + + velodyne_pointcloud + libpcl-all + + + + \ No newline at end of file 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 353d4f561c..fe3458fd37 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 @@ -1,83 +1,100 @@ cmake_minimum_required(VERSION 2.8.3) project(ndt_gpu) -find_package(catkin REQUIRED COMPONENTS - velodyne_pointcloud -) +find_package(catkin REQUIRED COMPONENTS velodyne_pointcloud) find_package(PCL REQUIRED) find_package(CUDA) +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 ${EIGEN3_INCLUDE_DIR}) +endif () + if (CUDA_FOUND) - set_directory_properties(PROPERTIES COMPILE_DEFINITIONS "") - - if(NOT DEFINED CUDA_CAPABILITY_VERSION_CHECKER) - set(CUDA_CAPABILITY_VERSION_CHECKER - "${CATKIN_DEVEL_PREFIX}/lib/capability_version_checker") - endif() - - execute_process( - COMMAND ${CUDA_CAPABILITY_VERSION_CHECKER} - OUTPUT_VARIABLE CUDA_CAPABILITY_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE + set_directory_properties(PROPERTIES COMPILE_DEFINITIONS "") + + if (NOT DEFINED CUDA_CAPABILITY_VERSION_CHECKER) + set(CUDA_CAPABILITY_VERSION_CHECKER + "${CATKIN_DEVEL_PREFIX}/lib/capability_version_checker") + endif () + + 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 () + + set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-arch=${CUDA_ARCH};-std=c++11;--ptxas-options=-v) + + set(SUBSYS_DESC "Point cloud ndt gpu library") + + catkin_package( + DEPENDS PCL #Non-catkin CMake projects + CATKIN_DEPENDS velodyne_pointcloud #Other catkin projects that this project depends on + INCLUDE_DIRS include #The exported include paths + LIBRARIES ndt_gpu #The exported libraries from the project ) - - if("${CUDA_CAPABILITY_VERSION}" MATCHES "^[1-9][0-9]+$") - set(CUDA_ARCH "sm_${CUDA_CAPABILITY_VERSION}") - else() - set(CUDA_ARCH "sm_52") - endif() - - set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-arch=${CUDA_ARCH};-std=c++11;--ptxas-options=-v) - - set(SUBSYS_NAME ndt_gpu) - set(SUBSYS_DESC "Point cloud ndt gpu library") - set(SUBSYS_DEPS common) - set(LIB_NAME "fast_pcl_ndt_gpu") - - catkin_package( - INCLUDE_DIRS include - LIBRARIES ${LIB_NAME} - ) - - include_directories( - ${PCL_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} - ${CUDA_INCLUDE_DIRS} - "${CMAKE_CURRENT_SOURCE_DIR}/include" - ) - - set(srcs - src/MatrixDevice.cu - src/MatrixHost.cu - src/NormalDistributionsTransform.cu - src/Registration.cu - src/VoxelGrid.cu - src/SymmetricEigenSolver.cu - ) - - set(incs - include/fast_pcl/ndt_gpu/common.h - include/fast_pcl/ndt_gpu/debug.h - include/fast_pcl/ndt_gpu/Matrix.h - include/fast_pcl/ndt_gpu/MatrixDevice.h - include/fast_pcl/ndt_gpu/MatrixHost.h - include/fast_pcl/ndt_gpu/NormalDistributionsTransform.h - include/fast_pcl/ndt_gpu/Registration.h - include/fast_pcl/ndt_gpu/SymmetricEigenSolver.h - include/fast_pcl/ndt_gpu/VoxelGrid.h - ) - - cuda_add_library("${LIB_NAME}" ${srcs} ${incs}) - - target_include_directories("${LIB_NAME}" PRIVATE - ${CUDA_INCLUDE_DIRS} - ) - - target_link_libraries("${LIB_NAME}" - ${CUDA_LIBRARIES} - ${CUDA_CUBLAS_LIBRARIES} - ${CUDA_curand_LIBRARY}) - -else() - message("fast_pcl ndt_gpu requires CUDA") -endif() + + include_directories( + ${PCL_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + ${CUDA_INCLUDE_DIRS} + "${CMAKE_CURRENT_SOURCE_DIR}/include" + ${EIGEN3_INCLUDE_DIRS} + ) + + set(srcs + src/MatrixDevice.cu + src/MatrixHost.cu + src/NormalDistributionsTransform.cu + src/Registration.cu + src/VoxelGrid.cu + src/SymmetricEigenSolver.cu + ) + + set(incs + include/fast_pcl/ndt_gpu/common.h + include/fast_pcl/ndt_gpu/debug.h + include/fast_pcl/ndt_gpu/Matrix.h + include/fast_pcl/ndt_gpu/MatrixDevice.h + include/fast_pcl/ndt_gpu/MatrixHost.h + include/fast_pcl/ndt_gpu/NormalDistributionsTransform.h + include/fast_pcl/ndt_gpu/Registration.h + include/fast_pcl/ndt_gpu/SymmetricEigenSolver.h + include/fast_pcl/ndt_gpu/VoxelGrid.h + ) + + cuda_add_library(ndt_gpu ${srcs} ${incs}) + + target_link_libraries(ndt_gpu + ${CUDA_LIBRARIES} + ${CUDA_CUBLAS_LIBRARIES} + ${CUDA_curand_LIBRARY} + ${PCL_LIBRARIES} + ) + + install(TARGETS ndt_gpu + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + + install(DIRECTORY include/fast_pcl/ndt_gpu/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE) + +else () + message("ndt_gpu will not be built, CUDA was not found.") +endif () \ No newline at end of file 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 5ede808084..888dbf4c64 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 @@ -1,14 +1,19 @@ - ndt_gpu - 1.6.3 - The ndt_gpu package - Yuki Kitsukawa - Anh Viet Nguyen - BSD - catkin - velodyne_pointcloud - velodyne_pointcloud - - + ndt_gpu + 1.6.3 + The ndt_gpu package + Yuki Kitsukawa + Anh Viet Nguyen + BSD + catkin + + velodyne_pointcloud + libpcl-all-dev + + velodyne_pointcloud + libpcl-all + + + diff --git a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt index f0aa2742a7..6490e0febc 100644 --- a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt @@ -3,41 +3,34 @@ project(gnss) find_package(catkin REQUIRED) -################################### -## catkin specific configuration ## -################################### - catkin_package( - INCLUDE_DIRS include/gnss - LIBRARIES gnss -# CATKIN_DEPENDS other_catkin_pkg -# DEPENDS system_lib + INCLUDE_DIRS include/gnss + LIBRARIES gnss ) -########### -## Build ## -########### - include_directories( - include/gnss + include/gnss + ${catkin_INCLUDE_DIRS} ) add_library(gnss - src/geo_pos_conv.cpp -) + src/geo_pos_conv.cpp + ) + +target_link_libraries(gnss + ${catkin_LIBRARIES} + ) -############# -## Install ## -############# install( - DIRECTORY include/gnss - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.hh" + DIRECTORY include/gnss + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.hh" ) ## Install executables and/or libraries install(TARGETS gnss - 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/computing/perception/localization/lib/ndt_tku/CMakeLists.txt b/ros/src/computing/perception/localization/lib/ndt_tku/CMakeLists.txt index 6fcc0947e3..8cb743759b 100644 --- a/ros/src/computing/perception/localization/lib/ndt_tku/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/ndt_tku/CMakeLists.txt @@ -4,33 +4,37 @@ project(ndt_tku) ################################### ## catkin specific configuration ## ################################### -find_package(catkin REQUIRED COMPONENTS - roscpp - ) +find_package(catkin REQUIRED COMPONENTS) catkin_package( - INCLUDE_DIRS include - LIBRARIES ndt_tku -# CATKIN_DEPENDS other_catkin_pkg -# DEPENDS system_lib + INCLUDE_DIRS include + LIBRARIES ndt_tku ) -########### -## Build ## -########### +find_package(GLUT REQUIRED) include_directories( - include + include + ${catkin_INCLUDE_DIRS} + ${GLUT_INCLUDE_DIRS} ) -add_library(ndt_tku src/algebra.cpp src/newton.cpp src/manage_ND.cpp) +add_library(ndt_tku + src/algebra.cpp + src/newton.cpp + src/manage_ND.cpp + ) + +target_link_libraries(ndt_tku + ${catkin_LIBRARIES} + ${GLUT_LIBRARIES}) -############# -## Install ## -############# +install(TARGETS ndt_tku + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) -#install( -# DIRECTORY include -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.hh" -#) +install(DIRECTORY include/ + DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE + ) \ No newline at end of file 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 c541aec508..436882d2a5 100644 --- a/ros/src/computing/perception/localization/lib/ndt_tku/package.xml +++ b/ros/src/computing/perception/localization/lib/ndt_tku/package.xml @@ -6,7 +6,8 @@ Yuki Kitsukawa BSD catkin - roscpp + glut + glut diff --git a/ros/src/computing/perception/localization/packages/autoware_connector/CMakeLists.txt b/ros/src/computing/perception/localization/packages/autoware_connector/CMakeLists.txt index 9cdd32aec3..8d8aafcdb5 100644 --- a/ros/src/computing/perception/localization/packages/autoware_connector/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/autoware_connector/CMakeLists.txt @@ -1,56 +1,40 @@ cmake_minimum_required(VERSION 2.8.3) project(autoware_connector) -## 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 - roscpp - tf - geometry_msgs - autoware_msgs - nav_msgs - std_msgs -) + roscpp + tf + geometry_msgs + autoware_msgs + nav_msgs + std_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 twist_pose_selector -# CATKIN_DEPENDS geometry_msgs roscpp -# DEPENDS system_lib ) -########### -## 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} ) -add_executable(can_info_translator nodes/can_info_translator/can_info_translator_node.cpp - nodes/can_info_translator/can_info_translator_core.cpp) -target_link_libraries(can_info_translator ${catkin_LIBRARIES}) -add_dependencies(can_info_translator ${catkin_EXPORTED_TARGETS}) +add_executable(can_info_translator + nodes/can_info_translator/can_info_translator_node.cpp + nodes/can_info_translator/can_info_translator_core.cpp + ) + +target_link_libraries(can_info_translator + ${catkin_LIBRARIES} + ) +add_dependencies(can_info_translator + ${catkin_EXPORTED_TARGETS} + ) install(TARGETS can_info_translator - 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 launch/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch - PATTERN ".svn" EXCLUDE) + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/perception/localization/packages/autoware_connector/package.xml b/ros/src/computing/perception/localization/packages/autoware_connector/package.xml index 5016dc1d4e..50df9e34c8 100644 --- a/ros/src/computing/perception/localization/packages/autoware_connector/package.xml +++ b/ros/src/computing/perception/localization/packages/autoware_connector/package.xml @@ -1,22 +1,24 @@ - autoware_connector - 1.6.3 - The autoware_connector package - h_ohta - BSD - catkin - roscpp - geometry_msgs - autoware_msgs - nav_msgs - std_msgs - roscpp - geometry_msgs - autoware_msgs - nav_msgs - std_msgs + autoware_connector + 1.6.3 + The autoware_connector package + h_ohta + BSD + catkin - - + roscpp + geometry_msgs + autoware_msgs + nav_msgs + std_msgs + + roscpp + geometry_msgs + autoware_msgs + nav_msgs + std_msgs + + + diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt index d8eaa06150..a8cbacadef 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt @@ -2,38 +2,47 @@ cmake_minimum_required(VERSION 2.8.3) project(gnss_localizer) find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - nmea_msgs - tf - gnss -) + roscpp + std_msgs + nmea_msgs + tf + gnss + ) -################################### -## catkin specific configuration ## -################################### catkin_package( -# INCLUDE_DIRS include -# LIBRARIES lane_follower - CATKIN_DEPENDS roscpp std_msgs nmea_msgs tf - DEPENDS gnss + CATKIN_DEPENDS roscpp std_msgs nmea_msgs tf + DEPENDS gnss ) -########### -## Build ## -########### SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") -## 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} ) -add_executable(fix2tfpose nodes/fix2tfpose/fix2tfpose.cpp) -target_link_libraries(fix2tfpose ${catkin_LIBRARIES}) +add_executable(fix2tfpose + nodes/fix2tfpose/fix2tfpose.cpp + ) + +target_link_libraries(fix2tfpose + ${catkin_LIBRARIES} + ) + +add_executable(nmea2tfpose + nodes/nmea2tfpose/nmea2tfpose_core.cpp + nodes/nmea2tfpose/nmea2tfpose_node.cpp + ) + +target_link_libraries(nmea2tfpose + ${catkin_LIBRARIES} + ) + +install(TARGETS nmea2tfpose fix2tfpose + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) -add_executable(nmea2tfpose nodes/nmea2tfpose/nmea2tfpose_core.cpp nodes/nmea2tfpose/nmea2tfpose_node.cpp) -target_link_libraries(nmea2tfpose ${catkin_LIBRARIES}) +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) \ No newline at end of file diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/package.xml b/ros/src/computing/perception/localization/packages/gnss_localizer/package.xml index 65d032e61a..57b29d70f2 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/package.xml +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/package.xml @@ -1,23 +1,24 @@ - gnss_localizer - 1.6.3 - The gnss_localizer package - h_ohta - BSD - catkin - - roscpp - std_msgs - nmea_msgs - tf - gnss - roscpp - std_msgs - nmea_msgs - tf - gnss + gnss_localizer + 1.6.3 + The gnss_localizer package + h_ohta + BSD + catkin - - + roscpp + std_msgs + nmea_msgs + tf + gnss + + roscpp + std_msgs + nmea_msgs + tf + gnss + + + 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 93e44b992e..1effd28e33 100644 --- a/ros/src/computing/perception/localization/packages/icp_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/icp_localizer/CMakeLists.txt @@ -9,7 +9,6 @@ find_package(catkin REQUIRED COMPONENTS velodyne_pointcloud ) - ################################### ## catkin specific configuration ## ################################### @@ -31,3 +30,11 @@ target_link_libraries(icp_matching ${catkin_LIBRARIES}) add_dependencies(icp_matching ${catkin_EXPORTED_TARGETS}) +install(TARGETS icp_matching + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) \ No newline at end of file diff --git a/ros/src/computing/perception/localization/packages/icp_localizer/package.xml b/ros/src/computing/perception/localization/packages/icp_localizer/package.xml index abea87cfe7..16750486c1 100644 --- a/ros/src/computing/perception/localization/packages/icp_localizer/package.xml +++ b/ros/src/computing/perception/localization/packages/icp_localizer/package.xml @@ -1,16 +1,28 @@ - icp_localizer - 1.6.3 - The icp_localizer package - kitsukawa - BSD - catkin - std_msgs - velodyne_pointcloud - autoware_msgs - std_msgs - autoware_msgs - - + icp_localizer + 1.6.3 + The icp_localizer package + kitsukawa + BSD + catkin + + std_msgs + velodyne_pointcloud + autoware_msgs + sensor_msgs + geometry_msgs + tf + libpcl-all-dev + + std_msgs + velodyne_pointcloud + autoware_msgs + sensor_msgs + geometry_msgs + tf + libpcl-all-dev + + + diff --git a/ros/src/computing/perception/localization/packages/ndt_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/ndt_localizer/CMakeLists.txt index e4332b9b96..4b8a42a590 100644 --- a/ros/src/computing/perception/localization/packages/ndt_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/ndt_localizer/CMakeLists.txt @@ -1,10 +1,5 @@ cmake_minimum_required(VERSION 2.8.3) project(ndt_localizer) -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) find_package(PCL REQUIRED) @@ -19,56 +14,53 @@ if (OPENMP_FOUND) endif () find_package(CUDA) + if (CUDA_FOUND) add_definitions(-DCUDA_FOUND) list(APPEND PCL_OPENMP_PACKAGES ndt_gpu) endif () -if ("${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 - ) +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(catkin REQUIRED COMPONENTS + roscpp + std_msgs + nav_msgs + tf + pcl_ros + sensor_msgs + autoware_msgs + pcl_conversions + velodyne_pointcloud + ndt_tku + ndt_cpu + ${PCL_OPENMP_PACKAGES} + ) + ################################### ## catkin specific configuration ## ################################### -if ("${ROS_VERSION}" MATCHES "(indigo|jade)") - 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 () +catkin_package( + CATKIN_DEPENDS std_msgs velodyne_pointcloud autoware_msgs ndt_tku ndt_cpu ${PCL_OPENMP_PACKAGES} + DEPENDS PCL +) ########### ## Build ## ########### -include_directories(include ${catkin_INCLUDE_DIRS}) +include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}) SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") @@ -93,21 +85,47 @@ endif (NOT (PCL_VERSION VERSION_LESS "1.7.2")) add_executable(approximate_ndt_mapping nodes/approximate_ndt_mapping/approximate_ndt_mapping.cpp) -add_executable(tf_mapping nodes/tf_mapping/tf_mapping.cpp) -add_executable(lazy_ndt_mapping nodes/lazy_ndt_mapping/lazy_ndt_mapping.cpp) -add_executable(queue_counter nodes/queue_counter/queue_counter.cpp) target_link_libraries(approximate_ndt_mapping ${catkin_LIBRARIES}) +add_dependencies(approximate_ndt_mapping ${catkin_EXPORTED_TARGETS}) + +add_executable(tf_mapping nodes/tf_mapping/tf_mapping.cpp) target_link_libraries(tf_mapping ${catkin_LIBRARIES}) +add_dependencies(tf_mapping ${catkin_EXPORTED_TARGETS}) + +add_executable(lazy_ndt_mapping nodes/lazy_ndt_mapping/lazy_ndt_mapping.cpp) target_link_libraries(lazy_ndt_mapping ${catkin_LIBRARIES}) -target_link_libraries(queue_counter ${catkin_LIBRARIES}) 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(queue_counter nodes/queue_counter/queue_counter.cpp) +target_link_libraries(queue_counter ${catkin_LIBRARIES}) +add_dependencies(queue_counter ${catkin_EXPORTED_TARGETS}) + + +add_executable(ndt_matching_tku nodes/ndt_matching_tku/ndt_matching_tku.cpp) +target_link_libraries(ndt_matching_tku ${catkin_LIBRARIES}) +add_dependencies(ndt_matching_tku ${catkin_EXPORTED_TARGETS}) + +add_executable(ndt_mapping_tku nodes/ndt_mapping_tku/ndt_mapping_tku.cpp) +target_link_libraries(ndt_mapping_tku ${catkin_LIBRARIES}) +add_dependencies(ndt_mapping_tku ${catkin_EXPORTED_TARGETS}) + +add_executable(mapping nodes/ndt_mapping_tku/mapping.cpp) +target_link_libraries(mapping ${catkin_LIBRARIES}) +add_dependencies(mapping ${catkin_EXPORTED_TARGETS}) + + +install(TARGETS ndt_matching_tku ndt_mapping_tku ndt_mapping_tku + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +install(TARGETS ndt_matching ndt_mapping approximate_ndt_mapping tf_mapping lazy_ndt_mapping queue_counter + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) \ No newline at end of file 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 3f64613ce8..5cb0041af5 100644 --- a/ros/src/computing/perception/localization/packages/ndt_localizer/package.xml +++ b/ros/src/computing/perception/localization/packages/ndt_localizer/package.xml @@ -7,21 +7,39 @@ BSD catkin + roscpp std_msgs + nav_msgs + tf + pcl_ros + sensor_msgs + autoware_msgs + pcl_conversions + message_filters velodyne_pointcloud + pcl_omp_registration ndt_gpu ndt_cpu ndt_tku - autoware_msgs - pcl_omp_registration + libpcl-all-dev + eigen + roscpp std_msgs + nav_msgs + tf + pcl_ros + sensor_msgs + autoware_msgs + pcl_conversions + message_filters velodyne_pointcloud + pcl_omp_registration ndt_gpu ndt_cpu ndt_tku - autoware_msgs - pcl_omp_registration + libpcl-all + eigen 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 88d3c26d66..e2be7796f7 100644 --- a/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt @@ -26,14 +26,23 @@ find_package(LAPACK REQUIRED) find_package(GLUT REQUIRED) find_package(OpenMP) -find_package(cmake_modules REQUIRED) -find_package(Eigen 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) - add_message_files( FILES debug.msg @@ -44,14 +53,12 @@ generate_messages( std_msgs ) - catkin_package( - INCLUDE_DIRS include + INCLUDE_DIRS include ${EIGEN3_INCLUDE_DIRS} 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 @@ -82,7 +89,7 @@ include_directories( ${PCL_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${PYTHON_INCLUDE_DIR} - ${Eigen_INCLUDE_DIRS} + ${Eigen3_INCLUDE_DIRS} # Third parties Thirdparty 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 82ce2ea945..c3ffe29ac7 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 @@ -17,8 +17,18 @@ IF (OPENMP_FOUND AND G2O_USE_OPENMP) MESSAGE(STATUS "Compiling with OpenMP support") ENDIF (OPENMP_FOUND AND G2O_USE_OPENMP) -find_package(cmake_modules REQUIRED) -find_package(Eigen 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 () configure_file( config.h.in @@ -27,7 +37,7 @@ configure_file( include_directories( ${CMAKE_CURRENT_SOURCE_DIR} - ${Eigen_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} ) 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 b7227b8bf9..34a0e981cf 100644 --- a/ros/src/computing/perception/localization/packages/orb_localizer/package.xml +++ b/ros/src/computing/perception/localization/packages/orb_localizer/package.xml @@ -15,6 +15,7 @@ message_runtime message_generation cmake_modules + eigen cmake_modules roscpp @@ -22,6 +23,7 @@ image_transport message_runtime message_generation + eigen 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 6c11561294..e09fe0a894 100644 --- a/ros/src/computing/perception/semantics/packages/object_map/CMakeLists.txt +++ b/ros/src/computing/perception/semantics/packages/object_map/CMakeLists.txt @@ -120,3 +120,21 @@ target_link_libraries(wayarea2grid vector_map wayarea2grid_lib ) + +install(TARGETS wayarea2grid grid_map_filter potential_field points2costmap laserscan2costmap + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) + +install(DIRECTORY config/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config + PATTERN ".svn" EXCLUDE) + +install(DIRECTORY include/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE + ) \ No newline at end of file diff --git a/ros/src/computing/perception/semantics/packages/road_occupancy_processor/CMakeLists.txt b/ros/src/computing/perception/semantics/packages/road_occupancy_processor/CMakeLists.txt index 39c2ace548..3ad568e129 100644 --- a/ros/src/computing/perception/semantics/packages/road_occupancy_processor/CMakeLists.txt +++ b/ros/src/computing/perception/semantics/packages/road_occupancy_processor/CMakeLists.txt @@ -82,3 +82,11 @@ target_include_directories(road_occupancy_processor PRIVATE target_link_libraries(road_occupancy_processor road_occupancy_processor_lib) +install(TARGETS road_occupancy_processor + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/CMakeLists.txt b/ros/src/computing/planning/common/lib/openplanner/op_planner/CMakeLists.txt index 2033c08fb0..963d83d815 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_planner/CMakeLists.txt +++ b/ros/src/computing/planning/common/lib/openplanner/op_planner/CMakeLists.txt @@ -2,11 +2,7 @@ cmake_minimum_required(VERSION 2.8.3) project(op_planner) # Get a ros version -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) +set(ROS_VERSION $ENV{ROS_DISTRO}) find_package(catkin REQUIRED COMPONENTS op_utility diff --git a/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/CMakeLists.txt b/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/CMakeLists.txt index fe496af46a..9469b30a37 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/CMakeLists.txt +++ b/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/CMakeLists.txt @@ -1,10 +1,6 @@ cmake_minimum_required(VERSION 2.8.3) project(op_ros_helpers) -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) +set(ROS_VERSION $ENV{ROS_DISTRO}) find_package(catkin REQUIRED COMPONENTS 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 c72e82946a..e3e504853d 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 @@ -4,11 +4,7 @@ project(op_simu) set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake") # Get a ros version -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) +set(ROS_VERSION $ENV{ROS_DISTRO}) find_package(catkin REQUIRED COMPONENTS op_utility diff --git a/ros/src/computing/planning/common/lib/openplanner/op_utility/CMakeLists.txt b/ros/src/computing/planning/common/lib/openplanner/op_utility/CMakeLists.txt index b9439db79a..5c7be669da 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_utility/CMakeLists.txt +++ b/ros/src/computing/planning/common/lib/openplanner/op_utility/CMakeLists.txt @@ -3,13 +3,9 @@ project(op_utility) set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake") -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) +set(ROS_VERSION $ENV{ROS_DISTRO}) find_package(catkin REQUIRED COMPONENTS -) + ) find_package(TinyXML REQUIRED) @@ -17,8 +13,8 @@ find_package(TinyXML REQUIRED) ## catkin specific configuration ## ################################### catkin_package( - INCLUDE_DIRS include - LIBRARIES op_utility + INCLUDE_DIRS include + LIBRARIES op_utility ) ########### @@ -28,21 +24,21 @@ catkin_package( set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") include_directories(${catkin_INCLUDE_DIRS} - include) + include) set(UTILITYH_SRC - src/DataRW.cpp - src/UtilityH.cpp -) + src/DataRW.cpp + src/UtilityH.cpp + ) ## Declare a cpp library add_library(${PROJECT_NAME} - ${UTILITYH_SRC} -) + ${UTILITYH_SRC} + ) target_link_libraries(${PROJECT_NAME} - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - ${TinyXML_LIBRARIES} -) + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ${TinyXML_LIBRARIES} + ) diff --git a/ros/src/computing/planning/decision/libs/libamathutils/CMakeLists.txt b/ros/src/computing/planning/decision/libs/libamathutils/CMakeLists.txt index 36003d57c0..14438db64c 100644 --- a/ros/src/computing/planning/decision/libs/libamathutils/CMakeLists.txt +++ b/ros/src/computing/planning/decision/libs/libamathutils/CMakeLists.txt @@ -1,40 +1,39 @@ cmake_minimum_required(VERSION 2.8.11) -project (amathutils_lib) # autoware math utility +project(amathutils_lib) # autoware math utility find_package(catkin REQUIRED COMPONENTS - roscpp - autoware_msgs -) + roscpp + autoware_msgs + ) -set (CMAKE_CXX_STANDARD 11) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") set(TARGET ${PROJECT_NAME}) -set(TARGET_SRC src/Amathutils.cpp - ) +set(TARGET_SRC src/Amathutils.cpp + ) catkin_package( - INCLUDE_DIRS include - LIBRARIES amathutils_lib - CATKIN_DEPENDS roscpp autoware_msgs + INCLUDE_DIRS include + LIBRARIES amathutils_lib + CATKIN_DEPENDS roscpp autoware_msgs ) -include_directories(${TARGET} - include - ${catkin_INCLUDE_DIRS} - ) +include_directories(${TARGET} + include + ${catkin_INCLUDE_DIRS} + ) add_library(${TARGET} - ${TARGET_SRC} - ) + ${TARGET_SRC} + ) target_link_libraries(${TARGET} - ${CMAKE_THREAD_LIBS_INIT} - ) + ${CMAKE_THREAD_LIBS_INIT} + ) add_dependencies(${TARGET} - ${catkin_EXPORTED_TARGETS} - ) + ${catkin_EXPORTED_TARGETS} + ) install(DIRECTORY include - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.hpp" - ) + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.hpp" + ) \ No newline at end of file diff --git a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt index dddc249e7f..555a8c7a61 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt +++ b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt @@ -67,3 +67,14 @@ set(SUBPROJECT_NAME planner_selector) add_executable(${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}) + +install(TARGETS ${PROJECT_NAME}_node ${SUBPROJECT_NAME}_node + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/launch/ + PATTERN ".svn" EXCLUDE + ) \ No newline at end of file diff --git a/ros/src/computing/planning/motion/packages/dp_planner/CMakeLists.txt b/ros/src/computing/planning/motion/packages/dp_planner/CMakeLists.txt index 36fb4532e4..c53d0907da 100644 --- a/ros/src/computing/planning/motion/packages/dp_planner/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/dp_planner/CMakeLists.txt @@ -1,10 +1,6 @@ cmake_minimum_required(VERSION 2.8.3) project(dp_planner) -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) +set(ROS_VERSION $ENV{ROS_DISTRO}) find_package(catkin REQUIRED COMPONENTS roscpp geometry_msgs diff --git a/ros/src/computing/planning/motion/packages/op_local_planner/CMakeLists.txt b/ros/src/computing/planning/motion/packages/op_local_planner/CMakeLists.txt index dae35750a9..b9c730bab8 100644 --- a/ros/src/computing/planning/motion/packages/op_local_planner/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/op_local_planner/CMakeLists.txt @@ -1,10 +1,6 @@ cmake_minimum_required(VERSION 2.8.3) project(op_local_planner) -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) +set(ROS_VERSION $ENV{ROS_DISTRO}) find_package(catkin REQUIRED COMPONENTS diff --git a/ros/src/sensing/filters/packages/image_processor/CMakeLists.txt b/ros/src/sensing/filters/packages/image_processor/CMakeLists.txt index eb2caba3ad..b92f62b72a 100644 --- a/ros/src/sensing/filters/packages/image_processor/CMakeLists.txt +++ b/ros/src/sensing/filters/packages/image_processor/CMakeLists.txt @@ -2,14 +2,15 @@ cmake_minimum_required(VERSION 2.8.3) project(image_processor) find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - cv_bridge -) + roscpp + sensor_msgs + cv_bridge + ) catkin_package(CATKIN_DEPENDS - sensor_msgs -) + sensor_msgs + cv_bridge + ) find_package(OpenCV REQUIRED) @@ -18,39 +19,39 @@ find_package(OpenCV REQUIRED) ########### include_directories( - ${catkin_INCLUDE_DIRS} - include + ${catkin_INCLUDE_DIRS} + include ) SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") #Image rotator add_executable(image_rotator - nodes/image_rotator/image_rotator_node.cpp -) + nodes/image_rotator/image_rotator_node.cpp + ) target_include_directories(image_rotator PRIVATE - ${OpenCV_INCLUDE_DIR} -) + ${OpenCV_INCLUDE_DIR} + ) target_link_libraries(image_rotator - ${catkin_LIBRARIES} - ${OpenCV_LIBS} -) + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ) #Image rectifier add_executable(image_rectifier - nodes/image_rectifier/image_rectifier_node.cpp -) + nodes/image_rectifier/image_rectifier_node.cpp + ) target_include_directories(image_rectifier PRIVATE - ${OpenCV_INCLUDE_DIR} -) + ${OpenCV_INCLUDE_DIR} + ) target_link_libraries(image_rectifier - ${catkin_LIBRARIES} - ${OpenCV_LIBS} -) + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ) #Image Stitcher @@ -61,15 +62,15 @@ target_link_libraries(image_rectifier ############# install(TARGETS image_rotator image_rectifier - 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(FILES - launch/image_rotator.launch - launch/image_rotator_ladybug.launch - launch/image_rectifier.launch - launch/image_rectifier_ladybug.launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) + launch/image_rotator.launch + launch/image_rotator_ladybug.launch + launch/image_rectifier.launch + launch/image_rectifier_ladybug.launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + ) diff --git a/ros/src/sensing/filters/packages/image_processor/package.xml b/ros/src/sensing/filters/packages/image_processor/package.xml index 5f0977d522..db70b63865 100644 --- a/ros/src/sensing/filters/packages/image_processor/package.xml +++ b/ros/src/sensing/filters/packages/image_processor/package.xml @@ -10,11 +10,9 @@ catkin roscpp - std_msgs sensor_msgs cv_bridge - message_runtime roscpp sensor_msgs cv_bridge diff --git a/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt b/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt index b3dcc41350..389431e693 100644 --- a/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt +++ b/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt @@ -42,6 +42,8 @@ target_link_libraries(space_filter ${PCL_LIBRARIES} ) +add_dependencies(space_filter ${catkin_EXPORTED_TARGETS}) + # Ring Ground Filter add_definitions(${PCL_DEFINITIONS}) @@ -59,6 +61,7 @@ target_link_libraries(ring_ground_filter ${Qt5Core_LIBRARIES} ) +add_dependencies(ring_ground_filter ${catkin_EXPORTED_TARGETS}) # Ray Ground Filter add_library(ray_ground_filter_lib SHARED @@ -94,6 +97,7 @@ target_include_directories(ray_ground_filter PRIVATE target_link_libraries(ray_ground_filter ray_ground_filter_lib) +add_dependencies(ray_ground_filter ${catkin_EXPORTED_TARGETS}) # Points Concat filter @@ -105,6 +109,7 @@ target_link_libraries(points_concat_filter ${catkin_LIBRARIES} ${PCL_LIBRARIES} ) +add_dependencies(points_concat_filter ${catkin_EXPORTED_TARGETS}) #Cloud Transformer add_executable(cloud_transformer @@ -120,7 +125,7 @@ target_link_libraries(cloud_transformer ${PCL_LIBRARIES} ${Qt5Core_LIBRARIES} ) - +add_dependencies(cloud_transformer ${catkin_EXPORTED_TARGETS}) ### Unit Tests ### if (CATKIN_ENABLE_TESTING) catkin_add_gtest(test_points_preprocessor test/src/test_points_preprocessor.cpp) @@ -132,3 +137,14 @@ if (CATKIN_ENABLE_TESTING) ${catkin_LIBRARIES}) endif() + +install(TARGETS cloud_transformer points_concat_filter ray_ground_filter ring_ground_filter space_filter + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +install(DIRECTORY include/ + DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE + ) diff --git a/ros/src/sensing/filters/packages/points_preprocessor/package.xml b/ros/src/sensing/filters/packages/points_preprocessor/package.xml index 33e824e7a3..e050d20d13 100644 --- a/ros/src/sensing/filters/packages/points_preprocessor/package.xml +++ b/ros/src/sensing/filters/packages/points_preprocessor/package.xml @@ -10,22 +10,30 @@ BSD catkin - roscpp - std_msgs - sensor_msgs + + autoware_msgs + cv_bridge + message_filters pcl_conversions pcl_ros - cv_bridge + roscpp + sensor_msgs + sensor_msgs + std_msgs + tf velodyne_pointcloud qtbase5-dev + qtbase5-dev + autoware_msgs + cv_bridge + message_filters message_runtime pcl_conversions pcl_ros roscpp sensor_msgs - std_msgs - cv_bridge + tf velodyne_pointcloud libqt5-core 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 0288621237..6f73648ef3 100644 --- a/ros/src/sensing/fusion/packages/calibration_camera_lidar/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/calibration_camera_lidar/CMakeLists.txt @@ -1,10 +1,6 @@ cmake_minimum_required(VERSION 2.8.3) project(calibration_camera_lidar) -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) +set(ROS_VERSION $ENV{ROS_DISTRO}) include(FindPkgConfig) include(FindLibXml2) diff --git a/ros/src/sensing/polygon/packages/points2polygon/CMakeLists.txt b/ros/src/sensing/polygon/packages/points2polygon/CMakeLists.txt index d418340902..35408fb6cb 100644 --- a/ros/src/sensing/polygon/packages/points2polygon/CMakeLists.txt +++ b/ros/src/sensing/polygon/packages/points2polygon/CMakeLists.txt @@ -1,10 +1,6 @@ cmake_minimum_required(VERSION 2.8.3) project(points2polygon) -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) +set(ROS_VERSION $ENV{ROS_DISTRO}) if ("${ROS_VERSION}" MATCHES "(indigo|jade)") find_package(catkin REQUIRED COMPONENTS diff --git a/ros/src/socket/packages/tablet_socket/CMakeLists.txt b/ros/src/socket/packages/tablet_socket/CMakeLists.txt index 3909e41da9..7c10b86f2c 100644 --- a/ros/src/socket/packages/tablet_socket/CMakeLists.txt +++ b/ros/src/socket/packages/tablet_socket/CMakeLists.txt @@ -7,6 +7,7 @@ find_package(catkin REQUIRED COMPONENTS gnss tablet_socket_msgs autoware_msgs + geometry_msgs ) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") @@ -27,6 +28,4 @@ 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 - ${catkin_EXPORTED_TARGETS} - ) +add_dependencies(tablet_sender ${catkin_EXPORTED_TARGETS}) diff --git a/ros/src/socket/packages/tablet_socket/package.xml b/ros/src/socket/packages/tablet_socket/package.xml index 5b5338d51f..b382d1a987 100644 --- a/ros/src/socket/packages/tablet_socket/package.xml +++ b/ros/src/socket/packages/tablet_socket/package.xml @@ -1,20 +1,25 @@ - tablet_socket - 1.6.3 - The package of Android UI's tablet_socket - syouji - BSD - catkin - tf - gnss - std_msgs - tablet_socket_msgs - autoware_msgs - tf - gnss - tablet_socket_msgs - autoware_msgs - - + tablet_socket + 1.6.3 + The package of Android UI's tablet_socket + syouji + BSD + catkin + + tf + gnss + std_msgs + tablet_socket_msgs + autoware_msgs + geometry_msgs + + tf + gnss + tablet_socket_msgs + autoware_msgs + geometry_msgs + + + diff --git a/ros/src/socket/packages/tablet_socket_msgs/CMakeLists.txt b/ros/src/socket/packages/tablet_socket_msgs/CMakeLists.txt index e1bf2b8217..89f368a3af 100644 --- a/ros/src/socket/packages/tablet_socket_msgs/CMakeLists.txt +++ b/ros/src/socket/packages/tablet_socket_msgs/CMakeLists.txt @@ -101,7 +101,7 @@ generate_messages( catkin_package( # INCLUDE_DIRS include # LIBRARIES tablet_socket_msgs - CATKIN_DEPENDS std_msgs + CATKIN_DEPENDS message_runtime std_msgs # DEPENDS system_lib ) diff --git a/ros/src/socket/packages/tablet_socket_msgs/package.xml b/ros/src/socket/packages/tablet_socket_msgs/package.xml index 6aa7cbdbb6..1c329d92d1 100644 --- a/ros/src/socket/packages/tablet_socket_msgs/package.xml +++ b/ros/src/socket/packages/tablet_socket_msgs/package.xml @@ -1,54 +1,17 @@ - tablet_socket_msgs - 1.6.3 - The tablet_socket_msgs package + tablet_socket_msgs + 1.6.3 + The tablet_socket_msgs package + Shohei Fujii + BSD - - - - Shohei Fujii + catkin + std_msgs + message_generation - - - - TODO + std_msgs + message_runtime - - - - - - - - - - - - - - - - - - - - - - - - - catkin - std_msgs - message_generation - std_msgs - message_runtime - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/CMakeLists.txt b/ros/src/system/gazebo/catvehicle/CMakeLists.txt index 03e8f71155..19dd7ff3f6 100644 --- a/ros/src/system/gazebo/catvehicle/CMakeLists.txt +++ b/ros/src/system/gazebo/catvehicle/CMakeLists.txt @@ -1,10 +1,6 @@ cmake_minimum_required(VERSION 2.8.3) project(catvehicle) -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) +set(ROS_VERSION $ENV{ROS_DISTRO}) if ("${ROS_VERSION}" MATCHES "(indigo|jade)") ## Find catkin macros and libraries diff --git a/ros/src/util/packages/requirements_version_checker/CMakeLists.txt b/ros/src/util/packages/requirements_version_checker/CMakeLists.txt index b763cc31af..7ffee40dae 100644 --- a/ros/src/util/packages/requirements_version_checker/CMakeLists.txt +++ b/ros/src/util/packages/requirements_version_checker/CMakeLists.txt @@ -3,11 +3,7 @@ project(requirements_version_checker) find_package(OpenCV REQUIRED) -execute_process( - COMMAND rosversion -d - OUTPUT_VARIABLE ROS_VERSION - OUTPUT_STRIP_TRAILING_WHITESPACE -) +set(ROS_VERSION $ENV{ROS_DISTRO}) if (NOT "${ROS_VERSION}" MATCHES "(indigo|jade|kinetic)") message( diff --git a/ros/src/util/packages/sample_data/CMakeLists.txt b/ros/src/util/packages/sample_data/CMakeLists.txt index 94487b430c..8ee1bdf969 100644 --- a/ros/src/util/packages/sample_data/CMakeLists.txt +++ b/ros/src/util/packages/sample_data/CMakeLists.txt @@ -10,8 +10,18 @@ find_package(catkin REQUIRED COMPONENTS ) pkg_check_modules(PCL_IO REQUIRED pcl_io-1.7) -find_package(cmake_modules REQUIRED) -find_package(Eigen 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 () set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") From 50ca4920271b2eb4bf0bda988fed2f8f1bab1f95 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sat, 21 Apr 2018 00:37:28 +0900 Subject: [PATCH 33/92] GLEW library for ORB --- .../perception/localization/packages/orb_localizer/package.xml | 2 ++ 1 file changed, 2 insertions(+) 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 34a0e981cf..d377fd838d 100644 --- a/ros/src/computing/perception/localization/packages/orb_localizer/package.xml +++ b/ros/src/computing/perception/localization/packages/orb_localizer/package.xml @@ -16,6 +16,7 @@ message_generation cmake_modules eigen + libglew-dev cmake_modules roscpp @@ -24,6 +25,7 @@ message_runtime message_generation eigen + libglew-dev From c42c052efdf1da84dde1d6ae61c9384fd243d529 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sat, 21 Apr 2018 00:56:54 +0900 Subject: [PATCH 34/92] Ignore OrbLocalizer --- .../perception/localization/packages/orb_localizer/CATKIN_IGNORE | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 ros/src/computing/perception/localization/packages/orb_localizer/CATKIN_IGNORE diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/CATKIN_IGNORE b/ros/src/computing/perception/localization/packages/orb_localizer/CATKIN_IGNORE new file mode 100644 index 0000000000..e69de29bb2 From 4a0ad643e68868ce470fd6f5e8fbe6928aca8698 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sat, 21 Apr 2018 01:21:43 +0900 Subject: [PATCH 35/92] Ignore Version checker --- ros/src/util/packages/requirements_version_checker/CATKIN_IGNORE | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 ros/src/util/packages/requirements_version_checker/CATKIN_IGNORE diff --git a/ros/src/util/packages/requirements_version_checker/CATKIN_IGNORE b/ros/src/util/packages/requirements_version_checker/CATKIN_IGNORE new file mode 100644 index 0000000000..e69de29bb2 From ef7856ea15f42c34320470f370f7eb6dcec404e4 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sat, 21 Apr 2018 01:49:36 +0900 Subject: [PATCH 36/92] Fix for driveworks interface --- .../CMakeLists.txt | 139 +++++++++--------- .../autoware_driveworks_interface/package.xml | 2 +- 2 files changed, 70 insertions(+), 71 deletions(-) diff --git a/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt b/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt index 4742739b8c..0d0bfd3631 100755 --- a/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt +++ b/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt @@ -2,75 +2,74 @@ cmake_minimum_required(VERSION 2.8.3) project(autoware_driveworks_interface) EXECUTE_PROCESS( - COMMAND uname -m - OUTPUT_VARIABLE ARCH - OUTPUT_STRIP_TRAILING_WHITESPACE + COMMAND uname -m + OUTPUT_VARIABLE ARCH + OUTPUT_STRIP_TRAILING_WHITESPACE ) -if("${ARCH}" STREQUAL "aarch64") - - -include(FindPkgConfig) -find_package(CUDA REQUIRED) -find_package(Threads REQUIRED) -find_package(OpenCV REQUIRED) - -find_package(catkin REQUIRED COMPONENTS - roscpp - cv_bridge - std_msgs - sensor_msgs - autoware_msgs - tf -) - - -catkin_package( - CATKIN_DEPENDS std_msgs sensor_msgs autoware_msgs -) - -set(CMAKE_CXX_FLAGS "-O2 -s -std=c++11 -Wno-error=unused-parameter") - -include_directories( - include - ${catkin_INCLUDE_DIRS} - ${Boost_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} -) - -link_directories( - ${catkin_LIBRARY_DIRS} - ${PCL_LIBRARY_DIRS} - ${OpenCV_LIBRARY_DIRS} - /usr/lib/ - lib - /usr/local/driveworks/lib/ -) - -add_executable(gmsl_interface - nodes/gmsl_interface/gmsl_interface_node.cpp -) - -add_dependencies(gmsl_interface - ${catkin_EXPORTED_TARGETS} -) - -target_link_libraries(gmsl_interface - ${catkin_LIBRARIES} - -lautoware_driveworks -) - -add_executable(tensorrt_interface - nodes/tensorrt_interface/tensorrt_interface_node.cpp -) - -add_dependencies(tensorrt_interface - ${catkin_EXPORTED_TARGETS} -) - -target_link_libraries(tensorrt_interface - ${catkin_LIBRARIES} - -lautoware_driveworks -) - -endif() +find_package(CUDA) + +if ("${ARCH}" STREQUAL "aarch64" AND CUDA_FOUND) + find_package(Threads REQUIRED) + find_package(OpenCV REQUIRED) + + find_package(catkin REQUIRED COMPONENTS + roscpp + cv_bridge + std_msgs + sensor_msgs + autoware_msgs + tf + ) + + + catkin_package( + CATKIN_DEPENDS std_msgs sensor_msgs autoware_msgs + ) + + set(CMAKE_CXX_FLAGS "-O2 -s -std=c++11 -Wno-error=unused-parameter") + + include_directories( + include + ${catkin_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ) + + link_directories( + ${catkin_LIBRARY_DIRS} + ${PCL_LIBRARY_DIRS} + ${OpenCV_LIBRARY_DIRS} + /usr/lib/ + lib + /usr/local/driveworks/lib/ + ) + + add_executable(gmsl_interface + nodes/gmsl_interface/gmsl_interface_node.cpp + ) + + add_dependencies(gmsl_interface + ${catkin_EXPORTED_TARGETS} + ) + + target_link_libraries(gmsl_interface + ${catkin_LIBRARIES} + -lautoware_driveworks + ) + + add_executable(tensorrt_interface + nodes/tensorrt_interface/tensorrt_interface_node.cpp + ) + + add_dependencies(tensorrt_interface + ${catkin_EXPORTED_TARGETS} + ) + + target_link_libraries(tensorrt_interface + ${catkin_LIBRARIES} + -lautoware_driveworks + ) +ELSE() + message("autoware_driveworks_interface won't be built, CUDA and aarch64 are required.") +ENDIF () \ No newline at end of file diff --git a/ros/src/driveworks/packages/autoware_driveworks_interface/package.xml b/ros/src/driveworks/packages/autoware_driveworks_interface/package.xml index 29c0945348..712a41c1c3 100755 --- a/ros/src/driveworks/packages/autoware_driveworks_interface/package.xml +++ b/ros/src/driveworks/packages/autoware_driveworks_interface/package.xml @@ -5,7 +5,7 @@ The autoware_driveworks packages Yusuke FUJII Yusuke FUJII - amc + amc BSD catkin From fd16c878e7c03df94c5f52a25bfb897806c764c5 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sat, 21 Apr 2018 13:32:54 +0900 Subject: [PATCH 37/92] driveworks not catkinpackagedd --- .../autoware_driveworks_interface/CMakeLists.txt | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt b/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt index 0d0bfd3631..391150b613 100755 --- a/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt +++ b/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt @@ -7,8 +7,14 @@ EXECUTE_PROCESS( OUTPUT_STRIP_TRAILING_WHITESPACE ) +set(CMAKE_CXX_FLAGS "-O2 -s -std=c++11 -Wno-error=unused-parameter") + find_package(CUDA) +catkin_package( + CATKIN_DEPENDS std_msgs sensor_msgs autoware_msgs +) + if ("${ARCH}" STREQUAL "aarch64" AND CUDA_FOUND) find_package(Threads REQUIRED) find_package(OpenCV REQUIRED) @@ -22,13 +28,6 @@ if ("${ARCH}" STREQUAL "aarch64" AND CUDA_FOUND) tf ) - - catkin_package( - CATKIN_DEPENDS std_msgs sensor_msgs autoware_msgs - ) - - set(CMAKE_CXX_FLAGS "-O2 -s -std=c++11 -Wno-error=unused-parameter") - include_directories( include ${catkin_INCLUDE_DIRS} From e091647f762693e1255a8cf7e94cf2157ccb9f3a Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sat, 21 Apr 2018 13:59:18 +0900 Subject: [PATCH 38/92] Missing catkin for driveworks --- .../packages/autoware_driveworks_interface/CMakeLists.txt | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt b/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt index 391150b613..c3a8b5a7d5 100755 --- a/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt +++ b/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt @@ -9,6 +9,12 @@ EXECUTE_PROCESS( set(CMAKE_CXX_FLAGS "-O2 -s -std=c++11 -Wno-error=unused-parameter") + +find_package(catkin REQUIRED COMPONENTS + roscpp + std_msgs sensor_msgs autoware_msgs + ) + find_package(CUDA) catkin_package( From 0ae3269bd1155c593db736d34873d814bbedf112 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sat, 21 Apr 2018 15:31:53 +0900 Subject: [PATCH 39/92] libdpm opencv not catkin packaged --- .../lib/image/dpm_ocv/CMakeLists.txt | 47 ++++++++++--------- 1 file changed, 25 insertions(+), 22 deletions(-) diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/CMakeLists.txt b/ros/src/computing/perception/detection/lib/image/dpm_ocv/CMakeLists.txt index 7765956198..67c33d8fb5 100644 --- a/ros/src/computing/perception/detection/lib/image/dpm_ocv/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/image/dpm_ocv/CMakeLists.txt @@ -3,24 +3,26 @@ project(libdpm_ocv) set(ROS_VERSION $ENV{ROS_DISTRO}) +find_package(catkin REQUIRED COMPONENTS + std_msgs + autoware_msgs + ) + +find_package(CUDA) +find_package(OpenCV REQUIRED) + +catkin_package( + INCLUDE_DIRS include/dpm_ocv + LIBRARIES libdpm_ocv + CATKIN_DEPENDS std_msgs autoware_msgs +) + if ("${ROS_VERSION}" MATCHES "(indigo|jade)") - find_package(catkin REQUIRED COMPONENTS - std_msgs - autoware_msgs - ) - FIND_PACKAGE(CUDA) - find_package(OpenCV REQUIRED) + SET(CMAKE_CXX_FLAGS "-O2 -g -Wall -Wno-unused-result -std=c++11 -DUSE_GPU -DCUBIN_PATH=${CATKIN_DEVEL_PREFIX}/lib/gpu_function.cubin ${CMAKE_CXX_FLAGS}") SET(CMAKE_NVCC_FLAGS "-use_fast_math") - catkin_package( - INCLUDE_DIRS include/dpm_ocv - LIBRARIES libdpm_ocv - CATKIN_DEPENDS message_runtime std_msgs - # DEPENDS system_lib - ) - IF (CUDA_FOUND) INCLUDE_DIRECTORIES( ${catkin_INCLUDE_DIRS} @@ -116,13 +118,14 @@ if ("${ROS_VERSION}" MATCHES "(indigo|jade)") SET_TARGET_PROPERTIES(libdpm_ocv PROPERTIES OUTPUT_NAME dpm_ocv) ADD_DEPENDENCIES(libdpm_ocv ${catkin_EXPORTED_TARGETS}) - ############# - ## Install ## - ############# - - INSTALL( - DIRECTORY include/dpm_ocv - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.hpp" - ) endif () + +############# +## Install ## +############# + +INSTALL( + DIRECTORY include/dpm_ocv + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.hpp" +) \ No newline at end of file From 8514fc862a84dd1945888f023ea39075dc015281 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sat, 21 Apr 2018 16:00:33 +0900 Subject: [PATCH 40/92] catkin lib gnss not included in obj_db --- ros/src/data/packages/obj_db/CMakeLists.txt | 2 +- ros/src/data/packages/obj_db/package.xml | 27 ++++++++++++--------- 2 files changed, 16 insertions(+), 13 deletions(-) diff --git a/ros/src/data/packages/obj_db/CMakeLists.txt b/ros/src/data/packages/obj_db/CMakeLists.txt index 63ad845611..5a41a7f050 100644 --- a/ros/src/data/packages/obj_db/CMakeLists.txt +++ b/ros/src/data/packages/obj_db/CMakeLists.txt @@ -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 gnss ) ########### diff --git a/ros/src/data/packages/obj_db/package.xml b/ros/src/data/packages/obj_db/package.xml index 6792819d4c..3556dc712e 100644 --- a/ros/src/data/packages/obj_db/package.xml +++ b/ros/src/data/packages/obj_db/package.xml @@ -1,15 +1,18 @@ - obj_db - 1.6.3 - The obj_db package - h_ohta - BSD - catkin - roscpp - autoware_msgs - roscpp - autoware_msgs - - + obj_db + 1.6.3 + The obj_db package + h_ohta + BSD + catkin + + roscpp + autoware_msgs + gnss + + roscpp + autoware_msgs + gnss + From c581aa3a15bb920332a1c98a52d825f233cbbf77 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sat, 21 Apr 2018 16:31:13 +0900 Subject: [PATCH 41/92] Points2Polygon fix --- .../packages/points2polygon/CMakeLists.txt | 33 +++++++++---------- 1 file changed, 15 insertions(+), 18 deletions(-) diff --git a/ros/src/sensing/polygon/packages/points2polygon/CMakeLists.txt b/ros/src/sensing/polygon/packages/points2polygon/CMakeLists.txt index 35408fb6cb..c9262bc440 100644 --- a/ros/src/sensing/polygon/packages/points2polygon/CMakeLists.txt +++ b/ros/src/sensing/polygon/packages/points2polygon/CMakeLists.txt @@ -1,36 +1,33 @@ cmake_minimum_required(VERSION 2.8.3) project(points2polygon) -set(ROS_VERSION $ENV{ROS_DISTRO}) -if ("${ROS_VERSION}" MATCHES "(indigo|jade)") find_package(catkin REQUIRED COMPONENTS - roscpp - sensor_msgs - autoware_msgs -) - -find_package(PCL 1.2 REQUIRED) + roscpp + sensor_msgs + autoware_msgs + pcl_conversions + ) -find_package(Qt5 REQUIRED Core Widgets) -set(QT_LIBRARIES Qt5::Core) +find_package(PCL) +find_package(Qt5Core REQUIRED) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") catkin_package( - CATKIN_DEPENDS autoware_msgs + CATKIN_DEPENDS + roscpp + sensor_msgs + autoware_msgs + pcl_conversions ) include_directories( - ${catkin_INCLUDE_DIRS} - ${PCL_INCLUDE_DIRS} - ${Qt5Core_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} ) link_directories(${PCL_LIBRARY_DIRS}) -add_definitions(${PCL_DEFINITIONS}) - add_executable(points2polygon nodes/points2polygon/points2polygon.cpp) -target_link_libraries(points2polygon ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${Qt5Core_LIBRARIES}) +target_link_libraries(points2polygon ${catkin_LIBRARIES} ${PCL_LIBRARIES}) add_dependencies(points2polygon ${catkin_EXPORTED_TARGETS}) -endif() From c40e550a6444f46fa4303661870f550ea511f540 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sat, 21 Apr 2018 17:11:03 +0900 Subject: [PATCH 42/92] More missing dependencies --- ros/src/data/packages/pos_db/CMakeLists.txt | 15 +++++--- ros/src/data/packages/pos_db/package.xml | 32 ++++++++++------ .../packages/points2polygon/package.xml | 9 ++++- .../packages/mqtt_socket/CMakeLists.txt | 25 +++++++------ .../socket/packages/mqtt_socket/package.xml | 37 ++++++++++--------- 5 files changed, 72 insertions(+), 46 deletions(-) diff --git a/ros/src/data/packages/pos_db/CMakeLists.txt b/ros/src/data/packages/pos_db/CMakeLists.txt index e66a0d7c23..9ff759a4b4 100644 --- a/ros/src/data/packages/pos_db/CMakeLists.txt +++ b/ros/src/data/packages/pos_db/CMakeLists.txt @@ -17,7 +17,12 @@ 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 + gnss + jsk_recognition_msgs + tf + autoware_msgs ) ########### @@ -27,7 +32,6 @@ catkin_package( include_directories( include ${catkin_INCLUDE_DIRS} - ${LIBSSH2_INCLUDE_DIRS} ) add_library(pos_db @@ -40,16 +44,17 @@ add_executable(pos_downloader 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}) + ${catkin_EXPORTED_TARGETS} + ) set(CAMERA_YAML "$ENV{HOME}/.ros/autoware/camera_lidar_2d.yaml") diff --git a/ros/src/data/packages/pos_db/package.xml b/ros/src/data/packages/pos_db/package.xml index b40d8b3b29..0c61b89bd8 100644 --- a/ros/src/data/packages/pos_db/package.xml +++ b/ros/src/data/packages/pos_db/package.xml @@ -1,15 +1,23 @@ - pos_db - 1.6.3 - The pos_db package - h_ohta - BSD - catkin - roscpp - autoware_msgs - roscpp - autoware_msgs - - + pos_db + 1.6.3 + The pos_db package + h_ohta + BSD + catkin + + roscpp + gnss + jsk_recognition_msgs + tf + autoware_msgs + libssh2 + + roscpp + gnss + jsk_recognition_msgs + tf + autoware_msgs + libssh2 diff --git a/ros/src/sensing/polygon/packages/points2polygon/package.xml b/ros/src/sensing/polygon/packages/points2polygon/package.xml index 8d0fd701c8..cc5c1d6926 100644 --- a/ros/src/sensing/polygon/packages/points2polygon/package.xml +++ b/ros/src/sensing/polygon/packages/points2polygon/package.xml @@ -6,11 +6,18 @@ syouji BSD catkin + + roscpp + sensor_msgs autoware_msgs + pcl_conversions qtbase5-dev + roscpp + sensor_msgs autoware_msgs - libqt5-core + pcl_conversions + qtbase5-dev diff --git a/ros/src/socket/packages/mqtt_socket/CMakeLists.txt b/ros/src/socket/packages/mqtt_socket/CMakeLists.txt index 405480cc5a..b4b74b843c 100644 --- a/ros/src/socket/packages/mqtt_socket/CMakeLists.txt +++ b/ros/src/socket/packages/mqtt_socket/CMakeLists.txt @@ -1,19 +1,23 @@ cmake_minimum_required(VERSION 2.8.3) project(mqtt_socket) +find_package(catkin REQUIRED COMPONENTS + roscpp + roslib + std_msgs + autoware_msgs + ) + +catkin_package( + CATKIN_DEPENDS 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}") - catkin_package( - CATKIN_DEPENDS roscpp roslib std_msgs autoware_msgs - ) + include_directories( include @@ -28,8 +32,7 @@ if (EXISTS /usr/include/mosquitto.h) 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} + add_dependencies(mqtt_receiver ${catkin_EXPORTED_TARGETS} ) else () message("'libmosquitto-dev' is not installed. 'mqtt_sender' and 'mqtt_receiver' will not be built.") diff --git a/ros/src/socket/packages/mqtt_socket/package.xml b/ros/src/socket/packages/mqtt_socket/package.xml index d5edb40055..1250e7cda3 100644 --- a/ros/src/socket/packages/mqtt_socket/package.xml +++ b/ros/src/socket/packages/mqtt_socket/package.xml @@ -1,20 +1,23 @@ - mqtt_socket - 1.6.3 - The mqtt_socket package - yuki-iida - BSD - catkin - roscpp - std_msgs - autoware_msgs - tablet_socket_msgs - roslib - roscpp - std_msgs - autoware_msgs - roslib - - + mqtt_socket + 1.6.3 + The mqtt_socket package + yuki-iida + BSD + catkin + + roscpp + std_msgs + autoware_msgs + tablet_socket_msgs + roslib + yaml-cpp + + roscpp + std_msgs + autoware_msgs + roslib + yaml-cpp + From 44863ff47ec26699dde45aa2bcacaf3a138a03b9 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sat, 21 Apr 2018 19:03:03 +0900 Subject: [PATCH 43/92] image viewer not packaged --- .../detection/packages/viewers/CMakeLists.txt | 26 ++++++------------- 1 file changed, 8 insertions(+), 18 deletions(-) diff --git a/ros/src/computing/perception/detection/packages/viewers/CMakeLists.txt b/ros/src/computing/perception/detection/packages/viewers/CMakeLists.txt index b68bb6b674..fab80d7f1b 100644 --- a/ros/src/computing/perception/detection/packages/viewers/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/viewers/CMakeLists.txt @@ -3,29 +3,19 @@ project(viewers) set(ROS_VERSION $ENV{ROS_DISTRO}) +find_package(catkin REQUIRED COMPONENTS + roscpp sensor_msgs std_msgs autoware_msgs cv_bridge image_transport + ) + +catkin_package( + CATKIN_DEPENDS roscpp sensor_msgs std_msgs autoware_msgs cv_bridge image_transport +) + if ("${ROS_VERSION}" MATCHES "(indigo|jade)") - find_package(catkin REQUIRED COMPONENTS - cv_bridge - image_transport - roscpp - sensor_msgs - std_msgs - autoware_msgs - ) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") find_package(OpenCV REQUIRED) - ################################### - ## catkin specific configuration ## - ################################### - catkin_package( - # INCLUDE_DIRS include - # LIBRARIES debug - CATKIN_DEPENDS std_msgs autoware_msgs - # DEPENDS system_lib - ) - ########### ## Build ## ########### From 10c615af67cba305235bfffb2bb8e6ef0b1d8e1d Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 22 Apr 2018 21:23:16 +0900 Subject: [PATCH 44/92] Fixed SSH2 detection, added viewers for all distros --- .../detection/packages/viewers/CMakeLists.txt | 178 +++++++++--------- ros/src/data/packages/pos_db/CMakeLists.txt | 77 ++++---- 2 files changed, 129 insertions(+), 126 deletions(-) diff --git a/ros/src/computing/perception/detection/packages/viewers/CMakeLists.txt b/ros/src/computing/perception/detection/packages/viewers/CMakeLists.txt index fab80d7f1b..f8fecd3ef8 100644 --- a/ros/src/computing/perception/detection/packages/viewers/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/viewers/CMakeLists.txt @@ -1,104 +1,96 @@ cmake_minimum_required(VERSION 2.8.3) project(viewers) -set(ROS_VERSION $ENV{ROS_DISTRO}) - find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs std_msgs autoware_msgs cv_bridge image_transport ) +find_package(OpenCV REQUIRED) + catkin_package( CATKIN_DEPENDS roscpp sensor_msgs std_msgs autoware_msgs cv_bridge image_transport ) -if ("${ROS_VERSION}" MATCHES "(indigo|jade)") - - set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") - find_package(OpenCV REQUIRED) - - ########### - ## Build ## - ########### - - add_executable(image_viewer nodes/image_viewer/image_viewer.cpp) - target_link_libraries(image_viewer - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ) - add_dependencies(image_viewer ${catkin_EXPORTED_TARGETS}) - - add_executable(scan_image_viewer nodes/scan_image_viewer/scan_image_viewer.cpp) - target_link_libraries(scan_image_viewer - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ) - add_dependencies(scan_image_viewer ${catkin_EXPORTED_TARGETS}) - - add_executable(scan_image_d_viewer nodes/scan_image_d_viewer/scan_image_d_viewer.cpp) - target_link_libraries(scan_image_d_viewer - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ) - add_dependencies(scan_image_d_viewer ${catkin_EXPORTED_TARGETS}) - - add_executable(points_image_viewer nodes/points_image_viewer/points_image_viewer.cpp) - target_link_libraries(points_image_viewer - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ) - add_dependencies(points_image_viewer ${catkin_EXPORTED_TARGETS}) - - add_executable(image_d_viewer nodes/image_d_viewer/image_d_viewer.cpp) - target_link_libraries(image_d_viewer - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ) - add_dependencies(image_d_viewer ${catkin_EXPORTED_TARGETS}) - - add_executable(points_image_d_viewer nodes/points_image_d_viewer/points_image_d_viewer.cpp) - target_link_libraries(points_image_d_viewer - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ) - add_dependencies(points_image_d_viewer ${catkin_EXPORTED_TARGETS}) - - add_executable(vscan_image_viewer nodes/vscan_image_viewer/vscan_image_viewer.cpp) - target_link_libraries(vscan_image_viewer - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ) - add_dependencies(vscan_image_viewer ${catkin_EXPORTED_TARGETS}) - - add_executable(vscan_image_d_viewer nodes/vscan_image_d_viewer/vscan_image_d_viewer.cpp) - target_link_libraries(vscan_image_d_viewer - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ) - add_dependencies(vscan_image_d_viewer ${catkin_EXPORTED_TARGETS}) - - include_directories( - ${catkin_INCLUDE_DIRS} - include - ) - add_executable(traffic_light_viewer nodes/traffic_light_viewer/traffic_light_viewer.cpp) - target_link_libraries(traffic_light_viewer - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ) - add_dependencies(traffic_light_viewer ${catkin_EXPORTED_TARGETS}) - - install(TARGETS - image_viewer - traffic_light_viewer - vscan_image_d_viewer - points_image_d_viewer - image_d_viewer - scan_image_d_viewer - scan_image_viewer - image_viewer - - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) - -endif () +set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") + + +add_executable(image_viewer nodes/image_viewer/image_viewer.cpp) +target_link_libraries(image_viewer + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) +add_dependencies(image_viewer ${catkin_EXPORTED_TARGETS}) + +add_executable(scan_image_viewer nodes/scan_image_viewer/scan_image_viewer.cpp) +target_link_libraries(scan_image_viewer + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) +add_dependencies(scan_image_viewer ${catkin_EXPORTED_TARGETS}) + +add_executable(scan_image_d_viewer nodes/scan_image_d_viewer/scan_image_d_viewer.cpp) +target_link_libraries(scan_image_d_viewer + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) +add_dependencies(scan_image_d_viewer ${catkin_EXPORTED_TARGETS}) + +add_executable(points_image_viewer nodes/points_image_viewer/points_image_viewer.cpp) +target_link_libraries(points_image_viewer + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) +add_dependencies(points_image_viewer ${catkin_EXPORTED_TARGETS}) + +add_executable(image_d_viewer nodes/image_d_viewer/image_d_viewer.cpp) +target_link_libraries(image_d_viewer + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) +add_dependencies(image_d_viewer ${catkin_EXPORTED_TARGETS}) + +add_executable(points_image_d_viewer nodes/points_image_d_viewer/points_image_d_viewer.cpp) +target_link_libraries(points_image_d_viewer + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) +add_dependencies(points_image_d_viewer ${catkin_EXPORTED_TARGETS}) + +add_executable(vscan_image_viewer nodes/vscan_image_viewer/vscan_image_viewer.cpp) +target_link_libraries(vscan_image_viewer + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) +add_dependencies(vscan_image_viewer ${catkin_EXPORTED_TARGETS}) + +add_executable(vscan_image_d_viewer nodes/vscan_image_d_viewer/vscan_image_d_viewer.cpp) +target_link_libraries(vscan_image_d_viewer + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) +add_dependencies(vscan_image_d_viewer ${catkin_EXPORTED_TARGETS}) + +include_directories( + ${catkin_INCLUDE_DIRS} + include +) +add_executable(traffic_light_viewer nodes/traffic_light_viewer/traffic_light_viewer.cpp) +target_link_libraries(traffic_light_viewer + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) +add_dependencies(traffic_light_viewer ${catkin_EXPORTED_TARGETS}) + +install(TARGETS + image_viewer + traffic_light_viewer + vscan_image_d_viewer + points_image_d_viewer + image_d_viewer + scan_image_d_viewer + scan_image_viewer + image_viewer + + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) diff --git a/ros/src/data/packages/pos_db/CMakeLists.txt b/ros/src/data/packages/pos_db/CMakeLists.txt index 9ff759a4b4..51cc7ed5c7 100644 --- a/ros/src/data/packages/pos_db/CMakeLists.txt +++ b/ros/src/data/packages/pos_db/CMakeLists.txt @@ -13,9 +13,6 @@ include(FindLibSsh2.cmake) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") -################################### -## catkin specific configuration ## -################################### catkin_package( CATKIN_DEPENDS roscpp @@ -25,40 +22,54 @@ catkin_package( autoware_msgs ) -########### -## Build ## -########### +if (LIBSSH2_FOUND) -include_directories( - include - ${catkin_INCLUDE_DIRS} -) + include_directories( + include + ${catkin_INCLUDE_DIRS} + ${LIBSSH2_INCLUDE_DIRS} + ) -add_library(pos_db - lib/pos_db/SendData.cpp - lib/pos_db/util.cpp - ) + 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 - pos_db - ${catkin_LIBRARIES} - ) + 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} - ) -add_dependencies(pos_uploader - ${catkin_EXPORTED_TARGETS} - ) + 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(CAMERA_YAML "$ENV{HOME}/.ros/autoware/camera_lidar_2d.yaml") + set_target_properties(pos_uploader + PROPERTIES COMPILE_FLAGS + "-DCAMERA_YAML=${CAMERA_YAML}") -set_target_properties(pos_uploader - PROPERTIES COMPILE_FLAGS - "-DCAMERA_YAML=${CAMERA_YAML}") + install(TARGETS + pos_downloader + pos_db + pos_uploader + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) + install(DIRECTORY include + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) +else() + message("LibSSH2 not found. pos_db package won't be built.") +endif() \ No newline at end of file From e5279e48ebe76239d66a8fe35a08f19f3e746e3d Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 22 Apr 2018 21:50:57 +0900 Subject: [PATCH 45/92] Fix gnss localizer incorrect dependency config --- .../localization/packages/gnss_localizer/CMakeLists.txt | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt index a8cbacadef..80d764c8b8 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt @@ -10,8 +10,7 @@ find_package(catkin REQUIRED COMPONENTS ) catkin_package( - CATKIN_DEPENDS roscpp std_msgs nmea_msgs tf - DEPENDS gnss + CATKIN_DEPENDS roscpp std_msgs nmea_msgs tf gnss ) From e429828faa376c10dc932fae58865ed2f978b284 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Sun, 22 Apr 2018 23:28:52 +0900 Subject: [PATCH 46/92] Fixes to multiple packages dependencies --- .../vehicles/packages/as/CMakeLists.txt | 36 ++--- .../packages/lidar_tracker/CMakeLists.txt | 4 +- .../localization/lib/gnss/CMakeLists.txt | 1 - .../packages/gnss_localizer/CMakeLists.txt | 8 +- .../packages/object_map/CMakeLists.txt | 7 - .../openplanner/op_ros_helpers/CMakeLists.txt | 84 ++++++------ .../openplanner/op_ros_helpers/package.xml | 75 +++++----- .../motion/packages/dp_planner/CMakeLists.txt | 64 +++++---- .../motion/packages/dp_planner/package.xml | 77 ++++++----- .../packages/waypoint_follower/CMakeLists.txt | 70 +++++----- .../packages/waypoint_follower/package.xml | 53 ++++---- .../packages/vector_map_server/CMakeLists.txt | 4 +- .../points_downsampler/CMakeLists.txt | 32 +++-- .../packages/points_downsampler/package.xml | 42 +++--- .../points_preprocessor/CMakeLists.txt | 128 ++++++++++-------- .../packages/points_preprocessor/package.xml | 3 +- .../packages/mqtt_socket/CMakeLists.txt | 7 +- .../socket/packages/mqtt_socket/package.xml | 1 + .../packages/vehicle_socket/CMakeLists.txt | 21 +-- .../packages/vehicle_socket/package.xml | 30 ++-- .../system/gazebo/catvehicle/CMakeLists.txt | 117 ++++++---------- ros/src/system/gazebo/catvehicle/package.xml | 120 ++++++---------- 22 files changed, 487 insertions(+), 497 deletions(-) diff --git a/ros/src/actuation/vehicles/packages/as/CMakeLists.txt b/ros/src/actuation/vehicles/packages/as/CMakeLists.txt index ceace4eac5..656e7366f4 100644 --- a/ros/src/actuation/vehicles/packages/as/CMakeLists.txt +++ b/ros/src/actuation/vehicles/packages/as/CMakeLists.txt @@ -1,28 +1,28 @@ cmake_minimum_required(VERSION 2.8.3) project(as) +find_package( + catkin REQUIRED COMPONENTS + roscpp + std_msgs + geometry_msgs + module_comm_msgs + dbw_mkz_msgs +) + +catkin_package( + CATKIN_DEPENDS + roscpp + std_msgs + geometry_msgs + module_comm_msgs + dbw_mkz_msgs +) + # If submodule is not cloned this project will not be build. set(AS_MSG_PATH "${CMAKE_SOURCE_DIR}/msgs/platform_automation_msgs/module_comm_msgs") if (EXISTS "${AS_MSG_PATH}") - find_package( - catkin REQUIRED COMPONENTS - roscpp - std_msgs - geometry_msgs - module_comm_msgs - dbw_mkz_msgs - ) - - catkin_package( - CATKIN_DEPENDS - roscpp - std_msgs - geometry_msgs - module_comm_msgs - dbw_mkz_msgs - ) - SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( diff --git a/ros/src/computing/perception/detection/packages/lidar_tracker/CMakeLists.txt b/ros/src/computing/perception/detection/packages/lidar_tracker/CMakeLists.txt index ff7d9acf81..f1a97c17ee 100644 --- a/ros/src/computing/perception/detection/packages/lidar_tracker/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/lidar_tracker/CMakeLists.txt @@ -154,9 +154,7 @@ if (${CUDA_FOUND}) ) add_custom_target(gpu_arch_version_checker) - add_dependencies(gpu_arch_version_checker - libdpm_ttic - ) + add_dependencies(gpu_arch_version_checker ${catkin_EXPORTED_TARGETS}) execute_process( COMMAND ${CUDA_CAPABILITY_VERSION_CHECKER} diff --git a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt index 6490e0febc..696e29b4c1 100644 --- a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt @@ -21,7 +21,6 @@ target_link_libraries(gnss ${catkin_LIBRARIES} ) - install( DIRECTORY include/gnss DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt index 80d764c8b8..244b2cef69 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt @@ -13,7 +13,6 @@ catkin_package( CATKIN_DEPENDS roscpp std_msgs nmea_msgs tf gnss ) - SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( @@ -27,15 +26,22 @@ add_executable(fix2tfpose target_link_libraries(fix2tfpose ${catkin_LIBRARIES} ) +add_dependencies(fix2tfpose + ${catkin_EXPORTED_TARGETS} + ) add_executable(nmea2tfpose nodes/nmea2tfpose/nmea2tfpose_core.cpp nodes/nmea2tfpose/nmea2tfpose_node.cpp + nodes/nmea2tfpose/nmea2tfpose_core.h ) target_link_libraries(nmea2tfpose ${catkin_LIBRARIES} ) +add_dependencies(nmea2tfpose + ${catkin_EXPORTED_TARGETS} + ) install(TARGETS nmea2tfpose fix2tfpose ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 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 e09fe0a894..8691e380d3 100644 --- a/ros/src/computing/perception/semantics/packages/object_map/CMakeLists.txt +++ b/ros/src/computing/perception/semantics/packages/object_map/CMakeLists.txt @@ -30,10 +30,8 @@ catkin_package( CATKIN_DEPENDS roscpp pcl_ros pcl_conversions tf sensor_msgs nav_msgs autoware_msgs vector_map ) - set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") - include_directories( ${catkin_INCLUDE_DIRS} include @@ -45,7 +43,6 @@ add_library(object_map_utils_lib ) target_link_libraries(object_map_utils_lib ${catkin_LIBRARIES} - vector_map ) ### laserscan2costmap ### @@ -84,7 +81,6 @@ add_library(grid_map_filter_lib ) target_link_libraries(grid_map_filter_lib ${catkin_LIBRARIES} - vector_map object_map_utils_lib ) add_executable(grid_map_filter @@ -93,7 +89,6 @@ add_executable(grid_map_filter ) target_link_libraries(grid_map_filter ${catkin_LIBRARIES} - vector_map object_map_utils_lib grid_map_filter_lib ) @@ -106,7 +101,6 @@ add_library(wayarea2grid_lib ) target_link_libraries(wayarea2grid_lib ${catkin_LIBRARIES} - vector_map object_map_utils_lib ) @@ -117,7 +111,6 @@ add_executable(wayarea2grid target_link_libraries(wayarea2grid ${catkin_LIBRARIES} - vector_map wayarea2grid_lib ) diff --git a/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/CMakeLists.txt b/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/CMakeLists.txt index 9469b30a37..18796be290 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/CMakeLists.txt +++ b/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/CMakeLists.txt @@ -2,60 +2,62 @@ cmake_minimum_required(VERSION 2.8.3) project(op_ros_helpers) set(ROS_VERSION $ENV{ROS_DISTRO}) - find_package(catkin REQUIRED COMPONENTS - roscpp - geometry_msgs - autoware_msgs - map_file - pcl_conversions - pcl_ros - sensor_msgs - tf - jsk_recognition_msgs - op_utility - op_planner - op_simu - waypoint_follower -) + roscpp + geometry_msgs + autoware_msgs + map_file + pcl_conversions + pcl_ros + sensor_msgs + tf + jsk_recognition_msgs + op_utility + op_planner + op_simu + waypoint_follower + vector_map_msgs + ) -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - -################################### -## catkin specific configuration ## -################################### catkin_package( - INCLUDE_DIRS include - LIBRARIES op_ros_helpers - CATKIN_DEPENDS roscpp geometry_msgs autoware_msgs map_file op_utility op_planner op_simu waypoint_follower -# DEPENDS system_lib + INCLUDE_DIRS include + LIBRARIES op_ros_helpers + CATKIN_DEPENDS roscpp + geometry_msgs + autoware_msgs + map_file + pcl_conversions + pcl_ros + sensor_msgs + tf + jsk_recognition_msgs + op_utility + op_planner + op_simu + waypoint_follower + vector_map_msgs ) -########### -## Build ## -########### - SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall -Wno-unused-result -DROS ${CMAKE_CXX_FLAGS}") if ("${ROS_VERSION}" MATCHES "(kinetic)") - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DROS_KINETIC") -endif() + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DROS_KINETIC") +endif () -include_directories( - include - ${catkin_INCLUDE_DIRS} +include_directories( + include + ${catkin_INCLUDE_DIRS} ) set(ROS_HELPERS_SRC - src/PolygonGenerator.cpp - src/op_RosHelpers.cpp -) + src/PolygonGenerator.cpp + src/op_RosHelpers.cpp + ) ## Declare a cpp library add_library(${PROJECT_NAME} - ${ROS_HELPERS_SRC} -) + ${ROS_HELPERS_SRC} + ) target_link_libraries(${PROJECT_NAME} - ${catkin_LIBRARIES} -) + ${catkin_LIBRARIES} + ) diff --git a/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/package.xml b/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/package.xml index e0efb3d187..3f19b0502a 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/package.xml +++ b/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/package.xml @@ -1,41 +1,44 @@ - op_ros_helpers - 1.6.3 - Helper functions for OpenPlanner visualization package - Yusuke FUJII - Hatem Darweesh - BSD + op_ros_helpers + 1.6.3 + Helper functions for OpenPlanner visualization package + Yusuke FUJII + Hatem Darweesh + BSD - catkin - - roscpp - geometry_msgs - autoware_msgs - map_file - pcl_conversions - pcl_ros - sensor_msgs - std_msgs - op_utility - op_planner - op_simu - waypoint_follower - - - roscpp - geometry_msgs - autoware_msgs - map_file - pcl_conversions - pcl_ros - sensor_msgs - std_msgs - op_utility - op_planner - op_simu - waypoint_follower + catkin - - + roscpp + geometry_msgs + autoware_msgs + map_file + pcl_conversions + pcl_ros + sensor_msgs + tf + jsk_recognition_msgs + op_utility + op_planner + op_simu + waypoint_follower + vector_map_msgs + + roscpp + geometry_msgs + autoware_msgs + map_file + pcl_conversions + pcl_ros + sensor_msgs + tf + jsk_recognition_msgs + op_utility + op_planner + op_simu + waypoint_follower + vector_map_msgs + + + diff --git a/ros/src/computing/planning/motion/packages/dp_planner/CMakeLists.txt b/ros/src/computing/planning/motion/packages/dp_planner/CMakeLists.txt index c53d0907da..57d6348ee4 100644 --- a/ros/src/computing/planning/motion/packages/dp_planner/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/dp_planner/CMakeLists.txt @@ -2,20 +2,21 @@ cmake_minimum_required(VERSION 2.8.3) project(dp_planner) set(ROS_VERSION $ENV{ROS_DISTRO}) find_package(catkin REQUIRED COMPONENTS - roscpp - geometry_msgs - autoware_msgs - map_file - pcl_conversions - pcl_ros - sensor_msgs - tf - jsk_recognition_msgs - op_utility - op_planner - op_simu - waypoint_follower -) + roscpp + geometry_msgs + autoware_msgs + map_file + pcl_conversions + pcl_ros + sensor_msgs + tf + jsk_recognition_msgs + op_utility + op_planner + op_simu + waypoint_follower + vector_map_msgs + ) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) @@ -24,10 +25,23 @@ find_package(catkin REQUIRED COMPONENTS ## catkin specific configuration ## ################################### catkin_package( - INCLUDE_DIRS include - LIBRARIES - CATKIN_DEPENDS roscpp geometry_msgs autoware_msgs map_file op_utility op_planner op_simu waypoint_follower -# DEPENDS system_lib + INCLUDE_DIRS include + LIBRARIES + CATKIN_DEPENDS roscpp + geometry_msgs + autoware_msgs + map_file + pcl_conversions + pcl_ros + sensor_msgs + tf + jsk_recognition_msgs + op_utility + op_planner + op_simu + waypoint_follower + vector_map_msgs + # DEPENDS system_lib ) ########### @@ -36,12 +50,12 @@ catkin_package( SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall -Wno-unused-result -DROS ${CMAKE_CXX_FLAGS}") if ("${ROS_VERSION}" MATCHES "(kinetic)") - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DROS_KINETIC") -endif() + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DROS_KINETIC") +endif () include_directories( - include include/plannerh - ${catkin_INCLUDE_DIRS} + include include/plannerh + ${catkin_INCLUDE_DIRS} ) ## Declare a C++ library @@ -51,6 +65,6 @@ link_directories(lib) add_executable(dp_planner nodes/dp_planner.cpp nodes/dp_planner_core.cpp nodes/RosHelpers.cpp nodes/PolygonGenerator.cpp) target_link_libraries(dp_planner ${catkin_LIBRARIES} ${PCL_LIBRARIES}) -add_dependencies(dp_planner -${catkin_EXPORTED_TARGETS} -) +add_dependencies(dp_planner + ${catkin_EXPORTED_TARGETS} + ) diff --git a/ros/src/computing/planning/motion/packages/dp_planner/package.xml b/ros/src/computing/planning/motion/packages/dp_planner/package.xml index 88d2f20f0a..34715c1b62 100644 --- a/ros/src/computing/planning/motion/packages/dp_planner/package.xml +++ b/ros/src/computing/planning/motion/packages/dp_planner/package.xml @@ -1,41 +1,46 @@ - dp_planner - 1.6.3 - The dynamic programming planner package - Yusuke FUJII - Hatem Darweesh - BSD + dp_planner + 1.6.3 + The dynamic programming planner package + Yusuke FUJII + Hatem Darweesh + BSD - catkin - - roscpp - geometry_msgs - autoware_msgs - map_file - pcl_conversions - pcl_ros - sensor_msgs - std_msgs - op_utility - op_planner - op_simu - waypoint_follower - - - roscpp - geometry_msgs - autoware_msgs - map_file - pcl_conversions - pcl_ros - sensor_msgs - std_msgs - op_utility - op_planner - op_simu - waypoint_follower + catkin - - + roscpp + geometry_msgs + autoware_msgs + map_file + pcl_conversions + pcl_ros + sensor_msgs + std_msgs + op_utility + op_planner + op_simu + waypoint_follower + vector_map_msgs + tf + jsk_recognition_msgs + + roscpp + geometry_msgs + autoware_msgs + map_file + pcl_conversions + pcl_ros + sensor_msgs + std_msgs + op_utility + op_planner + op_simu + waypoint_follower + vector_map_msgs + tf + jsk_recognition_msgs + + + diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/CMakeLists.txt b/ros/src/computing/planning/motion/packages/waypoint_follower/CMakeLists.txt index bb6a0bf53d..3926f068d6 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/CMakeLists.txt @@ -2,15 +2,16 @@ cmake_minimum_required(VERSION 2.8.3) project(waypoint_follower) find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - tf - geometry_msgs - autoware_msgs - pcl_ros - pcl_conversions - sensor_msgs -) + roscpp + std_msgs + tf + geometry_msgs + autoware_msgs + pcl_ros + pcl_conversions + sensor_msgs + tablet_socket_msgs + ) ################################################ ## Declare ROS messages, services and actions ## @@ -20,10 +21,17 @@ find_package(catkin REQUIRED COMPONENTS ## catkin specific configuration ## ################################### catkin_package( - INCLUDE_DIRS include - LIBRARIES libwaypoint_follower - CATKIN_DEPENDS roscpp tf autoware_msgs - # DEPENDS + INCLUDE_DIRS include + LIBRARIES libwaypoint_follower + CATKIN_DEPENDS roscpp + std_msgs + tf + geometry_msgs + autoware_msgs + pcl_ros + pcl_conversions + sensor_msgs + tablet_socket_msgs ) ########### @@ -33,24 +41,24 @@ catkin_package( SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( - include - ${catkin_INCLUDE_DIRS} + include + ${catkin_INCLUDE_DIRS} ) add_library(libwaypoint_follower lib/libwaypoint_follower.cpp) add_dependencies(libwaypoint_follower -${catkin_EXPORTED_TARGETS} -) + ${catkin_EXPORTED_TARGETS} + ) add_executable(pure_pursuit - nodes/pure_pursuit/pure_pursuit_node.cpp - nodes/pure_pursuit/pure_pursuit.cpp - nodes/pure_pursuit/pure_pursuit_core.cpp - nodes/pure_pursuit/pure_pursuit_viz.cpp - ) + nodes/pure_pursuit/pure_pursuit_node.cpp + nodes/pure_pursuit/pure_pursuit.cpp + nodes/pure_pursuit/pure_pursuit_core.cpp + nodes/pure_pursuit/pure_pursuit_viz.cpp + ) target_link_libraries(pure_pursuit libwaypoint_follower ${catkin_LIBRARIES}) add_dependencies(pure_pursuit -${catkin_EXPORTED_TARGETS} ) + ${catkin_EXPORTED_TARGETS}) add_executable(wf_simulator nodes/wf_simulator/wf_simulator.cpp) target_link_libraries(wf_simulator libwaypoint_follower ${catkin_LIBRARIES}) @@ -58,23 +66,23 @@ target_link_libraries(wf_simulator libwaypoint_follower ${catkin_LIBRARIES}) add_executable(twist_filter nodes/twist_filter/twist_filter.cpp) target_link_libraries(twist_filter ${catkin_LIBRARIES}) add_dependencies(twist_filter -${catkin_EXPORTED_TARGETS} ) + ${catkin_EXPORTED_TARGETS}) add_executable(twist_gate nodes/twist_gate/twist_gate.cpp) target_link_libraries(twist_gate ${catkin_LIBRARIES}) add_dependencies(twist_gate -${catkin_EXPORTED_TARGETS} ) + ${catkin_EXPORTED_TARGETS}) ## Install executables and/or libraries install(TARGETS libwaypoint_follower pure_pursuit wf_simulator twist_filter twist_gate - 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 ${CATKIN_PACKAGE_BIN_DESTINATION}) ## Install project namespaced headers install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) install(DIRECTORY launch/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch - PATTERN ".svn" EXCLUDE) + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/package.xml b/ros/src/computing/planning/motion/packages/waypoint_follower/package.xml index 431941473b..513ad32dba 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/package.xml +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/package.xml @@ -1,29 +1,32 @@ - waypoint_follower - 1.6.3 - The waypoint_follower package - h_ohta - BSD - catkin - - roscpp - std_msgs - tf - geometry_msgs - autoware_msgs - pcl_ros - pcl_conversions - sensor_msgs - roscpp - std_msgs - tf - geometry_msgs - autoware_msgs - pcl_ros - pcl_conversions - sensor_msgs + waypoint_follower + 1.6.3 + The waypoint_follower package + h_ohta + BSD + catkin - - + roscpp + std_msgs + tf + geometry_msgs + autoware_msgs + pcl_ros + pcl_conversions + sensor_msgs + tablet_socket_msgs + + roscpp + std_msgs + tf + geometry_msgs + autoware_msgs + pcl_ros + pcl_conversions + sensor_msgs + tablet_socket_msgs + + + diff --git a/ros/src/data/packages/vector_map_server/CMakeLists.txt b/ros/src/data/packages/vector_map_server/CMakeLists.txt index aaae842c72..936c1387c4 100644 --- a/ros/src/data/packages/vector_map_server/CMakeLists.txt +++ b/ros/src/data/packages/vector_map_server/CMakeLists.txt @@ -62,13 +62,13 @@ include_directories( 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 - ${catkin_EXPORTED_TARGETS} + ${${PROJECT_NAME}_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 - ${catkin_EXPORTED_TARGETS} + ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ) diff --git a/ros/src/sensing/filters/packages/points_downsampler/CMakeLists.txt b/ros/src/sensing/filters/packages/points_downsampler/CMakeLists.txt index b83f685a4e..ab891fce16 100644 --- a/ros/src/sensing/filters/packages/points_downsampler/CMakeLists.txt +++ b/ros/src/sensing/filters/packages/points_downsampler/CMakeLists.txt @@ -2,26 +2,34 @@ cmake_minimum_required(VERSION 2.8.3) project(points_downsampler) find_package(catkin REQUIRED COMPONENTS - roscpp - pcl_ros - sensor_msgs - pcl_conversions - velodyne_pointcloud - message_generation -) + roscpp + pcl_ros + sensor_msgs + pcl_conversions + velodyne_pointcloud + message_generation + autoware_msgs + ) add_message_files( - FILES - PointsDownsamplerInfo.msg + FILES + PointsDownsamplerInfo.msg ) generate_messages( - DEPENDENCIES - std_msgs + DEPENDENCIES + std_msgs ) catkin_package( - CATKIN_DEPENDS sensor_msgs + CATKIN_DEPENDS + roscpp + pcl_ros + sensor_msgs + pcl_conversions + velodyne_pointcloud + message_generation + autoware_msgs ) ########### diff --git a/ros/src/sensing/filters/packages/points_downsampler/package.xml b/ros/src/sensing/filters/packages/points_downsampler/package.xml index d539b149b2..f8d6742830 100644 --- a/ros/src/sensing/filters/packages/points_downsampler/package.xml +++ b/ros/src/sensing/filters/packages/points_downsampler/package.xml @@ -1,21 +1,29 @@ - points_downsampler - 1.6.3 - The points_downsampler package - Yuki KITSUKAWA - BSD - - catkin - - sensor_msgs - velodyne_pointcloud - message_generation + points_downsampler + 1.6.3 + The points_downsampler package + Yuki KITSUKAWA + BSD - sensor_msgs - velodyne_pointcloud - message_runtime - - - + catkin + + roscpp + pcl_ros + sensor_msgs + pcl_conversions + velodyne_pointcloud + message_generation + autoware_msgs + + roscpp + pcl_ros + sensor_msgs + pcl_conversions + velodyne_pointcloud + message_generation + autoware_msgs + + + diff --git a/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt b/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt index 389431e693..61eafe72f5 100644 --- a/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt +++ b/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt @@ -2,18 +2,28 @@ cmake_minimum_required(VERSION 2.8.3) project(points_preprocessor) find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - pcl_ros - pcl_conversions - cv_bridge - velodyne_pointcloud -) + roscpp + std_msgs + sensor_msgs + pcl_ros + pcl_conversions + cv_bridge + velodyne_pointcloud + autoware_msgs + tf + ) catkin_package(CATKIN_DEPENDS - sensor_msgs - velodyne_pointcloud -) + roscpp + std_msgs + sensor_msgs + pcl_ros + pcl_conversions + cv_bridge + velodyne_pointcloud + autoware_msgs + tf + ) find_package(Qt5Core REQUIRED) find_package(OpenCV REQUIRED) @@ -25,8 +35,8 @@ find_package(OpenMP) ########### include_directories( - ${catkin_INCLUDE_DIRS} - include + ${catkin_INCLUDE_DIRS} + include ) SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") @@ -35,12 +45,12 @@ link_directories(${PCL_LIBRARY_DIRS}) # Space Filter add_executable(space_filter - nodes/space_filter/space_filter.cpp -) + nodes/space_filter/space_filter.cpp + ) target_link_libraries(space_filter - ${catkin_LIBRARIES} - ${PCL_LIBRARIES} -) + ${catkin_LIBRARIES} + ${PCL_LIBRARIES} + ) add_dependencies(space_filter ${catkin_EXPORTED_TARGETS}) @@ -48,94 +58,94 @@ add_dependencies(space_filter ${catkin_EXPORTED_TARGETS}) add_definitions(${PCL_DEFINITIONS}) add_executable(ring_ground_filter - nodes/ring_ground_filter/ring_ground_filter.cpp -) + nodes/ring_ground_filter/ring_ground_filter.cpp + ) target_include_directories(ring_ground_filter PRIVATE - ${PCL_INCLUDE_DIRS} -) + ${PCL_INCLUDE_DIRS} + ) target_link_libraries(ring_ground_filter - ${catkin_LIBRARIES} - ${PCL_LIBRARIES} - ${Qt5Core_LIBRARIES} -) + ${catkin_LIBRARIES} + ${PCL_LIBRARIES} + ${Qt5Core_LIBRARIES} + ) add_dependencies(ring_ground_filter ${catkin_EXPORTED_TARGETS}) # Ray Ground Filter add_library(ray_ground_filter_lib SHARED - nodes/ray_ground_filter/ray_ground_filter.cpp) + nodes/ray_ground_filter/ray_ground_filter.cpp) if (OPENMP_FOUND) set_target_properties(ray_ground_filter_lib PROPERTIES - COMPILE_FLAGS ${OpenMP_CXX_FLAGS} - LINK_FLAGS ${OpenMP_CXX_FLAGS} - ) -endif() + COMPILE_FLAGS ${OpenMP_CXX_FLAGS} + LINK_FLAGS ${OpenMP_CXX_FLAGS} + ) +endif () target_include_directories(ray_ground_filter_lib PRIVATE - ${OpenCV_INCLUDE_DIRS} - ${PCL_INCLUDE_DIRS} - nodes/ray_ground_filter/include -) + ${OpenCV_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} + nodes/ray_ground_filter/include + ) target_link_libraries(ray_ground_filter_lib - ${catkin_LIBRARIES} - ${PCL_LIBRARIES} - ${OpenCV_LIBRARIES} - ${Qt5Core_LIBRARIES} -) + ${catkin_LIBRARIES} + ${PCL_LIBRARIES} + ${OpenCV_LIBRARIES} + ${Qt5Core_LIBRARIES} + ) add_executable(ray_ground_filter - nodes/ray_ground_filter/ray_ground_filter_main.cpp -) + nodes/ray_ground_filter/ray_ground_filter_main.cpp + ) target_include_directories(ray_ground_filter PRIVATE - nodes/ray_ground_filter/include) + nodes/ray_ground_filter/include) target_link_libraries(ray_ground_filter - ray_ground_filter_lib) + ray_ground_filter_lib) add_dependencies(ray_ground_filter ${catkin_EXPORTED_TARGETS}) # Points Concat filter add_executable(points_concat_filter - nodes/points_concat_filter/points_concat_filter.cpp -) + nodes/points_concat_filter/points_concat_filter.cpp + ) target_link_libraries(points_concat_filter - ${catkin_LIBRARIES} - ${PCL_LIBRARIES} -) + ${catkin_LIBRARIES} + ${PCL_LIBRARIES} + ) add_dependencies(points_concat_filter ${catkin_EXPORTED_TARGETS}) #Cloud Transformer add_executable(cloud_transformer nodes/cloud_transformer/cloud_transformer_node.cpp -) + ) target_include_directories(cloud_transformer PRIVATE ${PCL_INCLUDE_DIRS} -) + ) target_link_libraries(cloud_transformer ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${Qt5Core_LIBRARIES} -) + ) add_dependencies(cloud_transformer ${catkin_EXPORTED_TARGETS}) ### Unit Tests ### if (CATKIN_ENABLE_TESTING) - catkin_add_gtest(test_points_preprocessor test/src/test_points_preprocessor.cpp) - target_include_directories(test_points_preprocessor PRIVATE - nodes/ray_ground_filter/include - test/include) - target_link_libraries(test_points_preprocessor - ray_ground_filter_lib - ${catkin_LIBRARIES}) -endif() + catkin_add_gtest(test_points_preprocessor test/src/test_points_preprocessor.cpp) + target_include_directories(test_points_preprocessor PRIVATE + nodes/ray_ground_filter/include + test/include) + target_link_libraries(test_points_preprocessor + ray_ground_filter_lib + ${catkin_LIBRARIES}) +endif () install(TARGETS cloud_transformer points_concat_filter ray_ground_filter ring_ground_filter space_filter diff --git a/ros/src/sensing/filters/packages/points_preprocessor/package.xml b/ros/src/sensing/filters/packages/points_preprocessor/package.xml index e050d20d13..ebb6762c67 100644 --- a/ros/src/sensing/filters/packages/points_preprocessor/package.xml +++ b/ros/src/sensing/filters/packages/points_preprocessor/package.xml @@ -18,7 +18,6 @@ pcl_ros roscpp sensor_msgs - sensor_msgs std_msgs tf velodyne_pointcloud @@ -28,11 +27,11 @@ autoware_msgs cv_bridge message_filters - message_runtime pcl_conversions pcl_ros roscpp sensor_msgs + std_msgs tf velodyne_pointcloud libqt5-core diff --git a/ros/src/socket/packages/mqtt_socket/CMakeLists.txt b/ros/src/socket/packages/mqtt_socket/CMakeLists.txt index b4b74b843c..1021c1dced 100644 --- a/ros/src/socket/packages/mqtt_socket/CMakeLists.txt +++ b/ros/src/socket/packages/mqtt_socket/CMakeLists.txt @@ -6,19 +6,16 @@ find_package(catkin REQUIRED COMPONENTS roslib std_msgs autoware_msgs + tablet_socket_msgs ) catkin_package( - CATKIN_DEPENDS roscpp roslib std_msgs autoware_msgs + CATKIN_DEPENDS roscpp roslib std_msgs autoware_msgs tablet_socket_msgs ) if (EXISTS /usr/include/mosquitto.h) - - set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall -fpermissive ${CMAKE_CXX_FLAGS}") - - include_directories( include ${catkin_INCLUDE_DIRS} diff --git a/ros/src/socket/packages/mqtt_socket/package.xml b/ros/src/socket/packages/mqtt_socket/package.xml index 1250e7cda3..7014ce893a 100644 --- a/ros/src/socket/packages/mqtt_socket/package.xml +++ b/ros/src/socket/packages/mqtt_socket/package.xml @@ -19,5 +19,6 @@ autoware_msgs roslib yaml-cpp + tablet_socket_msgs diff --git a/ros/src/socket/packages/vehicle_socket/CMakeLists.txt b/ros/src/socket/packages/vehicle_socket/CMakeLists.txt index 3d8a2f2d37..b63d9eb92d 100644 --- a/ros/src/socket/packages/vehicle_socket/CMakeLists.txt +++ b/ros/src/socket/packages/vehicle_socket/CMakeLists.txt @@ -2,29 +2,30 @@ cmake_minimum_required(VERSION 2.8.3) project(vehicle_socket) find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - autoware_msgs -) + roscpp + std_msgs + autoware_msgs + tablet_socket_msgs + ) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") catkin_package( - CATKIN_DEPENDS roscpp std_msgs autoware_msgs + CATKIN_DEPENDS roscpp std_msgs autoware_msgs tablet_socket_msgs ) include_directories( - ${catkin_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} ) add_executable(vehicle_receiver nodes/vehicle_receiver/vehicle_receiver.cpp) target_link_libraries(vehicle_receiver ${catkin_LIBRARIES}) add_dependencies(vehicle_receiver - ${catkin_EXPORTED_TARGETS} -) + ${catkin_EXPORTED_TARGETS} + ) add_executable(vehicle_sender nodes/vehicle_sender/vehicle_sender.cpp) target_link_libraries(vehicle_sender ${catkin_LIBRARIES}) add_dependencies(vehicle_sender - ${catkin_EXPORTED_TARGETS} -) + ${catkin_EXPORTED_TARGETS} + ) diff --git a/ros/src/socket/packages/vehicle_socket/package.xml b/ros/src/socket/packages/vehicle_socket/package.xml index f45902dd56..259fe14dc2 100644 --- a/ros/src/socket/packages/vehicle_socket/package.xml +++ b/ros/src/socket/packages/vehicle_socket/package.xml @@ -1,17 +1,19 @@ - vehicle_socket - 1.6.3 - The vehicle_socket package - h_ohta - BSD - catkin - std_msgs - roscpp - autoware_msgs - std_msgs - roscpp - autoware_msgs - - + vehicle_socket + 1.6.3 + The vehicle_socket package + h_ohta + BSD + catkin + std_msgs + roscpp + autoware_msgs + tablet_socket_msgs + + std_msgs + roscpp + autoware_msgs + tablet_socket_msgs + diff --git a/ros/src/system/gazebo/catvehicle/CMakeLists.txt b/ros/src/system/gazebo/catvehicle/CMakeLists.txt index 19dd7ff3f6..190bbe8a58 100644 --- a/ros/src/system/gazebo/catvehicle/CMakeLists.txt +++ b/ros/src/system/gazebo/catvehicle/CMakeLists.txt @@ -2,24 +2,23 @@ cmake_minimum_required(VERSION 2.8.3) project(catvehicle) set(ROS_VERSION $ENV{ROS_DISTRO}) -if ("${ROS_VERSION}" MATCHES "(indigo|jade)") ## 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 - controller_manager - gazebo_ros_control - geometry_msgs - position_controllers - roscpp - rospy - sensor_msgs - std_msgs - tf - transmission_interface - velocity_controllers - velodyne_pointcloud -) + controller_manager + gazebo_ros_control + geometry_msgs + position_controllers + roscpp + rospy + sensor_msgs + std_msgs + tf + transmission_interface + velocity_controllers + velodyne_pointcloud + ) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") @@ -30,88 +29,52 @@ find_package(Boost REQUIRED COMPONENTS system) include_directories(${Boost_INCLUDE_DIRS}) link_directories(${Boost_LIBRARY_DIRS}) -include (FindPkgConfig) +include(FindPkgConfig) if (PKG_CONFIG_FOUND) - pkg_check_modules(GAZEBO gazebo) -endif() -include_directories(${GAZEBO_INCLUDE_DIRS} -# ${catkin_INCLUDE_DIRS} -) + pkg_check_modules(GAZEBO gazebo) +endif () +include_directories(${GAZEBO_INCLUDE_DIRS}) link_directories(${GAZEBO_LIBRARY_DIRS}) include_directories(include) -## 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() -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package catkin_package( - INCLUDE_DIRS include - LIBRARIES catvehicle - CATKIN_DEPENDS geometry_msgs roscpp rospy sensor_msgs std_msgs velodyne_pointcloud tf -# DEPENDS system_lib + INCLUDE_DIRS include + LIBRARIES catvehicle + CATKIN_DEPENDS geometry_msgs roscpp rospy sensor_msgs std_msgs velodyne_pointcloud tf ) -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations include_directories(include include/catvehicle) include_directories( - ${catkin_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} ) +if ("${ROS_VERSION}" MATCHES "(indigo|jade)") -add_library(catvehiclegazebo SHARED src/cont.cc ./include/catvehicle/cont.hh) -target_link_libraries(catvehiclegazebo ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) - -add_executable( distanceEstimator src/distanceEstimator.cpp ) -target_link_libraries( distanceEstimator ${catkin_LIBRARIES} ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -# added for running the simulation details without need to have -# the information locally sourced -install(DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + add_library(catvehiclegazebo SHARED src/cont.cc ./include/catvehicle/cont.hh) + target_link_libraries(catvehiclegazebo ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) -install(DIRECTORY meshes - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + add_executable(distanceEstimator src/distanceEstimator.cpp) + target_link_libraries(distanceEstimator ${catkin_LIBRARIES}) -install(DIRECTORY urdf - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -install(DIRECTORY worlds - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + install(DIRECTORY meshes + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -## Mark executables and/or libraries for installation -install(TARGETS catvehiclegazebo - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) + install(DIRECTORY urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + install(DIRECTORY worlds + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -############# -## Testing ## -############# + ## Mark executables and/or libraries for installation + install(TARGETS catvehiclegazebo + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_catvehicle.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) -endif() +endif () diff --git a/ros/src/system/gazebo/catvehicle/package.xml b/ros/src/system/gazebo/catvehicle/package.xml index 27862e6577..bc52aa4972 100644 --- a/ros/src/system/gazebo/catvehicle/package.xml +++ b/ros/src/system/gazebo/catvehicle/package.xml @@ -1,79 +1,49 @@ - catvehicle - 1.6.3 - The catvehicle package (formerly known as azcar_sim) + catvehicle + 1.6.3 + The catvehicle package (formerly known as azcar_sim) + + Jonathan Sprinkle + + BSD + + Jonathan Sprinkle + Rahul Bhadani + Sam Taylor + Kennon McKeever + Alex Warren + Swati Munjal + Ashley Kang + Matt Bunting + Sean Whitsitt + + catkin + + controller_manager + gazebo_ros_control + geometry_msgs + position_controllers + roscpp + rospy + sensor_msgs + std_msgs + tf + transmission_interface + velocity_controllers + velodyne_pointcloud + + controller_manager + gazebo_ros_control + geometry_msgs + position_controllers + roscpp + rospy + sensor_msgs + std_msgs + tf + transmission_interface + velocity_controllers + velodyne_pointcloud - - - - Jonathan Sprinkle - - - - - - BSD - - - - - - - - - - Jonathan Sprinkle - Rahul Bhadani - Sam Taylor - Kennon McKeever - Alex Warren - Swati Munjal - Ashley Kang - Matt Bunting - Sean Whitsitt - - - - - - - - - - - - - catkin - controller_manager - gazebo_ros_control - geometry_msgs - position_controllers - roscpp - rospy - sensor_msgs - std_msgs - tf - transmission_interface - velocity_controllers - velodyne_pointcloud - controller_manager - gazebo_ros_control - geometry_msgs - position_controllers - roscpp - rospy - sensor_msgs - std_msgs - tf - transmission_interface - velocity_controllers - velodyne_pointcloud - - - - - - - From d4197f72da973b170cde66b0d29e7f323ac12e51 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 23 Apr 2018 00:00:32 +0900 Subject: [PATCH 47/92] gnss plib and package --- .../localization/lib/gnss/CMakeLists.txt | 2 +- .../localization/lib/gnss/package.xml | 19 +++++++++++-------- .../packages/gnss_localizer/CMakeLists.txt | 19 ++++++------------- 3 files changed, 18 insertions(+), 22 deletions(-) diff --git a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt index 696e29b4c1..61d5e9c698 100644 --- a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt @@ -1,7 +1,7 @@ cmake_minimum_required(VERSION 2.8.3) project(gnss) -find_package(catkin REQUIRED) +find_package(catkin REQUIRED roscpp) catkin_package( INCLUDE_DIRS include/gnss diff --git a/ros/src/computing/perception/localization/lib/gnss/package.xml b/ros/src/computing/perception/localization/lib/gnss/package.xml index 35dcda9ed4..3e876723dc 100644 --- a/ros/src/computing/perception/localization/lib/gnss/package.xml +++ b/ros/src/computing/perception/localization/lib/gnss/package.xml @@ -1,11 +1,14 @@ - gnss - 1.6.3 - The gnss package - Tomomi HORII - BSD - catkin - - + gnss + 1.6.3 + The gnss package + Tomomi HORII + BSD + catkin + + roscpp + + roscpp + diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt index 244b2cef69..e4b55d387e 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt @@ -22,26 +22,19 @@ include_directories( add_executable(fix2tfpose nodes/fix2tfpose/fix2tfpose.cpp ) +target_include_directories(fix2tfpose PRIVATE ${catkin_INCLUDE_DIRS}) +target_link_libraries(fix2tfpose ${catkin_LIBRARIES}) +add_dependencies(fix2tfpose ${catkin_EXPORTED_TARGETS}) -target_link_libraries(fix2tfpose - ${catkin_LIBRARIES} - ) -add_dependencies(fix2tfpose - ${catkin_EXPORTED_TARGETS} - ) add_executable(nmea2tfpose nodes/nmea2tfpose/nmea2tfpose_core.cpp nodes/nmea2tfpose/nmea2tfpose_node.cpp nodes/nmea2tfpose/nmea2tfpose_core.h ) - -target_link_libraries(nmea2tfpose - ${catkin_LIBRARIES} - ) -add_dependencies(nmea2tfpose - ${catkin_EXPORTED_TARGETS} - ) +target_include_directories(nmea2tfpose PRIVATE ${catkin_INCLUDE_DIRS}) +target_link_libraries(nmea2tfpose ${catkin_LIBRARIES}) +add_dependencies(nmea2tfpose ${catkin_EXPORTED_TARGETS}) install(TARGETS nmea2tfpose fix2tfpose ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} From 12d7c018e840790cc4e2cf6443dd49f345229796 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 23 Apr 2018 00:47:37 +0900 Subject: [PATCH 48/92] More fixes to gnss --- .../localization/lib/gnss/CMakeLists.txt | 6 ++-- .../gnss/include/{gnss => }/geo_pos_conv.hh | 0 .../packages/gnss_localizer/CMakeLists.txt | 2 -- .../util/packages/sample_data/CMakeLists.txt | 29 ++++++++++--------- ros/src/util/packages/sample_data/package.xml | 29 +++++++++++-------- 5 files changed, 36 insertions(+), 30 deletions(-) rename ros/src/computing/perception/localization/lib/gnss/include/{gnss => }/geo_pos_conv.hh (100%) diff --git a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt index 61d5e9c698..199acffbe3 100644 --- a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt @@ -4,12 +4,12 @@ project(gnss) find_package(catkin REQUIRED roscpp) catkin_package( - INCLUDE_DIRS include/gnss + INCLUDE_DIRS include LIBRARIES gnss ) include_directories( - include/gnss + include ${catkin_INCLUDE_DIRS} ) @@ -22,7 +22,7 @@ target_link_libraries(gnss ) install( - DIRECTORY include/gnss + DIRECTORY include DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} FILES_MATCHING PATTERN "*.hh" ) diff --git a/ros/src/computing/perception/localization/lib/gnss/include/gnss/geo_pos_conv.hh b/ros/src/computing/perception/localization/lib/gnss/include/geo_pos_conv.hh similarity index 100% rename from ros/src/computing/perception/localization/lib/gnss/include/gnss/geo_pos_conv.hh rename to ros/src/computing/perception/localization/lib/gnss/include/geo_pos_conv.hh diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt index e4b55d387e..5858730f85 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt @@ -22,7 +22,6 @@ include_directories( add_executable(fix2tfpose nodes/fix2tfpose/fix2tfpose.cpp ) -target_include_directories(fix2tfpose PRIVATE ${catkin_INCLUDE_DIRS}) target_link_libraries(fix2tfpose ${catkin_LIBRARIES}) add_dependencies(fix2tfpose ${catkin_EXPORTED_TARGETS}) @@ -32,7 +31,6 @@ add_executable(nmea2tfpose nodes/nmea2tfpose/nmea2tfpose_node.cpp nodes/nmea2tfpose/nmea2tfpose_core.h ) -target_include_directories(nmea2tfpose PRIVATE ${catkin_INCLUDE_DIRS}) target_link_libraries(nmea2tfpose ${catkin_LIBRARIES}) add_dependencies(nmea2tfpose ${catkin_EXPORTED_TARGETS}) diff --git a/ros/src/util/packages/sample_data/CMakeLists.txt b/ros/src/util/packages/sample_data/CMakeLists.txt index 8ee1bdf969..1c8e946af9 100644 --- a/ros/src/util/packages/sample_data/CMakeLists.txt +++ b/ros/src/util/packages/sample_data/CMakeLists.txt @@ -3,11 +3,11 @@ project(sample_data) include(FindPkgConfig) find_package(catkin REQUIRED COMPONENTS - roscpp - gnss - std_msgs - visualization_msgs -) + roscpp + gnss + std_msgs + visualization_msgs + ) pkg_check_modules(PCL_IO REQUIRED pcl_io-1.7) find_package(Eigen3 QUIET) @@ -26,11 +26,14 @@ endif () set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") catkin_package( -# INCLUDE_DIRS include -# LIBRARIES fake_drivers -# CATKIN_DEPENDS other_catkin_pkg -# DEPENDS system_lib - DEPENDS gnss + # INCLUDE_DIRS include + # LIBRARIES fake_drivers + # CATKIN_DEPENDS other_catkin_pkg + # DEPENDS system_lib + DEPENDS roscpp + gnss + std_msgs + visualization_msgs ) ########### @@ -41,9 +44,9 @@ add_executable(sample_vector_map nodes/sample_vector_map/sample_vector_map.cpp) target_link_libraries(sample_vector_map ${catkin_LIBRARIES}) include_directories( - ${catkin_INCLUDE_DIRS} - ${PCL_IO_INCLUDE_DIRS} - ${Eigen_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + ${PCL_IO_INCLUDE_DIRS} + ${Eigen_INCLUDE_DIRS} ) add_executable(sample_points_map nodes/sample_points_map/sample_points_map.cpp) diff --git a/ros/src/util/packages/sample_data/package.xml b/ros/src/util/packages/sample_data/package.xml index 5d8d663470..63454cd73c 100644 --- a/ros/src/util/packages/sample_data/package.xml +++ b/ros/src/util/packages/sample_data/package.xml @@ -1,15 +1,20 @@ - sample_data - 1.6.3 - The sample_data package - Masao KONDOH - BSD - catkin - gnss - cmake_modules - cmake_modules - gnss - - + sample_data + 1.6.3 + The sample_data package + Masao KONDOH + BSD + catkin + gnss + cmake_modules + roscpp + std_msgs + visualization_msgs + + cmake_modules + gnss + roscpp + std_msgs + visualization_msgs From 930f32776eb2cb41e5ed13e257f6d332b59cbcf6 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 23 Apr 2018 01:29:23 +0900 Subject: [PATCH 49/92] gnss dependencies for gnss_loclaizer --- .../localization/packages/gnss_localizer/CMakeLists.txt | 2 +- .../packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp | 3 +-- .../gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h | 2 +- 3 files changed, 3 insertions(+), 4 deletions(-) diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt index 5858730f85..c93905f006 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt @@ -29,8 +29,8 @@ add_dependencies(fix2tfpose ${catkin_EXPORTED_TARGETS}) add_executable(nmea2tfpose nodes/nmea2tfpose/nmea2tfpose_core.cpp nodes/nmea2tfpose/nmea2tfpose_node.cpp - nodes/nmea2tfpose/nmea2tfpose_core.h ) +target_include_directories(nmea2tfpose PRIVATE nodes/nmea2tfpose ${catkin_INCLUDE_DIRS}) target_link_libraries(nmea2tfpose ${catkin_LIBRARIES}) add_dependencies(nmea2tfpose ${catkin_EXPORTED_TARGETS}) diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp index 9e094c1d4d..ba1e712c00 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp @@ -37,8 +37,7 @@ #include #include - -#include "geo_pos_conv.hh" +#include static ros::Publisher pose_publisher; diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h index 48d5168047..f33c49c21f 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h @@ -41,7 +41,7 @@ #include #include -#include "geo_pos_conv.hh" +#include namespace gnss_localizer { From 12753ed06d20ccaec00a8a513474df87d11699c8 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 23 Apr 2018 18:30:48 +0900 Subject: [PATCH 50/92] Missing gnss dependency for gnss on localizer --- .../perception/localization/packages/ndt_localizer/package.xml | 2 ++ 1 file changed, 2 insertions(+) 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 5cb0041af5..eb19a344bf 100644 --- a/ros/src/computing/perception/localization/packages/ndt_localizer/package.xml +++ b/ros/src/computing/perception/localization/packages/ndt_localizer/package.xml @@ -10,6 +10,7 @@ roscpp std_msgs nav_msgs + gnss tf pcl_ros sensor_msgs @@ -27,6 +28,7 @@ roscpp std_msgs nav_msgs + gnss tf pcl_ros sensor_msgs From 92efa31599783ae6af43ef4e9685f27621338055 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 23 Apr 2018 19:21:27 +0900 Subject: [PATCH 51/92] More fixes for dependencies Replaced gnss for autoware_gnss_library --- .../localization/lib/gnss/CMakeLists.txt | 10 +-- .../localization/lib/gnss/package.xml | 4 +- .../packages/gnss_localizer/CMakeLists.txt | 4 +- .../packages/gnss_localizer/package.xml | 4 +- .../packages/ndt_localizer/package.xml | 2 - .../packages/lane_planner/CMakeLists.txt | 11 ++- .../mission/packages/lane_planner/package.xml | 41 +++++---- .../packages/lattice_planner/CMakeLists.txt | 87 +++++++++---------- .../packages/lattice_planner/package.xml | 52 ++++++----- .../packages/waypoint_maker/CMakeLists.txt | 23 +++-- .../packages/waypoint_maker/package.xml | 53 ++++++----- ros/src/data/packages/obj_db/CMakeLists.txt | 7 +- ros/src/data/packages/obj_db/package.xml | 6 +- ros/src/data/packages/pos_db/CMakeLists.txt | 4 +- ros/src/data/packages/pos_db/package.xml | 4 +- .../packages/tablet_socket/CMakeLists.txt | 5 +- .../socket/packages/tablet_socket/package.xml | 4 +- .../util/packages/sample_data/CMakeLists.txt | 8 +- ros/src/util/packages/sample_data/package.xml | 4 +- 19 files changed, 173 insertions(+), 160 deletions(-) diff --git a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt index 199acffbe3..3c576189ef 100644 --- a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt @@ -1,11 +1,11 @@ cmake_minimum_required(VERSION 2.8.3) -project(gnss) +project(autoware_gnss_library) find_package(catkin REQUIRED roscpp) catkin_package( INCLUDE_DIRS include - LIBRARIES gnss + LIBRARIES autoware_gnss_library ) include_directories( @@ -13,11 +13,11 @@ include_directories( ${catkin_INCLUDE_DIRS} ) -add_library(gnss +add_library(autoware_gnss_library src/geo_pos_conv.cpp ) -target_link_libraries(gnss +target_link_libraries(autoware_gnss_library ${catkin_LIBRARIES} ) @@ -28,7 +28,7 @@ install( ) ## Install executables and/or libraries -install(TARGETS gnss +install(TARGETS autoware_gnss_library ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} diff --git a/ros/src/computing/perception/localization/lib/gnss/package.xml b/ros/src/computing/perception/localization/lib/gnss/package.xml index 3e876723dc..ebfa1c75ea 100644 --- a/ros/src/computing/perception/localization/lib/gnss/package.xml +++ b/ros/src/computing/perception/localization/lib/gnss/package.xml @@ -1,8 +1,8 @@ - gnss + autoware_gnss_library 1.6.3 - The gnss package + The autoware_gnss_library package Tomomi HORII BSD catkin diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt index c93905f006..9bad7ec9e9 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt @@ -5,12 +5,12 @@ find_package(catkin REQUIRED COMPONENTS roscpp std_msgs nmea_msgs + autoware_gnss_library tf - gnss ) catkin_package( - CATKIN_DEPENDS roscpp std_msgs nmea_msgs tf gnss + CATKIN_DEPENDS roscpp std_msgs nmea_msgs autoware_gnss_library tf ) SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/package.xml b/ros/src/computing/perception/localization/packages/gnss_localizer/package.xml index 57b29d70f2..bb1f141cea 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/package.xml +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/package.xml @@ -11,13 +11,13 @@ std_msgs nmea_msgs tf - gnss + autoware_gnss_library roscpp std_msgs nmea_msgs tf - gnss + autoware_gnss_library 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 eb19a344bf..5cb0041af5 100644 --- a/ros/src/computing/perception/localization/packages/ndt_localizer/package.xml +++ b/ros/src/computing/perception/localization/packages/ndt_localizer/package.xml @@ -10,7 +10,6 @@ roscpp std_msgs nav_msgs - gnss tf pcl_ros sensor_msgs @@ -28,7 +27,6 @@ roscpp std_msgs nav_msgs - gnss tf pcl_ros sensor_msgs 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 6af21fb9d9..a059c02176 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt +++ b/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt @@ -7,7 +7,7 @@ find_package(catkin REQUIRED COMPONENTS tablet_socket waypoint_follower vector_map - gnss + autoware_gnss_library autoware_msgs ) @@ -16,8 +16,13 @@ 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 + CATKIN_DEPENDS roscpp + std_msgs + tablet_socket + waypoint_follower + vector_map + autoware_gnss_library + autoware_msgs ) include_directories( diff --git a/ros/src/computing/planning/mission/packages/lane_planner/package.xml b/ros/src/computing/planning/mission/packages/lane_planner/package.xml index 07ed7a8bbb..2998ae1b2a 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/package.xml +++ b/ros/src/computing/planning/mission/packages/lane_planner/package.xml @@ -1,21 +1,26 @@ - lane_planner - 1.6.3 - The lane_planner package - Tomomi HORII - BSD - catkin - tablet_socket - waypoint_follower - vector_map - gnss - autoware_msgs - tablet_socket - waypoint_follower - vector_map - gnss - autoware_msgs - - + lane_planner + 1.6.3 + The lane_planner package + Tomomi HORII + BSD + catkin + + roscpp + std_msgs + tablet_socket + waypoint_follower + vector_map + autoware_gnss_library + autoware_msgs + + roscpp + std_msgs + tablet_socket + waypoint_follower + vector_map + autoware_gnss_library + autoware_msgs + diff --git a/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt b/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt index acec44bb84..151d24f21b 100644 --- a/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt @@ -2,53 +2,50 @@ cmake_minimum_required(VERSION 2.8.3) project(lattice_planner) find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - pcl_ros - pcl_conversions - sensor_msgs - tf - gnss - waypoint_follower - vector_map - astar_planner - autoware_msgs - #dbw_mkz_msgs -) - -################################################ -## Find OpenMP in order to parallelize loops ## -################################################ + roscpp + std_msgs + pcl_ros + pcl_conversions + sensor_msgs + tf + autoware_gnss_library + waypoint_follower + vector_map + astar_planner + autoware_msgs + ) -OPTION (USE_OpenMP "Use OpenMP" ON) -IF(USE_OpenMP) - FIND_PACKAGE(OpenMP) - IF(OPENMP_FOUND) - SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}") - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") - ENDIF() -ENDIF() +OPTION(USE_OpenMP "Use OpenMP" ON) +IF (USE_OpenMP) + FIND_PACKAGE(OpenMP) + IF (OPENMP_FOUND) + SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}") + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") + ENDIF () +ENDIF () -################################### -## catkin specific configuration ## -################################### catkin_package( - INCLUDE_DIRS include - LIBRARIES libtraj_gen - CATKIN_DEPENDS roscpp std_msgs tf waypoint_follower vector_map autoware_msgs #dbw_mkz_msgs - DEPENDS gnss + INCLUDE_DIRS include + LIBRARIES libtraj_gen + CATKIN_DEPENDS roscpp + std_msgs + pcl_ros + pcl_conversions + sensor_msgs + tf + autoware_gnss_library + waypoint_follower + vector_map + astar_planner + autoware_msgs ) -########### -## Build ## -########### - SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( - include - ${catkin_INCLUDE_DIRS} + include + ${catkin_INCLUDE_DIRS} ) @@ -58,20 +55,20 @@ target_link_libraries(libtraj_gen ${catkin_LIBRARIES} armadillo) add_executable(lattice_trajectory_gen nodes/lattice_trajectory_gen/lattice_trajectory_gen.cpp) target_link_libraries(lattice_trajectory_gen libtraj_gen ${catkin_LIBRARIES}) add_dependencies(lattice_trajectory_gen -${catkin_EXPORTED_TARGETS}) + ${catkin_EXPORTED_TARGETS}) add_executable(lattice_twist_convert nodes/lattice_twist_convert/lattice_twist_convert.cpp) target_link_libraries(lattice_twist_convert libtraj_gen ${catkin_LIBRARIES}) -add_dependencies(lattice_twist_convert -${catkin_EXPORTED_TARGETS}) +add_dependencies(lattice_twist_convert + ${catkin_EXPORTED_TARGETS}) add_executable(lattice_velocity_set nodes/lattice_velocity_set/lattice_velocity_set.cpp nodes/lattice_velocity_set/libvelocity_set.cpp) target_link_libraries(lattice_velocity_set ${catkin_LIBRARIES}) -add_dependencies(lattice_velocity_set -${catkin_EXPORTED_TARGETS}) +add_dependencies(lattice_velocity_set + ${catkin_EXPORTED_TARGETS}) add_executable(path_select nodes/path_select/path_select.cpp) target_link_libraries(path_select ${catkin_LIBRARIES}) -add_dependencies(path_select -${catkin_EXPORTED_TARGETS}) +add_dependencies(path_select + ${catkin_EXPORTED_TARGETS}) 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 5d92fe438d..f0cbf3e381 100644 --- a/ros/src/computing/planning/motion/packages/lattice_planner/package.xml +++ b/ros/src/computing/planning/motion/packages/lattice_planner/package.xml @@ -1,33 +1,37 @@ - lattice_planner - 1.6.3 - The lattice_planner package + lattice_planner + 1.6.3 + The lattice_planner package - mokelly + mokelly - BSD + BSD - catkin - roscpp - waypoint_follower - std_msgs - tf - gnss - vector_map - astar_planner - autoware_msgs + catkin - roscpp - std_msgs - tf - gnss - waypoint_follower - vector_map - astar_planner - autoware_msgs + roscpp + std_msgs + pcl_ros + pcl_conversions + sensor_msgs + tf + autoware_gnss_library + waypoint_follower + vector_map + astar_planner + autoware_msgs - + roscpp + std_msgs + pcl_ros + pcl_conversions + sensor_msgs + tf + autoware_gnss_library + waypoint_follower + vector_map + astar_planner + autoware_msgs - 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 438d804345..b4b5e33042 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3) project(waypoint_maker) find_package(catkin REQUIRED COMPONENTS - gnss + autoware_gnss_library roscpp std_msgs geometry_msgs @@ -16,20 +16,19 @@ find_package(catkin REQUIRED COMPONENTS 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 + CATKIN_DEPENDS autoware_gnss_library + roscpp + std_msgs + geometry_msgs + nav_msgs + tf + waypoint_follower + vector_map + lane_planner + autoware_msgs ) -########### -## Build ## -########### - SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/package.xml b/ros/src/computing/planning/motion/packages/waypoint_maker/package.xml index d75d6420fe..a3884719dc 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/package.xml +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/package.xml @@ -1,27 +1,32 @@ - waypoint_maker - 1.6.3 - The waypoint_maker package - h_ohta - BSD - catkin - gnss - roscpp - std_msgs - tf - waypoint_follower - vector_map - lane_planner - autoware_msgs - gnss - roscpp - std_msgs - tf - waypoint_follower - vector_map - lane_planner - autoware_msgs - - + waypoint_maker + 1.6.3 + The waypoint_maker package + h_ohta + BSD + + catkin + + autoware_gnss_library + roscpp + std_msgs + geometry_msgs + nav_msgs + tf + waypoint_follower + vector_map + lane_planner + autoware_msgs + + autoware_gnss_library + roscpp + std_msgs + geometry_msgs + nav_msgs + tf + waypoint_follower + vector_map + lane_planner + autoware_msgs diff --git a/ros/src/data/packages/obj_db/CMakeLists.txt b/ros/src/data/packages/obj_db/CMakeLists.txt index 5a41a7f050..5141aa68a3 100644 --- a/ros/src/data/packages/obj_db/CMakeLists.txt +++ b/ros/src/data/packages/obj_db/CMakeLists.txt @@ -3,7 +3,7 @@ project(obj_db) find_package(catkin REQUIRED COMPONENTS roscpp - gnss + autoware_gnss_library visualization_msgs autoware_msgs ) @@ -14,7 +14,10 @@ set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") ## catkin specific configuration ## ################################### catkin_package( - CATKIN_DEPENDS roscpp autoware_msgs gnss + CATKIN_DEPENDS roscpp + autoware_gnss_library + visualization_msgs + autoware_msgs ) ########### diff --git a/ros/src/data/packages/obj_db/package.xml b/ros/src/data/packages/obj_db/package.xml index 3556dc712e..72b51324d6 100644 --- a/ros/src/data/packages/obj_db/package.xml +++ b/ros/src/data/packages/obj_db/package.xml @@ -9,10 +9,12 @@ roscpp autoware_msgs - gnss + autoware_gnss_library + visualization_msgs roscpp autoware_msgs - gnss + autoware_gnss_library + visualization_msgs diff --git a/ros/src/data/packages/pos_db/CMakeLists.txt b/ros/src/data/packages/pos_db/CMakeLists.txt index 51cc7ed5c7..9b2a6eac40 100644 --- a/ros/src/data/packages/pos_db/CMakeLists.txt +++ b/ros/src/data/packages/pos_db/CMakeLists.txt @@ -3,7 +3,7 @@ project(pos_db) find_package(catkin REQUIRED COMPONENTS roscpp - gnss + autoware_gnss_library jsk_recognition_msgs tf autoware_msgs @@ -16,7 +16,7 @@ set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") catkin_package( CATKIN_DEPENDS roscpp - gnss + autoware_gnss_library jsk_recognition_msgs tf autoware_msgs diff --git a/ros/src/data/packages/pos_db/package.xml b/ros/src/data/packages/pos_db/package.xml index 0c61b89bd8..f9f3caca2e 100644 --- a/ros/src/data/packages/pos_db/package.xml +++ b/ros/src/data/packages/pos_db/package.xml @@ -8,14 +8,14 @@ catkin roscpp - gnss + autoware_gnss_library jsk_recognition_msgs tf autoware_msgs libssh2 roscpp - gnss + autoware_gnss_library jsk_recognition_msgs tf autoware_msgs diff --git a/ros/src/socket/packages/tablet_socket/CMakeLists.txt b/ros/src/socket/packages/tablet_socket/CMakeLists.txt index 7c10b86f2c..e13106444f 100644 --- a/ros/src/socket/packages/tablet_socket/CMakeLists.txt +++ b/ros/src/socket/packages/tablet_socket/CMakeLists.txt @@ -4,7 +4,7 @@ project(tablet_socket) find_package(catkin REQUIRED COMPONENTS roscpp tf - gnss + autoware_gnss_library tablet_socket_msgs autoware_msgs geometry_msgs @@ -13,8 +13,7 @@ find_package(catkin REQUIRED COMPONENTS 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 autoware_gnss_library ) include_directories( diff --git a/ros/src/socket/packages/tablet_socket/package.xml b/ros/src/socket/packages/tablet_socket/package.xml index b382d1a987..7c4aeb9d56 100644 --- a/ros/src/socket/packages/tablet_socket/package.xml +++ b/ros/src/socket/packages/tablet_socket/package.xml @@ -8,14 +8,14 @@ catkin tf - gnss + autoware_gnss_library std_msgs tablet_socket_msgs autoware_msgs geometry_msgs tf - gnss + autoware_gnss_library tablet_socket_msgs autoware_msgs geometry_msgs diff --git a/ros/src/util/packages/sample_data/CMakeLists.txt b/ros/src/util/packages/sample_data/CMakeLists.txt index 1c8e946af9..f3317a54a7 100644 --- a/ros/src/util/packages/sample_data/CMakeLists.txt +++ b/ros/src/util/packages/sample_data/CMakeLists.txt @@ -4,7 +4,7 @@ project(sample_data) include(FindPkgConfig) find_package(catkin REQUIRED COMPONENTS roscpp - gnss + autoware_gnss_library std_msgs visualization_msgs ) @@ -26,12 +26,8 @@ endif () set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") catkin_package( - # INCLUDE_DIRS include - # LIBRARIES fake_drivers - # CATKIN_DEPENDS other_catkin_pkg - # DEPENDS system_lib DEPENDS roscpp - gnss + autoware_gnss_library std_msgs visualization_msgs ) diff --git a/ros/src/util/packages/sample_data/package.xml b/ros/src/util/packages/sample_data/package.xml index 63454cd73c..23dc3845d1 100644 --- a/ros/src/util/packages/sample_data/package.xml +++ b/ros/src/util/packages/sample_data/package.xml @@ -6,14 +6,14 @@ Masao KONDOH BSD catkin - gnss + autoware_gnss_library cmake_modules roscpp std_msgs visualization_msgs cmake_modules - gnss + autoware_gnss_library roscpp std_msgs visualization_msgs From 1dfc1810a5a068d9f41f4d54a2d58a4a63bf867c Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 23 Apr 2018 19:54:38 +0900 Subject: [PATCH 52/92] gnss more fixes --- .../localization/lib/gnss/CMakeLists.txt | 2 +- .../{geo_pos_conv.hh => geo_pos_conv.hpp} | 0 .../lib/gnss/src/geo_pos_conv.cpp | 2 +- .../packages/gnss_localizer/CMakeLists.txt | 4 ++-- .../nodes/fix2tfpose/fix2tfpose.cpp | 2 +- .../nodes/nmea2tfpose/nmea2tfpose_core.h | 2 +- .../lane_planner/lib/lane_planner/vmap.cpp | 2 +- .../nodes/obj_downloader/obj_downloader.cpp | 2 +- .../nodes/pos_downloader/pos_downloader.cpp | 2 +- .../nodes/tablet_receiver/tablet_receiver.cpp | 2 +- .../util/packages/log_tools/CMakeLists.txt | 12 +--------- ros/src/util/packages/log_tools/package.xml | 22 ++++++++++--------- .../nodes/sample_mobility/sample_mobility.cpp | 2 +- .../sample_trajectory/sample_trajectory.cpp | 2 +- 14 files changed, 25 insertions(+), 33 deletions(-) rename ros/src/computing/perception/localization/lib/gnss/include/{geo_pos_conv.hh => geo_pos_conv.hpp} (100%) diff --git a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt index 3c576189ef..c1df9c05bb 100644 --- a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt @@ -24,7 +24,7 @@ target_link_libraries(autoware_gnss_library install( DIRECTORY include DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.hh" + FILES_MATCHING PATTERN "*.hpp" ) ## Install executables and/or libraries diff --git a/ros/src/computing/perception/localization/lib/gnss/include/geo_pos_conv.hh b/ros/src/computing/perception/localization/lib/gnss/include/geo_pos_conv.hpp similarity index 100% rename from ros/src/computing/perception/localization/lib/gnss/include/geo_pos_conv.hh rename to ros/src/computing/perception/localization/lib/gnss/include/geo_pos_conv.hpp diff --git a/ros/src/computing/perception/localization/lib/gnss/src/geo_pos_conv.cpp b/ros/src/computing/perception/localization/lib/gnss/src/geo_pos_conv.cpp index 1fedf0095a..b17e18f52d 100644 --- a/ros/src/computing/perception/localization/lib/gnss/src/geo_pos_conv.cpp +++ b/ros/src/computing/perception/localization/lib/gnss/src/geo_pos_conv.cpp @@ -28,7 +28,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -#include +#include double geo_pos_conv::x() const { diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt index 9bad7ec9e9..b0ba6f6ee0 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt @@ -23,7 +23,7 @@ add_executable(fix2tfpose nodes/fix2tfpose/fix2tfpose.cpp ) target_link_libraries(fix2tfpose ${catkin_LIBRARIES}) -add_dependencies(fix2tfpose ${catkin_EXPORTED_TARGETS}) +add_dependencies(fix2tfpose ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) add_executable(nmea2tfpose @@ -32,7 +32,7 @@ add_executable(nmea2tfpose ) target_include_directories(nmea2tfpose PRIVATE nodes/nmea2tfpose ${catkin_INCLUDE_DIRS}) target_link_libraries(nmea2tfpose ${catkin_LIBRARIES}) -add_dependencies(nmea2tfpose ${catkin_EXPORTED_TARGETS}) +add_dependencies(nmea2tfpose ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) install(TARGETS nmea2tfpose fix2tfpose ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp index ba1e712c00..718014c07e 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp @@ -37,7 +37,7 @@ #include #include -#include +#include static ros::Publisher pose_publisher; diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h index f33c49c21f..f1636dc1af 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h @@ -41,7 +41,7 @@ #include #include -#include +#include namespace gnss_localizer { diff --git a/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp b/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp index 4c0ff31cc3..5e050d8217 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp +++ b/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp @@ -35,7 +35,7 @@ #include -#include +#include #include namespace lane_planner { diff --git a/ros/src/data/packages/obj_db/nodes/obj_downloader/obj_downloader.cpp b/ros/src/data/packages/obj_db/nodes/obj_downloader/obj_downloader.cpp index b063f1c9ae..c560734b84 100644 --- a/ros/src/data/packages/obj_db/nodes/obj_downloader/obj_downloader.cpp +++ b/ros/src/data/packages/obj_db/nodes/obj_downloader/obj_downloader.cpp @@ -37,7 +37,7 @@ publish data as ractangular plane #include "ros/ros.h" #include "std_msgs/String.h" #include -#include +#include #include #include #include diff --git a/ros/src/data/packages/pos_db/nodes/pos_downloader/pos_downloader.cpp b/ros/src/data/packages/pos_db/nodes/pos_downloader/pos_downloader.cpp index 6ed593e8bd..9c933d3da4 100644 --- a/ros/src/data/packages/pos_db/nodes/pos_downloader/pos_downloader.cpp +++ b/ros/src/data/packages/pos_db/nodes/pos_downloader/pos_downloader.cpp @@ -49,7 +49,7 @@ publish data as ractangular plane #endif /* ! CURRENT_CAR_DIRECTLY */ #include -#include +#include #include #include diff --git a/ros/src/socket/packages/tablet_socket/nodes/tablet_receiver/tablet_receiver.cpp b/ros/src/socket/packages/tablet_socket/nodes/tablet_receiver/tablet_receiver.cpp index f2c7404b5e..dbac35b5a5 100644 --- a/ros/src/socket/packages/tablet_socket/nodes/tablet_receiver/tablet_receiver.cpp +++ b/ros/src/socket/packages/tablet_socket/nodes/tablet_receiver/tablet_receiver.cpp @@ -45,7 +45,7 @@ #include #include -#include +#include #include "ros/ros.h" #include "tablet_socket_msgs/gear_cmd.h" diff --git a/ros/src/util/packages/log_tools/CMakeLists.txt b/ros/src/util/packages/log_tools/CMakeLists.txt index 20a0e17f4e..d121843a57 100644 --- a/ros/src/util/packages/log_tools/CMakeLists.txt +++ b/ros/src/util/packages/log_tools/CMakeLists.txt @@ -5,14 +5,4 @@ add_compile_options(-std=c++11) find_package(catkin REQUIRED) -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES log_tools -# CATKIN_DEPENDS other_catkin_pkg -# DEPENDS system_lib -) - -include_directories( -# include -# ${catkin_INCLUDE_DIRS} -) +catkin_package() diff --git a/ros/src/util/packages/log_tools/package.xml b/ros/src/util/packages/log_tools/package.xml index 3cd32b6a82..df8487e26b 100644 --- a/ros/src/util/packages/log_tools/package.xml +++ b/ros/src/util/packages/log_tools/package.xml @@ -1,13 +1,15 @@ - log_tools - 1.6.3 - The log_tools package - Akihito Ohsato - BSD - - Akihito Ohsato - catkin - - + log_tools + 1.6.3 + The log_tools package + Akihito Ohsato + BSD + + Akihito Ohsato + catkin + + rospy + python-flask + diff --git a/ros/src/util/packages/sample_data/nodes/sample_mobility/sample_mobility.cpp b/ros/src/util/packages/sample_data/nodes/sample_mobility/sample_mobility.cpp index f84d7b384c..7e92e36c3e 100644 --- a/ros/src/util/packages/sample_data/nodes/sample_mobility/sample_mobility.cpp +++ b/ros/src/util/packages/sample_data/nodes/sample_mobility/sample_mobility.cpp @@ -36,7 +36,7 @@ #include #include #include -#include +#include static ros::Publisher pub; diff --git a/ros/src/util/packages/sample_data/nodes/sample_trajectory/sample_trajectory.cpp b/ros/src/util/packages/sample_data/nodes/sample_trajectory/sample_trajectory.cpp index 634bbce055..ad0da8d4a2 100644 --- a/ros/src/util/packages/sample_data/nodes/sample_trajectory/sample_trajectory.cpp +++ b/ros/src/util/packages/sample_data/nodes/sample_trajectory/sample_trajectory.cpp @@ -31,7 +31,7 @@ #include #include "ros/ros.h" #include -#include +#include #define SELF_TRANS 0 int swap_x_y = 0; From 6bf66a2f6cdaca5db9aa242ce0d8b1862086f8fb Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 23 Apr 2018 22:16:17 +0900 Subject: [PATCH 53/92] fixes to more dependencies --- .../packages/cv_tracker/CMakeLists.txt | 30 +++++++++++++++++-- .../nodes/obj_reproj/obj_reproj.cpp | 2 +- .../detection/packages/cv_tracker/package.xml | 2 ++ .../localization/lib/gnss/CMakeLists.txt | 4 +-- .../gnss/include/{ => gnss}/geo_pos_conv.hpp | 0 .../nodes/fix2tfpose/fix2tfpose.cpp | 2 +- .../nodes/nmea2tfpose/nmea2tfpose_core.h | 2 +- .../lane_planner/lib/lane_planner/vmap.cpp | 2 +- .../nodes/obj_downloader/obj_downloader.cpp | 2 +- .../nodes/pos_downloader/pos_downloader.cpp | 2 +- .../nodes/tablet_receiver/tablet_receiver.cpp | 2 +- .../nodes/sample_mobility/sample_mobility.cpp | 2 +- .../sample_trajectory/sample_trajectory.cpp | 2 +- 13 files changed, 40 insertions(+), 14 deletions(-) rename ros/src/computing/perception/localization/lib/gnss/include/{ => gnss}/geo_pos_conv.hpp (100%) 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 8cac79c21d..dd6ff3498d 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt @@ -19,6 +19,7 @@ if ("${ROS_VERSION}" MATCHES "(indigo|jade)") libdpm_ocv kf_lib jsk_recognition_msgs + autoware_gnss_library ) elseif ("${ROS_VERSION}" MATCHES "(kinetic)") FIND_PACKAGE(catkin REQUIRED COMPONENTS @@ -33,6 +34,7 @@ elseif ("${ROS_VERSION}" MATCHES "(kinetic)") tf kf_lib jsk_recognition_msgs + autoware_gnss_library ) endif () @@ -47,12 +49,34 @@ EXECUTE_PROCESS( if ("${ROS_VERSION}" MATCHES "(indigo|jade)") catkin_package( - CATKIN_DEPENDS libdpm_ocv - libdpm_ttic fusion kf_lib std_msgs geometry_msgs autoware_msgs + CATKIN_DEPENDS cv_bridge + image_transport + roscpp + sensor_msgs + std_msgs + autoware_msgs + libdpm_ttic + fusion + tf + libdpm_ocv + kf_lib + jsk_recognition_msgs + autoware_gnss_library ) elseif ("${ROS_VERSION}" MATCHES "(kinetic)") catkin_package( - CATKIN_DEPENDS libdpm_ttic fusion std_msgs geometry_msgs autoware_msgs + CATKIN_DEPENDS cv_bridge + image_transport + roscpp + std_msgs + autoware_msgs + sensor_msgs + libdpm_ttic + fusion + tf + kf_lib + jsk_recognition_msgs + autoware_gnss_library ) endif () ########### diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/obj_reproj.cpp b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/obj_reproj.cpp index 481ae368e0..2e2faf66bf 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/obj_reproj.cpp +++ b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/obj_reproj.cpp @@ -61,7 +61,7 @@ #include "structure.h" #include "calcoordinates.h" #include "axialMove.h" -#include "geo_pos_conv.hh" +#include #include "CalObjLoc.h" #include "autoware_msgs/image_obj_tracked.h" #include "autoware_msgs/obj_label.h" 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 b889b1aba4..403c31cc82 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/package.xml +++ b/ros/src/computing/perception/detection/packages/cv_tracker/package.xml @@ -22,6 +22,7 @@ kf_lib librcnn jsk_recognition_msgs + autoware_gnss_library cv_bridge image_transport @@ -37,6 +38,7 @@ kf_lib librcnn jsk_recognition_msgs + autoware_gnss_library diff --git a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt index c1df9c05bb..cf6edaa206 100644 --- a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt @@ -4,12 +4,12 @@ project(autoware_gnss_library) find_package(catkin REQUIRED roscpp) catkin_package( - INCLUDE_DIRS include + INCLUDE_DIRS include/gnss LIBRARIES autoware_gnss_library ) include_directories( - include + include/gnss ${catkin_INCLUDE_DIRS} ) diff --git a/ros/src/computing/perception/localization/lib/gnss/include/geo_pos_conv.hpp b/ros/src/computing/perception/localization/lib/gnss/include/gnss/geo_pos_conv.hpp similarity index 100% rename from ros/src/computing/perception/localization/lib/gnss/include/geo_pos_conv.hpp rename to ros/src/computing/perception/localization/lib/gnss/include/gnss/geo_pos_conv.hpp diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp index 718014c07e..0a1c5dc193 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp @@ -37,7 +37,7 @@ #include #include -#include +#include static ros::Publisher pose_publisher; diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h index f1636dc1af..8a57a48673 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h @@ -41,7 +41,7 @@ #include #include -#include +#include namespace gnss_localizer { diff --git a/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp b/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp index 5e050d8217..e7830aac76 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp +++ b/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp @@ -35,7 +35,7 @@ #include -#include +#include #include namespace lane_planner { diff --git a/ros/src/data/packages/obj_db/nodes/obj_downloader/obj_downloader.cpp b/ros/src/data/packages/obj_db/nodes/obj_downloader/obj_downloader.cpp index c560734b84..a794b5e61c 100644 --- a/ros/src/data/packages/obj_db/nodes/obj_downloader/obj_downloader.cpp +++ b/ros/src/data/packages/obj_db/nodes/obj_downloader/obj_downloader.cpp @@ -37,7 +37,7 @@ publish data as ractangular plane #include "ros/ros.h" #include "std_msgs/String.h" #include -#include +#include #include #include #include diff --git a/ros/src/data/packages/pos_db/nodes/pos_downloader/pos_downloader.cpp b/ros/src/data/packages/pos_db/nodes/pos_downloader/pos_downloader.cpp index 9c933d3da4..1c127632b6 100644 --- a/ros/src/data/packages/pos_db/nodes/pos_downloader/pos_downloader.cpp +++ b/ros/src/data/packages/pos_db/nodes/pos_downloader/pos_downloader.cpp @@ -49,7 +49,7 @@ publish data as ractangular plane #endif /* ! CURRENT_CAR_DIRECTLY */ #include -#include +#include #include #include diff --git a/ros/src/socket/packages/tablet_socket/nodes/tablet_receiver/tablet_receiver.cpp b/ros/src/socket/packages/tablet_socket/nodes/tablet_receiver/tablet_receiver.cpp index dbac35b5a5..6afd5204dc 100644 --- a/ros/src/socket/packages/tablet_socket/nodes/tablet_receiver/tablet_receiver.cpp +++ b/ros/src/socket/packages/tablet_socket/nodes/tablet_receiver/tablet_receiver.cpp @@ -45,7 +45,7 @@ #include #include -#include +#include #include "ros/ros.h" #include "tablet_socket_msgs/gear_cmd.h" diff --git a/ros/src/util/packages/sample_data/nodes/sample_mobility/sample_mobility.cpp b/ros/src/util/packages/sample_data/nodes/sample_mobility/sample_mobility.cpp index 7e92e36c3e..80bf80af2b 100644 --- a/ros/src/util/packages/sample_data/nodes/sample_mobility/sample_mobility.cpp +++ b/ros/src/util/packages/sample_data/nodes/sample_mobility/sample_mobility.cpp @@ -36,7 +36,7 @@ #include #include #include -#include +#include static ros::Publisher pub; diff --git a/ros/src/util/packages/sample_data/nodes/sample_trajectory/sample_trajectory.cpp b/ros/src/util/packages/sample_data/nodes/sample_trajectory/sample_trajectory.cpp index ad0da8d4a2..8551f52e2d 100644 --- a/ros/src/util/packages/sample_data/nodes/sample_trajectory/sample_trajectory.cpp +++ b/ros/src/util/packages/sample_data/nodes/sample_trajectory/sample_trajectory.cpp @@ -31,7 +31,7 @@ #include #include "ros/ros.h" #include -#include +#include #define SELF_TRANS 0 int swap_x_y = 0; From f9bf78b2fb7e854ad0d1e314370bb6c2d5397736 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 23 Apr 2018 22:55:01 +0900 Subject: [PATCH 54/92] header dependency --- .../packages/cv_tracker/nodes/obj_reproj/obj_reproj.cpp | 2 +- .../computing/perception/localization/lib/gnss/CMakeLists.txt | 4 ++-- .../include/{gnss => autoware_gnss_library}/geo_pos_conv.hpp | 0 .../perception/localization/lib/gnss/src/geo_pos_conv.cpp | 2 +- .../packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp | 2 +- .../gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h | 2 +- .../mission/packages/lane_planner/lib/lane_planner/vmap.cpp | 2 +- .../packages/obj_db/nodes/obj_downloader/obj_downloader.cpp | 2 +- .../packages/pos_db/nodes/pos_downloader/pos_downloader.cpp | 2 +- .../tablet_socket/nodes/tablet_receiver/tablet_receiver.cpp | 2 +- .../sample_data/nodes/sample_mobility/sample_mobility.cpp | 2 +- .../sample_data/nodes/sample_trajectory/sample_trajectory.cpp | 2 +- ros/src/util/scripts/running_default_sensor.sh | 2 +- 13 files changed, 13 insertions(+), 13 deletions(-) rename ros/src/computing/perception/localization/lib/gnss/include/{gnss => autoware_gnss_library}/geo_pos_conv.hpp (100%) diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/obj_reproj.cpp b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/obj_reproj.cpp index 2e2faf66bf..95d04bc444 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/obj_reproj.cpp +++ b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/obj_reproj.cpp @@ -61,7 +61,7 @@ #include "structure.h" #include "calcoordinates.h" #include "axialMove.h" -#include +#include #include "CalObjLoc.h" #include "autoware_msgs/image_obj_tracked.h" #include "autoware_msgs/obj_label.h" diff --git a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt index cf6edaa206..c1df9c05bb 100644 --- a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt @@ -4,12 +4,12 @@ project(autoware_gnss_library) find_package(catkin REQUIRED roscpp) catkin_package( - INCLUDE_DIRS include/gnss + INCLUDE_DIRS include LIBRARIES autoware_gnss_library ) include_directories( - include/gnss + include ${catkin_INCLUDE_DIRS} ) diff --git a/ros/src/computing/perception/localization/lib/gnss/include/gnss/geo_pos_conv.hpp b/ros/src/computing/perception/localization/lib/gnss/include/autoware_gnss_library/geo_pos_conv.hpp similarity index 100% rename from ros/src/computing/perception/localization/lib/gnss/include/gnss/geo_pos_conv.hpp rename to ros/src/computing/perception/localization/lib/gnss/include/autoware_gnss_library/geo_pos_conv.hpp diff --git a/ros/src/computing/perception/localization/lib/gnss/src/geo_pos_conv.cpp b/ros/src/computing/perception/localization/lib/gnss/src/geo_pos_conv.cpp index b17e18f52d..e674ce2f35 100644 --- a/ros/src/computing/perception/localization/lib/gnss/src/geo_pos_conv.cpp +++ b/ros/src/computing/perception/localization/lib/gnss/src/geo_pos_conv.cpp @@ -28,7 +28,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -#include +#include double geo_pos_conv::x() const { diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp index 0a1c5dc193..d399641a9f 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp @@ -37,7 +37,7 @@ #include #include -#include +#include static ros::Publisher pose_publisher; diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h index 8a57a48673..5454e56d95 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h @@ -41,7 +41,7 @@ #include #include -#include +#include namespace gnss_localizer { diff --git a/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp b/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp index e7830aac76..8d60e14041 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp +++ b/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp @@ -35,7 +35,7 @@ #include -#include +#include #include namespace lane_planner { diff --git a/ros/src/data/packages/obj_db/nodes/obj_downloader/obj_downloader.cpp b/ros/src/data/packages/obj_db/nodes/obj_downloader/obj_downloader.cpp index a794b5e61c..2a854b2824 100644 --- a/ros/src/data/packages/obj_db/nodes/obj_downloader/obj_downloader.cpp +++ b/ros/src/data/packages/obj_db/nodes/obj_downloader/obj_downloader.cpp @@ -37,7 +37,7 @@ publish data as ractangular plane #include "ros/ros.h" #include "std_msgs/String.h" #include -#include +#include #include #include #include diff --git a/ros/src/data/packages/pos_db/nodes/pos_downloader/pos_downloader.cpp b/ros/src/data/packages/pos_db/nodes/pos_downloader/pos_downloader.cpp index 1c127632b6..6228103be3 100644 --- a/ros/src/data/packages/pos_db/nodes/pos_downloader/pos_downloader.cpp +++ b/ros/src/data/packages/pos_db/nodes/pos_downloader/pos_downloader.cpp @@ -49,7 +49,7 @@ publish data as ractangular plane #endif /* ! CURRENT_CAR_DIRECTLY */ #include -#include +#include #include #include diff --git a/ros/src/socket/packages/tablet_socket/nodes/tablet_receiver/tablet_receiver.cpp b/ros/src/socket/packages/tablet_socket/nodes/tablet_receiver/tablet_receiver.cpp index 6afd5204dc..7a6d913777 100644 --- a/ros/src/socket/packages/tablet_socket/nodes/tablet_receiver/tablet_receiver.cpp +++ b/ros/src/socket/packages/tablet_socket/nodes/tablet_receiver/tablet_receiver.cpp @@ -45,7 +45,7 @@ #include #include -#include +#include #include "ros/ros.h" #include "tablet_socket_msgs/gear_cmd.h" diff --git a/ros/src/util/packages/sample_data/nodes/sample_mobility/sample_mobility.cpp b/ros/src/util/packages/sample_data/nodes/sample_mobility/sample_mobility.cpp index 80bf80af2b..2cf8052632 100644 --- a/ros/src/util/packages/sample_data/nodes/sample_mobility/sample_mobility.cpp +++ b/ros/src/util/packages/sample_data/nodes/sample_mobility/sample_mobility.cpp @@ -36,7 +36,7 @@ #include #include #include -#include +#include static ros::Publisher pub; diff --git a/ros/src/util/packages/sample_data/nodes/sample_trajectory/sample_trajectory.cpp b/ros/src/util/packages/sample_data/nodes/sample_trajectory/sample_trajectory.cpp index 8551f52e2d..d616f77ac7 100644 --- a/ros/src/util/packages/sample_data/nodes/sample_trajectory/sample_trajectory.cpp +++ b/ros/src/util/packages/sample_data/nodes/sample_trajectory/sample_trajectory.cpp @@ -31,7 +31,7 @@ #include #include "ros/ros.h" #include -#include +#include #define SELF_TRANS 0 int swap_x_y = 0; diff --git a/ros/src/util/scripts/running_default_sensor.sh b/ros/src/util/scripts/running_default_sensor.sh index 506aad3656..8f6c70c2dd 100755 --- a/ros/src/util/scripts/running_default_sensor.sh +++ b/ros/src/util/scripts/running_default_sensor.sh @@ -4,4 +4,4 @@ echo "load ros user settings..." source devel/setup.bash echo "run sensor driver..." -gnome-terminal --tab --title "hdl64" -e "sh -c 'roslaunch velodyne velodyne_hdl64e.launch;exec bash'" --tab --title "gnss" -e "sh -c 'sleep 3s;rosrun javad gnss.sh;exec bash'" --tab --title "grasshopper" -e "sh -c 'sleep 6s;roslaunch pointgrey grasshopper3.launch;exec bash'" +gnome-terminal --tab --title "hdl64" -e "sh -c 'roslaunch velodyne velodyne_hdl64e.launch;exec bash'" --tab --title "gnss" -e "sh -c 'sleep 3s;rosrun javad autoware_gnss_library.sh;exec bash'" --tab --title "grasshopper" -e "sh -c 'sleep 6s;roslaunch pointgrey grasshopper3.launch;exec bash'" From 7d0b765b417b7a4f2f4d2f3ef2f34734b938b727 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 23 Apr 2018 23:16:44 +0900 Subject: [PATCH 55/92] Debug message --- .../packages/gnss_localizer/CMakeLists.txt | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt index b0ba6f6ee0..3f4b3fb30a 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt @@ -15,6 +15,12 @@ catkin_package( SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") +message("--------------------------") +message("--------------------------") +message(${catkin_INCLUDE_DIRS}) +message("--------------------------") +message("--------------------------") + include_directories( ${catkin_INCLUDE_DIRS} ) @@ -23,7 +29,7 @@ add_executable(fix2tfpose nodes/fix2tfpose/fix2tfpose.cpp ) target_link_libraries(fix2tfpose ${catkin_LIBRARIES}) -add_dependencies(fix2tfpose ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +add_dependencies(fix2tfpose ${catkin_EXPORTED_TARGETS}) add_executable(nmea2tfpose @@ -32,7 +38,7 @@ add_executable(nmea2tfpose ) target_include_directories(nmea2tfpose PRIVATE nodes/nmea2tfpose ${catkin_INCLUDE_DIRS}) target_link_libraries(nmea2tfpose ${catkin_LIBRARIES}) -add_dependencies(nmea2tfpose ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +add_dependencies(nmea2tfpose ${catkin_EXPORTED_TARGETS}) install(TARGETS nmea2tfpose fix2tfpose ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} From fed8a91cb24c68ea7f0d833c9dea5c44d776ea24 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 23 Apr 2018 23:55:20 +0900 Subject: [PATCH 56/92] more debug messages changed back to gnss --- .../packages/cv_tracker/CMakeLists.txt | 8 +- .../nodes/obj_reproj/CarPositionXYZ.h | 272 ------------------ .../nodes/obj_reproj/geo_pos_conv.hh | 164 ----------- .../nodes/obj_reproj/obj_reproj.cpp | 2 +- .../detection/packages/cv_tracker/package.xml | 4 +- .../localization/lib/gnss/CMakeLists.txt | 14 +- .../geo_pos_conv.hpp | 0 .../localization/lib/gnss/package.xml | 4 +- .../lib/gnss/src/geo_pos_conv.cpp | 2 +- .../packages/gnss_localizer/CMakeLists.txt | 5 +- .../nodes/fix2tfpose/fix2tfpose.cpp | 2 +- .../nodes/nmea2tfpose/nmea2tfpose_core.h | 2 +- .../packages/gnss_localizer/package.xml | 4 +- .../packages/lane_planner/CMakeLists.txt | 4 +- .../lane_planner/lib/lane_planner/vmap.cpp | 2 +- .../mission/packages/lane_planner/package.xml | 4 +- .../packages/lattice_planner/CMakeLists.txt | 4 +- .../packages/lattice_planner/package.xml | 4 +- .../packages/waypoint_maker/CMakeLists.txt | 4 +- .../packages/waypoint_maker/package.xml | 4 +- ros/src/data/packages/obj_db/CMakeLists.txt | 4 +- .../nodes/obj_downloader/obj_downloader.cpp | 2 +- ros/src/data/packages/obj_db/package.xml | 4 +- ros/src/data/packages/pos_db/CMakeLists.txt | 4 +- .../nodes/pos_downloader/pos_downloader.cpp | 2 +- ros/src/data/packages/pos_db/package.xml | 4 +- .../packages/tablet_socket/CMakeLists.txt | 4 +- .../nodes/tablet_receiver/tablet_receiver.cpp | 2 +- .../socket/packages/tablet_socket/package.xml | 4 +- .../util/packages/sample_data/CMakeLists.txt | 4 +- .../nodes/sample_mobility/sample_mobility.cpp | 2 +- .../sample_trajectory/sample_trajectory.cpp | 2 +- ros/src/util/packages/sample_data/package.xml | 4 +- .../util/scripts/running_default_sensor.sh | 2 +- 34 files changed, 59 insertions(+), 494 deletions(-) delete mode 100644 ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/CarPositionXYZ.h delete mode 100644 ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/geo_pos_conv.hh rename ros/src/computing/perception/localization/lib/gnss/include/{autoware_gnss_library => gnss}/geo_pos_conv.hpp (100%) 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 dd6ff3498d..f501496b40 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt @@ -19,7 +19,7 @@ if ("${ROS_VERSION}" MATCHES "(indigo|jade)") libdpm_ocv kf_lib jsk_recognition_msgs - autoware_gnss_library + gnss ) elseif ("${ROS_VERSION}" MATCHES "(kinetic)") FIND_PACKAGE(catkin REQUIRED COMPONENTS @@ -34,7 +34,7 @@ elseif ("${ROS_VERSION}" MATCHES "(kinetic)") tf kf_lib jsk_recognition_msgs - autoware_gnss_library + gnss ) endif () @@ -61,7 +61,7 @@ if ("${ROS_VERSION}" MATCHES "(indigo|jade)") libdpm_ocv kf_lib jsk_recognition_msgs - autoware_gnss_library + gnss ) elseif ("${ROS_VERSION}" MATCHES "(kinetic)") catkin_package( @@ -76,7 +76,7 @@ elseif ("${ROS_VERSION}" MATCHES "(kinetic)") tf kf_lib jsk_recognition_msgs - autoware_gnss_library + gnss ) endif () ########### diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/CarPositionXYZ.h b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/CarPositionXYZ.h deleted file mode 100644 index 440d1378d2..0000000000 --- a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/CarPositionXYZ.h +++ /dev/null @@ -1,272 +0,0 @@ -/* Software License Agreement (BSD License) - * - * Copyright (c) 2011, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * Auto-generated by genmsg_cpp from file /home/yukky/catkin_ws/src/sensors_fusion/msg/CarPositionXYZ.msg - * - */ - -#ifndef SENSORS_FUSION_MESSAGE_CARPOSITIONXYZ_H -#define SENSORS_FUSION_MESSAGE_CARPOSITIONXYZ_H - -#include -#include -#include - -#include -#include -#include -#include - -#include - -namespace sensors_fusion -{ -template -struct CarPositionXYZ_ -{ - typedef CarPositionXYZ_ Type; - - CarPositionXYZ_() - : header() - , car_num(0) - , car_type() - , corner_point() - , distance() { - } - CarPositionXYZ_(const ContainerAllocator& _alloc) - : header(_alloc) - , car_num(0) - , car_type(_alloc) - , corner_point(_alloc) - , distance(_alloc) { - } - - typedef ::std_msgs::Header_ _header_type; - _header_type header; - - typedef uint8_t _car_num_type; - _car_num_type car_num; - - typedef std::vector::other > _car_type_type; - _car_type_type car_type; - - typedef std::vector::other > _corner_point_type; - _corner_point_type corner_point; - - typedef std::vector::other > _distance_type; - _distance_type distance; - - typedef boost::shared_ptr< ::sensors_fusion::CarPositionXYZ_ > Ptr; - typedef boost::shared_ptr< ::sensors_fusion::CarPositionXYZ_ const> ConstPtr; - boost::shared_ptr > __connection_header; - -}; // struct CarPositionXYZ_ - -typedef ::sensors_fusion::CarPositionXYZ_ > CarPositionXYZ; - -typedef boost::shared_ptr< ::sensors_fusion::CarPositionXYZ > CarPositionXYZPtr; -typedef boost::shared_ptr< ::sensors_fusion::CarPositionXYZ const> CarPositionXYZConstPtr; - -// constants requiring out of line definition - -template -std::ostream& operator<<(std::ostream& s, const ::sensors_fusion::CarPositionXYZ_ & v) -{ -ros::message_operations::Printer< ::sensors_fusion::CarPositionXYZ_ >::stream(s, "", v); -return s; -} - -} // namespace sensors_fusion - -namespace ros -{ -namespace message_traits -{ - -// BOOLTRAITS {'IsFixedSize': False, 'IsMessage': True, 'HasHeader': True} -// {'sensor_msgs': ['/opt/ros/hydro/share/sensor_msgs/cmake/../msg'], 'sensors_fusion': ['/home/yukky/catkin_ws/src/sensors_fusion/msg'], 'std_msgs': ['/opt/ros/hydro/share/std_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/hydro/share/geometry_msgs/cmake/../msg']} - -// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types'] - -template -struct IsFixedSize< ::sensors_fusion::CarPositionXYZ_ > - : FalseType - { }; - -template -struct IsFixedSize< ::sensors_fusion::CarPositionXYZ_ const> - : FalseType - { }; - -template -struct IsMessage< ::sensors_fusion::CarPositionXYZ_ > - : TrueType - { }; - -template -struct IsMessage< ::sensors_fusion::CarPositionXYZ_ const> - : TrueType - { }; - -template -struct HasHeader< ::sensors_fusion::CarPositionXYZ_ > - : TrueType - { }; - -template -struct HasHeader< ::sensors_fusion::CarPositionXYZ_ const> - : TrueType - { }; - - -template -struct MD5Sum< ::sensors_fusion::CarPositionXYZ_ > -{ - static const char* value() - { - return "d68530dc0bde2f64ddc6c99da3384213"; - } - - static const char* value(const ::sensors_fusion::CarPositionXYZ_&) { return value(); } - static const uint64_t static_value1 = 0xd68530dc0bde2f64ULL; - static const uint64_t static_value2 = 0xddc6c99da3384213ULL; -}; - -template -struct DataType< ::sensors_fusion::CarPositionXYZ_ > -{ - static const char* value() - { - return "sensors_fusion/CarPositionXYZ"; - } - - static const char* value(const ::sensors_fusion::CarPositionXYZ_&) { return value(); } -}; - -template -struct Definition< ::sensors_fusion::CarPositionXYZ_ > -{ - static const char* value() - { - return "Header header\n\ -uint8 car_num\n\ -int32[] car_type\n\ -int32[] corner_point\n\ -float32[] distance\n\ -================================================================================\n\ -MSG: std_msgs/Header\n\ -# Standard metadata for higher-level stamped data types.\n\ -# This is generally used to communicate timestamped data \n\ -# in a particular coordinate frame.\n\ -# \n\ -# sequence ID: consecutively increasing ID \n\ -uint32 seq\n\ -#Two-integer timestamp that is expressed as:\n\ -# * stamp.secs: seconds (stamp_secs) since epoch\n\ -# * stamp.nsecs: nanoseconds since stamp_secs\n\ -# time-handling sugar is provided by the client library\n\ -time stamp\n\ -#Frame this data is associated with\n\ -# 0: no frame\n\ -# 1: global frame\n\ -string frame_id\n\ -"; - } - - static const char* value(const ::sensors_fusion::CarPositionXYZ_&) { return value(); } -}; - -} // namespace message_traits -} // namespace ros - -namespace ros -{ -namespace serialization -{ - - template struct Serializer< ::sensors_fusion::CarPositionXYZ_ > - { - template inline static void allInOne(Stream& stream, T m) - { - stream.next(m.header); - stream.next(m.car_num); - stream.next(m.car_type); - stream.next(m.corner_point); - stream.next(m.distance); - } - - ROS_DECLARE_ALLINONE_SERIALIZER; - }; // struct CarPositionXYZ_ - -} // namespace serialization -} // namespace ros - -namespace ros -{ -namespace message_operations -{ - -template -struct Printer< ::sensors_fusion::CarPositionXYZ_ > -{ - template static void stream(Stream& s, const std::string& indent, const ::sensors_fusion::CarPositionXYZ_& v) - { - s << indent << "header: "; - s << std::endl; - Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); - s << indent << "car_num: "; - Printer::stream(s, indent + " ", v.car_num); - s << indent << "car_type[]" << std::endl; - for (size_t i = 0; i < v.car_type.size(); ++i) - { - s << indent << " car_type[" << i << "]: "; - Printer::stream(s, indent + " ", v.car_type[i]); - } - s << indent << "corner_point[]" << std::endl; - for (size_t i = 0; i < v.corner_point.size(); ++i) - { - s << indent << " corner_point[" << i << "]: "; - Printer::stream(s, indent + " ", v.corner_point[i]); - } - s << indent << "distance[]" << std::endl; - for (size_t i = 0; i < v.distance.size(); ++i) - { - s << indent << " distance[" << i << "]: "; - Printer::stream(s, indent + " ", v.distance[i]); - } - } -}; - -} // namespace message_operations -} // namespace ros - -#endif // SENSORS_FUSION_MESSAGE_CARPOSITIONXYZ_H diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/geo_pos_conv.hh b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/geo_pos_conv.hh deleted file mode 100644 index 0b7b9718c4..0000000000 --- a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/geo_pos_conv.hh +++ /dev/null @@ -1,164 +0,0 @@ -#ifndef __GEO_POS_CONV__ -#define __GEO_POS_CONV__ - -#include - -class geo_pos_conv{ -private: - double m_x; //m - double m_y; //m - double m_z; //m - - double m_lat; //latitude - double m_lon; //longitude - double m_h; - - double m_PLato; //plane lat - double m_PLo; //plane lon - -public: - double x() const {return m_x;} - double y() const {return m_y;} - double z() const {return m_z;} - - void set_plane(double lat, double lon){ - m_PLato = lat; - m_PLo = lon; - } - - void set_plane(int num){ - if(num==7){ - m_PLo = 2.39400995732; // - m_PLato= 0.628318530717; // - }else if(num==9){ - m_PLo = 2.4405520707; // - m_PLato = 0.628318530717; // - } - } - - void set_xyz(double cx, double cy, double cz){ - m_x=cx; - m_y=cy; - m_z=cz; - conv_xyz2llh(); - } - - //set llh in radians - void set_llh(double lat, double lon, double h){ - m_lat = lat*M_PI/180; - m_lon = lon*M_PI/180; - m_h=h; - conv_llh2xyz(); - } - - //set llh in nmea degrees - void set_llh_nmea_degrees(double latd,double lond, double h){ - double lat,lad,lod,lon; - //1234.56 -> 12'34.56 -> 12+ 34.56/60 - - lad = floor(latd/100.); - lat = latd-lad*100.; - lod = floor(lond/100.); - lon = lond-lod*100.; - - //Changing Longitude and Latitude to Radians - m_lat= (lad+lat/60.0) *M_PI/180; - m_lon= (lod+lon/60.0) *M_PI/180; - m_h = h; - - conv_llh2xyz(); - } - - void conv_llh2xyz(void){ - double PS; // - double PSo; // - double PDL; // - double Pt; // - double PN; // - double PW; // - - double PB1, PB2, PB3, PB4, PB5, PB6, PB7, PB8, PB9; - double PA, PB, PC, PD, PE, PF, PG, PH, PI; - double Pe; // - double Pet; // - double Pnn; // - double AW,FW,Pmo; - - Pmo = 0.9999; - - /*WGS84 Parameters*/ - AW = 6378137.0; //Semimajor Axis - FW = 1.0/298.257222101; //298.257223563 //Geometrical flattening - - Pe = (double) sqrt(2.0*FW - pow(FW,2)); - Pet = (double) sqrt( pow(Pe,2) / (1.0 - pow(Pe,2)) ); - - PA = (double) 1.0 + 3.0/4.0*pow(Pe,2) + 45.0/64.0* pow(Pe,4) + 175.0/256.0*pow(Pe,6) - + 11025.0/16384.0*pow(Pe,8) + 43659.0/65536.0*pow(Pe,10) + 693693.0/1048576.0*pow(Pe,12) - + 19324305.0/29360128.0*pow(Pe,14) + 4927697775.0/7516192768.0*pow(Pe,16); - - PB = (double) 3.0/4.0*pow(Pe,2) + 15.0/16.0*pow(Pe,4) + 525.0/512.0*pow(Pe,6) + 2205.0/2048.0*pow(Pe,8) - + 72765.0/65536.0*pow(Pe,10) + 297297.0/262144.0*pow(Pe,12) + 135270135.0/117440512.0*pow(Pe,14) - + 547521975.0/469762048.0*pow(Pe,16); - - PC = (double) 15.0/64.0*pow(Pe,4) + 105.0/256.0*pow(Pe,6) + 2205.0/4096.0*pow(Pe,8) + 10395.0/16384.0*pow(Pe,10) - + 1486485.0/2097152.0*pow(Pe,12) + 45090045.0/58720256.0*pow(Pe,14)+ 766530765.0/939524096.0*pow(Pe,16); - - PD = (double) 35.0/512.0*pow(Pe,6) + 315.0/2048.0*pow(Pe,8) + 31185.0/131072.0*pow(Pe,10) - + 165165.0/524288.0*pow(Pe,12) + 45090045.0/117440512.0*pow(Pe,14) + 209053845.0/469762048.0*pow(Pe,16); - - PE = (double) 315.0/16384.0*pow(Pe,8) + 3465.0/65536.0*pow(Pe,10) + 99099.0/1048576.0*pow(Pe,12) + - 4099095.0/29360128.0*pow(Pe,14) + 348423075.0/1879048192.0*pow(Pe,16); - - PF = (double) 693.0/131072.0*pow(Pe,10) + 9009.0/524288.0*pow(Pe,12) + 4099095.0/117440512.0*pow(Pe,14) - + 26801775.0/469762048.0*pow(Pe,16); - - PG = (double) 3003.0/2097152.0*pow(Pe,12) + 315315.0/58720256.0*pow(Pe,14) + 11486475.0/939524096.0*pow(Pe,16); - - PH = (double) 45045.0/117440512.0*pow(Pe,14) + 765765.0/469762048.0*pow(Pe,16); - - PI = (double) 765765.0/7516192768.0*pow(Pe,16); - - PB1 = (double) AW * (1.0 - pow(Pe,2)) * PA; - PB2 = (double) AW * (1.0 - pow(Pe,2)) * PB/-2.0; - PB3 = (double) AW * (1.0 - pow(Pe,2)) * PC/4.0; - PB4 = (double) AW * (1.0 - pow(Pe,2)) * PD/-6.0; - PB5 = (double) AW * (1.0 - pow(Pe,2)) * PE/8.0; - PB6 = (double) AW * (1.0 - pow(Pe,2)) * PF/-10.0; - PB7 = (double) AW * (1.0 - pow(Pe,2)) * PG/12.0; - PB8 = (double) AW * (1.0 - pow(Pe,2)) * PH/-14.0; - PB9 = (double) AW * (1.0 - pow(Pe,2)) * PI/16.0; - - - PS = (double) PB1*m_lat + PB2*sin(2.0*m_lat) + PB3*sin(4.0*m_lat) + PB4*sin(6.0*m_lat) - + PB5*sin(8.0*m_lat) + PB6*sin(10.0*m_lat) + PB7*sin(12.0*m_lat) + PB8*sin(14.0*m_lat) - + PB9*sin(16.0*m_lat); - - PSo = (double) PB1*m_PLato + PB2*sin(2.0*m_PLato) + PB3*sin(4.0*m_PLato) + PB4*sin(6.0*m_PLato) - + PB5*sin(8.0*m_PLato) + PB6*sin(10.0*m_PLato) + PB7*sin(12.0*m_PLato) + PB8*sin(14.0*m_PLato) - + PB9*sin(16.0*m_PLato); - - PDL = (double) m_lon - m_PLo; - Pt = (double) tan(m_lat); - PW = (double) sqrt(1.0 - pow(Pe,2)*pow(sin(m_lat),2)); - PN = (double) AW / PW; - Pnn = (double) sqrt( pow(Pet,2) * pow(cos(m_lat),2)); - - m_x = (double) ( (PS - PSo) + (1.0/2.0)*PN*pow(cos(m_lat),2.0)*Pt*pow(PDL,2.0) - + (1.0/24.0) * PN * pow(cos(m_lat),4) * Pt * (5.0-pow(Pt,2) + 9.0*pow(Pnn,2) + 4.0*pow(Pnn,4))*pow(PDL,4) - - (1.0/720.0) * PN * pow(cos(m_lat),6) * Pt * - (-61.0 + 58.0*pow(Pt,2) - pow(Pt,4) - 270.0*pow(Pnn,2) + 330.0*pow(Pt,2)*pow(Pnn,2))*pow(PDL,6) - - (1.0/40320.0) * PN * pow(cos(m_lat),8) * Pt * - (-1385.0 + 3111*pow(Pt,2) - 543*pow(Pt,4) + pow(Pt,6)) * pow(PDL,8) ) * Pmo ; - - m_y = (double) ( PN*cos(m_lat)*PDL - 1.0/6.0* PN * pow(cos(m_lat),3) * (-1 + pow(Pt,2) - pow(Pnn,2))*pow(PDL,3) - -1.0/120.0*PN*pow(cos(m_lat),5) * (-5.0+18.0*pow(Pt,2)-pow(Pt,4)-14.0*pow(Pnn,2)+58.0*pow(Pt,2)*pow(Pnn,2))*pow(PDL,5) - -1.0/5040.0*PN*pow(cos(m_lat),7)* (-61.0+479.0*pow(Pt,2)-179.0*pow(Pt,4)+pow(Pt,6))*pow(PDL,7) ) * Pmo; - - m_z = m_h; - } - - void conv_xyz2llh(void){}// n/a -}; - -#endif diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/obj_reproj.cpp b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/obj_reproj.cpp index 95d04bc444..2e2faf66bf 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/obj_reproj.cpp +++ b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/obj_reproj.cpp @@ -61,7 +61,7 @@ #include "structure.h" #include "calcoordinates.h" #include "axialMove.h" -#include +#include #include "CalObjLoc.h" #include "autoware_msgs/image_obj_tracked.h" #include "autoware_msgs/obj_label.h" 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 403c31cc82..ea8610582b 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/package.xml +++ b/ros/src/computing/perception/detection/packages/cv_tracker/package.xml @@ -22,7 +22,7 @@ kf_lib librcnn jsk_recognition_msgs - autoware_gnss_library + gnss cv_bridge image_transport @@ -38,7 +38,7 @@ kf_lib librcnn jsk_recognition_msgs - autoware_gnss_library + gnss diff --git a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt index c1df9c05bb..5734ded6cb 100644 --- a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt @@ -1,11 +1,11 @@ cmake_minimum_required(VERSION 2.8.3) -project(autoware_gnss_library) +project(gnss) -find_package(catkin REQUIRED roscpp) +find_package(catkin REQUIRED COMPONENTS roscpp) catkin_package( INCLUDE_DIRS include - LIBRARIES autoware_gnss_library + LIBRARIES gnss ) include_directories( @@ -13,22 +13,22 @@ include_directories( ${catkin_INCLUDE_DIRS} ) -add_library(autoware_gnss_library +add_library(gnss src/geo_pos_conv.cpp ) -target_link_libraries(autoware_gnss_library +target_link_libraries(gnss ${catkin_LIBRARIES} ) install( - DIRECTORY include + DIRECTORY include/gnss DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} FILES_MATCHING PATTERN "*.hpp" ) ## Install executables and/or libraries -install(TARGETS autoware_gnss_library +install(TARGETS gnss ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} diff --git a/ros/src/computing/perception/localization/lib/gnss/include/autoware_gnss_library/geo_pos_conv.hpp b/ros/src/computing/perception/localization/lib/gnss/include/gnss/geo_pos_conv.hpp similarity index 100% rename from ros/src/computing/perception/localization/lib/gnss/include/autoware_gnss_library/geo_pos_conv.hpp rename to ros/src/computing/perception/localization/lib/gnss/include/gnss/geo_pos_conv.hpp diff --git a/ros/src/computing/perception/localization/lib/gnss/package.xml b/ros/src/computing/perception/localization/lib/gnss/package.xml index ebfa1c75ea..3e876723dc 100644 --- a/ros/src/computing/perception/localization/lib/gnss/package.xml +++ b/ros/src/computing/perception/localization/lib/gnss/package.xml @@ -1,8 +1,8 @@ - autoware_gnss_library + gnss 1.6.3 - The autoware_gnss_library package + The gnss package Tomomi HORII BSD catkin diff --git a/ros/src/computing/perception/localization/lib/gnss/src/geo_pos_conv.cpp b/ros/src/computing/perception/localization/lib/gnss/src/geo_pos_conv.cpp index e674ce2f35..52e5d585ea 100644 --- a/ros/src/computing/perception/localization/lib/gnss/src/geo_pos_conv.cpp +++ b/ros/src/computing/perception/localization/lib/gnss/src/geo_pos_conv.cpp @@ -28,7 +28,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -#include +#include double geo_pos_conv::x() const { diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt index 3f4b3fb30a..b0b4f98e65 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt @@ -5,12 +5,12 @@ find_package(catkin REQUIRED COMPONENTS roscpp std_msgs nmea_msgs - autoware_gnss_library + gnss tf ) catkin_package( - CATKIN_DEPENDS roscpp std_msgs nmea_msgs autoware_gnss_library tf + CATKIN_DEPENDS roscpp std_msgs nmea_msgs gnss tf ) SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") @@ -18,6 +18,7 @@ SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") message("--------------------------") message("--------------------------") message(${catkin_INCLUDE_DIRS}) +message(${gnss_INCLUDE_DIRS}) message("--------------------------") message("--------------------------") diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp index d399641a9f..0a1c5dc193 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/fix2tfpose/fix2tfpose.cpp @@ -37,7 +37,7 @@ #include #include -#include +#include static ros::Publisher pose_publisher; diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h index 5454e56d95..8a57a48673 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/nodes/nmea2tfpose/nmea2tfpose_core.h @@ -41,7 +41,7 @@ #include #include -#include +#include namespace gnss_localizer { diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/package.xml b/ros/src/computing/perception/localization/packages/gnss_localizer/package.xml index bb1f141cea..57b29d70f2 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/package.xml +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/package.xml @@ -11,13 +11,13 @@ std_msgs nmea_msgs tf - autoware_gnss_library + gnss roscpp std_msgs nmea_msgs tf - autoware_gnss_library + gnss 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 a059c02176..06a172d748 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt +++ b/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt @@ -7,7 +7,7 @@ find_package(catkin REQUIRED COMPONENTS tablet_socket waypoint_follower vector_map - autoware_gnss_library + gnss autoware_msgs ) @@ -21,7 +21,7 @@ catkin_package( tablet_socket waypoint_follower vector_map - autoware_gnss_library + gnss autoware_msgs ) diff --git a/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp b/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp index 8d60e14041..e7830aac76 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp +++ b/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp @@ -35,7 +35,7 @@ #include -#include +#include #include namespace lane_planner { diff --git a/ros/src/computing/planning/mission/packages/lane_planner/package.xml b/ros/src/computing/planning/mission/packages/lane_planner/package.xml index 2998ae1b2a..d9881d6db5 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/package.xml +++ b/ros/src/computing/planning/mission/packages/lane_planner/package.xml @@ -12,7 +12,7 @@ tablet_socket waypoint_follower vector_map - autoware_gnss_library + gnss autoware_msgs roscpp @@ -20,7 +20,7 @@ tablet_socket waypoint_follower vector_map - autoware_gnss_library + gnss autoware_msgs diff --git a/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt b/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt index 151d24f21b..e976b2b940 100644 --- a/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt @@ -8,7 +8,7 @@ find_package(catkin REQUIRED COMPONENTS pcl_conversions sensor_msgs tf - autoware_gnss_library + gnss waypoint_follower vector_map astar_planner @@ -34,7 +34,7 @@ catkin_package( pcl_conversions sensor_msgs tf - autoware_gnss_library + gnss waypoint_follower vector_map astar_planner 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 f0cbf3e381..5550ca40cd 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 +16,7 @@ pcl_conversions sensor_msgs tf - autoware_gnss_library + gnss waypoint_follower vector_map astar_planner @@ -28,7 +28,7 @@ pcl_conversions sensor_msgs tf - autoware_gnss_library + gnss waypoint_follower vector_map astar_planner 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 b4b5e33042..0ae0d1b074 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3) project(waypoint_maker) find_package(catkin REQUIRED COMPONENTS - autoware_gnss_library + gnss roscpp std_msgs geometry_msgs @@ -17,7 +17,7 @@ find_package(catkin REQUIRED COMPONENTS find_package(Boost REQUIRED) catkin_package( - CATKIN_DEPENDS autoware_gnss_library + CATKIN_DEPENDS gnss roscpp std_msgs geometry_msgs diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/package.xml b/ros/src/computing/planning/motion/packages/waypoint_maker/package.xml index a3884719dc..7d86296059 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/package.xml +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/package.xml @@ -8,7 +8,7 @@ catkin - autoware_gnss_library + gnss roscpp std_msgs geometry_msgs @@ -19,7 +19,7 @@ lane_planner autoware_msgs - autoware_gnss_library + gnss roscpp std_msgs geometry_msgs diff --git a/ros/src/data/packages/obj_db/CMakeLists.txt b/ros/src/data/packages/obj_db/CMakeLists.txt index 5141aa68a3..85e2221f61 100644 --- a/ros/src/data/packages/obj_db/CMakeLists.txt +++ b/ros/src/data/packages/obj_db/CMakeLists.txt @@ -3,7 +3,7 @@ project(obj_db) find_package(catkin REQUIRED COMPONENTS roscpp - autoware_gnss_library + gnss visualization_msgs autoware_msgs ) @@ -15,7 +15,7 @@ set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") ################################### catkin_package( CATKIN_DEPENDS roscpp - autoware_gnss_library + gnss visualization_msgs autoware_msgs ) diff --git a/ros/src/data/packages/obj_db/nodes/obj_downloader/obj_downloader.cpp b/ros/src/data/packages/obj_db/nodes/obj_downloader/obj_downloader.cpp index 2a854b2824..a794b5e61c 100644 --- a/ros/src/data/packages/obj_db/nodes/obj_downloader/obj_downloader.cpp +++ b/ros/src/data/packages/obj_db/nodes/obj_downloader/obj_downloader.cpp @@ -37,7 +37,7 @@ publish data as ractangular plane #include "ros/ros.h" #include "std_msgs/String.h" #include -#include +#include #include #include #include diff --git a/ros/src/data/packages/obj_db/package.xml b/ros/src/data/packages/obj_db/package.xml index 72b51324d6..2b2cb11fb7 100644 --- a/ros/src/data/packages/obj_db/package.xml +++ b/ros/src/data/packages/obj_db/package.xml @@ -9,12 +9,12 @@ roscpp autoware_msgs - autoware_gnss_library + gnss visualization_msgs roscpp autoware_msgs - autoware_gnss_library + gnss visualization_msgs diff --git a/ros/src/data/packages/pos_db/CMakeLists.txt b/ros/src/data/packages/pos_db/CMakeLists.txt index 9b2a6eac40..51cc7ed5c7 100644 --- a/ros/src/data/packages/pos_db/CMakeLists.txt +++ b/ros/src/data/packages/pos_db/CMakeLists.txt @@ -3,7 +3,7 @@ project(pos_db) find_package(catkin REQUIRED COMPONENTS roscpp - autoware_gnss_library + gnss jsk_recognition_msgs tf autoware_msgs @@ -16,7 +16,7 @@ set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") catkin_package( CATKIN_DEPENDS roscpp - autoware_gnss_library + gnss jsk_recognition_msgs tf autoware_msgs diff --git a/ros/src/data/packages/pos_db/nodes/pos_downloader/pos_downloader.cpp b/ros/src/data/packages/pos_db/nodes/pos_downloader/pos_downloader.cpp index 6228103be3..1c127632b6 100644 --- a/ros/src/data/packages/pos_db/nodes/pos_downloader/pos_downloader.cpp +++ b/ros/src/data/packages/pos_db/nodes/pos_downloader/pos_downloader.cpp @@ -49,7 +49,7 @@ publish data as ractangular plane #endif /* ! CURRENT_CAR_DIRECTLY */ #include -#include +#include #include #include diff --git a/ros/src/data/packages/pos_db/package.xml b/ros/src/data/packages/pos_db/package.xml index f9f3caca2e..0c61b89bd8 100644 --- a/ros/src/data/packages/pos_db/package.xml +++ b/ros/src/data/packages/pos_db/package.xml @@ -8,14 +8,14 @@ catkin roscpp - autoware_gnss_library + gnss jsk_recognition_msgs tf autoware_msgs libssh2 roscpp - autoware_gnss_library + gnss jsk_recognition_msgs tf autoware_msgs diff --git a/ros/src/socket/packages/tablet_socket/CMakeLists.txt b/ros/src/socket/packages/tablet_socket/CMakeLists.txt index e13106444f..8ff36c354f 100644 --- a/ros/src/socket/packages/tablet_socket/CMakeLists.txt +++ b/ros/src/socket/packages/tablet_socket/CMakeLists.txt @@ -4,7 +4,7 @@ project(tablet_socket) find_package(catkin REQUIRED COMPONENTS roscpp tf - autoware_gnss_library + gnss tablet_socket_msgs autoware_msgs geometry_msgs @@ -13,7 +13,7 @@ find_package(catkin REQUIRED COMPONENTS set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") catkin_package( - CATKIN_DEPENDS tf tablet_socket_msgs autoware_msgs autoware_gnss_library + CATKIN_DEPENDS tf tablet_socket_msgs autoware_msgs gnss ) include_directories( diff --git a/ros/src/socket/packages/tablet_socket/nodes/tablet_receiver/tablet_receiver.cpp b/ros/src/socket/packages/tablet_socket/nodes/tablet_receiver/tablet_receiver.cpp index 7a6d913777..6afd5204dc 100644 --- a/ros/src/socket/packages/tablet_socket/nodes/tablet_receiver/tablet_receiver.cpp +++ b/ros/src/socket/packages/tablet_socket/nodes/tablet_receiver/tablet_receiver.cpp @@ -45,7 +45,7 @@ #include #include -#include +#include #include "ros/ros.h" #include "tablet_socket_msgs/gear_cmd.h" diff --git a/ros/src/socket/packages/tablet_socket/package.xml b/ros/src/socket/packages/tablet_socket/package.xml index 7c4aeb9d56..b382d1a987 100644 --- a/ros/src/socket/packages/tablet_socket/package.xml +++ b/ros/src/socket/packages/tablet_socket/package.xml @@ -8,14 +8,14 @@ catkin tf - autoware_gnss_library + gnss std_msgs tablet_socket_msgs autoware_msgs geometry_msgs tf - autoware_gnss_library + gnss tablet_socket_msgs autoware_msgs geometry_msgs diff --git a/ros/src/util/packages/sample_data/CMakeLists.txt b/ros/src/util/packages/sample_data/CMakeLists.txt index f3317a54a7..7f60940df8 100644 --- a/ros/src/util/packages/sample_data/CMakeLists.txt +++ b/ros/src/util/packages/sample_data/CMakeLists.txt @@ -4,7 +4,7 @@ project(sample_data) include(FindPkgConfig) find_package(catkin REQUIRED COMPONENTS roscpp - autoware_gnss_library + gnss std_msgs visualization_msgs ) @@ -27,7 +27,7 @@ set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") catkin_package( DEPENDS roscpp - autoware_gnss_library + gnss std_msgs visualization_msgs ) diff --git a/ros/src/util/packages/sample_data/nodes/sample_mobility/sample_mobility.cpp b/ros/src/util/packages/sample_data/nodes/sample_mobility/sample_mobility.cpp index 2cf8052632..80bf80af2b 100644 --- a/ros/src/util/packages/sample_data/nodes/sample_mobility/sample_mobility.cpp +++ b/ros/src/util/packages/sample_data/nodes/sample_mobility/sample_mobility.cpp @@ -36,7 +36,7 @@ #include #include #include -#include +#include static ros::Publisher pub; diff --git a/ros/src/util/packages/sample_data/nodes/sample_trajectory/sample_trajectory.cpp b/ros/src/util/packages/sample_data/nodes/sample_trajectory/sample_trajectory.cpp index d616f77ac7..8551f52e2d 100644 --- a/ros/src/util/packages/sample_data/nodes/sample_trajectory/sample_trajectory.cpp +++ b/ros/src/util/packages/sample_data/nodes/sample_trajectory/sample_trajectory.cpp @@ -31,7 +31,7 @@ #include #include "ros/ros.h" #include -#include +#include #define SELF_TRANS 0 int swap_x_y = 0; diff --git a/ros/src/util/packages/sample_data/package.xml b/ros/src/util/packages/sample_data/package.xml index 23dc3845d1..63454cd73c 100644 --- a/ros/src/util/packages/sample_data/package.xml +++ b/ros/src/util/packages/sample_data/package.xml @@ -6,14 +6,14 @@ Masao KONDOH BSD catkin - autoware_gnss_library + gnss cmake_modules roscpp std_msgs visualization_msgs cmake_modules - autoware_gnss_library + gnss roscpp std_msgs visualization_msgs diff --git a/ros/src/util/scripts/running_default_sensor.sh b/ros/src/util/scripts/running_default_sensor.sh index 8f6c70c2dd..506aad3656 100755 --- a/ros/src/util/scripts/running_default_sensor.sh +++ b/ros/src/util/scripts/running_default_sensor.sh @@ -4,4 +4,4 @@ echo "load ros user settings..." source devel/setup.bash echo "run sensor driver..." -gnome-terminal --tab --title "hdl64" -e "sh -c 'roslaunch velodyne velodyne_hdl64e.launch;exec bash'" --tab --title "gnss" -e "sh -c 'sleep 3s;rosrun javad autoware_gnss_library.sh;exec bash'" --tab --title "grasshopper" -e "sh -c 'sleep 6s;roslaunch pointgrey grasshopper3.launch;exec bash'" +gnome-terminal --tab --title "hdl64" -e "sh -c 'roslaunch velodyne velodyne_hdl64e.launch;exec bash'" --tab --title "gnss" -e "sh -c 'sleep 3s;rosrun javad gnss.sh;exec bash'" --tab --title "grasshopper" -e "sh -c 'sleep 6s;roslaunch pointgrey grasshopper3.launch;exec bash'" From 633c913fe9dc942a6fd1c04ae0e8542e423298bc Mon Sep 17 00:00:00 2001 From: amc-nu Date: Tue, 24 Apr 2018 00:29:47 +0900 Subject: [PATCH 57/92] debud messages --- .../localization/lib/gnss/CMakeLists.txt | 20 +++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt index 5734ded6cb..ec09af0592 100644 --- a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt @@ -21,15 +21,15 @@ target_link_libraries(gnss ${catkin_LIBRARIES} ) -install( - DIRECTORY include/gnss - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.hpp" -) +#install( +# DIRECTORY include/gnss +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.hpp" +#) ## Install executables and/or libraries -install(TARGETS gnss - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) +#install(TARGETS gnss +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) From ff0f1e1d4fbac93fe30e5c20f81bdfa1e6e6dd21 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Tue, 24 Apr 2018 01:07:52 +0900 Subject: [PATCH 58/92] gnss test --- .../localization/packages/gnss_localizer/CMakeLists.txt | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt index b0b4f98e65..8ea521a582 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt @@ -9,9 +9,7 @@ find_package(catkin REQUIRED COMPONENTS tf ) -catkin_package( - CATKIN_DEPENDS roscpp std_msgs nmea_msgs gnss tf -) +catkin_package() SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") From f27a1135b9b7d4915888c2a12ef9d18d772a3879 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Tue, 24 Apr 2018 02:08:59 +0900 Subject: [PATCH 59/92] gnss install command --- .../localization/lib/gnss/CMakeLists.txt | 23 +++++++++---------- 1 file changed, 11 insertions(+), 12 deletions(-) diff --git a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt index ec09af0592..f3ac49cca6 100644 --- a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt @@ -21,15 +21,14 @@ target_link_libraries(gnss ${catkin_LIBRARIES} ) -#install( -# DIRECTORY include/gnss -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.hpp" -#) - -## Install executables and/or libraries -#install(TARGETS gnss -# 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} + FILES_MATCHING PATTERN "*.hpp" +) + + +install(TARGETS gnss + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) From 1e0ebda91a5267653d204b0eff582fb027001a5b Mon Sep 17 00:00:00 2001 From: Abraham Monrroy Date: Tue, 24 Apr 2018 11:13:35 +0900 Subject: [PATCH 60/92] Several fixes for OpenPlanner and its lbiraries --- .../include/kf_contour_tracker_core.h | 4 +- .../src/kf_contour_tracker_core.cpp | 2 +- .../localization/lib/gnss/CMakeLists.txt | 2 +- .../lib/openplanner/op_planner/CMakeLists.txt | 11 ++ .../{ => op_planner}/BehaviorStateMachine.h | 0 .../include/{ => op_planner}/LocalPlannerH.h | 0 .../include/{ => op_planner}/MappingHelpers.h | 4 +- .../{ => op_planner}/MatrixOperations.h | 0 .../{ => op_planner}/PlannerCommonDef.h | 0 .../include/{ => op_planner}/PlannerH.h | 0 .../{ => op_planner}/PlanningHelpers.h | 4 +- .../include/{ => op_planner}/RSPlanner.h | 0 .../include/{ => op_planner}/RoadNetwork.h | 2 +- .../{ => op_planner}/TrajectoryCosts.h | 0 .../{ => op_planner}/TrajectoryPrediction.h | 2 +- .../lib/openplanner/op_planner/package.xml | 22 ++-- .../op_planner/src/BehaviorStateMachine.cpp | 4 +- .../op_planner/src/LocalPlannerH.cpp | 12 +-- .../op_planner/src/MappingHelpers.cpp | 6 +- .../op_planner/src/MatrixOperations.cpp | 2 +- .../openplanner/op_planner/src/PlannerH.cpp | 6 +- .../op_planner/src/PlanningHelpers.cpp | 4 +- .../openplanner/op_planner/src/RSPlanner.cpp | 2 +- .../op_planner/src/TrajectoryCosts.cpp | 4 +- .../op_planner/src/TrajectoryPrediction.cpp | 6 +- .../openplanner/op_ros_helpers/CMakeLists.txt | 12 +++ .../{ => op_ros_helpers}/PolygonGenerator.h | 2 +- .../{ => op_ros_helpers}/op_RosHelpers.h | 6 +- .../op_ros_helpers/src/PolygonGenerator.cpp | 4 +- .../op_ros_helpers/src/op_RosHelpers.cpp | 8 +- .../lib/openplanner/op_simu/CMakeLists.txt | 102 ++++++++++-------- .../{ => op_simu}/AlternativeVisualizer.h | 2 +- .../op_simu/include/{ => op_simu}/CarState.h | 6 +- .../include/{ => op_simu}/DrawObjBase.h | 0 .../include/{ => op_simu}/DrawingHelpers.h | 2 +- .../include/{ => op_simu}/Graph2dBase.h | 2 +- .../include/{ => op_simu}/MainWindowWrapper.h | 0 .../include/{ => op_simu}/PlannerTestDraw.h | 4 +- .../include/{ => op_simu}/SimpleTracker.h | 6 +- .../SimulatedTrajectoryFollower.h | 6 +- .../{ => op_simu}/TrajectoryFollower.h | 6 +- .../op_simu/include/{ => op_simu}/glm.h | 0 .../common/lib/openplanner/op_simu/main.cpp | 6 +- .../lib/openplanner/op_simu/package.xml | 41 ++++--- .../op_simu/src/AlternativeVisualizer.cpp | 14 +-- .../lib/openplanner/op_simu/src/CarState.cpp | 14 +-- .../openplanner/op_simu/src/DrawObjBase.cpp | 2 +- .../op_simu/src/DrawingHelpers.cpp | 6 +- .../openplanner/op_simu/src/Graph2dBase.cpp | 4 +- .../op_simu/src/MainWindowWrapper.cpp | 8 +- .../op_simu/src/PlannerTestDraw.cpp | 16 +-- .../openplanner/op_simu/src/SimpleTracker.cpp | 6 +- .../src/SimulatedTrajectoryFollower.cpp | 4 +- .../op_simu/src/TrajectoryFollower.cpp | 4 +- .../lib/openplanner/op_simu/src/glm.cpp | 2 +- .../lib/openplanner/op_utility/CMakeLists.txt | 15 ++- .../include/{ => op_utility}/DataRW.h | 0 .../include/{ => op_utility}/UtilityH.h | 0 .../lib/openplanner/op_utility/package.xml | 19 ++-- .../lib/openplanner/op_utility/src/DataRW.cpp | 4 +- .../openplanner/op_utility/src/UtilityH.cpp | 2 +- .../packages/way_planner/include/RosHelpers.h | 2 +- .../way_planner/include/way_planner_core.h | 4 +- .../packages/way_planner/nodes/RosHelpers.cpp | 2 +- .../dp_planner/include/PolygonGenerator.h | 4 +- .../packages/dp_planner/include/RosHelpers.h | 6 +- .../dp_planner/include/dp_planner_core.h | 10 +- .../packages/dp_planner/nodes/RosHelpers.cpp | 4 +- .../dp_planner/nodes/dp_planner_core.cpp | 4 +- .../include/ff_waypoint_follower_core.h | 8 +- .../nodes/ff_waypoint_follower_core.cpp | 2 +- .../include/op_trajectory_generator_core.h | 4 +- .../op_trajectory_generator_core.cpp | 2 +- .../include/OpenPlannerSimulator_core.h | 10 +- .../op_simulator/include/PolygonGenerator.h | 4 +- .../nodes/OpenPlannerSimulator_core.cpp | 4 +- .../OpenPlannerSimulatorPerception_core.cpp | 4 +- 77 files changed, 283 insertions(+), 225 deletions(-) rename ros/src/computing/planning/common/lib/openplanner/op_planner/include/{ => op_planner}/BehaviorStateMachine.h (100%) rename ros/src/computing/planning/common/lib/openplanner/op_planner/include/{ => op_planner}/LocalPlannerH.h (100%) rename ros/src/computing/planning/common/lib/openplanner/op_planner/include/{ => op_planner}/MappingHelpers.h (99%) rename ros/src/computing/planning/common/lib/openplanner/op_planner/include/{ => op_planner}/MatrixOperations.h (100%) rename ros/src/computing/planning/common/lib/openplanner/op_planner/include/{ => op_planner}/PlannerCommonDef.h (100%) rename ros/src/computing/planning/common/lib/openplanner/op_planner/include/{ => op_planner}/PlannerH.h (100%) rename ros/src/computing/planning/common/lib/openplanner/op_planner/include/{ => op_planner}/PlanningHelpers.h (99%) rename ros/src/computing/planning/common/lib/openplanner/op_planner/include/{ => op_planner}/RSPlanner.h (100%) rename ros/src/computing/planning/common/lib/openplanner/op_planner/include/{ => op_planner}/RoadNetwork.h (99%) rename ros/src/computing/planning/common/lib/openplanner/op_planner/include/{ => op_planner}/TrajectoryCosts.h (100%) rename ros/src/computing/planning/common/lib/openplanner/op_planner/include/{ => op_planner}/TrajectoryPrediction.h (96%) rename ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/include/{ => op_ros_helpers}/PolygonGenerator.h (97%) rename ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/include/{ => op_ros_helpers}/op_RosHelpers.h (98%) rename ros/src/computing/planning/common/lib/openplanner/op_simu/include/{ => op_simu}/AlternativeVisualizer.h (98%) rename ros/src/computing/planning/common/lib/openplanner/op_simu/include/{ => op_simu}/CarState.h (98%) rename ros/src/computing/planning/common/lib/openplanner/op_simu/include/{ => op_simu}/DrawObjBase.h (100%) rename ros/src/computing/planning/common/lib/openplanner/op_simu/include/{ => op_simu}/DrawingHelpers.h (98%) rename ros/src/computing/planning/common/lib/openplanner/op_simu/include/{ => op_simu}/Graph2dBase.h (97%) rename ros/src/computing/planning/common/lib/openplanner/op_simu/include/{ => op_simu}/MainWindowWrapper.h (100%) rename ros/src/computing/planning/common/lib/openplanner/op_simu/include/{ => op_simu}/PlannerTestDraw.h (98%) rename ros/src/computing/planning/common/lib/openplanner/op_simu/include/{ => op_simu}/SimpleTracker.h (99%) rename ros/src/computing/planning/common/lib/openplanner/op_simu/include/{ => op_simu}/SimulatedTrajectoryFollower.h (95%) rename ros/src/computing/planning/common/lib/openplanner/op_simu/include/{ => op_simu}/TrajectoryFollower.h (97%) rename ros/src/computing/planning/common/lib/openplanner/op_simu/include/{ => op_simu}/glm.h (100%) rename ros/src/computing/planning/common/lib/openplanner/op_utility/include/{ => op_utility}/DataRW.h (100%) rename ros/src/computing/planning/common/lib/openplanner/op_utility/include/{ => op_utility}/UtilityH.h (100%) diff --git a/ros/src/computing/perception/detection/packages/lidar_tracker/nodes/kf_contour_tracker/include/kf_contour_tracker_core.h b/ros/src/computing/perception/detection/packages/lidar_tracker/nodes/kf_contour_tracker/include/kf_contour_tracker_core.h index 106fc7270d..cb5f70c0c5 100644 --- a/ros/src/computing/perception/detection/packages/lidar_tracker/nodes/kf_contour_tracker/include/kf_contour_tracker_core.h +++ b/ros/src/computing/perception/detection/packages/lidar_tracker/nodes/kf_contour_tracker/include/kf_contour_tracker_core.h @@ -33,8 +33,8 @@ // ROS includes #include -#include "RoadNetwork.h" -#include "SimpleTracker.h" +#include "op_planner/RoadNetwork.h" +#include "op_simu/SimpleTracker.h" #include #include diff --git a/ros/src/computing/perception/detection/packages/lidar_tracker/nodes/kf_contour_tracker/src/kf_contour_tracker_core.cpp b/ros/src/computing/perception/detection/packages/lidar_tracker/nodes/kf_contour_tracker/src/kf_contour_tracker_core.cpp index 4ba6695b43..861767535e 100644 --- a/ros/src/computing/perception/detection/packages/lidar_tracker/nodes/kf_contour_tracker/src/kf_contour_tracker_core.cpp +++ b/ros/src/computing/perception/detection/packages/lidar_tracker/nodes/kf_contour_tracker/src/kf_contour_tracker_core.cpp @@ -27,7 +27,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ #include "../include/kf_contour_tracker_core.h" -#include "op_RosHelpers.h" +#include "op_ros_helpers/op_RosHelpers.h" namespace ContourTrackerNS diff --git a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt index f3ac49cca6..1b7609926e 100644 --- a/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/gnss/CMakeLists.txt @@ -24,7 +24,7 @@ target_link_libraries(gnss install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} FILES_MATCHING PATTERN "*.hpp" -) + ) install(TARGETS gnss diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/CMakeLists.txt b/ros/src/computing/planning/common/lib/openplanner/op_planner/CMakeLists.txt index 963d83d815..f71a6047b6 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_planner/CMakeLists.txt +++ b/ros/src/computing/planning/common/lib/openplanner/op_planner/CMakeLists.txt @@ -51,3 +51,14 @@ target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS} ) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + ) + + +install(TARGETS op_planner + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) \ No newline at end of file diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/include/BehaviorStateMachine.h b/ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/BehaviorStateMachine.h similarity index 100% rename from ros/src/computing/planning/common/lib/openplanner/op_planner/include/BehaviorStateMachine.h rename to ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/BehaviorStateMachine.h diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/include/LocalPlannerH.h b/ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/LocalPlannerH.h similarity index 100% rename from ros/src/computing/planning/common/lib/openplanner/op_planner/include/LocalPlannerH.h rename to ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/LocalPlannerH.h diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/include/MappingHelpers.h b/ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/MappingHelpers.h similarity index 99% rename from ros/src/computing/planning/common/lib/openplanner/op_planner/include/MappingHelpers.h rename to ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/MappingHelpers.h index 1c8bf3db7f..b4acc43c8b 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_planner/include/MappingHelpers.h +++ b/ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/MappingHelpers.h @@ -10,8 +10,8 @@ #include #include "RoadNetwork.h" -#include "UtilityH.h" -#include "DataRW.h" +#include "op_utility/UtilityH.h" +#include "op_utility/DataRW.h" #include "tinyxml.h" diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/include/MatrixOperations.h b/ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/MatrixOperations.h similarity index 100% rename from ros/src/computing/planning/common/lib/openplanner/op_planner/include/MatrixOperations.h rename to ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/MatrixOperations.h diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/include/PlannerCommonDef.h b/ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/PlannerCommonDef.h similarity index 100% rename from ros/src/computing/planning/common/lib/openplanner/op_planner/include/PlannerCommonDef.h rename to ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/PlannerCommonDef.h diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/include/PlannerH.h b/ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/PlannerH.h similarity index 100% rename from ros/src/computing/planning/common/lib/openplanner/op_planner/include/PlannerH.h rename to ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/PlannerH.h diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/include/PlanningHelpers.h b/ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/PlanningHelpers.h similarity index 99% rename from ros/src/computing/planning/common/lib/openplanner/op_planner/include/PlanningHelpers.h rename to ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/PlanningHelpers.h index e3752148f8..2a106e8816 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_planner/include/PlanningHelpers.h +++ b/ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/PlanningHelpers.h @@ -10,8 +10,8 @@ #include #include "RoadNetwork.h" -#include "UtilityH.h" -#include "DataRW.h" +#include "op_utility/UtilityH.h" +#include "op_utility/DataRW.h" #include "tinyxml.h" diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/include/RSPlanner.h b/ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/RSPlanner.h similarity index 100% rename from ros/src/computing/planning/common/lib/openplanner/op_planner/include/RSPlanner.h rename to ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/RSPlanner.h diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/include/RoadNetwork.h b/ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/RoadNetwork.h similarity index 99% rename from ros/src/computing/planning/common/lib/openplanner/op_planner/include/RoadNetwork.h rename to ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/RoadNetwork.h index 0ef2763052..a4b51459b1 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_planner/include/RoadNetwork.h +++ b/ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/RoadNetwork.h @@ -11,7 +11,7 @@ #include #include #include -#include "UtilityH.h" +#include "op_utility/UtilityH.h" #define OPENPLANNER_ENABLE_LOGS diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/include/TrajectoryCosts.h b/ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/TrajectoryCosts.h similarity index 100% rename from ros/src/computing/planning/common/lib/openplanner/op_planner/include/TrajectoryCosts.h rename to ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/TrajectoryCosts.h diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/include/TrajectoryPrediction.h b/ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/TrajectoryPrediction.h similarity index 96% rename from ros/src/computing/planning/common/lib/openplanner/op_planner/include/TrajectoryPrediction.h rename to ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/TrajectoryPrediction.h index 389b4c6016..afc007a9ef 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_planner/include/TrajectoryPrediction.h +++ b/ros/src/computing/planning/common/lib/openplanner/op_planner/include/op_planner/TrajectoryPrediction.h @@ -8,7 +8,7 @@ #ifndef TRAJECTORYPREDICTION_H_ #define TRAJECTORYPREDICTION_H_ -#include +#include #include "PlannerCommonDef.h" #include "PlanningHelpers.h" diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/package.xml b/ros/src/computing/planning/common/lib/openplanner/op_planner/package.xml index 725bb2ad9e..d4a414d28a 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_planner/package.xml +++ b/ros/src/computing/planning/common/lib/openplanner/op_planner/package.xml @@ -1,15 +1,13 @@ - op_planner - 1.6.3 - The libopenplanner_planner package - Yusuke FUJII - Hatem Darweesh - BSD - op_utility - op_utility - catkin - - - + op_planner + 1.6.3 + The libopenplanner_planner package + Yusuke FUJII + Hatem Darweesh + BSD + catkin + op_utility + op_utility + diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/BehaviorStateMachine.cpp b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/BehaviorStateMachine.cpp index f7e27495c0..482e531808 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/BehaviorStateMachine.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/BehaviorStateMachine.cpp @@ -5,8 +5,8 @@ * Author: hatem */ -#include "BehaviorStateMachine.h" -#include "UtilityH.h" +#include "op_planner/BehaviorStateMachine.h" +#include "op_utility/UtilityH.h" #include using namespace UtilityHNS; diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/LocalPlannerH.cpp b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/LocalPlannerH.cpp index 2b8cc94331..cd3c000841 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/LocalPlannerH.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/LocalPlannerH.cpp @@ -5,12 +5,12 @@ * Author: hatem */ -#include "LocalPlannerH.h" -#include "UtilityH.h" -#include "PlanningHelpers.h" -#include "MappingHelpers.h" -#include "MatrixOperations.h" -#include "PlannerH.h" +#include "op_planner/LocalPlannerH.h" +#include "op_utility/UtilityH.h" +#include "op_planner/PlanningHelpers.h" +#include "op_planner/MappingHelpers.h" +#include "op_planner/MatrixOperations.h" +#include "op_planner/PlannerH.h" using namespace UtilityHNS; diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/MappingHelpers.cpp b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/MappingHelpers.cpp index d7f653f304..336bb59cb5 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/MappingHelpers.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/MappingHelpers.cpp @@ -6,9 +6,9 @@ */ -#include "MappingHelpers.h" -#include "MatrixOperations.h" -#include "PlanningHelpers.h" +#include "op_planner/MappingHelpers.h" +#include "op_planner/MatrixOperations.h" +#include "op_planner/PlanningHelpers.h" #include "math.h" #include diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/MatrixOperations.cpp b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/MatrixOperations.cpp index 2b7d5f684c..46d22ceaa5 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/MatrixOperations.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/MatrixOperations.cpp @@ -5,7 +5,7 @@ * Author: hatem */ -#include "MatrixOperations.h" +#include "op_planner/MatrixOperations.h" namespace PlannerHNS { diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/PlannerH.cpp b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/PlannerH.cpp index 04abf2f0a3..42fda4e6ac 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/PlannerH.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/PlannerH.cpp @@ -5,9 +5,9 @@ * Author: hatem */ -#include "PlannerH.h" -#include "PlanningHelpers.h" -#include "MappingHelpers.h" +#include "op_planner/PlannerH.h" +#include "op_planner/PlanningHelpers.h" +#include "op_planner/MappingHelpers.h" #include using namespace std; diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/PlanningHelpers.cpp b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/PlanningHelpers.cpp index ea5625e8a9..a08e458d2c 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/PlanningHelpers.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/PlanningHelpers.cpp @@ -5,8 +5,8 @@ * Author: hatem */ -#include "PlanningHelpers.h" -#include "MatrixOperations.h" +#include "op_planner/PlanningHelpers.h" +#include "op_planner/MatrixOperations.h" #include //#include "spline.hpp" diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/RSPlanner.cpp b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/RSPlanner.cpp index 74a973191c..2190e5448c 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/RSPlanner.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/RSPlanner.cpp @@ -5,7 +5,7 @@ * Author: hatem */ -#include "RSPlanner.h" +#include "op_planner/RSPlanner.h" using namespace std; diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/TrajectoryCosts.cpp b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/TrajectoryCosts.cpp index e7e532e611..4d5e3b7246 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/TrajectoryCosts.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/TrajectoryCosts.cpp @@ -5,8 +5,8 @@ * Author: user */ -#include "TrajectoryCosts.h" -#include "MatrixOperations.h" +#include "op_planner/TrajectoryCosts.h" +#include "op_planner/MatrixOperations.h" namespace PlannerHNS { diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/TrajectoryPrediction.cpp b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/TrajectoryPrediction.cpp index 12156afa1a..53e7a4a123 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/TrajectoryPrediction.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/TrajectoryPrediction.cpp @@ -5,9 +5,9 @@ * Author: user */ -#include "TrajectoryPrediction.h" -#include "PlannerH.h" -#include "MappingHelpers.h" +#include "op_planner/TrajectoryPrediction.h" +#include "op_planner/PlannerH.h" +#include "op_planner/MappingHelpers.h" namespace PlannerHNS { diff --git a/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/CMakeLists.txt b/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/CMakeLists.txt index 18796be290..7d7b40e746 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/CMakeLists.txt +++ b/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/CMakeLists.txt @@ -61,3 +61,15 @@ add_library(${PROJECT_NAME} target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + ) + + +install(TARGETS op_ros_helpers + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) \ No newline at end of file diff --git a/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/include/PolygonGenerator.h b/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/include/op_ros_helpers/PolygonGenerator.h similarity index 97% rename from ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/include/PolygonGenerator.h rename to ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/include/op_ros_helpers/PolygonGenerator.h index 32e0682ff2..7a01c13280 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/include/PolygonGenerator.h +++ b/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/include/op_ros_helpers/PolygonGenerator.h @@ -8,7 +8,7 @@ #ifndef POLYGONGENERATOR_H_ #define POLYGONGENERATOR_H_ -#include "RoadNetwork.h" +#include "op_planner/RoadNetwork.h" #include #include #include diff --git a/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/include/op_RosHelpers.h b/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/include/op_ros_helpers/op_RosHelpers.h similarity index 98% rename from ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/include/op_RosHelpers.h rename to ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/include/op_ros_helpers/op_RosHelpers.h index 8684f9d42e..bf5f92a405 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/include/op_RosHelpers.h +++ b/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/include/op_ros_helpers/op_RosHelpers.h @@ -9,9 +9,9 @@ #define ROSHELPERS_H_ #include -#include "RoadNetwork.h" -#include "PlannerCommonDef.h" -#include "LocalPlannerH.h" +#include "op_planner/RoadNetwork.h" +#include "op_planner/PlannerCommonDef.h" +#include "op_planner/LocalPlannerH.h" #include "vector_map_msgs/PointArray.h" #include "vector_map_msgs/LaneArray.h" diff --git a/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/src/PolygonGenerator.cpp b/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/src/PolygonGenerator.cpp index 57d7d12845..e8107c17c5 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/src/PolygonGenerator.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/src/PolygonGenerator.cpp @@ -5,8 +5,8 @@ * Author: ai-driver */ -#include "PolygonGenerator.h" -#include "PlanningHelpers.h" +#include "op_ros_helpers/PolygonGenerator.h" +#include "op_planner/PlanningHelpers.h" namespace PlannerHNS { diff --git a/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/src/op_RosHelpers.cpp b/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/src/op_RosHelpers.cpp index 139f3d987f..eb4525c8d2 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/src/op_RosHelpers.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_ros_helpers/src/op_RosHelpers.cpp @@ -5,15 +5,15 @@ * Author: ai-driver */ -#include "op_RosHelpers.h" +#include "op_ros_helpers/op_RosHelpers.h" #include #include #include #include -#include "PolygonGenerator.h" -#include "MappingHelpers.h" -#include "MatrixOperations.h" +#include "op_ros_helpers/PolygonGenerator.h" +#include "op_planner/MappingHelpers.h" +#include "op_planner/MatrixOperations.h" namespace PlannerHNS 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 e3e504853d..354af4ab26 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 @@ -7,9 +7,9 @@ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake") set(ROS_VERSION $ENV{ROS_DISTRO}) find_package(catkin REQUIRED COMPONENTS - op_utility - op_planner -) + op_utility + op_planner + ) find_package(OpenCV REQUIRED) find_package(OpenGL REQUIRED) @@ -22,9 +22,10 @@ find_package(Threads REQUIRED) ## catkin specific configuration ## ################################### catkin_package( - INCLUDE_DIRS include - LIBRARIES op_simu - CATKIN_DEPENDS op_utility op_planner + INCLUDE_DIRS include + LIBRARIES op_simu + CATKIN_DEPENDS op_utility op_planner + DEPENDS libopencv-dev opengl libglew-dev glut libx11-dev threads ) ########### @@ -34,54 +35,65 @@ catkin_package( set(CMAKE_CXX_FLAGS "-std=c++11 -fPIC ${CMAKE_CXX_FLAGS}") include_directories(${catkin_INCLUDE_DIRS} - include - ${OpenCV_INCLUDE_DIRS} - ${OpenGL_INCLUDE_DIRS} - ${GLUT_INCLUDE_DIRS} - ${GLEW_INCLUDE_DIRS} -) + include + ${OpenCV_INCLUDE_DIRS} + ${OpenGL_INCLUDE_DIRS} + ${GLUT_INCLUDE_DIRS} + ${GLEW_INCLUDE_DIRS} + ) set(SIMUH_SRC - src/AlternativeVisualizer.cpp - src/CarState.cpp - src/DrawObjBase.cpp - src/DrawingHelpers.cpp - src/Graph2dBase.cpp - src/PlannerTestDraw.cpp - src/SimpleTracker.cpp - src/SimulatedTrajectoryFollower.cpp - src/TrajectoryFollower.cpp - src/glm.cpp - src/MainWindowWrapper.cpp -) + src/AlternativeVisualizer.cpp + src/CarState.cpp + src/DrawObjBase.cpp + src/DrawingHelpers.cpp + src/Graph2dBase.cpp + src/PlannerTestDraw.cpp + src/SimpleTracker.cpp + src/SimulatedTrajectoryFollower.cpp + src/TrajectoryFollower.cpp + src/glm.cpp + src/MainWindowWrapper.cpp + ) ## Declare a cpp library add_library(${PROJECT_NAME} - ${SIMUH_SRC} -) + ${SIMUH_SRC} + ) target_link_libraries(${PROJECT_NAME} - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ${OPENGL_LIBRARIES} - ${GLUT_LIBRARIES} - ${GLEW_LIBRARIES} - ${X11_LIBRARIES} -) + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ${OPENGL_LIBRARIES} + ${GLUT_LIBRARIES} + ${GLEW_LIBRARIES} + ${X11_LIBRARIES} + ) add_executable(Simu - ${SIMUH_SRC} - main.cpp -) + ${SIMUH_SRC} + main.cpp + ) target_link_libraries(Simu - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ${OPENGL_LIBRARIES} - ${GLUT_LIBRARIES} - ${GLUT_LIBRARY} - ${GLEW_LIBRARIES} - ${X11_LIBRARIES} - ${CMAKE_THREAD_LIBS_INIT} -) + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ${OPENGL_LIBRARIES} + ${GLUT_LIBRARIES} + ${GLUT_LIBRARY} + ${GLEW_LIBRARIES} + ${X11_LIBRARIES} + ${CMAKE_THREAD_LIBS_INIT} + ) + + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + ) +install(TARGETS op_simu Simu + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) \ No newline at end of file diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/AlternativeVisualizer.h b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/AlternativeVisualizer.h similarity index 98% rename from ros/src/computing/planning/common/lib/openplanner/op_simu/include/AlternativeVisualizer.h rename to ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/AlternativeVisualizer.h index 8c166954fd..3d0483641e 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/AlternativeVisualizer.h +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/AlternativeVisualizer.h @@ -9,7 +9,7 @@ #define AlternativeVisualizer_H_ #include #include "DrawObjBase.h" -#include "RoadNetwork.h" +#include "op_planner/RoadNetwork.h" #include "CarState.h" #include "DrawingHelpers.h" #include "TrajectoryFollower.h" diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/CarState.h b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/CarState.h similarity index 98% rename from ros/src/computing/planning/common/lib/openplanner/op_simu/include/CarState.h rename to ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/CarState.h index 83c52fa069..7b3e9eb6e4 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/CarState.h +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/CarState.h @@ -8,9 +8,9 @@ #ifndef CARSTATE_H_ #define CARSTATE_H_ -#include "BehaviorStateMachine.h" -#include "PlannerCommonDef.h" -#include "RoadNetwork.h" +#include "op_planner/BehaviorStateMachine.h" +#include "op_planner/PlannerCommonDef.h" +#include "op_planner/RoadNetwork.h" namespace SimulationNS { diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/DrawObjBase.h b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/DrawObjBase.h similarity index 100% rename from ros/src/computing/planning/common/lib/openplanner/op_simu/include/DrawObjBase.h rename to ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/DrawObjBase.h diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/DrawingHelpers.h b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/DrawingHelpers.h similarity index 98% rename from ros/src/computing/planning/common/lib/openplanner/op_simu/include/DrawingHelpers.h rename to ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/DrawingHelpers.h index df69f27e30..3f28cad79d 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/DrawingHelpers.h +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/DrawingHelpers.h @@ -9,7 +9,7 @@ #define DRAWINGHELPERS_H_ #include "glm.h" -#include "RoadNetwork.h" +#include "op_planner/RoadNetwork.h" #include "glm.h" namespace Graphics { diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/Graph2dBase.h b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/Graph2dBase.h similarity index 97% rename from ros/src/computing/planning/common/lib/openplanner/op_simu/include/Graph2dBase.h rename to ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/Graph2dBase.h index 09266c8174..0f7a01f842 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/Graph2dBase.h +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/Graph2dBase.h @@ -9,7 +9,7 @@ #define GRAPH2DBASE_H_ #include "DrawingHelpers.h" -#include "RoadNetwork.h" +#include "op_planner/RoadNetwork.h" #include namespace Graphics { diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/MainWindowWrapper.h b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/MainWindowWrapper.h similarity index 100% rename from ros/src/computing/planning/common/lib/openplanner/op_simu/include/MainWindowWrapper.h rename to ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/MainWindowWrapper.h diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/PlannerTestDraw.h b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/PlannerTestDraw.h similarity index 98% rename from ros/src/computing/planning/common/lib/openplanner/op_simu/include/PlannerTestDraw.h rename to ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/PlannerTestDraw.h index 6281887007..ee65597829 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/PlannerTestDraw.h +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/PlannerTestDraw.h @@ -9,13 +9,13 @@ #define PLANNERTESTDRAW_H_ #include #include "DrawObjBase.h" -#include "RoadNetwork.h" +#include "op_planner/RoadNetwork.h" #include "CarState.h" #include "DrawingHelpers.h" #include "TrajectoryFollower.h" #include "SimulatedTrajectoryFollower.h" #include "Graph2dBase.h" -#include "LocalPlannerH.h" +#include "op_planner/LocalPlannerH.h" namespace Graphics { diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/SimpleTracker.h b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/SimpleTracker.h similarity index 99% rename from ros/src/computing/planning/common/lib/openplanner/op_simu/include/SimpleTracker.h rename to ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/SimpleTracker.h index c93a57ef48..33538b252e 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/SimpleTracker.h +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/SimpleTracker.h @@ -8,11 +8,11 @@ #ifndef SimpleTracker_H_ #define SimpleTracker_H_ -#include "RoadNetwork.h" -#include "PlanningHelpers.h" +#include "op_planner/RoadNetwork.h" +#include "op_planner/PlanningHelpers.h" #include "opencv2/video/tracking.hpp" #include -#include "UtilityH.h" +#include "op_utility/UtilityH.h" #include #include diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/SimulatedTrajectoryFollower.h b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/SimulatedTrajectoryFollower.h similarity index 95% rename from ros/src/computing/planning/common/lib/openplanner/op_simu/include/SimulatedTrajectoryFollower.h rename to ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/SimulatedTrajectoryFollower.h index bf85bc3204..dca57662b1 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/SimulatedTrajectoryFollower.h +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/SimulatedTrajectoryFollower.h @@ -7,9 +7,9 @@ #ifndef SimulatedTrajectoryFollower_H_ #define SimulatedTrajectoryFollower_H_ -#include "RoadNetwork.h" -#include "UtilityH.h" -#include "PlannerCommonDef.h" +#include "op_planner/RoadNetwork.h" +#include "op_utility/UtilityH.h" +#include "op_planner/PlannerCommonDef.h" namespace SimulationNS { diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/TrajectoryFollower.h b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/TrajectoryFollower.h similarity index 97% rename from ros/src/computing/planning/common/lib/openplanner/op_simu/include/TrajectoryFollower.h rename to ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/TrajectoryFollower.h index d6c4fcd129..091b978ebd 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/TrajectoryFollower.h +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/TrajectoryFollower.h @@ -7,9 +7,9 @@ #ifndef TRAJECTORYFOLLOWER_H_ #define TRAJECTORYFOLLOWER_H_ -#include "RoadNetwork.h" -#include "UtilityH.h" -#include "PlannerCommonDef.h" +#include "op_planner/RoadNetwork.h" +#include "op_utility/UtilityH.h" +#include "op_planner/PlannerCommonDef.h" #define MAX_ACCELERATION_2G 5 // meter /sec/sec diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/include/glm.h b/ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/glm.h similarity index 100% rename from ros/src/computing/planning/common/lib/openplanner/op_simu/include/glm.h rename to ros/src/computing/planning/common/lib/openplanner/op_simu/include/op_simu/glm.h diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/main.cpp b/ros/src/computing/planning/common/lib/openplanner/op_simu/main.cpp index 1a03667da5..26d1701af9 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/main.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/main.cpp @@ -6,9 +6,9 @@ */ #include -#include "AlternativeVisualizer.h" -#include "MainWindowWrapper.h" -#include "PlannerTestDraw.h" +#include "op_simu/AlternativeVisualizer.h" +#include "op_simu/MainWindowWrapper.h" +#include "op_simu/PlannerTestDraw.h" using namespace Graphics; #define USE_ALT_VISUALIZER 1 diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/package.xml b/ros/src/computing/planning/common/lib/openplanner/op_simu/package.xml index f668ca4f61..6fc07c269b 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/package.xml +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/package.xml @@ -1,17 +1,30 @@ - op_simu - 1.6.3 - The libopenplanner_simu package - Yusuke FUJII - Hatem Darweesh - BSD - op_utility - op_planner - op_utility - op_planner - catkin - - - + op_simu + 1.6.3 + The libopenplanner_simu package + Yusuke FUJII + Hatem Darweesh + BSD + catkin + + op_utility + op_planner + libopencv-dev + opengl + libglew-dev + glut + libx11-dev + + op_utility + op_planner + libopencv-dev + opengl + libglew-dev + glut + libx11-dev + + + + diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/AlternativeVisualizer.cpp b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/AlternativeVisualizer.cpp index 2da7a5075a..8c8653b8d6 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/AlternativeVisualizer.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/AlternativeVisualizer.cpp @@ -5,14 +5,14 @@ * Author: hatem */ -#include "AlternativeVisualizer.h" -#include "PlannerH.h" -#include "PlanningHelpers.h" -#include "MappingHelpers.h" +#include "op_simu/AlternativeVisualizer.h" +#include "op_planner/PlannerH.h" +#include "op_planner/PlanningHelpers.h" +#include "op_planner/MappingHelpers.h" #include -#include "MatrixOperations.h" -#include "SimpleTracker.h" -#include "DataRW.h" +#include "op_planner/MatrixOperations.h" +#include "op_simu/SimpleTracker.h" +#include "op_utility/DataRW.h" #include diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/CarState.cpp b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/CarState.cpp index 53aa982ba8..4f0cbc69a2 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/CarState.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/CarState.cpp @@ -5,13 +5,13 @@ * Author: hatem */ -#include "CarState.h" -#include "UtilityH.h" -#include "PlanningHelpers.h" -#include "MappingHelpers.h" -#include "MatrixOperations.h" -#include "PlannerH.h" -#include "SimulatedTrajectoryFollower.h" +#include "op_simu/CarState.h" +#include "op_utility/UtilityH.h" +#include "op_planner/PlanningHelpers.h" +#include "op_planner/MappingHelpers.h" +#include "op_planner/MatrixOperations.h" +#include "op_planner/PlannerH.h" +#include "op_simu/SimulatedTrajectoryFollower.h" using namespace PlannerHNS; diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/DrawObjBase.cpp b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/DrawObjBase.cpp index 7f393f6e6c..f727ab6196 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/DrawObjBase.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/DrawObjBase.cpp @@ -5,7 +5,7 @@ * Author: hatem */ -#include "DrawObjBase.h" +#include "op_simu/DrawObjBase.h" namespace Graphics { diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/DrawingHelpers.cpp b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/DrawingHelpers.cpp index 28ba4b0f5a..ffd32f1f78 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/DrawingHelpers.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/DrawingHelpers.cpp @@ -5,12 +5,12 @@ * Author: hatem */ -#include "DrawingHelpers.h" +#include "op_simu/DrawingHelpers.h" #include #include #include -#include "UtilityH.h" -#include "PlanningHelpers.h" +#include "op_utility/UtilityH.h" +#include "op_planner/PlanningHelpers.h" #include using namespace std; diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/Graph2dBase.cpp b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/Graph2dBase.cpp index a9976d074c..97467d9153 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/Graph2dBase.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/Graph2dBase.cpp @@ -5,8 +5,8 @@ * Author: hatem */ -#include "Graph2dBase.h" -#include "UtilityH.h" +#include "op_simu/Graph2dBase.h" +#include "op_utility/UtilityH.h" using namespace PlannerHNS; diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/MainWindowWrapper.cpp b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/MainWindowWrapper.cpp index c4ad7d001d..7ecb8c0cf7 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/MainWindowWrapper.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/MainWindowWrapper.cpp @@ -5,16 +5,16 @@ * Author: hatem */ -#include "MainWindowWrapper.h" -#include "DrawingHelpers.h" +#include "op_simu/MainWindowWrapper.h" +#include "op_simu/DrawingHelpers.h" #include #include -#include "UtilityH.h" +#include "op_utility/UtilityH.h" #include "GL/freeglut_ext.h" using namespace std; using namespace UtilityHNS; -#include "MatrixOperations.h" +#include "op_planner/MatrixOperations.h" namespace Graphics { diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/PlannerTestDraw.cpp b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/PlannerTestDraw.cpp index 45b2c4d29c..d3cb051068 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/PlannerTestDraw.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/PlannerTestDraw.cpp @@ -5,15 +5,15 @@ * Author: hatem */ -#include "PlannerTestDraw.h" -#include "PlannerH.h" -#include "PlanningHelpers.h" -#include "MappingHelpers.h" +#include "op_simu/PlannerTestDraw.h" +#include "op_planner/PlannerH.h" +#include "op_planner/PlanningHelpers.h" +#include "op_planner/MappingHelpers.h" #include -#include "MatrixOperations.h" -#include "SimpleTracker.h" -#include "DataRW.h" -#include "PlannerCommonDef.h" +#include "op_planner/MatrixOperations.h" +#include "op_simu/SimpleTracker.h" +#include "op_utility/DataRW.h" +#include "op_planner/PlannerCommonDef.h" //#include diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/SimpleTracker.cpp b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/SimpleTracker.cpp index 60ad4ee2b6..f995067810 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/SimpleTracker.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/SimpleTracker.cpp @@ -5,9 +5,9 @@ * Author: hatem */ -#include "SimpleTracker.h" -#include "MatrixOperations.h" -#include "UtilityH.h" +#include "op_simu/SimpleTracker.h" +#include "op_planner/MatrixOperations.h" +#include "op_utility/UtilityH.h" #include #include diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/SimulatedTrajectoryFollower.cpp b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/SimulatedTrajectoryFollower.cpp index 52efac4272..27cf7c7c77 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/SimulatedTrajectoryFollower.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/SimulatedTrajectoryFollower.cpp @@ -5,8 +5,8 @@ * Author: hatem */ -#include "SimulatedTrajectoryFollower.h" -#include "PlanningHelpers.h" +#include "op_simu/SimulatedTrajectoryFollower.h" +#include "op_planner/PlanningHelpers.h" #include #include #include diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/TrajectoryFollower.cpp b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/TrajectoryFollower.cpp index 43d8ed4166..f1fec3cb58 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/TrajectoryFollower.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/TrajectoryFollower.cpp @@ -5,8 +5,8 @@ * Author: hatem */ -#include "TrajectoryFollower.h" -#include "PlanningHelpers.h" +#include "op_simu/TrajectoryFollower.h" +#include "op_planner/PlanningHelpers.h" #include #include #include diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/glm.cpp b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/glm.cpp index a00e9be7fc..e7f8f5c52a 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/src/glm.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/src/glm.cpp @@ -17,7 +17,7 @@ #include #include #include -#include "glm.h" +#include "op_simu/glm.h" namespace Graphics { diff --git a/ros/src/computing/planning/common/lib/openplanner/op_utility/CMakeLists.txt b/ros/src/computing/planning/common/lib/openplanner/op_utility/CMakeLists.txt index 5c7be669da..94adddd07a 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_utility/CMakeLists.txt +++ b/ros/src/computing/planning/common/lib/openplanner/op_utility/CMakeLists.txt @@ -4,8 +4,7 @@ project(op_utility) set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake") set(ROS_VERSION $ENV{ROS_DISTRO}) -find_package(catkin REQUIRED COMPONENTS - ) +find_package(catkin REQUIRED) find_package(TinyXML REQUIRED) @@ -15,6 +14,7 @@ find_package(TinyXML REQUIRED) catkin_package( INCLUDE_DIRS include LIBRARIES op_utility + DEPENDS tinyxml ) ########### @@ -42,3 +42,14 @@ target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + ) + + +install(TARGETS op_utility + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) diff --git a/ros/src/computing/planning/common/lib/openplanner/op_utility/include/DataRW.h b/ros/src/computing/planning/common/lib/openplanner/op_utility/include/op_utility/DataRW.h similarity index 100% rename from ros/src/computing/planning/common/lib/openplanner/op_utility/include/DataRW.h rename to ros/src/computing/planning/common/lib/openplanner/op_utility/include/op_utility/DataRW.h diff --git a/ros/src/computing/planning/common/lib/openplanner/op_utility/include/UtilityH.h b/ros/src/computing/planning/common/lib/openplanner/op_utility/include/op_utility/UtilityH.h similarity index 100% rename from ros/src/computing/planning/common/lib/openplanner/op_utility/include/UtilityH.h rename to ros/src/computing/planning/common/lib/openplanner/op_utility/include/op_utility/UtilityH.h diff --git a/ros/src/computing/planning/common/lib/openplanner/op_utility/package.xml b/ros/src/computing/planning/common/lib/openplanner/op_utility/package.xml index 49c3d6c717..895f0a705a 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_utility/package.xml +++ b/ros/src/computing/planning/common/lib/openplanner/op_utility/package.xml @@ -1,12 +1,13 @@ - op_utility - 1.6.3 - The libopenplanner_utility package - Yusuke FUJII - Hatem Darweesh - BSD - catkin - - + op_utility + 1.6.3 + The libopenplanner_utility package + Yusuke FUJII + Hatem Darweesh + BSD + catkin + + tinyxml + tinyxml diff --git a/ros/src/computing/planning/common/lib/openplanner/op_utility/src/DataRW.cpp b/ros/src/computing/planning/common/lib/openplanner/op_utility/src/DataRW.cpp index 2500bf8274..7e208bbaf8 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_utility/src/DataRW.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_utility/src/DataRW.cpp @@ -5,10 +5,10 @@ * Author: hatem */ -#include "DataRW.h" +#include "op_utility/DataRW.h" #include #include -#include "UtilityH.h" +#include "op_utility/UtilityH.h" using namespace std; diff --git a/ros/src/computing/planning/common/lib/openplanner/op_utility/src/UtilityH.cpp b/ros/src/computing/planning/common/lib/openplanner/op_utility/src/UtilityH.cpp index 8dfb73fc0a..0285c581f3 100755 --- a/ros/src/computing/planning/common/lib/openplanner/op_utility/src/UtilityH.cpp +++ b/ros/src/computing/planning/common/lib/openplanner/op_utility/src/UtilityH.cpp @@ -5,7 +5,7 @@ * Author: hatem */ -#include "UtilityH.h" +#include "op_utility/UtilityH.h" #include #include #include diff --git a/ros/src/computing/planning/mission/packages/way_planner/include/RosHelpers.h b/ros/src/computing/planning/mission/packages/way_planner/include/RosHelpers.h index 67b22cbc4c..b500ad6667 100644 --- a/ros/src/computing/planning/mission/packages/way_planner/include/RosHelpers.h +++ b/ros/src/computing/planning/mission/packages/way_planner/include/RosHelpers.h @@ -35,7 +35,7 @@ #include #include #include -#include "RoadNetwork.h" +#include "op_planner/RoadNetwork.h" namespace WayPlannerNS { diff --git a/ros/src/computing/planning/mission/packages/way_planner/include/way_planner_core.h b/ros/src/computing/planning/mission/packages/way_planner/include/way_planner_core.h index 0b3ad329eb..b1cd7c62b0 100644 --- a/ros/src/computing/planning/mission/packages/way_planner/include/way_planner_core.h +++ b/ros/src/computing/planning/mission/packages/way_planner/include/way_planner_core.h @@ -63,8 +63,8 @@ #include "autoware_msgs/CanInfo.h" #include -#include "MappingHelpers.h" -#include "PlannerH.h" +#include "op_planner/MappingHelpers.h" +#include "op_planner/PlannerH.h" #include "RosHelpers.h" #include "SocketServer.h" diff --git a/ros/src/computing/planning/mission/packages/way_planner/nodes/RosHelpers.cpp b/ros/src/computing/planning/mission/packages/way_planner/nodes/RosHelpers.cpp index 1cd3e549ba..19545f8054 100644 --- a/ros/src/computing/planning/mission/packages/way_planner/nodes/RosHelpers.cpp +++ b/ros/src/computing/planning/mission/packages/way_planner/nodes/RosHelpers.cpp @@ -11,7 +11,7 @@ #include #include #include -#include "PlanningHelpers.h" +#include "op_planner/PlanningHelpers.h" namespace WayPlannerNS { diff --git a/ros/src/computing/planning/motion/packages/dp_planner/include/PolygonGenerator.h b/ros/src/computing/planning/motion/packages/dp_planner/include/PolygonGenerator.h index 1bc457310b..9dc7c4bc65 100644 --- a/ros/src/computing/planning/motion/packages/dp_planner/include/PolygonGenerator.h +++ b/ros/src/computing/planning/motion/packages/dp_planner/include/PolygonGenerator.h @@ -8,8 +8,8 @@ #ifndef POLYGONGENERATOR_H_ #define POLYGONGENERATOR_H_ -#include "RoadNetwork.h" -#include "PlanningHelpers.h" +#include "op_planner/RoadNetwork.h" +#include "op_planner/PlanningHelpers.h" #include #include #include diff --git a/ros/src/computing/planning/motion/packages/dp_planner/include/RosHelpers.h b/ros/src/computing/planning/motion/packages/dp_planner/include/RosHelpers.h index 65763867d2..34976d8fcb 100644 --- a/ros/src/computing/planning/motion/packages/dp_planner/include/RosHelpers.h +++ b/ros/src/computing/planning/motion/packages/dp_planner/include/RosHelpers.h @@ -9,9 +9,9 @@ #define ROSHELPERS_H_ #include -#include "RoadNetwork.h" -#include "PlannerCommonDef.h" -#include "LocalPlannerH.h" +#include "op_planner/RoadNetwork.h" +#include "op_planner/PlannerCommonDef.h" +#include "op_planner/LocalPlannerH.h" #include "vector_map_msgs/PointArray.h" #include "vector_map_msgs/LaneArray.h" diff --git a/ros/src/computing/planning/motion/packages/dp_planner/include/dp_planner_core.h b/ros/src/computing/planning/motion/packages/dp_planner/include/dp_planner_core.h index 87b93bfd7c..b16bf4909a 100644 --- a/ros/src/computing/planning/motion/packages/dp_planner/include/dp_planner_core.h +++ b/ros/src/computing/planning/motion/packages/dp_planner/include/dp_planner_core.h @@ -56,13 +56,13 @@ #include #include -#include "RoadNetwork.h" -#include "MappingHelpers.h" -#include "PlanningHelpers.h" +#include "op_planner/RoadNetwork.h" +#include "op_planner/MappingHelpers.h" +#include "op_planner/PlanningHelpers.h" //#include "CarState.h" -#include "LocalPlannerH.h" +#include "op_planner/LocalPlannerH.h" #include "RosHelpers.h" -#include "SimpleTracker.h" +#include "op_simu/SimpleTracker.h" #include #include diff --git a/ros/src/computing/planning/motion/packages/dp_planner/nodes/RosHelpers.cpp b/ros/src/computing/planning/motion/packages/dp_planner/nodes/RosHelpers.cpp index 00931fb05e..5382c0997b 100644 --- a/ros/src/computing/planning/motion/packages/dp_planner/nodes/RosHelpers.cpp +++ b/ros/src/computing/planning/motion/packages/dp_planner/nodes/RosHelpers.cpp @@ -12,8 +12,8 @@ #include #include #include "PolygonGenerator.h" -#include "MappingHelpers.h" -#include "MatrixOperations.h" +#include "op_planner/MappingHelpers.h" +#include "op_planner/MatrixOperations.h" namespace PlannerXNS diff --git a/ros/src/computing/planning/motion/packages/dp_planner/nodes/dp_planner_core.cpp b/ros/src/computing/planning/motion/packages/dp_planner/nodes/dp_planner_core.cpp index 397ba17463..3ec0744a00 100644 --- a/ros/src/computing/planning/motion/packages/dp_planner/nodes/dp_planner_core.cpp +++ b/ros/src/computing/planning/motion/packages/dp_planner/nodes/dp_planner_core.cpp @@ -34,8 +34,8 @@ #include #include #include -#include "UtilityH.h" -#include "MatrixOperations.h" +#include "op_utility/UtilityH.h" +#include "op_planner/MatrixOperations.h" namespace PlannerXNS { diff --git a/ros/src/computing/planning/motion/packages/ff_waypoint_follower/include/ff_waypoint_follower_core.h b/ros/src/computing/planning/motion/packages/ff_waypoint_follower/include/ff_waypoint_follower_core.h index dc68cc8ced..f5c4b5c9b6 100644 --- a/ros/src/computing/planning/motion/packages/ff_waypoint_follower/include/ff_waypoint_follower_core.h +++ b/ros/src/computing/planning/motion/packages/ff_waypoint_follower/include/ff_waypoint_follower_core.h @@ -46,11 +46,11 @@ #include #include "waypoint_follower/libwaypoint_follower.h" #include "autoware_msgs/LaneArray.h" -#include "TrajectoryFollower.h" +#include "op_simu/TrajectoryFollower.h" //#include "CarState.h" -#include "LocalPlannerH.h" -#include "PlannerH.h" -#include "MappingHelpers.h" +#include "op_planner/LocalPlannerH.h" +#include "op_planner/PlannerH.h" +#include "op_planner/MappingHelpers.h" #ifdef ENABLE_ZMP_LIBRARY_LINK diff --git a/ros/src/computing/planning/motion/packages/ff_waypoint_follower/nodes/ff_waypoint_follower_core.cpp b/ros/src/computing/planning/motion/packages/ff_waypoint_follower/nodes/ff_waypoint_follower_core.cpp index f16e15a148..980a65d5bf 100644 --- a/ros/src/computing/planning/motion/packages/ff_waypoint_follower/nodes/ff_waypoint_follower_core.cpp +++ b/ros/src/computing/planning/motion/packages/ff_waypoint_follower/nodes/ff_waypoint_follower_core.cpp @@ -33,7 +33,7 @@ #include #include #include -#include "UtilityH.h" +#include "op_utility/UtilityH.h" #include "math.h" using namespace std; diff --git a/ros/src/computing/planning/motion/packages/op_local_planner/include/op_trajectory_generator_core.h b/ros/src/computing/planning/motion/packages/op_local_planner/include/op_trajectory_generator_core.h index 6b22388145..2479360cd5 100644 --- a/ros/src/computing/planning/motion/packages/op_local_planner/include/op_trajectory_generator_core.h +++ b/ros/src/computing/planning/motion/packages/op_local_planner/include/op_trajectory_generator_core.h @@ -33,8 +33,8 @@ // ROS includes #include -#include "PlannerH.h" -#include "PlannerCommonDef.h" +#include "op_planner/PlannerH.h" +#include "op_planner/PlannerCommonDef.h" #include #include diff --git a/ros/src/computing/planning/motion/packages/op_local_planner/nodes/op_trajectory_generator/op_trajectory_generator_core.cpp b/ros/src/computing/planning/motion/packages/op_local_planner/nodes/op_trajectory_generator/op_trajectory_generator_core.cpp index 5fb3a1b6d4..f0597af646 100644 --- a/ros/src/computing/planning/motion/packages/op_local_planner/nodes/op_trajectory_generator/op_trajectory_generator_core.cpp +++ b/ros/src/computing/planning/motion/packages/op_local_planner/nodes/op_trajectory_generator/op_trajectory_generator_core.cpp @@ -27,7 +27,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ #include "op_trajectory_generator_core.h" -#include "op_RosHelpers.h" +#include "op_ros_helpers/op_RosHelpers.h" namespace TrajectoryGeneratorNS diff --git a/ros/src/computing/planning/motion/packages/op_simulator/include/OpenPlannerSimulator_core.h b/ros/src/computing/planning/motion/packages/op_simulator/include/OpenPlannerSimulator_core.h index 38d14b2894..f1cd448dfb 100644 --- a/ros/src/computing/planning/motion/packages/op_simulator/include/OpenPlannerSimulator_core.h +++ b/ros/src/computing/planning/motion/packages/op_simulator/include/OpenPlannerSimulator_core.h @@ -45,10 +45,10 @@ #include #include #include -#include "TrajectoryFollower.h" -#include "LocalPlannerH.h" -#include "PlannerH.h" -#include "MappingHelpers.h" +#include "op_simu/TrajectoryFollower.h" +#include "op_planner/LocalPlannerH.h" +#include "op_planner/PlannerH.h" +#include "op_planner/MappingHelpers.h" #include #include @@ -56,7 +56,7 @@ #include #include "autoware_msgs/CloudCluster.h" #include "autoware_msgs/CloudClusterArray.h" -#include "SimpleTracker.h" +#include "op_simu/SimpleTracker.h" namespace OpenPlannerSimulatorNS { diff --git a/ros/src/computing/planning/motion/packages/op_simulator/include/PolygonGenerator.h b/ros/src/computing/planning/motion/packages/op_simulator/include/PolygonGenerator.h index 0e022b1db1..5ba7b33e08 100644 --- a/ros/src/computing/planning/motion/packages/op_simulator/include/PolygonGenerator.h +++ b/ros/src/computing/planning/motion/packages/op_simulator/include/PolygonGenerator.h @@ -8,8 +8,8 @@ #ifndef POLYGONGENERATORSIMU_H_ #define POLYGONGENERATORSIMU_H_ -#include "RoadNetwork.h" -#include "PlanningHelpers.h" +#include "op_planner/RoadNetwork.h" +#include "op_planner/PlanningHelpers.h" #include diff --git a/ros/src/computing/planning/motion/packages/op_simulator/nodes/OpenPlannerSimulator_core.cpp b/ros/src/computing/planning/motion/packages/op_simulator/nodes/OpenPlannerSimulator_core.cpp index 450c1bdb3e..0155b82ec6 100644 --- a/ros/src/computing/planning/motion/packages/op_simulator/nodes/OpenPlannerSimulator_core.cpp +++ b/ros/src/computing/planning/motion/packages/op_simulator/nodes/OpenPlannerSimulator_core.cpp @@ -30,9 +30,9 @@ #include "../include/OpenPlannerSimulator_core.h" -#include "UtilityH.h" +#include "op_utility/UtilityH.h" #include "math.h" -#include "MatrixOperations.h" +#include "op_planner/MatrixOperations.h" #include #include "PolygonGenerator.h" diff --git a/ros/src/computing/planning/motion/packages/op_simulator_perception/nodes/OpenPlannerSimulatorPerception_core.cpp b/ros/src/computing/planning/motion/packages/op_simulator_perception/nodes/OpenPlannerSimulatorPerception_core.cpp index 79ff2a0108..0c4de1f61b 100644 --- a/ros/src/computing/planning/motion/packages/op_simulator_perception/nodes/OpenPlannerSimulatorPerception_core.cpp +++ b/ros/src/computing/planning/motion/packages/op_simulator_perception/nodes/OpenPlannerSimulatorPerception_core.cpp @@ -29,9 +29,9 @@ */ #include "../include/OpenPlannerSimulatorPerception_core.h" -#include "UtilityH.h" +#include "op_utility/UtilityH.h" #include "math.h" -#include "MatrixOperations.h" +#include "op_planner/MatrixOperations.h" #include #include From b299b88b18049218568778e3e986753f1d92e1eb Mon Sep 17 00:00:00 2001 From: amc-nu Date: Tue, 24 Apr 2018 12:28:36 +0900 Subject: [PATCH 61/92] Fixes to ROSInterface --- .../packages/gnss_localizer/CMakeLists.txt | 7 ------ .../lib/openplanner/op_simu/CMakeLists.txt | 2 +- .../packages/RobotSDK/glviewer/CMakeLists.txt | 25 +++++++++---------- .../RobotSDK/glviewer/GLViewer/glviewer.cpp | 2 +- .../RobotSDK/rosinterface/CMakeLists.txt | 20 +++++++++------ .../ROSInterface/rosinterface.cpp | 2 +- 6 files changed, 28 insertions(+), 30 deletions(-) diff --git a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt index 8ea521a582..3b60291912 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt @@ -13,13 +13,6 @@ catkin_package() SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") -message("--------------------------") -message("--------------------------") -message(${catkin_INCLUDE_DIRS}) -message(${gnss_INCLUDE_DIRS}) -message("--------------------------") -message("--------------------------") - include_directories( ${catkin_INCLUDE_DIRS} ) diff --git a/ros/src/computing/planning/common/lib/openplanner/op_simu/CMakeLists.txt b/ros/src/computing/planning/common/lib/openplanner/op_simu/CMakeLists.txt index 354af4ab26..26da84b834 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_simu/CMakeLists.txt +++ b/ros/src/computing/planning/common/lib/openplanner/op_simu/CMakeLists.txt @@ -25,7 +25,7 @@ catkin_package( INCLUDE_DIRS include LIBRARIES op_simu CATKIN_DEPENDS op_utility op_planner - DEPENDS libopencv-dev opengl libglew-dev glut libx11-dev threads + DEPENDS OpenCV OpenGL GLEW GLUT X11 Threads ) ########### diff --git a/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt b/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt index eb24d08f13..499ef8a566 100644 --- a/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt +++ b/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt @@ -19,14 +19,10 @@ find_package(Qt5Widgets REQUIRED) find_package(Qt5OpenGL REQUIRED) catkin_package( - INCLUDE_DIRS include/glviewer + INCLUDE_DIRS include LIBRARIES glviewer ) -########### -## Build ## -########### - EXECUTE_PROCESS( COMMAND uname -m OUTPUT_VARIABLE ARCHITECTURE @@ -58,13 +54,16 @@ if("${ARCHITECTURE}" STREQUAL "x86_64" OR "${ARCHITECTURE}" STREQUAL "i686" OR " Qt5::Widgets Qt5::OpenGL ) - ############# - ## Install ## - ############# - install( - DIRECTORY include/glviewer - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.h" -) + install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.hpp" + ) + + + install(TARGETS glviewer + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) endif() diff --git a/ros/src/util/packages/RobotSDK/glviewer/GLViewer/glviewer.cpp b/ros/src/util/packages/RobotSDK/glviewer/GLViewer/glviewer.cpp index af5d79c448..0f32242a5e 100644 --- a/ros/src/util/packages/RobotSDK/glviewer/GLViewer/glviewer.cpp +++ b/ros/src/util/packages/RobotSDK/glviewer/GLViewer/glviewer.cpp @@ -28,7 +28,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -#include "glviewer.h" +#include "glviewer/glviewer.h" #define GL_PI 3.1415926535897932384626433832795 diff --git a/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt b/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt index 2939483d06..1671c0b43e 100644 --- a/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt +++ b/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt @@ -19,7 +19,7 @@ find_package(Qt5Widgets REQUIRED) catkin_package( - INCLUDE_DIRS include/rosinterface + INCLUDE_DIRS include LIBRARIES rosinterface CATKIN_DEPENDS roscpp ) @@ -35,7 +35,7 @@ EXECUTE_PROCESS( ) include_directories( - include/rosinterface + include ${catkin_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR} @@ -56,8 +56,14 @@ target_link_libraries(rosinterface ## Install ## ############# -install( - DIRECTORY include/rosinterface - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.h" -) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + ) + + +install(TARGETS rosinterface + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) \ No newline at end of file diff --git a/ros/src/util/packages/RobotSDK/rosinterface/ROSInterface/rosinterface.cpp b/ros/src/util/packages/RobotSDK/rosinterface/ROSInterface/rosinterface.cpp index 628a071712..25aa06461e 100644 --- a/ros/src/util/packages/RobotSDK/rosinterface/ROSInterface/rosinterface.cpp +++ b/ros/src/util/packages/RobotSDK/rosinterface/ROSInterface/rosinterface.cpp @@ -28,7 +28,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -#include "rosinterface.h" +#include "rosinterface/rosinterface.h" //using namespace RobotSDK; From f3cd1dfb58db3c051248f9b88d2d476c09767c77 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Tue, 24 Apr 2018 12:48:50 +0900 Subject: [PATCH 62/92] More fixes to robotsdk and rosinterface --- .../packages/RobotSDK/glviewer/CMakeLists.txt | 5 +-- .../RobotSDK/rosinterface/CMakeLists.txt | 39 +++++++++---------- 2 files changed, 21 insertions(+), 23 deletions(-) diff --git a/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt b/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt index 499ef8a566..3a65d1bea1 100644 --- a/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt +++ b/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt @@ -37,7 +37,7 @@ EXECUTE_PROCESS( if("${ARCHITECTURE}" STREQUAL "x86_64" OR "${ARCHITECTURE}" STREQUAL "i686" OR "${ARCHITECTURE}" STREQUAL "aarch64") include_directories( - include/glviewer + include ${catkin_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR} @@ -45,7 +45,6 @@ if("${ARCHITECTURE}" STREQUAL "x86_64" OR "${ARCHITECTURE}" STREQUAL "i686" OR " add_library(glviewer GLViewer/glviewer.cpp - include/glviewer/glviewer.h ) target_link_libraries(glviewer @@ -57,7 +56,7 @@ if("${ARCHITECTURE}" STREQUAL "x86_64" OR "${ARCHITECTURE}" STREQUAL "i686" OR " install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.hpp" + FILES_MATCHING PATTERN "*.h" ) diff --git a/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt b/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt index 1671c0b43e..00e632922e 100644 --- a/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt +++ b/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt @@ -3,9 +3,9 @@ project(rosinterface) include(FindPkgConfig) find_package(catkin REQUIRED - roscpp - tf -) + roscpp + tf + ) set(CMAKE_AUTOMOC ON) set(CMAKE_AUTOUIC ON) @@ -19,9 +19,9 @@ find_package(Qt5Widgets REQUIRED) catkin_package( - INCLUDE_DIRS include - LIBRARIES rosinterface - CATKIN_DEPENDS roscpp + INCLUDE_DIRS include + LIBRARIES rosinterface + CATKIN_DEPENDS roscpp ) ########### @@ -29,28 +29,27 @@ catkin_package( ########### 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} ) add_library(rosinterface - ROSInterface/rosinterface.cpp - include/rosinterface/rosinterface.h -) + ROSInterface/rosinterface.cpp + ) target_link_libraries(rosinterface - ${catkin_LIBRARIES} - Qt5::Core - Qt5::Widgets -) + ${catkin_LIBRARIES} + Qt5::Core + Qt5::Widgets + ) ############# ## Install ## From c8a37031dffa78afb0796cfd06e4190522314d1b Mon Sep 17 00:00:00 2001 From: amc-nu Date: Tue, 24 Apr 2018 13:19:22 +0900 Subject: [PATCH 63/92] robotsdk calibration fix --- .../CalibrationToolkit/calibrationtoolkit.h | 4 ++-- .../CalibrationToolkit/selectionwidget.h | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/ros/src/sensing/fusion/packages/calibration_camera_lidar/CalibrationToolkit/calibrationtoolkit.h b/ros/src/sensing/fusion/packages/calibration_camera_lidar/CalibrationToolkit/calibrationtoolkit.h index dde88930d5..22749fa63a 100644 --- a/ros/src/sensing/fusion/packages/calibration_camera_lidar/CalibrationToolkit/calibrationtoolkit.h +++ b/ros/src/sensing/fusion/packages/calibration_camera_lidar/CalibrationToolkit/calibrationtoolkit.h @@ -29,8 +29,8 @@ #include -#include -#include +#include +#include #include"selectionwidget.h" diff --git a/ros/src/sensing/fusion/packages/calibration_camera_lidar/CalibrationToolkit/selectionwidget.h b/ros/src/sensing/fusion/packages/calibration_camera_lidar/CalibrationToolkit/selectionwidget.h index 78d8775e83..a506ec7d38 100644 --- a/ros/src/sensing/fusion/packages/calibration_camera_lidar/CalibrationToolkit/selectionwidget.h +++ b/ros/src/sensing/fusion/packages/calibration_camera_lidar/CalibrationToolkit/selectionwidget.h @@ -24,7 +24,7 @@ #include #include -#include +#include class PlaneExtractor : public GLViewer { From c64cc34f706aef214d15801af049d001c4b3ed55 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Tue, 24 Apr 2018 13:35:41 +0900 Subject: [PATCH 64/92] Fixes to rosinterface robotsdk libraries and its nodes --- .../calibration_camera_lidar/CMakeLists.txt | 6 ++++++ .../packages/points2image/CMakeLists.txt | 11 ---------- .../nodes/points2vscan/mainwindow.h | 17 ++++++++-------- .../fusion/packages/scan2image/CMakeLists.txt | 11 ---------- .../RobotSDK/fastvirtualscan/CMakeLists.txt | 20 ++++++++++++------- .../FastVirtualScan/fastvirtualscan.cpp | 2 +- .../RobotSDK/rosinterface/CMakeLists.txt | 8 -------- 7 files changed, 29 insertions(+), 46 deletions(-) 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 6f73648ef3..ec7379fd3b 100644 --- a/ros/src/sensing/fusion/packages/calibration_camera_lidar/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/calibration_camera_lidar/CMakeLists.txt @@ -144,3 +144,9 @@ add_dependencies(calibration_publisher target_link_libraries(calibration_publisher ${catkin_LIBRARIES} ) + +install(TARGETS calibration_publisher calibration_toolkit + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) \ No newline at end of file diff --git a/ros/src/sensing/fusion/packages/points2image/CMakeLists.txt b/ros/src/sensing/fusion/packages/points2image/CMakeLists.txt index bf27d7cab5..4faea27c76 100644 --- a/ros/src/sensing/fusion/packages/points2image/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/points2image/CMakeLists.txt @@ -25,21 +25,10 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON) find_package(Qt5Core REQUIRED) find_package(Qt5Widgets REQUIRED) -################################################ -## Declare ROS messages, services and actions ## -################################################ - catkin_package( - # INCLUDE_DIRS include - # LIBRARIES camera_lidar3d CATKIN_DEPENDS rosinterface message_runtime std_msgs sensor_msgs autoware_msgs - # DEPENDS system_lib ) -########### -## Build ## -########### - set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") EXECUTE_PROCESS( diff --git a/ros/src/sensing/fusion/packages/points2image/nodes/points2vscan/mainwindow.h b/ros/src/sensing/fusion/packages/points2image/nodes/points2vscan/mainwindow.h index 368c4f1701..add7ea1361 100644 --- a/ros/src/sensing/fusion/packages/points2image/nodes/points2vscan/mainwindow.h +++ b/ros/src/sensing/fusion/packages/points2image/nodes/points2vscan/mainwindow.h @@ -1,15 +1,16 @@ #ifndef MAINWINDOW_H #define MAINWINDOW_H +#include #include -#include -#include -#include - -#include -#include -#include -#include +#include +#include +#include + +#include +#include +#include + //#define DEBUG_GUI diff --git a/ros/src/sensing/fusion/packages/scan2image/CMakeLists.txt b/ros/src/sensing/fusion/packages/scan2image/CMakeLists.txt index 8183149642..b37e3f8386 100644 --- a/ros/src/sensing/fusion/packages/scan2image/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/scan2image/CMakeLists.txt @@ -1,9 +1,6 @@ cmake_minimum_required(VERSION 2.8.3) project(scan2image) -## 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 cv_bridge image_transport @@ -14,18 +11,10 @@ find_package(catkin REQUIRED COMPONENTS ) 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 ) -########### -## Build ## -########### include_directories(include ${catkin_INCLUDE_DIRS}) diff --git a/ros/src/util/packages/RobotSDK/fastvirtualscan/CMakeLists.txt b/ros/src/util/packages/RobotSDK/fastvirtualscan/CMakeLists.txt index e6a9c21ea8..c8109f0e8c 100644 --- a/ros/src/util/packages/RobotSDK/fastvirtualscan/CMakeLists.txt +++ b/ros/src/util/packages/RobotSDK/fastvirtualscan/CMakeLists.txt @@ -13,7 +13,7 @@ find_package(Qt5Core REQUIRED) ################################### catkin_package( - INCLUDE_DIRS include/fastvirtualscan + INCLUDE_DIRS include LIBRARIES fastvirtualscan CATKIN_DEPENDS roscpp sensor_msgs ) @@ -26,7 +26,7 @@ SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( ${catkin_INCLUDE_DIRS} - include/fastvirtualscan + include ${Qt5Core_INCLUDE_DIRS} ) @@ -38,8 +38,14 @@ add_library(fastvirtualscan ## Install ## ############# -install( - DIRECTORY include/fastvirtualscan - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.h" -) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + ) + + +install(TARGETS fastvirtualscan + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) \ No newline at end of file diff --git a/ros/src/util/packages/RobotSDK/fastvirtualscan/FastVirtualScan/fastvirtualscan.cpp b/ros/src/util/packages/RobotSDK/fastvirtualscan/FastVirtualScan/fastvirtualscan.cpp index 61efa829df..4c56346d20 100644 --- a/ros/src/util/packages/RobotSDK/fastvirtualscan/FastVirtualScan/fastvirtualscan.cpp +++ b/ros/src/util/packages/RobotSDK/fastvirtualscan/FastVirtualScan/fastvirtualscan.cpp @@ -1,4 +1,4 @@ -#include "fastvirtualscan.h" +#include "fastvirtualscan/fastvirtualscan.h" #define MAXVIRTUALSCAN 1e6 diff --git a/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt b/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt index 00e632922e..8713d7ed16 100644 --- a/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt +++ b/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt @@ -24,10 +24,6 @@ catkin_package( CATKIN_DEPENDS roscpp ) -########### -## Build ## -########### - EXECUTE_PROCESS( COMMAND pkg-config --variable=host_bins Qt5Core OUTPUT_VARIABLE Qt5BIN @@ -51,10 +47,6 @@ target_link_libraries(rosinterface Qt5::Widgets ) -############# -## Install ## -############# - install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} FILES_MATCHING PATTERN "*.h" From f7adede177c6fd2bba9394dbbcde02a40f5bc710 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Tue, 24 Apr 2018 14:41:58 +0900 Subject: [PATCH 65/92] Fixes to Qt5 missing dependencies in robotsdk --- .../lib/openplanner/op_simu/CMakeLists.txt | 1 - .../lib/openplanner/op_utility/CMakeLists.txt | 1 - .../calibration_camera_lidar/CMakeLists.txt | 12 +++-- .../packages/RobotSDK/glviewer/CMakeLists.txt | 50 ++++++++----------- .../RobotSDK/rosinterface/CMakeLists.txt | 1 - .../RobotSDK/rosinterface/package.xml | 28 +++++++---- 6 files changed, 49 insertions(+), 44 deletions(-) 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 26da84b834..883a72bb60 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 @@ -25,7 +25,6 @@ catkin_package( INCLUDE_DIRS include LIBRARIES op_simu CATKIN_DEPENDS op_utility op_planner - DEPENDS OpenCV OpenGL GLEW GLUT X11 Threads ) ########### diff --git a/ros/src/computing/planning/common/lib/openplanner/op_utility/CMakeLists.txt b/ros/src/computing/planning/common/lib/openplanner/op_utility/CMakeLists.txt index 94adddd07a..bedb6f274c 100644 --- a/ros/src/computing/planning/common/lib/openplanner/op_utility/CMakeLists.txt +++ b/ros/src/computing/planning/common/lib/openplanner/op_utility/CMakeLists.txt @@ -14,7 +14,6 @@ find_package(TinyXML REQUIRED) catkin_package( INCLUDE_DIRS include LIBRARIES op_utility - DEPENDS tinyxml ) ########### 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 ec7379fd3b..efe3bc8aca 100644 --- a/ros/src/sensing/fusion/packages/calibration_camera_lidar/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/calibration_camera_lidar/CMakeLists.txt @@ -28,6 +28,9 @@ find_package(Qt5Core REQUIRED) find_package(Qt5Widgets REQUIRED) find_package(Qt5OpenGL REQUIRED) +find_package(GLUT REQUIRED) +find_package(OpenGL REQUIRED) + catkin_package( # INCLUDE_DIRS include # LIBRARIES camera @@ -52,6 +55,8 @@ include_directories( ${catkin_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR} + ${GLUT_INCLUDE_DIRS} + ${OPENGL_INCLUDE_DIR} ) ## Declare a cpp library @@ -66,6 +71,7 @@ if ("${ROS_VERSION}" MATCHES "(indigo|jade|kinetic)") target_link_libraries(calibrationtoolkit ${catkin_LIBRARIES} ${OpenCV_LIBS} + ${OPENGL_LIBRARIES} Qt5::Core Qt5::Widgets Qt5::OpenGL @@ -79,6 +85,7 @@ if ("${ROS_VERSION}" MATCHES "(indigo|jade|kinetic)") ${OpenCV_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR} + ${GLUT_LIBRARIES} ) endif () @@ -107,7 +114,6 @@ if ("${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 @@ -124,8 +130,8 @@ if ("${ROS_VERSION}" MATCHES "(indigo|jade|kinetic)") ${catkin_LIBRARIES} ${OpenCV_LIBS} calibrationtoolkit - glut - GLU + ${GLUT_LIBRARIES} + ${OPENGL_LIBRARIES} nlopt Qt5::Core Qt5::Widgets diff --git a/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt b/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt index 3a65d1bea1..7f2c722446 100644 --- a/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt +++ b/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt @@ -3,9 +3,8 @@ project(glviewer) include(FindPkgConfig) find_package(catkin REQUIRED COMPONENTS - roscpp - pcl_ros -) + roscpp + ) set(CMAKE_AUTOMOC ON) set(CMAKE_AUTOUIC ON) @@ -17,52 +16,47 @@ SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") find_package(Qt5Core REQUIRED) find_package(Qt5Widgets REQUIRED) find_package(Qt5OpenGL REQUIRED) +find_package(Qt5Gui REQUIRED) catkin_package( - INCLUDE_DIRS include - LIBRARIES glviewer + INCLUDE_DIRS include + LIBRARIES glviewer ) EXECUTE_PROCESS( - COMMAND uname -m - OUTPUT_VARIABLE ARCHITECTURE - OUTPUT_STRIP_TRAILING_WHITESPACE + COMMAND uname -m + OUTPUT_VARIABLE ARCHITECTURE + OUTPUT_STRIP_TRAILING_WHITESPACE ) -EXECUTE_PROCESS( - COMMAND pkg-config --variable=host_bins Qt5Core - OUTPUT_VARIABLE Qt5BIN - OUTPUT_STRIP_TRAILING_WHITESPACE -) - -if("${ARCHITECTURE}" STREQUAL "x86_64" OR "${ARCHITECTURE}" STREQUAL "i686" OR "${ARCHITECTURE}" STREQUAL "aarch64") +if ("${ARCHITECTURE}" STREQUAL "x86_64" OR "${ARCHITECTURE}" STREQUAL "i686" OR "${ARCHITECTURE}" STREQUAL "aarch64") 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} ) add_library(glviewer - GLViewer/glviewer.cpp - ) + GLViewer/glviewer.cpp + ) target_link_libraries(glviewer - ${catkin_LIBRARIES} - Qt5::Core - Qt5::Widgets - Qt5::OpenGL - ) + ${catkin_LIBRARIES} + Qt5::Core + Qt5::Widgets + Qt5::OpenGL + Qt5::Gui + ) install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} FILES_MATCHING PATTERN "*.h" ) - install(TARGETS glviewer ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) -endif() +endif () diff --git a/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt b/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt index 8713d7ed16..e6660e6957 100644 --- a/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt +++ b/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt @@ -17,7 +17,6 @@ SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") find_package(Qt5Core REQUIRED) find_package(Qt5Widgets REQUIRED) - catkin_package( INCLUDE_DIRS include LIBRARIES rosinterface diff --git a/ros/src/util/packages/RobotSDK/rosinterface/package.xml b/ros/src/util/packages/RobotSDK/rosinterface/package.xml index a430c0a9d6..5ab0e4039b 100644 --- a/ros/src/util/packages/RobotSDK/rosinterface/package.xml +++ b/ros/src/util/packages/RobotSDK/rosinterface/package.xml @@ -1,13 +1,21 @@ - rosinterface - 1.6.3 - The rosinterface package - Syohei YOSHIDA - BSD - catkin - roscpp - roscpp - - + rosinterface + 1.6.3 + The rosinterface package + Syohei YOSHIDA + BSD + catkin + + qtbase5-dev + libqt5-opengl-dev + roscpp + + libqt5-core + libqt5-gui + libqt5-widgets + libqt5-opengl + roscpp + + From d8d8afd4bc5349d002a2d327150742144c8230e4 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Tue, 24 Apr 2018 16:52:45 +0900 Subject: [PATCH 66/92] glviewer missing dependencies --- .../packages/RobotSDK/glviewer/CMakeLists.txt | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt b/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt index 7f2c722446..f196082f07 100644 --- a/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt +++ b/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt @@ -6,6 +6,19 @@ find_package(catkin REQUIRED COMPONENTS roscpp ) +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 ${EIGEN3_INCLUDE_DIR}) +endif () + set(CMAKE_AUTOMOC ON) set(CMAKE_AUTOUIC ON) set(CMAKE_AUTORCC ON) @@ -35,6 +48,7 @@ if ("${ARCHITECTURE}" STREQUAL "x86_64" OR "${ARCHITECTURE}" STREQUAL "i686" OR ${catkin_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR} + ${EIGEN3_INCLUDE_DIRS} ) add_library(glviewer @@ -43,6 +57,7 @@ if ("${ARCHITECTURE}" STREQUAL "x86_64" OR "${ARCHITECTURE}" STREQUAL "i686" OR target_link_libraries(glviewer ${catkin_LIBRARIES} + ${EIGEN3_LIBRARIES} Qt5::Core Qt5::Widgets Qt5::OpenGL From 7b7c9a768d4aa3e812d65bda5aa5149051f494b3 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Tue, 24 Apr 2018 18:48:24 +0900 Subject: [PATCH 67/92] Missing qt specific config cmake for robotsdk --- .../nodes/vscan_lidar_track/mainwindow.h | 2 +- .../calibration_camera_lidar/CMakeLists.txt | 32 +++++++------- .../calibration_camera_lidar/package.xml | 17 +++++++- .../packages/points2image/CMakeLists.txt | 42 ++++++++++++------- .../{ => points_image}/points_image.hpp | 0 .../lib/points_image/points_image.cpp | 2 +- .../nodes/points2image/points2image.cpp | 2 +- .../nodes/vscan2image/vscan2image.cpp | 2 +- .../fusion/packages/points2image/package.xml | 25 ++++++----- .../RobotSDK/fastvirtualscan/CMakeLists.txt | 22 +++++----- .../packages/RobotSDK/glviewer/CMakeLists.txt | 10 ++++- .../packages/RobotSDK/glviewer/package.xml | 2 + .../RobotSDK/rosinterface/CMakeLists.txt | 23 +++++----- .../RobotSDK/rosinterface/package.xml | 4 +- 14 files changed, 109 insertions(+), 76 deletions(-) rename ros/src/sensing/fusion/packages/points2image/include/{ => points_image}/points_image.hpp (100%) diff --git a/ros/src/computing/perception/detection/packages/lidar_tracker/nodes/vscan_lidar_track/mainwindow.h b/ros/src/computing/perception/detection/packages/lidar_tracker/nodes/vscan_lidar_track/mainwindow.h index 0baedfded9..fa25506455 100644 --- a/ros/src/computing/perception/detection/packages/lidar_tracker/nodes/vscan_lidar_track/mainwindow.h +++ b/ros/src/computing/perception/detection/packages/lidar_tracker/nodes/vscan_lidar_track/mainwindow.h @@ -2,7 +2,7 @@ #define MAINWINDOW_H #include -#include +#include #include #include #include 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 efe3bc8aca..4d3a91210b 100644 --- a/ros/src/sensing/fusion/packages/calibration_camera_lidar/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/calibration_camera_lidar/CMakeLists.txt @@ -3,7 +3,7 @@ project(calibration_camera_lidar) set(ROS_VERSION $ENV{ROS_DISTRO}) include(FindPkgConfig) -include(FindLibXml2) +include(FindLibXml2 REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp rosconsole @@ -32,10 +32,17 @@ find_package(GLUT REQUIRED) find_package(OpenGL REQUIRED) catkin_package( - # INCLUDE_DIRS include - # LIBRARIES camera - CATKIN_DEPENDS glviewer rosinterface std_msgs message_runtime autoware_msgs - # DEPENDS system_lib + CATKIN_DEPENDS + roscpp + rosconsole + std_msgs + sensor_msgs + glviewer + rosinterface + cv_bridge + pcl_ros + image_transport + autoware_msgs ) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall -g ${CMAKE_CXX_FLAGS}") @@ -53,10 +60,11 @@ include_directories( CalibrationToolkit nodes/calibration_toolkit ${catkin_INCLUDE_DIRS} + ${LIBXML2_INCLUDE_DIR} + ${OpenCV_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR} - ${GLUT_INCLUDE_DIRS} - ${OPENGL_INCLUDE_DIR} + ${GLUT_LIBRARIES} ) ## Declare a cpp library @@ -77,16 +85,6 @@ if ("${ROS_VERSION}" MATCHES "(indigo|jade|kinetic)") 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} - ${GLUT_LIBRARIES} - ) endif () ## 2D 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 021f0244a4..1bed75d94d 100644 --- a/ros/src/sensing/fusion/packages/calibration_camera_lidar/package.xml +++ b/ros/src/sensing/fusion/packages/calibration_camera_lidar/package.xml @@ -14,6 +14,14 @@ autoware_msgs qtbase5-dev libqt5-opengl-dev + libxml2 + roscpp + rosconsole + sensor_msgs + cv_bridge + pcl_ros + image_transport + rosinterface message_runtime @@ -24,6 +32,11 @@ libqt5-core libqt5-widgets libqt5-opengl - - + libxml2 + roscpp + rosconsole + sensor_msgs + cv_bridge + pcl_ros + image_transport diff --git a/ros/src/sensing/fusion/packages/points2image/CMakeLists.txt b/ros/src/sensing/fusion/packages/points2image/CMakeLists.txt index 4faea27c76..46d6a4af59 100644 --- a/ros/src/sensing/fusion/packages/points2image/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/points2image/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 2.8.12) project(points2image) include(FindPkgConfig) @@ -19,24 +19,27 @@ find_package(OpenCV REQUIRED) set(CMAKE_AUTOMOC ON) #set(CMAKE_AUTOUIC ON) -set(CMAKE_AUTORCC ON) +#set(CMAKE_AUTORCC ON) set(CMAKE_INCLUDE_CURRENT_DIR ON) find_package(Qt5Core REQUIRED) find_package(Qt5Widgets REQUIRED) catkin_package( - CATKIN_DEPENDS rosinterface message_runtime std_msgs sensor_msgs autoware_msgs + CATKIN_DEPENDS roscpp + std_msgs + sensor_msgs + autoware_msgs + rosinterface + fastvirtualscan + cv_bridge + tf + pcl_ros + pcl_conversions ) 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 -) - include_directories( include ${catkin_INCLUDE_DIRS} @@ -60,14 +63,14 @@ add_executable(points2vscan ${points2vscan_ui_mainwindow} ) -set_target_properties(points2vscan - PROPERTIES COMPILE_FLAGS "-fPIC" - ) - target_link_libraries(points2vscan ${catkin_LIBRARIES} Qt5::Core Qt5::Widgets + points_image + ) +add_dependencies(points2vscan + ${catkin_EXPORTED_TARGETS} ) # points2image @@ -78,7 +81,6 @@ target_link_libraries(points2image points_image ) add_dependencies(points2image - points_image ${catkin_EXPORTED_TARGETS} ) @@ -90,7 +92,6 @@ target_link_libraries(vscan2image points_image ) add_dependencies(vscan2image - points_image ${catkin_EXPORTED_TARGETS} ) @@ -100,3 +101,14 @@ add_executable(vscan2linelist nodes/vscan2linelist/vscan2linelist.cpp) target_link_libraries(vscan2linelist ${catkin_LIBRARIES} ) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.hpp" + ) + +install(TARGETS points_image vscan2linelist vscan2image points2image points2vscan + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) \ No newline at end of file diff --git a/ros/src/sensing/fusion/packages/points2image/include/points_image.hpp b/ros/src/sensing/fusion/packages/points2image/include/points_image/points_image.hpp similarity index 100% rename from ros/src/sensing/fusion/packages/points2image/include/points_image.hpp rename to ros/src/sensing/fusion/packages/points2image/include/points_image/points_image.hpp diff --git a/ros/src/sensing/fusion/packages/points2image/lib/points_image/points_image.cpp b/ros/src/sensing/fusion/packages/points2image/lib/points_image/points_image.cpp index 8e6a615b90..0583a4eaf4 100644 --- a/ros/src/sensing/fusion/packages/points2image/lib/points_image/points_image.cpp +++ b/ros/src/sensing/fusion/packages/points2image/lib/points_image/points_image.cpp @@ -29,7 +29,7 @@ */ #include -#include +#include #include #include diff --git a/ros/src/sensing/fusion/packages/points2image/nodes/points2image/points2image.cpp b/ros/src/sensing/fusion/packages/points2image/nodes/points2image/points2image.cpp index a01c61a7dc..f81cf062d1 100644 --- a/ros/src/sensing/fusion/packages/points2image/nodes/points2image/points2image.cpp +++ b/ros/src/sensing/fusion/packages/points2image/nodes/points2image/points2image.cpp @@ -35,7 +35,7 @@ #include "autoware_msgs/projection_matrix.h" //#include "autoware_msgs/CameraExtrinsic.h" -#include +#include #define CAMERAEXTRINSICMAT "CameraExtrinsicMat" #define CAMERAMAT "CameraMat" diff --git a/ros/src/sensing/fusion/packages/points2image/nodes/vscan2image/vscan2image.cpp b/ros/src/sensing/fusion/packages/points2image/nodes/vscan2image/vscan2image.cpp index 80556a0e99..c6d2c13f32 100644 --- a/ros/src/sensing/fusion/packages/points2image/nodes/vscan2image/vscan2image.cpp +++ b/ros/src/sensing/fusion/packages/points2image/nodes/vscan2image/vscan2image.cpp @@ -35,7 +35,7 @@ #include "autoware_msgs/projection_matrix.h" //#include "autoware_msgs/CameraExtrinsic.h" -#include +#include #define CAMERAEXTRINSICMAT "CameraExtrinsicMat" #define CAMERAMAT "CameraMat" diff --git a/ros/src/sensing/fusion/packages/points2image/package.xml b/ros/src/sensing/fusion/packages/points2image/package.xml index 87687deb0d..2f987942ed 100644 --- a/ros/src/sensing/fusion/packages/points2image/package.xml +++ b/ros/src/sensing/fusion/packages/points2image/package.xml @@ -7,21 +7,26 @@ amc BSD catkin - rosinterface + + roscpp std_msgs sensor_msgs - fastvirtualscan autoware_msgs - qtbase5-dev + rosinterface + fastvirtualscan + cv_bridge + tf + pcl_ros + pcl_conversions - rosinterface - message_runtime + roscpp std_msgs sensor_msgs - fastvirtualscan autoware_msgs - libqt5-core - libqt5-widgets - - + rosinterface + fastvirtualscan + cv_bridge + tf + pcl_ros + pcl_conversions diff --git a/ros/src/util/packages/RobotSDK/fastvirtualscan/CMakeLists.txt b/ros/src/util/packages/RobotSDK/fastvirtualscan/CMakeLists.txt index c8109f0e8c..760314dd57 100644 --- a/ros/src/util/packages/RobotSDK/fastvirtualscan/CMakeLists.txt +++ b/ros/src/util/packages/RobotSDK/fastvirtualscan/CMakeLists.txt @@ -2,9 +2,9 @@ cmake_minimum_required(VERSION 2.8.3) project(fastvirtualscan) find_package(catkin REQUIRED COMPONENTS - roscpp - sensor_msgs -) + roscpp + sensor_msgs + ) find_package(Qt5Core REQUIRED) @@ -13,9 +13,9 @@ find_package(Qt5Core REQUIRED) ################################### catkin_package( - INCLUDE_DIRS include - LIBRARIES fastvirtualscan - CATKIN_DEPENDS roscpp sensor_msgs + INCLUDE_DIRS include + LIBRARIES fastvirtualscan + CATKIN_DEPENDS roscpp sensor_msgs ) ########### @@ -25,14 +25,14 @@ catkin_package( SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( - ${catkin_INCLUDE_DIRS} - include - ${Qt5Core_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + include + ${Qt5Core_INCLUDE_DIRS} ) add_library(fastvirtualscan - FastVirtualScan/fastvirtualscan.cpp -) + FastVirtualScan/fastvirtualscan.cpp + ) ############# ## Install ## diff --git a/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt b/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt index f196082f07..12dcb74b7d 100644 --- a/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt +++ b/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt @@ -20,8 +20,8 @@ else () endif () set(CMAKE_AUTOMOC ON) -set(CMAKE_AUTOUIC ON) -set(CMAKE_AUTORCC ON) +#set(CMAKE_AUTOUIC ON) +#set(CMAKE_AUTORCC ON) set(CMAKE_INCLUDE_CURRENT_DIR ON) SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") @@ -34,6 +34,7 @@ find_package(Qt5Gui REQUIRED) catkin_package( INCLUDE_DIRS include LIBRARIES glviewer + CATKIN_DEPENDS roscpp ) EXECUTE_PROCESS( @@ -51,8 +52,13 @@ if ("${ARCHITECTURE}" STREQUAL "x86_64" OR "${ARCHITECTURE}" STREQUAL "i686" OR ${EIGEN3_INCLUDE_DIRS} ) + qt5_wrap_cpp(glviewer_SRC + include/glviewer/glviewer.h + ) + add_library(glviewer GLViewer/glviewer.cpp + ${glviewer_SRC} ) target_link_libraries(glviewer diff --git a/ros/src/util/packages/RobotSDK/glviewer/package.xml b/ros/src/util/packages/RobotSDK/glviewer/package.xml index bff434717b..0bca95c6a5 100644 --- a/ros/src/util/packages/RobotSDK/glviewer/package.xml +++ b/ros/src/util/packages/RobotSDK/glviewer/package.xml @@ -9,11 +9,13 @@ qtbase5-dev libqt5-opengl-dev + roscpp libqt5-core libqt5-gui libqt5-widgets libqt5-opengl + roscpp diff --git a/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt b/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt index e6660e6957..64effecd47 100644 --- a/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt +++ b/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 2.8.12) project(rosinterface) include(FindPkgConfig) @@ -8,8 +8,8 @@ find_package(catkin REQUIRED ) set(CMAKE_AUTOMOC ON) -set(CMAKE_AUTOUIC ON) -set(CMAKE_AUTORCC ON) +#set(CMAKE_AUTOUIC ON) +#set(CMAKE_AUTORCC ON) set(CMAKE_INCLUDE_CURRENT_DIR ON) SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") @@ -20,24 +20,21 @@ find_package(Qt5Widgets REQUIRED) catkin_package( INCLUDE_DIRS include LIBRARIES rosinterface - CATKIN_DEPENDS roscpp -) - -EXECUTE_PROCESS( - COMMAND pkg-config --variable=host_bins Qt5Core - OUTPUT_VARIABLE Qt5BIN - OUTPUT_STRIP_TRAILING_WHITESPACE + CATKIN_DEPENDS roscpp tf ) include_directories( - include + ${CMAKE_CURRENT_SOURCE_DIR}/include ${catkin_INCLUDE_DIRS} - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_CURRENT_BINARY_DIR} ) +qt5_wrap_cpp(rosinterface_SRC + include/rosinterface/rosinterface.h + ) + add_library(rosinterface ROSInterface/rosinterface.cpp + ${rosinterface_SRC} ) target_link_libraries(rosinterface diff --git a/ros/src/util/packages/RobotSDK/rosinterface/package.xml b/ros/src/util/packages/RobotSDK/rosinterface/package.xml index 5ab0e4039b..d149e31b19 100644 --- a/ros/src/util/packages/RobotSDK/rosinterface/package.xml +++ b/ros/src/util/packages/RobotSDK/rosinterface/package.xml @@ -10,12 +10,12 @@ qtbase5-dev libqt5-opengl-dev roscpp + tf libqt5-core libqt5-gui libqt5-widgets libqt5-opengl roscpp - - + tf From b1d0d917bf17d7c1e401f0041ea8af20dec576f5 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Tue, 24 Apr 2018 22:13:04 +0900 Subject: [PATCH 68/92] disable cv_tracker --- ros/src/computing/perception/detection/lib/image/CATKIN_IGNORE | 0 .../perception/detection/packages/cv_tracker/CATKIN_IGNORE | 0 2 files changed, 0 insertions(+), 0 deletions(-) create mode 100644 ros/src/computing/perception/detection/lib/image/CATKIN_IGNORE create mode 100644 ros/src/computing/perception/detection/packages/cv_tracker/CATKIN_IGNORE diff --git a/ros/src/computing/perception/detection/lib/image/CATKIN_IGNORE b/ros/src/computing/perception/detection/lib/image/CATKIN_IGNORE new file mode 100644 index 0000000000..e69de29bb2 diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/CATKIN_IGNORE b/ros/src/computing/perception/detection/packages/cv_tracker/CATKIN_IGNORE new file mode 100644 index 0000000000..e69de29bb2 From ec7d24233ec723bbba779a76ad830b94b59e9deb Mon Sep 17 00:00:00 2001 From: amc-nu Date: Tue, 24 Apr 2018 22:26:49 +0900 Subject: [PATCH 69/92] Fix to open planner un needed dependendecies --- .../op_simulator_perception/CMakeLists.txt | 27 ++++++++----------- .../op_simulator_perception/package.xml | 2 -- 2 files changed, 11 insertions(+), 18 deletions(-) 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 d55197a960..4532e9a004 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 @@ -11,35 +11,19 @@ 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 op_utility op_planner autoware_msgs ) -########### -## Build ## -########### - 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} ) -## Declare a C++ library -#add_library(libplanner_x lib/libplanner_x.cpp) - - link_directories(lib) add_executable(op_simulator_perception nodes/OpenPlannerSimulatorPerception.cpp nodes/OpenPlannerSimulatorPerception_core.cpp) target_link_libraries(op_simulator_perception ${catkin_LIBRARIES}) @@ -47,3 +31,14 @@ target_link_libraries(op_simulator_perception ${catkin_LIBRARIES}) add_dependencies(op_simulator_perception ${catkin_EXPORTED_TARGETS} ) + +install(TARGETS op_simulator_perception + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) \ No newline at end of file diff --git a/ros/src/computing/planning/motion/packages/op_simulator_perception/package.xml b/ros/src/computing/planning/motion/packages/op_simulator_perception/package.xml index f7cf4e6789..61acffb9ce 100644 --- a/ros/src/computing/planning/motion/packages/op_simulator_perception/package.xml +++ b/ros/src/computing/planning/motion/packages/op_simulator_perception/package.xml @@ -11,7 +11,6 @@ roscpp geometry_msgs - cv_tracker pcl_conversions pcl_ros op_utility @@ -20,7 +19,6 @@ roscpp geometry_msgs - cv_tracker pcl_conversions pcl_ros op_utility From 65ed85626624e01f30a46e440abf5d580ace5250 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Tue, 24 Apr 2018 23:28:31 +0900 Subject: [PATCH 70/92] Fixes for libraries indecision maker --- .../CHANGELOG.rst | 0 .../CMakeLists.txt | 16 +++++++++++----- .../include/amathutils_lib}/amathutils.hpp | 0 .../package.xml | 0 .../src/Amathutils.cpp | 2 +- .../{libstate => state_machine_lib}/.gitignore | 0 .../CHANGELOG.rst | 0 .../CMakeLists.txt | 10 ++++++++-- .../include/state_machine_lib}/state.hpp | 2 +- .../include/state_machine_lib}/state_common.hpp | 0 .../include/state_machine_lib}/state_context.hpp | 0 .../include/state_machine_lib}/state_drive.hpp | 0 .../include/state_machine_lib}/state_emg.hpp | 0 .../include/state_machine_lib}/state_flags.hpp | 0 .../include/state_machine_lib}/state_main.hpp | 2 +- .../{libstate => state_machine_lib}/package.xml | 0 .../src/state_context.cpp | 6 +++--- .../include/decision_maker_node.hpp | 6 +++--- .../decision_maker/include/planner_selector.hpp | 2 +- .../nodes/decision_maker/cross_road_area.cpp | 2 +- .../decision_maker_node_callback.cpp | 4 ++-- .../decision_maker/decision_maker_node_core.cpp | 4 ++-- .../decision_maker_node_decision.cpp | 4 ++-- .../decision_maker/decision_maker_node_init.cpp | 4 ++-- .../decision_maker_node_publish.cpp | 4 ++-- .../decision_maker_node_stateupdate.cpp | 4 ++-- .../planner_selector/planner_selector_node.cpp | 2 +- 27 files changed, 43 insertions(+), 31 deletions(-) rename ros/src/computing/planning/decision/libs/{libamathutils => amathutils_lib}/CHANGELOG.rst (100%) rename ros/src/computing/planning/decision/libs/{libamathutils => amathutils_lib}/CMakeLists.txt (63%) rename ros/src/computing/planning/decision/libs/{libamathutils/include => amathutils_lib/include/amathutils_lib}/amathutils.hpp (100%) rename ros/src/computing/planning/decision/libs/{libamathutils => amathutils_lib}/package.xml (100%) rename ros/src/computing/planning/decision/libs/{libamathutils => amathutils_lib}/src/Amathutils.cpp (96%) rename ros/src/computing/planning/decision/libs/{libstate => state_machine_lib}/.gitignore (100%) rename ros/src/computing/planning/decision/libs/{libstate => state_machine_lib}/CHANGELOG.rst (100%) rename ros/src/computing/planning/decision/libs/{libstate => state_machine_lib}/CMakeLists.txt (75%) rename ros/src/computing/planning/decision/libs/{libstate/include => state_machine_lib/include/state_machine_lib}/state.hpp (98%) rename ros/src/computing/planning/decision/libs/{libstate/include => state_machine_lib/include/state_machine_lib}/state_common.hpp (100%) rename ros/src/computing/planning/decision/libs/{libstate/include => state_machine_lib/include/state_machine_lib}/state_context.hpp (100%) rename ros/src/computing/planning/decision/libs/{libstate/include => state_machine_lib/include/state_machine_lib}/state_drive.hpp (100%) rename ros/src/computing/planning/decision/libs/{libstate/include => state_machine_lib/include/state_machine_lib}/state_emg.hpp (100%) rename ros/src/computing/planning/decision/libs/{libstate/include => state_machine_lib/include/state_machine_lib}/state_flags.hpp (100%) rename ros/src/computing/planning/decision/libs/{libstate/include => state_machine_lib/include/state_machine_lib}/state_main.hpp (97%) rename ros/src/computing/planning/decision/libs/{libstate => state_machine_lib}/package.xml (100%) rename ros/src/computing/planning/decision/libs/{libstate => state_machine_lib}/src/state_context.cpp (98%) diff --git a/ros/src/computing/planning/decision/libs/libamathutils/CHANGELOG.rst b/ros/src/computing/planning/decision/libs/amathutils_lib/CHANGELOG.rst similarity index 100% rename from ros/src/computing/planning/decision/libs/libamathutils/CHANGELOG.rst rename to ros/src/computing/planning/decision/libs/amathutils_lib/CHANGELOG.rst diff --git a/ros/src/computing/planning/decision/libs/libamathutils/CMakeLists.txt b/ros/src/computing/planning/decision/libs/amathutils_lib/CMakeLists.txt similarity index 63% rename from ros/src/computing/planning/decision/libs/libamathutils/CMakeLists.txt rename to ros/src/computing/planning/decision/libs/amathutils_lib/CMakeLists.txt index 14438db64c..3494f5f48c 100644 --- a/ros/src/computing/planning/decision/libs/libamathutils/CMakeLists.txt +++ b/ros/src/computing/planning/decision/libs/amathutils_lib/CMakeLists.txt @@ -17,23 +17,29 @@ catkin_package( CATKIN_DEPENDS roscpp autoware_msgs ) -include_directories(${TARGET} +include_directories(amathutils_lib include ${catkin_INCLUDE_DIRS} ) -add_library(${TARGET} +add_library(amathutils_lib ${TARGET_SRC} ) -target_link_libraries(${TARGET} +target_link_libraries(amathutils_lib ${CMAKE_THREAD_LIBS_INIT} ) -add_dependencies(${TARGET} +add_dependencies(amathutils_lib ${catkin_EXPORTED_TARGETS} ) -install(DIRECTORY include +install(TARGETS amathutils_lib + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + +install(DIRECTORY include/amathutils_lib DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} FILES_MATCHING PATTERN "*.hpp" ) \ No newline at end of file diff --git a/ros/src/computing/planning/decision/libs/libamathutils/include/amathutils.hpp b/ros/src/computing/planning/decision/libs/amathutils_lib/include/amathutils_lib/amathutils.hpp similarity index 100% rename from ros/src/computing/planning/decision/libs/libamathutils/include/amathutils.hpp rename to ros/src/computing/planning/decision/libs/amathutils_lib/include/amathutils_lib/amathutils.hpp diff --git a/ros/src/computing/planning/decision/libs/libamathutils/package.xml b/ros/src/computing/planning/decision/libs/amathutils_lib/package.xml similarity index 100% rename from ros/src/computing/planning/decision/libs/libamathutils/package.xml rename to ros/src/computing/planning/decision/libs/amathutils_lib/package.xml diff --git a/ros/src/computing/planning/decision/libs/libamathutils/src/Amathutils.cpp b/ros/src/computing/planning/decision/libs/amathutils_lib/src/Amathutils.cpp similarity index 96% rename from ros/src/computing/planning/decision/libs/libamathutils/src/Amathutils.cpp rename to ros/src/computing/planning/decision/libs/amathutils_lib/src/Amathutils.cpp index ab208cc612..57b4c11ffb 100644 --- a/ros/src/computing/planning/decision/libs/libamathutils/src/Amathutils.cpp +++ b/ros/src/computing/planning/decision/libs/amathutils_lib/src/Amathutils.cpp @@ -1,4 +1,4 @@ -#include "amathutils.hpp" +#include "amathutils_lib/amathutils.hpp" namespace amathutils { diff --git a/ros/src/computing/planning/decision/libs/libstate/.gitignore b/ros/src/computing/planning/decision/libs/state_machine_lib/.gitignore similarity index 100% rename from ros/src/computing/planning/decision/libs/libstate/.gitignore rename to ros/src/computing/planning/decision/libs/state_machine_lib/.gitignore diff --git a/ros/src/computing/planning/decision/libs/libstate/CHANGELOG.rst b/ros/src/computing/planning/decision/libs/state_machine_lib/CHANGELOG.rst similarity index 100% rename from ros/src/computing/planning/decision/libs/libstate/CHANGELOG.rst rename to ros/src/computing/planning/decision/libs/state_machine_lib/CHANGELOG.rst diff --git a/ros/src/computing/planning/decision/libs/libstate/CMakeLists.txt b/ros/src/computing/planning/decision/libs/state_machine_lib/CMakeLists.txt similarity index 75% rename from ros/src/computing/planning/decision/libs/libstate/CMakeLists.txt rename to ros/src/computing/planning/decision/libs/state_machine_lib/CMakeLists.txt index 2155a1e443..d3dde265b1 100644 --- a/ros/src/computing/planning/decision/libs/libstate/CMakeLists.txt +++ b/ros/src/computing/planning/decision/libs/state_machine_lib/CMakeLists.txt @@ -38,7 +38,13 @@ add_dependencies(${TARGET} ${catkin_EXPORTED_TARGETS} ) -install(DIRECTORY include +install(TARGETS state_machine_lib + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + +install(DIRECTORY include/state_machine_lib DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} FILES_MATCHING PATTERN "*.hpp" - ) + ) \ No newline at end of file diff --git a/ros/src/computing/planning/decision/libs/libstate/include/state.hpp b/ros/src/computing/planning/decision/libs/state_machine_lib/include/state_machine_lib/state.hpp similarity index 98% rename from ros/src/computing/planning/decision/libs/libstate/include/state.hpp rename to ros/src/computing/planning/decision/libs/state_machine_lib/include/state_machine_lib/state.hpp index 4163bae782..948b135c14 100644 --- a/ros/src/computing/planning/decision/libs/libstate/include/state.hpp +++ b/ros/src/computing/planning/decision/libs/state_machine_lib/include/state_machine_lib/state.hpp @@ -4,7 +4,7 @@ #include #include #include -#include +#include #include namespace state_machine diff --git a/ros/src/computing/planning/decision/libs/libstate/include/state_common.hpp b/ros/src/computing/planning/decision/libs/state_machine_lib/include/state_machine_lib/state_common.hpp similarity index 100% rename from ros/src/computing/planning/decision/libs/libstate/include/state_common.hpp rename to ros/src/computing/planning/decision/libs/state_machine_lib/include/state_machine_lib/state_common.hpp diff --git a/ros/src/computing/planning/decision/libs/libstate/include/state_context.hpp b/ros/src/computing/planning/decision/libs/state_machine_lib/include/state_machine_lib/state_context.hpp similarity index 100% rename from ros/src/computing/planning/decision/libs/libstate/include/state_context.hpp rename to ros/src/computing/planning/decision/libs/state_machine_lib/include/state_machine_lib/state_context.hpp diff --git a/ros/src/computing/planning/decision/libs/libstate/include/state_drive.hpp b/ros/src/computing/planning/decision/libs/state_machine_lib/include/state_machine_lib/state_drive.hpp similarity index 100% rename from ros/src/computing/planning/decision/libs/libstate/include/state_drive.hpp rename to ros/src/computing/planning/decision/libs/state_machine_lib/include/state_machine_lib/state_drive.hpp diff --git a/ros/src/computing/planning/decision/libs/libstate/include/state_emg.hpp b/ros/src/computing/planning/decision/libs/state_machine_lib/include/state_machine_lib/state_emg.hpp similarity index 100% rename from ros/src/computing/planning/decision/libs/libstate/include/state_emg.hpp rename to ros/src/computing/planning/decision/libs/state_machine_lib/include/state_machine_lib/state_emg.hpp diff --git a/ros/src/computing/planning/decision/libs/libstate/include/state_flags.hpp b/ros/src/computing/planning/decision/libs/state_machine_lib/include/state_machine_lib/state_flags.hpp similarity index 100% rename from ros/src/computing/planning/decision/libs/libstate/include/state_flags.hpp rename to ros/src/computing/planning/decision/libs/state_machine_lib/include/state_machine_lib/state_flags.hpp diff --git a/ros/src/computing/planning/decision/libs/libstate/include/state_main.hpp b/ros/src/computing/planning/decision/libs/state_machine_lib/include/state_machine_lib/state_main.hpp similarity index 97% rename from ros/src/computing/planning/decision/libs/libstate/include/state_main.hpp rename to ros/src/computing/planning/decision/libs/state_machine_lib/include/state_machine_lib/state_main.hpp index 550748da26..6385564ffc 100644 --- a/ros/src/computing/planning/decision/libs/libstate/include/state_main.hpp +++ b/ros/src/computing/planning/decision/libs/state_machine_lib/include/state_machine_lib/state_main.hpp @@ -5,7 +5,7 @@ #include #include -#include +#include namespace state_machine { diff --git a/ros/src/computing/planning/decision/libs/libstate/package.xml b/ros/src/computing/planning/decision/libs/state_machine_lib/package.xml similarity index 100% rename from ros/src/computing/planning/decision/libs/libstate/package.xml rename to ros/src/computing/planning/decision/libs/state_machine_lib/package.xml diff --git a/ros/src/computing/planning/decision/libs/libstate/src/state_context.cpp b/ros/src/computing/planning/decision/libs/state_machine_lib/src/state_context.cpp similarity index 98% rename from ros/src/computing/planning/decision/libs/libstate/src/state_context.cpp rename to ros/src/computing/planning/decision/libs/state_machine_lib/src/state_context.cpp index 20c75565b7..3de8a50561 100644 --- a/ros/src/computing/planning/decision/libs/libstate/src/state_context.cpp +++ b/ros/src/computing/planning/decision/libs/state_machine_lib/src/state_context.cpp @@ -7,10 +7,10 @@ #include #include -#include +#include -#include -#include +#include +#include /** * diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp index 6ba2741f3f..73228221dc 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp @@ -31,11 +31,11 @@ #include // lib -#include +#include #include #include -#include -#include +#include +#include namespace decision_maker { diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/planner_selector.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/planner_selector.hpp index 4067686a8f..a9f3901150 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/include/planner_selector.hpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/include/planner_selector.hpp @@ -10,7 +10,7 @@ #include #include -#include +#include namespace decision_maker { diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/cross_road_area.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/cross_road_area.cpp index 96d8a7ac4d..accd6dd66c 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/cross_road_area.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/cross_road_area.cpp @@ -1,4 +1,4 @@ -#include +#include #include #include diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp index ef97d39f78..272b5c55ac 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_callback.cpp @@ -14,8 +14,8 @@ #include #include -#include -#include +#include +#include namespace decision_maker { diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_core.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_core.cpp index a6c45722de..b0327faa67 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_core.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_core.cpp @@ -6,8 +6,8 @@ #include // lib -#include -#include +#include +#include #include //#include diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp index c002879551..e2d93bb222 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_decision.cpp @@ -11,8 +11,8 @@ #include #include -#include -#include +#include +#include namespace decision_maker { diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp index c888a9b73e..ccef631f65 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_init.cpp @@ -9,8 +9,8 @@ #include // lib -#include -#include +#include +#include #include //#include diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp index 9bf0deeeb1..bdce886282 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_publish.cpp @@ -7,8 +7,8 @@ #include // lib -#include -#include +#include +#include #include diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_stateupdate.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_stateupdate.cpp index cca0a567e3..5b021ffa77 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_stateupdate.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/decision_maker/decision_maker_node_stateupdate.cpp @@ -1,7 +1,7 @@ #include -#include -#include +#include +#include #include #include diff --git a/ros/src/computing/planning/decision/packages/decision_maker/nodes/planner_selector/planner_selector_node.cpp b/ros/src/computing/planning/decision/packages/decision_maker/nodes/planner_selector/planner_selector_node.cpp index 7c6c2c369f..c40485e65f 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/nodes/planner_selector/planner_selector_node.cpp +++ b/ros/src/computing/planning/decision/packages/decision_maker/nodes/planner_selector/planner_selector_node.cpp @@ -7,7 +7,7 @@ #include #include -#include +#include #include namespace decision_maker From 69d3e3d8cb83a17c2b383db09acf8061ccc10313 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Wed, 25 Apr 2018 00:35:23 +0900 Subject: [PATCH 71/92] Fixes to libraries decision_maker installation --- .../libs/amathutils_lib/CMakeLists.txt | 20 ++++++-------- .../libs/state_machine_lib/CMakeLists.txt | 23 +++++++--------- .../packages/decision_maker/CMakeLists.txt | 26 ++++++------------- 3 files changed, 25 insertions(+), 44 deletions(-) diff --git a/ros/src/computing/planning/decision/libs/amathutils_lib/CMakeLists.txt b/ros/src/computing/planning/decision/libs/amathutils_lib/CMakeLists.txt index 3494f5f48c..104fb1645e 100644 --- a/ros/src/computing/planning/decision/libs/amathutils_lib/CMakeLists.txt +++ b/ros/src/computing/planning/decision/libs/amathutils_lib/CMakeLists.txt @@ -7,10 +7,6 @@ find_package(catkin REQUIRED COMPONENTS set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") -set(TARGET ${PROJECT_NAME}) -set(TARGET_SRC src/Amathutils.cpp - ) - catkin_package( INCLUDE_DIRS include LIBRARIES amathutils_lib @@ -23,23 +19,23 @@ include_directories(amathutils_lib ) add_library(amathutils_lib - ${TARGET_SRC} + src/Amathutils.cpp ) target_link_libraries(amathutils_lib - ${CMAKE_THREAD_LIBS_INIT} + ${catkin_LIBRARIES} ) add_dependencies(amathutils_lib ${catkin_EXPORTED_TARGETS} ) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.hpp" + ) + install(TARGETS amathutils_lib ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) - -install(DIRECTORY include/amathutils_lib - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.hpp" - ) \ No newline at end of file diff --git a/ros/src/computing/planning/decision/libs/state_machine_lib/CMakeLists.txt b/ros/src/computing/planning/decision/libs/state_machine_lib/CMakeLists.txt index d3dde265b1..6fd9c1b64f 100644 --- a/ros/src/computing/planning/decision/libs/state_machine_lib/CMakeLists.txt +++ b/ros/src/computing/planning/decision/libs/state_machine_lib/CMakeLists.txt @@ -19,32 +19,27 @@ include_directories( ${catkin_INCLUDE_DIRS} ) -set(TARGET ${PROJECT_NAME}) -set(TARGET_SRC +add_library(state_machine_lib src/state_context.cpp ) -add_library(${TARGET} - ${TARGET_SRC} - ) - -target_link_libraries(${TARGET} +target_link_libraries(state_machine_lib ${catkin_LIBRARIES} - ${OpenCV_LIBS} ) add_dependencies(${TARGET} ${catkin_EXPORTED_TARGETS} ) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.hpp" + ) + + install(TARGETS state_machine_lib ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) - -install(DIRECTORY include/state_machine_lib - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.hpp" - ) \ No newline at end of file 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 555a8c7a61..f0b9233507 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt +++ b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt @@ -22,13 +22,7 @@ find_package(catkin REQUIRED COMPONENTS state_machine_lib ) -add_message_files( - FILES - DebugDecisionMaker.msg -) - catkin_package( - INCLUDE_DIRS include CATKIN_DEPENDS roscpp tf std_msgs @@ -43,11 +37,11 @@ catkin_package( ) include_directories( include - src ${catkin_INCLUDE_DIRS} ) -set(TARGET_SRC nodes/decision_maker/decision_maker_node.cpp +add_executable(decision_maker_node + nodes/decision_maker/decision_maker_node.cpp nodes/decision_maker/decision_maker_node_core.cpp nodes/decision_maker/decision_maker_node_decision.cpp nodes/decision_maker/decision_maker_node_init.cpp @@ -56,19 +50,15 @@ set(TARGET_SRC nodes/decision_maker/decision_maker_node.cpp nodes/decision_maker/decision_maker_node_publish.cpp nodes/decision_maker/cross_road_area.cpp ) - - -add_executable(${PROJECT_NAME}_node ${TARGET_SRC}) -target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES}) -add_dependencies(${PROJECT_NAME}_node ${catkin_EXPORTED_TARGETS}) +target_link_libraries(decision_maker_node ${catkin_LIBRARIES}) +add_dependencies(decision_maker_node ${catkin_EXPORTED_TARGETS}) # This function will be integrated into decision_maker soon. -set(SUBPROJECT_NAME planner_selector) -add_executable(${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_executable(planner_selector_node nodes/planner_selector/planner_selector_node.cpp) +target_link_libraries(planner_selector_node ${catkin_LIBRARIES}) +add_dependencies(planner_selector_node ${catkin_EXPORTED_TARGETS}) -install(TARGETS ${PROJECT_NAME}_node ${SUBPROJECT_NAME}_node +install(TARGETS decision_maker_node planner_selector_node ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} From d4ebdd605ec691ec4baf08ed647949ba5249d9be Mon Sep 17 00:00:00 2001 From: Abraham Monrroy Date: Wed, 25 Apr 2018 09:32:52 +0900 Subject: [PATCH 72/92] Gazebo on Kinetic --- .../system/gazebo/catvehicle/CMakeLists.txt | 39 ++++++++----------- 1 file changed, 17 insertions(+), 22 deletions(-) diff --git a/ros/src/system/gazebo/catvehicle/CMakeLists.txt b/ros/src/system/gazebo/catvehicle/CMakeLists.txt index 190bbe8a58..292bd324b5 100644 --- a/ros/src/system/gazebo/catvehicle/CMakeLists.txt +++ b/ros/src/system/gazebo/catvehicle/CMakeLists.txt @@ -50,31 +50,26 @@ include_directories( ${catkin_INCLUDE_DIRS} ) -if ("${ROS_VERSION}" MATCHES "(indigo|jade)") +add_library(catvehiclegazebo SHARED src/cont.cc ./include/catvehicle/cont.hh) +target_link_libraries(catvehiclegazebo ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) - add_library(catvehiclegazebo SHARED src/cont.cc ./include/catvehicle/cont.hh) - target_link_libraries(catvehiclegazebo ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +add_executable(distanceEstimator src/distanceEstimator.cpp) +target_link_libraries(distanceEstimator ${catkin_LIBRARIES}) - add_executable(distanceEstimator src/distanceEstimator.cpp) - target_link_libraries(distanceEstimator ${catkin_LIBRARIES}) +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - install(DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY meshes + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - install(DIRECTORY meshes - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - install(DIRECTORY urdf - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY worlds + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - install(DIRECTORY worlds - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - - ## Mark executables and/or libraries for installation - install(TARGETS catvehiclegazebo - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) - - -endif () +## Mark executables and/or libraries for installation +install(TARGETS catvehiclegazebo + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) From d97d11065ff8e36b43ac3aae51a4138500d456a8 Mon Sep 17 00:00:00 2001 From: Abraham Monrroy Date: Wed, 25 Apr 2018 09:40:35 +0900 Subject: [PATCH 73/92] Added Missing library --- .../planning/motion/packages/lattice_planner/CMakeLists.txt | 6 ++++-- .../planning/motion/packages/lattice_planner/package.xml | 2 ++ 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt b/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt index e976b2b940..c5993b7d9d 100644 --- a/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt @@ -15,6 +15,8 @@ find_package(catkin REQUIRED COMPONENTS autoware_msgs ) +find_package(Armadillo REQUIRED) + OPTION(USE_OpenMP "Use OpenMP" ON) IF (USE_OpenMP) FIND_PACKAGE(OpenMP) @@ -45,12 +47,12 @@ SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( include + ${ARMADILLO_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ) - add_library(libtraj_gen lib/libtraj_gen.cpp) -target_link_libraries(libtraj_gen ${catkin_LIBRARIES} armadillo) +target_link_libraries(libtraj_gen ${catkin_LIBRARIES} ${ARMADILLO_LIBRARIES}) add_executable(lattice_trajectory_gen nodes/lattice_trajectory_gen/lattice_trajectory_gen.cpp) target_link_libraries(lattice_trajectory_gen libtraj_gen ${catkin_LIBRARIES}) 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 5550ca40cd..fcd4c213ce 100644 --- a/ros/src/computing/planning/motion/packages/lattice_planner/package.xml +++ b/ros/src/computing/planning/motion/packages/lattice_planner/package.xml @@ -21,6 +21,7 @@ vector_map astar_planner autoware_msgs + armadillo roscpp std_msgs @@ -33,5 +34,6 @@ vector_map astar_planner autoware_msgs + armadillo From 8c0254b39aad8b858c317ece143d5a9c5396daa4 Mon Sep 17 00:00:00 2001 From: Abraham Monrroy Date: Wed, 25 Apr 2018 10:44:30 +0900 Subject: [PATCH 74/92] * Removed Gazebo and synchonization packages * Renames vmap in lane_planner * Added installation commands for missing pakcages --- .../packages/lane_planner/CMakeLists.txt | 42 +++++++++++++++---- .../{vmap.hpp => lane_planner_vmap.hpp} | 0 .../{vmap.cpp => lane_planner_vmap.cpp} | 2 +- .../nodes/lane_navi/lane_navi.cpp | 2 +- .../nodes/lane_rule/lane_rule.cpp | 2 +- .../nodes/lane_stop/lane_stop.cpp | 2 +- .../packages/waypoint_maker/CMakeLists.txt | 11 +++++ .../waypoint_clicker/waypoint_clicker.cpp | 2 +- ros/src/system/gazebo/catvehicle/.gitignore | 5 +-- .../system/gazebo/catvehicle/CATKIN_IGNORE | 0 ros/src/system/sync/CATKIN_IGNORE | 0 11 files changed, 51 insertions(+), 17 deletions(-) rename ros/src/computing/planning/mission/packages/lane_planner/include/lane_planner/{vmap.hpp => lane_planner_vmap.hpp} (100%) rename ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/{vmap.cpp => lane_planner_vmap.cpp} (99%) create mode 100644 ros/src/system/gazebo/catvehicle/CATKIN_IGNORE create mode 100644 ros/src/system/sync/CATKIN_IGNORE 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 06a172d748..94175809e9 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt +++ b/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt @@ -15,7 +15,7 @@ set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") catkin_package( INCLUDE_DIRS include - LIBRARIES vmap + LIBRARIES lane_planner CATKIN_DEPENDS roscpp std_msgs tablet_socket @@ -30,32 +30,58 @@ include_directories( ${catkin_INCLUDE_DIRS} ) -add_library(vmap lib/lane_planner/vmap.cpp) -target_link_libraries(vmap ${catkin_LIBRARIES}) -add_dependencies(vmap +add_library(lane_planner_vmap lib/lane_planner/lane_planner_vmap.cpp) +target_link_libraries(lane_planner_vmap ${catkin_LIBRARIES}) +add_dependencies(lane_planner_vmap ${catkin_EXPORTED_TARGETS} ) add_executable(lane_navi nodes/lane_navi/lane_navi.cpp) -target_link_libraries(lane_navi vmap ${catkin_LIBRARIES}) +target_link_libraries(lane_navi + lane_planner_vmap + ${catkin_LIBRARIES} + ) add_dependencies(lane_navi ${catkin_EXPORTED_TARGETS} ) add_executable(lane_rule nodes/lane_rule/lane_rule.cpp) -target_link_libraries(lane_rule vmap ${catkin_LIBRARIES}) +target_link_libraries(lane_rule + lane_planner_vmap + ${catkin_LIBRARIES} + ) add_dependencies(lane_rule ${catkin_EXPORTED_TARGETS} ) add_executable(lane_stop nodes/lane_stop/lane_stop.cpp) -target_link_libraries(lane_stop vmap ${catkin_LIBRARIES}) +target_link_libraries(lane_stop lane_planner_vmap ${catkin_LIBRARIES}) add_dependencies(lane_stop ${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) +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 ${catkin_EXPORTED_TARGETS} ) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.hpp" + ) + +install(TARGETS + lane_select + lane_stop + lane_rule + lane_navi + lane_planner_vmap + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) diff --git a/ros/src/computing/planning/mission/packages/lane_planner/include/lane_planner/vmap.hpp b/ros/src/computing/planning/mission/packages/lane_planner/include/lane_planner/lane_planner_vmap.hpp similarity index 100% rename from ros/src/computing/planning/mission/packages/lane_planner/include/lane_planner/vmap.hpp rename to ros/src/computing/planning/mission/packages/lane_planner/include/lane_planner/lane_planner_vmap.hpp diff --git a/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp b/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/lane_planner_vmap.cpp similarity index 99% rename from ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp rename to ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/lane_planner_vmap.cpp index e7830aac76..d24d5fbb98 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/vmap.cpp +++ b/ros/src/computing/planning/mission/packages/lane_planner/lib/lane_planner/lane_planner_vmap.cpp @@ -36,7 +36,7 @@ #include #include -#include +#include namespace lane_planner { diff --git a/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_navi/lane_navi.cpp b/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_navi/lane_navi.cpp index 9d65817d6f..b7f54bf62b 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_navi/lane_navi.cpp +++ b/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_navi/lane_navi.cpp @@ -36,7 +36,7 @@ #include #include "autoware_msgs/LaneArray.h" -#include "lane_planner/vmap.hpp" +#include "lane_planner/lane_planner_vmap.hpp" namespace { diff --git a/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_rule/lane_rule.cpp b/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_rule/lane_rule.cpp index 80aa59d9db..19726ca946 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_rule/lane_rule.cpp +++ b/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_rule/lane_rule.cpp @@ -40,7 +40,7 @@ #include "autoware_msgs/ConfigLaneRule.h" #include "autoware_msgs/LaneArray.h" -#include +#include namespace { diff --git a/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_stop/lane_stop.cpp b/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_stop/lane_stop.cpp index 5d0f3be29b..72c5bbd913 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_stop/lane_stop.cpp +++ b/ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_stop/lane_stop.cpp @@ -34,7 +34,7 @@ #include "autoware_msgs/traffic_light.h" #include "autoware_msgs/LaneArray.h" -#include +#include namespace { 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 0ae0d1b074..2698fbac07 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/CMakeLists.txt @@ -58,3 +58,14 @@ add_executable(waypoint_velocity_visualizer nodes/waypoint_velocity_visualizer/w target_link_libraries(waypoint_velocity_visualizer ${catkin_LIBRARIES} ${Boost_LIBRARIES}) add_dependencies(waypoint_velocity_visualizer ${catkin_EXPORTED_TARGETS}) + +install(TARGETS + waypoint_loader + waypoint_saver + waypoint_clicker + waypoint_marker_publisher + waypoint_velocity_visualizer + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) \ No newline at end of file diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_clicker/waypoint_clicker.cpp b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_clicker/waypoint_clicker.cpp index 87a50c30d8..2dff1641e4 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_clicker/waypoint_clicker.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_clicker/waypoint_clicker.cpp @@ -34,7 +34,7 @@ #include -#include +#include namespace { diff --git a/ros/src/system/gazebo/catvehicle/.gitignore b/ros/src/system/gazebo/catvehicle/.gitignore index 5100c92920..512e65c10c 100644 --- a/ros/src/system/gazebo/catvehicle/.gitignore +++ b/ros/src/system/gazebo/catvehicle/.gitignore @@ -45,7 +45,4 @@ qtcreator-* *~ # Emacs -.#* - -# Catkin custom files -CATKIN_IGNORE +.#* \ No newline at end of file diff --git a/ros/src/system/gazebo/catvehicle/CATKIN_IGNORE b/ros/src/system/gazebo/catvehicle/CATKIN_IGNORE new file mode 100644 index 0000000000..e69de29bb2 diff --git a/ros/src/system/sync/CATKIN_IGNORE b/ros/src/system/sync/CATKIN_IGNORE new file mode 100644 index 0000000000..e69de29bb2 From 817f062d09a74195c83b31da070cdd0919cf99b1 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Wed, 25 Apr 2018 12:10:02 +0900 Subject: [PATCH 75/92] Fixes to lane_planner --- .../mission/packages/lane_planner/CMakeLists.txt | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) 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 94175809e9..22a0964161 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt +++ b/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 2.8.12) project(lane_planner) find_package(catkin REQUIRED COMPONENTS @@ -30,15 +30,15 @@ include_directories( ${catkin_INCLUDE_DIRS} ) -add_library(lane_planner_vmap lib/lane_planner/lane_planner_vmap.cpp) -target_link_libraries(lane_planner_vmap ${catkin_LIBRARIES}) -add_dependencies(lane_planner_vmap +add_library(lane_planner lib/lane_planner/lane_planner_vmap.cpp) +target_link_libraries(lane_planner ${catkin_LIBRARIES}) +add_dependencies(lane_planner ${catkin_EXPORTED_TARGETS} ) add_executable(lane_navi nodes/lane_navi/lane_navi.cpp) target_link_libraries(lane_navi - lane_planner_vmap + lane_planner ${catkin_LIBRARIES} ) add_dependencies(lane_navi @@ -47,7 +47,7 @@ add_dependencies(lane_navi add_executable(lane_rule nodes/lane_rule/lane_rule.cpp) target_link_libraries(lane_rule - lane_planner_vmap + lane_planner ${catkin_LIBRARIES} ) add_dependencies(lane_rule @@ -55,7 +55,7 @@ add_dependencies(lane_rule ) add_executable(lane_stop nodes/lane_stop/lane_stop.cpp) -target_link_libraries(lane_stop lane_planner_vmap ${catkin_LIBRARIES}) +target_link_libraries(lane_stop lane_planner ${catkin_LIBRARIES}) add_dependencies(lane_stop ${catkin_EXPORTED_TARGETS} ) @@ -80,7 +80,7 @@ install(TARGETS lane_stop lane_rule lane_navi - lane_planner_vmap + lane_planner ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} From 5b06f16dee328755f5f9115019b70ae6ddc8b63e Mon Sep 17 00:00:00 2001 From: amc-nu Date: Wed, 25 Apr 2018 12:27:54 +0900 Subject: [PATCH 76/92] Added NDT TKU Glut extra dependencies --- .../perception/localization/lib/ndt_tku/package.xml | 5 +++++ 1 file changed, 5 insertions(+) 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 436882d2a5..b17ece2094 100644 --- a/ros/src/computing/perception/localization/lib/ndt_tku/package.xml +++ b/ros/src/computing/perception/localization/lib/ndt_tku/package.xml @@ -7,7 +7,12 @@ BSD catkin glut + libxmu-dev + libxi-dev + glut + libxmu-dev + libxi-dev From 583c3dbacc4dc04732eea7b54291839a4519ce86 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Wed, 25 Apr 2018 15:09:59 +0900 Subject: [PATCH 77/92] ndt localizer/lib fast pcl fixes re enable cv_tracker --- .../lib/image/dpm_ocv/CMakeLists.txt | 32 +++++++++---------- .../lib/image/dpm_ocv/cpu/dpm_ocv_cpu.cpp | 2 +- .../lib/image/dpm_ocv/gpu/dpm_ocv_gpu.cpp | 2 +- .../lib/image/dpm_ttic/CMakeLists.txt | 18 +++++++---- .../detection/lib/image/dpm_ttic/cpu/main.cpp | 2 +- .../image/dpm_ttic/gpu/obstacle_detection.cpp | 2 +- .../lib/image/{ => kf}/CATKIN_IGNORE | 0 .../detection/lib/image/kf/CMakeLists.txt | 10 +++++- .../packages/cv_tracker/CATKIN_IGNORE | 0 .../packages/cv_tracker/CMakeLists.txt | 28 ++++++++-------- .../cv_tracker/nodes/dpm_ocv/dpm_ocv.cpp | 2 +- .../cv_tracker/nodes/dpm_ttic/dpm_ttic.cpp | 2 +- .../detection/packages/cv_tracker/package.xml | 4 +-- .../lib/fast_pcl/ndt_cpu/CMakeLists.txt | 13 ++++---- .../lib/fast_pcl/ndt_gpu/CMakeLists.txt | 12 ++++--- 15 files changed, 72 insertions(+), 57 deletions(-) rename ros/src/computing/perception/detection/lib/image/{ => kf}/CATKIN_IGNORE (100%) delete mode 100644 ros/src/computing/perception/detection/packages/cv_tracker/CATKIN_IGNORE diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/CMakeLists.txt b/ros/src/computing/perception/detection/lib/image/dpm_ocv/CMakeLists.txt index 67c33d8fb5..777de26a28 100644 --- a/ros/src/computing/perception/detection/lib/image/dpm_ocv/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/image/dpm_ocv/CMakeLists.txt @@ -12,25 +12,23 @@ find_package(CUDA) find_package(OpenCV REQUIRED) catkin_package( - INCLUDE_DIRS include/dpm_ocv + INCLUDE_DIRS include LIBRARIES libdpm_ocv CATKIN_DEPENDS std_msgs autoware_msgs ) if ("${ROS_VERSION}" MATCHES "(indigo|jade)") - SET(CMAKE_CXX_FLAGS "-O2 -g -Wall -Wno-unused-result -std=c++11 -DUSE_GPU -DCUBIN_PATH=${CATKIN_DEVEL_PREFIX}/lib/gpu_function.cubin ${CMAKE_CXX_FLAGS}") SET(CMAKE_NVCC_FLAGS "-use_fast_math") IF (CUDA_FOUND) INCLUDE_DIRECTORIES( ${catkin_INCLUDE_DIRS} - "include/dpm_ocv" + include ${CUDA_INCLUDE_DIRS} ) - ## Declare a cpp library ADD_LIBRARY(libdpm_ocv gpu/gpu_init.cpp gpu/dpm_ocv_gpu.cpp @@ -97,11 +95,11 @@ if ("${ROS_VERSION}" MATCHES "(indigo|jade)") ADD_CUSTOM_TARGET(cuda_binary_ DEPENDS gpu_function.cubin) ADD_DEPENDENCIES(libdpm_ocv cuda_binary_) - ELSE () + ELSE ()#NO CUDA INCLUDE_DIRECTORIES( ${catkin_INCLUDE_DIRS} - "include/dpm_ocv" + include ) ADD_LIBRARY(libdpm_ocv @@ -110,22 +108,22 @@ if ("${ROS_VERSION}" MATCHES "(indigo|jade)") TARGET_LINK_LIBRARIES(libdpm_ocv ${catkin_LIBRARIES} - ${OpenCV_LIBS} ) ENDIF () - SET_TARGET_PROPERTIES(libdpm_ocv PROPERTIES OUTPUT_NAME dpm_ocv) ADD_DEPENDENCIES(libdpm_ocv ${catkin_EXPORTED_TARGETS}) -endif () + install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.hpp" + ) -############# -## Install ## -############# + install(TARGETS + libdpm_ocv + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) -INSTALL( - DIRECTORY include/dpm_ocv - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.hpp" -) \ No newline at end of file +endif () diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/cpu/dpm_ocv_cpu.cpp b/ros/src/computing/perception/detection/lib/image/dpm_ocv/cpu/dpm_ocv_cpu.cpp index f0c1ce5502..18a09b9903 100644 --- a/ros/src/computing/perception/detection/lib/image/dpm_ocv/cpu/dpm_ocv_cpu.cpp +++ b/ros/src/computing/perception/detection/lib/image/dpm_ocv/cpu/dpm_ocv_cpu.cpp @@ -1,6 +1,6 @@ #include #include -#include +#include // Macros in OpenCV private header files #define VAL_OF_TRUNCATE 0.2f diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/dpm_ocv_gpu.cpp b/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/dpm_ocv_gpu.cpp index 74705dd82c..c34cf7312e 100644 --- a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/dpm_ocv_gpu.cpp +++ b/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/dpm_ocv_gpu.cpp @@ -8,7 +8,7 @@ #include "matching_gpu.hpp" #include "routine_gpu.hpp" -#include +#include // OpenCV non public functions extern int freeFeatureMapObject(CvLSVMFeatureMap **obj); diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ttic/CMakeLists.txt b/ros/src/computing/perception/detection/lib/image/dpm_ttic/CMakeLists.txt index f72f99c604..53c2bc30c7 100644 --- a/ros/src/computing/perception/detection/lib/image/dpm_ttic/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/image/dpm_ttic/CMakeLists.txt @@ -15,7 +15,7 @@ EXECUTE_PROCESS( ) catkin_package( - INCLUDE_DIRS include/dpm_ttic + INCLUDE_DIRS include LIBRARIES libdpm_ttic ) @@ -24,7 +24,7 @@ SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall -Wno-unused-result ${CMAKE_CXX_FLAG IF (CUDA_FOUND) INCLUDE_DIRECTORIES( - include/dpm_ttic + include ${catkin_INCLUDE_DIRS} ${CUDA_INCLUDE_DIRS} "common" @@ -105,7 +105,7 @@ IF (CUDA_FOUND) ELSE ()#No CUDA INCLUDE_DIRECTORIES( - include/dpm_ttic + include ${catkin_INCLUDE_DIRS} "common" "cpu" @@ -133,8 +133,14 @@ ENDIF () ## Install ## ############# -INSTALL( - DIRECTORY include/dpm_ttic +install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} FILES_MATCHING PATTERN "*.hpp" -) + ) + +install(TARGETS + libdpm_ttic + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) \ No newline at end of file diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ttic/cpu/main.cpp b/ros/src/computing/perception/detection/lib/image/dpm_ttic/cpu/main.cpp index a1a5eecacd..6e09df7793 100644 --- a/ros/src/computing/perception/detection/lib/image/dpm_ttic/cpu/main.cpp +++ b/ros/src/computing/perception/detection/lib/image/dpm_ttic/cpu/main.cpp @@ -8,7 +8,7 @@ #include #include -#include +#include #include "MODEL_info.h" #include "switch_float.h" diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ttic/gpu/obstacle_detection.cpp b/ros/src/computing/perception/detection/lib/image/dpm_ttic/gpu/obstacle_detection.cpp index 585e22709b..e24849467c 100644 --- a/ros/src/computing/perception/detection/lib/image/dpm_ttic/gpu/obstacle_detection.cpp +++ b/ros/src/computing/perception/detection/lib/image/dpm_ttic/gpu/obstacle_detection.cpp @@ -35,7 +35,7 @@ #include #include -#include +#include #include "for_use_GPU.h" #include "load_model.hpp" diff --git a/ros/src/computing/perception/detection/lib/image/CATKIN_IGNORE b/ros/src/computing/perception/detection/lib/image/kf/CATKIN_IGNORE similarity index 100% rename from ros/src/computing/perception/detection/lib/image/CATKIN_IGNORE rename to ros/src/computing/perception/detection/lib/image/kf/CATKIN_IGNORE 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 0b9bd6d7d7..7a1dc7d0cc 100644 --- a/ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt @@ -42,6 +42,14 @@ target_link_libraries(kf_lib add_dependencies(kf_lib ${catkin_EXPORTED_TARGETS}) -install(DIRECTORY include +install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" ) + + +install(TARGETS kf_lib + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) \ No newline at end of file diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/CATKIN_IGNORE b/ros/src/computing/perception/detection/packages/cv_tracker/CATKIN_IGNORE deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt b/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt index f501496b40..f82edce073 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt @@ -17,7 +17,7 @@ if ("${ROS_VERSION}" MATCHES "(indigo|jade)") fusion tf libdpm_ocv - kf_lib + #kf_lib jsk_recognition_msgs gnss ) @@ -32,7 +32,7 @@ elseif ("${ROS_VERSION}" MATCHES "(kinetic)") libdpm_ttic fusion tf - kf_lib + #kf_lib jsk_recognition_msgs gnss ) @@ -59,7 +59,7 @@ if ("${ROS_VERSION}" MATCHES "(indigo|jade)") fusion tf libdpm_ocv - kf_lib + #kf_lib jsk_recognition_msgs gnss ) @@ -200,17 +200,17 @@ install(TARGETS range_fusion ) ## kf_tracker ## -if ("${ROS_VERSION}" MATCHES "(indigo|jade)") - ADD_EXECUTABLE(kf_track - nodes/kf_track/kf_track.cpp - ) - - TARGET_LINK_LIBRARIES(kf_track - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - ) - add_dependencies(kf_track ${catkin_EXPORTED_TARGETS}) -endif () +#if ("${ROS_VERSION}" MATCHES "(indigo|jade)") +# ADD_EXECUTABLE(kf_track +# nodes/kf_track/kf_track.cpp +# ) + +# TARGET_LINK_LIBRARIES(kf_track +# ${catkin_LIBRARIES} +# ${OpenCV_LIBS} +# ) +# add_dependencies(kf_track ${catkin_EXPORTED_TARGETS}) +#endif () ## dummy_tracker ## ADD_EXECUTABLE(dummy_track diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/dpm_ocv/dpm_ocv.cpp b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/dpm_ocv/dpm_ocv.cpp index f00c79cd99..dff99b4557 100755 --- a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/dpm_ocv/dpm_ocv.cpp +++ b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/dpm_ocv/dpm_ocv.cpp @@ -9,7 +9,7 @@ #include "autoware_msgs/image_obj.h" #include "autoware_msgs/ConfigCarDpm.h" -#include +#include #define XSTR(x) #x #define STR(x) XSTR(x) diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/dpm_ttic/dpm_ttic.cpp b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/dpm_ttic/dpm_ttic.cpp index 4824e03061..571aad3adf 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/dpm_ttic/dpm_ttic.cpp +++ b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/dpm_ttic/dpm_ttic.cpp @@ -39,7 +39,7 @@ #include "autoware_msgs/image_obj.h" #include "autoware_msgs/ConfigPedestrianDpm.h" -#include +#include #define XSTR(x) #x #define STR(x) XSTR(x) 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 ea8610582b..b031e18020 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/package.xml +++ b/ros/src/computing/perception/detection/packages/cv_tracker/package.xml @@ -19,7 +19,7 @@ fusion tf libdpm_ocv - kf_lib + librcnn jsk_recognition_msgs gnss @@ -35,7 +35,7 @@ fusion tf libdpm_ocv - kf_lib + librcnn jsk_recognition_msgs gnss 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 a182ec7934..25e4ca608f 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 @@ -54,13 +54,14 @@ target_link_libraries(ndt_cpu ${catkin_LIBRARIES} ) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + ) + + install(TARGETS ndt_cpu ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} - ) - -install(DIRECTORY include/fast_pcl/ndt_cpu/ - DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} - PATTERN ".svn" EXCLUDE + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) \ No newline at end of file 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 fe3458fd37..4f32b9f85c 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 @@ -51,7 +51,7 @@ if (CUDA_FOUND) ${PCL_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${CUDA_INCLUDE_DIRS} - "${CMAKE_CURRENT_SOURCE_DIR}/include" + include ${EIGEN3_INCLUDE_DIRS} ) @@ -85,16 +85,18 @@ if (CUDA_FOUND) ${PCL_LIBRARIES} ) + install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + ) + + install(TARGETS ndt_gpu ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) - install(DIRECTORY include/fast_pcl/ndt_gpu/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - PATTERN ".svn" EXCLUDE) - else () message("ndt_gpu will not be built, CUDA was not found.") endif () \ No newline at end of file From 956cba14e05ed4c0ad2b3dd434b1ee07e6451f17 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Wed, 25 Apr 2018 15:17:30 +0900 Subject: [PATCH 78/92] Fix kf_lib --- .../perception/detection/packages/cv_tracker/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt b/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt index f82edce073..33ff0b5c6c 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt @@ -74,7 +74,7 @@ elseif ("${ROS_VERSION}" MATCHES "(kinetic)") libdpm_ttic fusion tf - kf_lib + #kf_lib jsk_recognition_msgs gnss ) From ff593619dec4d13b9bc1d8e8ef29000c7fb8c8bf Mon Sep 17 00:00:00 2001 From: amc-nu Date: Wed, 25 Apr 2018 15:29:46 +0900 Subject: [PATCH 79/92] Keep industrial_ci --- .travis.yml | 78 +++++++++++++---------------------------------------- 1 file changed, 19 insertions(+), 59 deletions(-) diff --git a/.travis.yml b/.travis.yml index 8bf6b56977..c31c2ac497 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 - +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 \ No newline at end of file + - 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 6d8a73e59cf5a8f7a16ac3e98314b0942d7a3988 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Wed, 25 Apr 2018 17:46:52 +0900 Subject: [PATCH 80/92] Fixes for dpm library --- .../detection/lib/image/dpm_ttic/CMakeLists.txt | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ttic/CMakeLists.txt b/ros/src/computing/perception/detection/lib/image/dpm_ttic/CMakeLists.txt index 53c2bc30c7..1de07cad1c 100644 --- a/ros/src/computing/perception/detection/lib/image/dpm_ttic/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/image/dpm_ttic/CMakeLists.txt @@ -17,6 +17,7 @@ EXECUTE_PROCESS( catkin_package( INCLUDE_DIRS include LIBRARIES libdpm_ttic + CATKIN_DEPENDS sensor_msgs ) SET(CMAKE_C_FLAGS "-O2 -g -Wall -Wno-unused-result ${CMAKE_C_FLAGS}") @@ -27,9 +28,9 @@ IF (CUDA_FOUND) include ${catkin_INCLUDE_DIRS} ${CUDA_INCLUDE_DIRS} - "common" - "cpu" - "gpu" + common + cpu + gpu ) IF ("${ARCHITECTURE}" MATCHES "^arm") @@ -51,7 +52,7 @@ IF (CUDA_FOUND) TARGET_LINK_LIBRARIES(libdpm_ttic ${catkin_LIBRARIES} ${OpenCV_LIBS} - cuda + ${CUDA_LIBRARIES} ) SET(CUDA_COMPILER "${CUDA_TOOLKIT_ROOT_DIR}/bin/nvcc") @@ -107,8 +108,8 @@ ELSE ()#No CUDA INCLUDE_DIRECTORIES( include ${catkin_INCLUDE_DIRS} - "common" - "cpu" + common + cpu ) FILE(GLOB DPM_TTIC_COMMON_IMPL_SOURCES "common/*.cpp") @@ -119,7 +120,6 @@ ELSE ()#No CUDA ${DPM_TTIC_COMMON_IMPL_SOURCES} ${DPM_TTIC_CPU_IMPL_SOURCES} ) - SET_TARGET_PROPERTIES(libdpm_ttic PROPERTIES OUTPUT_NAME dpm_ttic) TARGET_LINK_LIBRARIES(libdpm_ttic ${catkin_LIBRARIES} From fa1404a5fc4931da4251f00f28541dc52fe52e9a Mon Sep 17 00:00:00 2001 From: amc-nu Date: Wed, 25 Apr 2018 18:22:10 +0900 Subject: [PATCH 81/92] Fusion lib fixed --- .../detection/lib/fusion/CMakeLists.txt | 18 ++++++++++++------ .../fusion/include/{ => fusion}/fusion_func.h | 0 .../include/{ => fusion}/search_distance.h | 0 .../detection/lib/fusion/package.xml | 4 ++-- .../detection/lib/fusion/{ => src}/fusion.cpp | 4 ++-- .../lib/fusion/{ => src}/search_distance.cpp | 2 +- .../nodes/range_fusion/range_fusion.cpp | 2 +- 7 files changed, 18 insertions(+), 12 deletions(-) rename ros/src/computing/perception/detection/lib/fusion/include/{ => fusion}/fusion_func.h (100%) rename ros/src/computing/perception/detection/lib/fusion/include/{ => fusion}/search_distance.h (100%) rename ros/src/computing/perception/detection/lib/fusion/{ => src}/fusion.cpp (99%) rename ros/src/computing/perception/detection/lib/fusion/{ => src}/search_distance.cpp (98%) diff --git a/ros/src/computing/perception/detection/lib/fusion/CMakeLists.txt b/ros/src/computing/perception/detection/lib/fusion/CMakeLists.txt index 784abea3ab..ea68a9128d 100644 --- a/ros/src/computing/perception/detection/lib/fusion/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/fusion/CMakeLists.txt @@ -11,7 +11,7 @@ find_package(OpenCV REQUIRED) catkin_package( INCLUDE_DIRS include LIBRARIES fusion - CATKIN_DEPENDS roscpp autoware_msgs + CATKIN_DEPENDS roscpp autoware_msgs cv_bridge ) SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") @@ -22,8 +22,8 @@ include_directories( ) add_library(fusion - fusion.cpp - search_distance.cpp + src/fusion.cpp + src/search_distance.cpp ) target_link_libraries(fusion @@ -34,8 +34,14 @@ add_dependencies(fusion ${catkin_EXPORTED_TARGETS} ) -# Mark cpp header files for installation -install(DIRECTORY include +install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "fusion_func.h" + FILES_MATCHING PATTERN "*.hpp" + ) + +install(TARGETS + fusion + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} ) diff --git a/ros/src/computing/perception/detection/lib/fusion/include/fusion_func.h b/ros/src/computing/perception/detection/lib/fusion/include/fusion/fusion_func.h similarity index 100% rename from ros/src/computing/perception/detection/lib/fusion/include/fusion_func.h rename to ros/src/computing/perception/detection/lib/fusion/include/fusion/fusion_func.h diff --git a/ros/src/computing/perception/detection/lib/fusion/include/search_distance.h b/ros/src/computing/perception/detection/lib/fusion/include/fusion/search_distance.h similarity index 100% rename from ros/src/computing/perception/detection/lib/fusion/include/search_distance.h rename to ros/src/computing/perception/detection/lib/fusion/include/fusion/search_distance.h diff --git a/ros/src/computing/perception/detection/lib/fusion/package.xml b/ros/src/computing/perception/detection/lib/fusion/package.xml index 3d39ace74e..c20ccd64a8 100644 --- a/ros/src/computing/perception/detection/lib/fusion/package.xml +++ b/ros/src/computing/perception/detection/lib/fusion/package.xml @@ -6,12 +6,12 @@ Masao KONDOH BSD catkin + roscpp autoware_msgs cv_bridge + roscpp autoware_msgs cv_bridge - - diff --git a/ros/src/computing/perception/detection/lib/fusion/fusion.cpp b/ros/src/computing/perception/detection/lib/fusion/src/fusion.cpp similarity index 99% rename from ros/src/computing/perception/detection/lib/fusion/fusion.cpp rename to ros/src/computing/perception/detection/lib/fusion/src/fusion.cpp index 22596c259d..628173fa40 100755 --- a/ros/src/computing/perception/detection/lib/fusion/fusion.cpp +++ b/ros/src/computing/perception/detection/lib/fusion/src/fusion.cpp @@ -32,8 +32,8 @@ #include #include -#include "fusion_func.h" -#include "search_distance.h" +#include "fusion/fusion_func.h" +#include "fusion/search_distance.h" #if _DEBUG //debug static const char *window_name = "CAR_TRACK"; diff --git a/ros/src/computing/perception/detection/lib/fusion/search_distance.cpp b/ros/src/computing/perception/detection/lib/fusion/src/search_distance.cpp similarity index 98% rename from ros/src/computing/perception/detection/lib/fusion/search_distance.cpp rename to ros/src/computing/perception/detection/lib/fusion/src/search_distance.cpp index 06d7311345..e489853ff6 100644 --- a/ros/src/computing/perception/detection/lib/fusion/search_distance.cpp +++ b/ros/src/computing/perception/detection/lib/fusion/src/search_distance.cpp @@ -1,7 +1,7 @@ #include #include #include -#include "search_distance.h" +#include "fusion/search_distance.h" float getShortest(const std::vector& candidates) { diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/range_fusion/range_fusion.cpp b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/range_fusion/range_fusion.cpp index 4ade09050d..2887518f89 100755 --- a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/range_fusion/range_fusion.cpp +++ b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/range_fusion/range_fusion.cpp @@ -30,7 +30,7 @@ #include #include -#include +#include #include "autoware_msgs/image_obj_ranged.h" #include "autoware_msgs/ConfigCarFusion.h" From cf89072be0286a1b866bcd1a9ab27d923264e9fe Mon Sep 17 00:00:00 2001 From: amc-nu Date: Wed, 25 Apr 2018 19:17:11 +0900 Subject: [PATCH 82/92] dpm and fusion header should match exported project name --- .../computing/perception/detection/lib/fusion/CMakeLists.txt | 2 +- .../perception/detection/lib/image/dpm_ttic/cpu/main.cpp | 2 +- .../detection/lib/image/dpm_ttic/gpu/obstacle_detection.cpp | 2 +- .../dpm_ttic/include/{dpm_ttic => libdpm_ttic}/dpm_ttic.hpp | 0 .../detection/packages/cv_tracker/nodes/dpm_ttic/dpm_ttic.cpp | 2 +- 5 files changed, 4 insertions(+), 4 deletions(-) rename ros/src/computing/perception/detection/lib/image/dpm_ttic/include/{dpm_ttic => libdpm_ttic}/dpm_ttic.hpp (100%) diff --git a/ros/src/computing/perception/detection/lib/fusion/CMakeLists.txt b/ros/src/computing/perception/detection/lib/fusion/CMakeLists.txt index ea68a9128d..0754587286 100644 --- a/ros/src/computing/perception/detection/lib/fusion/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/fusion/CMakeLists.txt @@ -36,7 +36,7 @@ add_dependencies(fusion install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.hpp" + FILES_MATCHING PATTERN "*.h" ) install(TARGETS diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ttic/cpu/main.cpp b/ros/src/computing/perception/detection/lib/image/dpm_ttic/cpu/main.cpp index 6e09df7793..a2f2b2d6c3 100644 --- a/ros/src/computing/perception/detection/lib/image/dpm_ttic/cpu/main.cpp +++ b/ros/src/computing/perception/detection/lib/image/dpm_ttic/cpu/main.cpp @@ -8,7 +8,7 @@ #include #include -#include +#include #include "MODEL_info.h" #include "switch_float.h" diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ttic/gpu/obstacle_detection.cpp b/ros/src/computing/perception/detection/lib/image/dpm_ttic/gpu/obstacle_detection.cpp index e24849467c..3aaa9a0976 100644 --- a/ros/src/computing/perception/detection/lib/image/dpm_ttic/gpu/obstacle_detection.cpp +++ b/ros/src/computing/perception/detection/lib/image/dpm_ttic/gpu/obstacle_detection.cpp @@ -35,7 +35,7 @@ #include #include -#include +#include #include "for_use_GPU.h" #include "load_model.hpp" diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ttic/include/dpm_ttic/dpm_ttic.hpp b/ros/src/computing/perception/detection/lib/image/dpm_ttic/include/libdpm_ttic/dpm_ttic.hpp similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ttic/include/dpm_ttic/dpm_ttic.hpp rename to ros/src/computing/perception/detection/lib/image/dpm_ttic/include/libdpm_ttic/dpm_ttic.hpp diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/dpm_ttic/dpm_ttic.cpp b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/dpm_ttic/dpm_ttic.cpp index 571aad3adf..b97280a606 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/dpm_ttic/dpm_ttic.cpp +++ b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/dpm_ttic/dpm_ttic.cpp @@ -39,7 +39,7 @@ #include "autoware_msgs/image_obj.h" #include "autoware_msgs/ConfigPedestrianDpm.h" -#include +#include #define XSTR(x) #x #define STR(x) XSTR(x) From 480fda82bacee254df96b543cecb797994aade83 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Thu, 26 Apr 2018 22:58:19 +0900 Subject: [PATCH 83/92] Fixes to dpm_ocv ndt_localizer and pcl_omp --- .../{dpm_ocv => libdpm_ocv}/CHANGELOG.rst | 0 .../{dpm_ocv => libdpm_ocv}/CMakeLists.txt | 0 .../cpu/dpm_ocv_cpu.cpp | 2 +- .../{dpm_ocv => libdpm_ocv}/gpu/cuda_check.h | 0 .../gpu/dpm_ocv_gpu.cpp | 2 +- .../gpu/dpm_ocv_gpu.hpp | 0 .../gpu/drvapi_error_string.h | 0 .../gpu/featurepyramid_gpu.cpp | 0 .../gpu/featurepyramid_gpu.hpp | 0 .../{dpm_ocv => libdpm_ocv}/gpu/for_use_gpu.h | 0 .../gpu/gpu_function.cu | 0 .../{dpm_ocv => libdpm_ocv}/gpu/gpu_init.cpp | 0 .../gpu/gpu_matching.h | 0 .../gpu/matching_gpu.cpp | 0 .../gpu/matching_gpu.hpp | 0 .../gpu/resizeimg_gpu.cpp | 0 .../gpu/resizeimg_gpu.h | 0 .../gpu/routine_gpu.cpp | 0 .../gpu/routine_gpu.hpp | 0 .../include/libdpm_ocv}/dpm_ocv.hpp | 0 .../image/{dpm_ocv => libdpm_ocv}/package.xml | 0 .../packages/cv_tracker/CMakeLists.txt | 2 +- .../cv_tracker/nodes/dpm_ocv/dpm_ocv.cpp | 2 +- .../lib/pcl_omp/registration/CMakeLists.txt | 62 ++++++++++++++----- 24 files changed, 51 insertions(+), 19 deletions(-) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/CHANGELOG.rst (100%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/CMakeLists.txt (100%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/cpu/dpm_ocv_cpu.cpp (99%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/gpu/cuda_check.h (100%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/gpu/dpm_ocv_gpu.cpp (99%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/gpu/dpm_ocv_gpu.hpp (100%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/gpu/drvapi_error_string.h (100%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/gpu/featurepyramid_gpu.cpp (100%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/gpu/featurepyramid_gpu.hpp (100%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/gpu/for_use_gpu.h (100%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/gpu/gpu_function.cu (100%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/gpu/gpu_init.cpp (100%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/gpu/gpu_matching.h (100%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/gpu/matching_gpu.cpp (100%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/gpu/matching_gpu.hpp (100%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/gpu/resizeimg_gpu.cpp (100%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/gpu/resizeimg_gpu.h (100%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/gpu/routine_gpu.cpp (100%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/gpu/routine_gpu.hpp (100%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv/include/dpm_ocv => libdpm_ocv/include/libdpm_ocv}/dpm_ocv.hpp (100%) rename ros/src/computing/perception/detection/lib/image/{dpm_ocv => libdpm_ocv}/package.xml (100%) diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/CHANGELOG.rst b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/CHANGELOG.rst similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/CHANGELOG.rst rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/CHANGELOG.rst diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/CMakeLists.txt b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/CMakeLists.txt similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/CMakeLists.txt rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/CMakeLists.txt diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/cpu/dpm_ocv_cpu.cpp b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/cpu/dpm_ocv_cpu.cpp similarity index 99% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/cpu/dpm_ocv_cpu.cpp rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/cpu/dpm_ocv_cpu.cpp index 18a09b9903..3c62373c71 100644 --- a/ros/src/computing/perception/detection/lib/image/dpm_ocv/cpu/dpm_ocv_cpu.cpp +++ b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/cpu/dpm_ocv_cpu.cpp @@ -1,6 +1,6 @@ #include #include -#include +#include // Macros in OpenCV private header files #define VAL_OF_TRUNCATE 0.2f diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/cuda_check.h b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/cuda_check.h similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/cuda_check.h rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/cuda_check.h diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/dpm_ocv_gpu.cpp b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/dpm_ocv_gpu.cpp similarity index 99% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/dpm_ocv_gpu.cpp rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/dpm_ocv_gpu.cpp index c34cf7312e..25493b6931 100644 --- a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/dpm_ocv_gpu.cpp +++ b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/dpm_ocv_gpu.cpp @@ -8,7 +8,7 @@ #include "matching_gpu.hpp" #include "routine_gpu.hpp" -#include +#include // OpenCV non public functions extern int freeFeatureMapObject(CvLSVMFeatureMap **obj); diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/dpm_ocv_gpu.hpp b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/dpm_ocv_gpu.hpp similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/dpm_ocv_gpu.hpp rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/dpm_ocv_gpu.hpp diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/drvapi_error_string.h b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/drvapi_error_string.h similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/drvapi_error_string.h rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/drvapi_error_string.h diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/featurepyramid_gpu.cpp b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/featurepyramid_gpu.cpp similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/featurepyramid_gpu.cpp rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/featurepyramid_gpu.cpp diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/featurepyramid_gpu.hpp b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/featurepyramid_gpu.hpp similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/featurepyramid_gpu.hpp rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/featurepyramid_gpu.hpp diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/for_use_gpu.h b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/for_use_gpu.h similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/for_use_gpu.h rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/for_use_gpu.h diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/gpu_function.cu b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/gpu_function.cu similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/gpu_function.cu rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/gpu_function.cu diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/gpu_init.cpp b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/gpu_init.cpp similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/gpu_init.cpp rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/gpu_init.cpp diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/gpu_matching.h b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/gpu_matching.h similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/gpu_matching.h rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/gpu_matching.h diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/matching_gpu.cpp b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/matching_gpu.cpp similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/matching_gpu.cpp rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/matching_gpu.cpp diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/matching_gpu.hpp b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/matching_gpu.hpp similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/matching_gpu.hpp rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/matching_gpu.hpp diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/resizeimg_gpu.cpp b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/resizeimg_gpu.cpp similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/resizeimg_gpu.cpp rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/resizeimg_gpu.cpp diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/resizeimg_gpu.h b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/resizeimg_gpu.h similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/resizeimg_gpu.h rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/resizeimg_gpu.h diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/routine_gpu.cpp b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/routine_gpu.cpp similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/routine_gpu.cpp rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/routine_gpu.cpp diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/routine_gpu.hpp b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/routine_gpu.hpp similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/gpu/routine_gpu.hpp rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/gpu/routine_gpu.hpp diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/include/dpm_ocv/dpm_ocv.hpp b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/include/libdpm_ocv/dpm_ocv.hpp similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/include/dpm_ocv/dpm_ocv.hpp rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/include/libdpm_ocv/dpm_ocv.hpp diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ocv/package.xml b/ros/src/computing/perception/detection/lib/image/libdpm_ocv/package.xml similarity index 100% rename from ros/src/computing/perception/detection/lib/image/dpm_ocv/package.xml rename to ros/src/computing/perception/detection/lib/image/libdpm_ocv/package.xml 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 33ff0b5c6c..19a3b525b0 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt @@ -140,7 +140,7 @@ install(TARGETS dpm_ttic ## dpm_ocv if ("${ROS_VERSION}" MATCHES "(indigo|jade)") - INCLUDE_DIRECTORIES(../../lib/image/dpm_ocv/src) + INCLUDE_DIRECTORIES(${catkin_INCLUDE_DIRS}) ADD_EXECUTABLE(dpm_ocv nodes/dpm_ocv/dpm_ocv.cpp diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/dpm_ocv/dpm_ocv.cpp b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/dpm_ocv/dpm_ocv.cpp index dff99b4557..883e7c3e6c 100755 --- a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/dpm_ocv/dpm_ocv.cpp +++ b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/dpm_ocv/dpm_ocv.cpp @@ -9,7 +9,7 @@ #include "autoware_msgs/image_obj.h" #include "autoware_msgs/ConfigCarDpm.h" -#include +#include #define XSTR(x) #x #define STR(x) XSTR(x) 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 5d67f0b74b..dd3fe152f3 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 @@ -4,36 +4,68 @@ project(pcl_omp_registration) find_package(catkin REQUIRED COMPONENTS) find_package(PCL REQUIRED) +catkin_package( + INCLUDE_DIRS include + LIBRARIES pcl_omp_registration +) + +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 (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") - - catkin_package( - INCLUDE_DIRS include - LIBRARIES ${LIB_NAME} - ) set(srcs src/ndt.cpp ) set(incs - "include/pcl_omp/registration/ndt.h" - "include/pcl_omp/registration/registration.h" + 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" + include/pcl_omp/registration/impl/ndt.hpp + include/pcl_omp/registration/impl/registration.hpp + ) + + include_directories(include + ${PCL_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} ) - include_directories(${PCL_INCLUDE_DIRS} "${CMAKE_CURRENT_SOURCE_DIR}/include") + add_library(pcl_omp_registration + ${srcs} + ${incs} + ${impl_incs} + ) + + target_link_libraries(pcl_omp_registration + ${PCL_LIBRARIES} + ${EIGEN3_LIBRARIES} + ) + + install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + ) - add_library("${LIB_NAME}" ${srcs} ${incs} ${impl_incs}) - target_link_libraries("${LIB_NAME}" ${PCL_LIBRRIES}) + install(TARGETS pcl_omp_registration + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) ENDIF (PCL_VERSION VERSION_LESS "1.7.2") From 8dc26900f13b830cd712f6a070f23465a3b114b6 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Fri, 27 Apr 2018 01:07:01 +0900 Subject: [PATCH 84/92] no fast_pcl anymore --- .../lib/{fast_pcl => }/ndt_cpu/CHANGELOG.rst | 0 .../lib/{fast_pcl => }/ndt_cpu/CMakeLists.txt | 14 +++++++------- .../ndt_cpu/NormalDistributionsTransform.h | 0 .../include}/ndt_cpu/Octree.h | 0 .../include}/ndt_cpu/Registration.h | 0 .../include}/ndt_cpu/SymmetricEigenSolver.h | 0 .../include}/ndt_cpu/VoxelGrid.h | 0 .../include}/ndt_cpu/debug.h | 0 .../lib/{fast_pcl => }/ndt_cpu/package.xml | 0 .../src/NormalDistributionsTransform.cpp | 4 ++-- .../lib/{fast_pcl => }/ndt_cpu/src/Octree.cpp | 4 ++-- .../ndt_cpu/src/Registration.cpp | 4 ++-- .../{fast_pcl => }/ndt_cpu/src/VoxelGrid.cpp | 6 +++--- .../lib/{fast_pcl => }/ndt_gpu/CHANGELOG.rst | 0 .../lib/{fast_pcl => }/ndt_gpu/CMakeLists.txt | 18 +++++++++--------- .../include}/ndt_gpu/Matrix.h | 0 .../include}/ndt_gpu/MatrixDevice.h | 0 .../include}/ndt_gpu/MatrixHost.h | 0 .../ndt_gpu/NormalDistributionsTransform.h | 0 .../include}/ndt_gpu/Registration.h | 0 .../include}/ndt_gpu/SymmetricEigenSolver.h | 0 .../include}/ndt_gpu/VoxelGrid.h | 0 .../include}/ndt_gpu/common.h | 0 .../include}/ndt_gpu/debug.h | 0 .../lib/{fast_pcl => }/ndt_gpu/package.xml | 0 .../{fast_pcl => }/ndt_gpu/src/MatrixDevice.cu | 4 ++-- .../{fast_pcl => }/ndt_gpu/src/MatrixHost.cu | 4 ++-- .../src/NormalDistributionsTransform.cu | 4 ++-- .../{fast_pcl => }/ndt_gpu/src/Registration.cu | 4 ++-- .../ndt_gpu/src/SymmetricEigenSolver.cu | 4 ++-- .../{fast_pcl => }/ndt_gpu/src/VoxelGrid.cu | 8 ++++---- .../nodes/ndt_mapping/ndt_mapping.cpp | 4 ++-- .../nodes/ndt_matching/ndt_matching.cpp | 4 ++-- 33 files changed, 43 insertions(+), 43 deletions(-) rename ros/src/computing/perception/localization/lib/{fast_pcl => }/ndt_cpu/CHANGELOG.rst (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl => }/ndt_cpu/CMakeLists.txt (81%) rename ros/src/computing/perception/localization/lib/{fast_pcl/ndt_cpu/include/fast_pcl => ndt_cpu/include}/ndt_cpu/NormalDistributionsTransform.h (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl/ndt_cpu/include/fast_pcl => ndt_cpu/include}/ndt_cpu/Octree.h (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl/ndt_cpu/include/fast_pcl => ndt_cpu/include}/ndt_cpu/Registration.h (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl/ndt_cpu/include/fast_pcl => ndt_cpu/include}/ndt_cpu/SymmetricEigenSolver.h (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl/ndt_cpu/include/fast_pcl => ndt_cpu/include}/ndt_cpu/VoxelGrid.h (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl/ndt_cpu/include/fast_pcl => ndt_cpu/include}/ndt_cpu/debug.h (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl => }/ndt_cpu/package.xml (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl => }/ndt_cpu/src/NormalDistributionsTransform.cpp (99%) rename ros/src/computing/perception/localization/lib/{fast_pcl => }/ndt_cpu/src/Octree.cpp (99%) rename ros/src/computing/perception/localization/lib/{fast_pcl => }/ndt_cpu/src/Registration.cpp (97%) rename ros/src/computing/perception/localization/lib/{fast_pcl => }/ndt_cpu/src/VoxelGrid.cpp (99%) rename ros/src/computing/perception/localization/lib/{fast_pcl => }/ndt_gpu/CHANGELOG.rst (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl => }/ndt_gpu/CMakeLists.txt (85%) rename ros/src/computing/perception/localization/lib/{fast_pcl/ndt_gpu/include/fast_pcl => ndt_gpu/include}/ndt_gpu/Matrix.h (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl/ndt_gpu/include/fast_pcl => ndt_gpu/include}/ndt_gpu/MatrixDevice.h (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl/ndt_gpu/include/fast_pcl => ndt_gpu/include}/ndt_gpu/MatrixHost.h (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl/ndt_gpu/include/fast_pcl => ndt_gpu/include}/ndt_gpu/NormalDistributionsTransform.h (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl/ndt_gpu/include/fast_pcl => ndt_gpu/include}/ndt_gpu/Registration.h (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl/ndt_gpu/include/fast_pcl => ndt_gpu/include}/ndt_gpu/SymmetricEigenSolver.h (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl/ndt_gpu/include/fast_pcl => ndt_gpu/include}/ndt_gpu/VoxelGrid.h (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl/ndt_gpu/include/fast_pcl => ndt_gpu/include}/ndt_gpu/common.h (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl/ndt_gpu/include/fast_pcl => ndt_gpu/include}/ndt_gpu/debug.h (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl => }/ndt_gpu/package.xml (100%) rename ros/src/computing/perception/localization/lib/{fast_pcl => }/ndt_gpu/src/MatrixDevice.cu (87%) rename ros/src/computing/perception/localization/lib/{fast_pcl => }/ndt_gpu/src/MatrixHost.cu (97%) rename ros/src/computing/perception/localization/lib/{fast_pcl => }/ndt_gpu/src/NormalDistributionsTransform.cu (99%) rename ros/src/computing/perception/localization/lib/{fast_pcl => }/ndt_gpu/src/Registration.cu (99%) rename ros/src/computing/perception/localization/lib/{fast_pcl => }/ndt_gpu/src/SymmetricEigenSolver.cu (93%) rename ros/src/computing/perception/localization/lib/{fast_pcl => }/ndt_gpu/src/VoxelGrid.cu (99%) diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/CHANGELOG.rst b/ros/src/computing/perception/localization/lib/ndt_cpu/CHANGELOG.rst similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/CHANGELOG.rst rename to ros/src/computing/perception/localization/lib/ndt_cpu/CHANGELOG.rst diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/CMakeLists.txt b/ros/src/computing/perception/localization/lib/ndt_cpu/CMakeLists.txt similarity index 81% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/CMakeLists.txt rename to ros/src/computing/perception/localization/lib/ndt_cpu/CMakeLists.txt index 25e4ca608f..74a3ddd3c1 100644 --- a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/ndt_cpu/CMakeLists.txt @@ -27,7 +27,7 @@ catkin_package( include_directories( ${PCL_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} - "${CMAKE_CURRENT_SOURCE_DIR}/include" + "include" ${EIGEN3_INCLUDE_DIRS} ) @@ -39,12 +39,12 @@ set(srcs ) set(incs - include/fast_pcl/ndt_cpu/debug.h - include/fast_pcl/ndt_cpu/NormalDistributionsTransform.h - include/fast_pcl/ndt_cpu/Registration.h - include/fast_pcl/ndt_cpu/SymmetricEigenSolver.h - include/fast_pcl/ndt_cpu/VoxelGrid.h - include/fast_pcl/ndt_cpu/Octree.h + include/ndt_cpu/debug.h + include/ndt_cpu/NormalDistributionsTransform.h + include/ndt_cpu/Registration.h + include/ndt_cpu/SymmetricEigenSolver.h + include/ndt_cpu/VoxelGrid.h + include/ndt_cpu/Octree.h ) add_library(ndt_cpu ${incs} ${srcs}) diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/include/fast_pcl/ndt_cpu/NormalDistributionsTransform.h b/ros/src/computing/perception/localization/lib/ndt_cpu/include/ndt_cpu/NormalDistributionsTransform.h similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/include/fast_pcl/ndt_cpu/NormalDistributionsTransform.h rename to ros/src/computing/perception/localization/lib/ndt_cpu/include/ndt_cpu/NormalDistributionsTransform.h diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/include/fast_pcl/ndt_cpu/Octree.h b/ros/src/computing/perception/localization/lib/ndt_cpu/include/ndt_cpu/Octree.h similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/include/fast_pcl/ndt_cpu/Octree.h rename to ros/src/computing/perception/localization/lib/ndt_cpu/include/ndt_cpu/Octree.h diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/include/fast_pcl/ndt_cpu/Registration.h b/ros/src/computing/perception/localization/lib/ndt_cpu/include/ndt_cpu/Registration.h similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/include/fast_pcl/ndt_cpu/Registration.h rename to ros/src/computing/perception/localization/lib/ndt_cpu/include/ndt_cpu/Registration.h diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/include/fast_pcl/ndt_cpu/SymmetricEigenSolver.h b/ros/src/computing/perception/localization/lib/ndt_cpu/include/ndt_cpu/SymmetricEigenSolver.h similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/include/fast_pcl/ndt_cpu/SymmetricEigenSolver.h rename to ros/src/computing/perception/localization/lib/ndt_cpu/include/ndt_cpu/SymmetricEigenSolver.h diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/include/fast_pcl/ndt_cpu/VoxelGrid.h b/ros/src/computing/perception/localization/lib/ndt_cpu/include/ndt_cpu/VoxelGrid.h similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/include/fast_pcl/ndt_cpu/VoxelGrid.h rename to ros/src/computing/perception/localization/lib/ndt_cpu/include/ndt_cpu/VoxelGrid.h diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/include/fast_pcl/ndt_cpu/debug.h b/ros/src/computing/perception/localization/lib/ndt_cpu/include/ndt_cpu/debug.h similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/include/fast_pcl/ndt_cpu/debug.h rename to ros/src/computing/perception/localization/lib/ndt_cpu/include/ndt_cpu/debug.h diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/package.xml b/ros/src/computing/perception/localization/lib/ndt_cpu/package.xml similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/package.xml rename to ros/src/computing/perception/localization/lib/ndt_cpu/package.xml diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/src/NormalDistributionsTransform.cpp b/ros/src/computing/perception/localization/lib/ndt_cpu/src/NormalDistributionsTransform.cpp similarity index 99% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/src/NormalDistributionsTransform.cpp rename to ros/src/computing/perception/localization/lib/ndt_cpu/src/NormalDistributionsTransform.cpp index c345daa3b7..d0be3382e4 100644 --- a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/src/NormalDistributionsTransform.cpp +++ b/ros/src/computing/perception/localization/lib/ndt_cpu/src/NormalDistributionsTransform.cpp @@ -1,5 +1,5 @@ -#include "fast_pcl/ndt_cpu/NormalDistributionsTransform.h" -#include "fast_pcl/ndt_cpu/debug.h" +#include "ndt_cpu/NormalDistributionsTransform.h" +#include "ndt_cpu/debug.h" #include #include #include diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/src/Octree.cpp b/ros/src/computing/perception/localization/lib/ndt_cpu/src/Octree.cpp similarity index 99% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/src/Octree.cpp rename to ros/src/computing/perception/localization/lib/ndt_cpu/src/Octree.cpp index 122ac65909..29b1e012a2 100644 --- a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/src/Octree.cpp +++ b/ros/src/computing/perception/localization/lib/ndt_cpu/src/Octree.cpp @@ -1,5 +1,5 @@ -#include "fast_pcl/ndt_cpu/Octree.h" -#include "fast_pcl/ndt_cpu/debug.h" +#include "ndt_cpu/Octree.h" +#include "ndt_cpu/debug.h" #include #include #include diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/src/Registration.cpp b/ros/src/computing/perception/localization/lib/ndt_cpu/src/Registration.cpp similarity index 97% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/src/Registration.cpp rename to ros/src/computing/perception/localization/lib/ndt_cpu/src/Registration.cpp index e28244c4f3..e091267be4 100644 --- a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/src/Registration.cpp +++ b/ros/src/computing/perception/localization/lib/ndt_cpu/src/Registration.cpp @@ -1,5 +1,5 @@ -#include "fast_pcl/ndt_cpu/Registration.h" -#include "fast_pcl/ndt_cpu/debug.h" +#include "ndt_cpu/Registration.h" +#include "ndt_cpu/debug.h" #include namespace cpu { diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/src/VoxelGrid.cpp b/ros/src/computing/perception/localization/lib/ndt_cpu/src/VoxelGrid.cpp similarity index 99% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/src/VoxelGrid.cpp rename to ros/src/computing/perception/localization/lib/ndt_cpu/src/VoxelGrid.cpp index ae0cf11ac4..8de9c55e72 100644 --- a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_cpu/src/VoxelGrid.cpp +++ b/ros/src/computing/perception/localization/lib/ndt_cpu/src/VoxelGrid.cpp @@ -1,5 +1,5 @@ -#include "fast_pcl/ndt_cpu/VoxelGrid.h" -#include "fast_pcl/ndt_cpu/debug.h" +#include "ndt_cpu/VoxelGrid.h" +#include "ndt_cpu/debug.h" #include #include #include @@ -10,7 +10,7 @@ #include #include -#include "fast_pcl/ndt_cpu/SymmetricEigenSolver.h" +#include "ndt_cpu/SymmetricEigenSolver.h" namespace cpu { diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/CHANGELOG.rst b/ros/src/computing/perception/localization/lib/ndt_gpu/CHANGELOG.rst similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/CHANGELOG.rst rename to ros/src/computing/perception/localization/lib/ndt_gpu/CHANGELOG.rst diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/CMakeLists.txt b/ros/src/computing/perception/localization/lib/ndt_gpu/CMakeLists.txt similarity index 85% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/CMakeLists.txt rename to ros/src/computing/perception/localization/lib/ndt_gpu/CMakeLists.txt index 4f32b9f85c..a8a4e774d2 100644 --- a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/ndt_gpu/CMakeLists.txt @@ -65,15 +65,15 @@ if (CUDA_FOUND) ) set(incs - include/fast_pcl/ndt_gpu/common.h - include/fast_pcl/ndt_gpu/debug.h - include/fast_pcl/ndt_gpu/Matrix.h - include/fast_pcl/ndt_gpu/MatrixDevice.h - include/fast_pcl/ndt_gpu/MatrixHost.h - include/fast_pcl/ndt_gpu/NormalDistributionsTransform.h - include/fast_pcl/ndt_gpu/Registration.h - include/fast_pcl/ndt_gpu/SymmetricEigenSolver.h - include/fast_pcl/ndt_gpu/VoxelGrid.h + include/ndt_gpu/common.h + include/ndt_gpu/debug.h + include/ndt_gpu/Matrix.h + include/ndt_gpu/MatrixDevice.h + include/ndt_gpu/MatrixHost.h + include/ndt_gpu/NormalDistributionsTransform.h + include/ndt_gpu/Registration.h + include/ndt_gpu/SymmetricEigenSolver.h + include/ndt_gpu/VoxelGrid.h ) cuda_add_library(ndt_gpu ${srcs} ${incs}) diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/include/fast_pcl/ndt_gpu/Matrix.h b/ros/src/computing/perception/localization/lib/ndt_gpu/include/ndt_gpu/Matrix.h similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/include/fast_pcl/ndt_gpu/Matrix.h rename to ros/src/computing/perception/localization/lib/ndt_gpu/include/ndt_gpu/Matrix.h diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/include/fast_pcl/ndt_gpu/MatrixDevice.h b/ros/src/computing/perception/localization/lib/ndt_gpu/include/ndt_gpu/MatrixDevice.h similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/include/fast_pcl/ndt_gpu/MatrixDevice.h rename to ros/src/computing/perception/localization/lib/ndt_gpu/include/ndt_gpu/MatrixDevice.h diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/include/fast_pcl/ndt_gpu/MatrixHost.h b/ros/src/computing/perception/localization/lib/ndt_gpu/include/ndt_gpu/MatrixHost.h similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/include/fast_pcl/ndt_gpu/MatrixHost.h rename to ros/src/computing/perception/localization/lib/ndt_gpu/include/ndt_gpu/MatrixHost.h diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/include/fast_pcl/ndt_gpu/NormalDistributionsTransform.h b/ros/src/computing/perception/localization/lib/ndt_gpu/include/ndt_gpu/NormalDistributionsTransform.h similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/include/fast_pcl/ndt_gpu/NormalDistributionsTransform.h rename to ros/src/computing/perception/localization/lib/ndt_gpu/include/ndt_gpu/NormalDistributionsTransform.h diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/include/fast_pcl/ndt_gpu/Registration.h b/ros/src/computing/perception/localization/lib/ndt_gpu/include/ndt_gpu/Registration.h similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/include/fast_pcl/ndt_gpu/Registration.h rename to ros/src/computing/perception/localization/lib/ndt_gpu/include/ndt_gpu/Registration.h diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/include/fast_pcl/ndt_gpu/SymmetricEigenSolver.h b/ros/src/computing/perception/localization/lib/ndt_gpu/include/ndt_gpu/SymmetricEigenSolver.h similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/include/fast_pcl/ndt_gpu/SymmetricEigenSolver.h rename to ros/src/computing/perception/localization/lib/ndt_gpu/include/ndt_gpu/SymmetricEigenSolver.h diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/include/fast_pcl/ndt_gpu/VoxelGrid.h b/ros/src/computing/perception/localization/lib/ndt_gpu/include/ndt_gpu/VoxelGrid.h similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/include/fast_pcl/ndt_gpu/VoxelGrid.h rename to ros/src/computing/perception/localization/lib/ndt_gpu/include/ndt_gpu/VoxelGrid.h diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/include/fast_pcl/ndt_gpu/common.h b/ros/src/computing/perception/localization/lib/ndt_gpu/include/ndt_gpu/common.h similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/include/fast_pcl/ndt_gpu/common.h rename to ros/src/computing/perception/localization/lib/ndt_gpu/include/ndt_gpu/common.h diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/include/fast_pcl/ndt_gpu/debug.h b/ros/src/computing/perception/localization/lib/ndt_gpu/include/ndt_gpu/debug.h similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/include/fast_pcl/ndt_gpu/debug.h rename to ros/src/computing/perception/localization/lib/ndt_gpu/include/ndt_gpu/debug.h diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/package.xml b/ros/src/computing/perception/localization/lib/ndt_gpu/package.xml similarity index 100% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/package.xml rename to ros/src/computing/perception/localization/lib/ndt_gpu/package.xml diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/MatrixDevice.cu b/ros/src/computing/perception/localization/lib/ndt_gpu/src/MatrixDevice.cu similarity index 87% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/MatrixDevice.cu rename to ros/src/computing/perception/localization/lib/ndt_gpu/src/MatrixDevice.cu index a54cc56d17..23f49a0ead 100644 --- a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/MatrixDevice.cu +++ b/ros/src/computing/perception/localization/lib/ndt_gpu/src/MatrixDevice.cu @@ -1,5 +1,5 @@ -#include "fast_pcl/ndt_gpu/MatrixDevice.h" -#include "fast_pcl/ndt_gpu/debug.h" +#include "ndt_gpu/MatrixDevice.h" +#include "ndt_gpu/debug.h" namespace gpu { MatrixDevice::MatrixDevice(int rows, int cols) { diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/MatrixHost.cu b/ros/src/computing/perception/localization/lib/ndt_gpu/src/MatrixHost.cu similarity index 97% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/MatrixHost.cu rename to ros/src/computing/perception/localization/lib/ndt_gpu/src/MatrixHost.cu index f673958aee..2fa0572e57 100644 --- a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/MatrixHost.cu +++ b/ros/src/computing/perception/localization/lib/ndt_gpu/src/MatrixHost.cu @@ -1,5 +1,5 @@ -#include "fast_pcl/ndt_gpu/MatrixHost.h" -#include "fast_pcl/ndt_gpu/debug.h" +#include "ndt_gpu/MatrixHost.h" +#include "ndt_gpu/debug.h" #include #include #include diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/NormalDistributionsTransform.cu b/ros/src/computing/perception/localization/lib/ndt_gpu/src/NormalDistributionsTransform.cu similarity index 99% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/NormalDistributionsTransform.cu rename to ros/src/computing/perception/localization/lib/ndt_gpu/src/NormalDistributionsTransform.cu index 28c232b810..09d2fba9b4 100644 --- a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/NormalDistributionsTransform.cu +++ b/ros/src/computing/perception/localization/lib/ndt_gpu/src/NormalDistributionsTransform.cu @@ -1,5 +1,5 @@ -#include "fast_pcl/ndt_gpu/NormalDistributionsTransform.h" -#include "fast_pcl/ndt_gpu/debug.h" +#include "ndt_gpu/NormalDistributionsTransform.h" +#include "ndt_gpu/debug.h" #include #include #include diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/Registration.cu b/ros/src/computing/perception/localization/lib/ndt_gpu/src/Registration.cu similarity index 99% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/Registration.cu rename to ros/src/computing/perception/localization/lib/ndt_gpu/src/Registration.cu index cd5f0784e8..6b687137c2 100644 --- a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/Registration.cu +++ b/ros/src/computing/perception/localization/lib/ndt_gpu/src/Registration.cu @@ -1,5 +1,5 @@ -#include "fast_pcl/ndt_gpu/Registration.h" -#include "fast_pcl/ndt_gpu/debug.h" +#include "ndt_gpu/Registration.h" +#include "ndt_gpu/debug.h" #include namespace gpu { diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/SymmetricEigenSolver.cu b/ros/src/computing/perception/localization/lib/ndt_gpu/src/SymmetricEigenSolver.cu similarity index 93% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/SymmetricEigenSolver.cu rename to ros/src/computing/perception/localization/lib/ndt_gpu/src/SymmetricEigenSolver.cu index 9c3481145e..c1854e2aff 100644 --- a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/SymmetricEigenSolver.cu +++ b/ros/src/computing/perception/localization/lib/ndt_gpu/src/SymmetricEigenSolver.cu @@ -1,5 +1,5 @@ -#include "fast_pcl/ndt_gpu/SymmetricEigenSolver.h" -#include "fast_pcl/ndt_gpu/debug.h" +#include "ndt_gpu/SymmetricEigenSolver.h" +#include "ndt_gpu/debug.h" namespace gpu { diff --git a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/VoxelGrid.cu b/ros/src/computing/perception/localization/lib/ndt_gpu/src/VoxelGrid.cu similarity index 99% rename from ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/VoxelGrid.cu rename to ros/src/computing/perception/localization/lib/ndt_gpu/src/VoxelGrid.cu index 8c9a1cc72e..0178ce0939 100644 --- a/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/VoxelGrid.cu +++ b/ros/src/computing/perception/localization/lib/ndt_gpu/src/VoxelGrid.cu @@ -1,6 +1,6 @@ -#include "fast_pcl/ndt_gpu/VoxelGrid.h" -#include "fast_pcl/ndt_gpu/debug.h" -#include "fast_pcl/ndt_gpu/common.h" +#include "ndt_gpu/VoxelGrid.h" +#include "ndt_gpu/debug.h" +#include "ndt_gpu/common.h" #include #include #include @@ -16,7 +16,7 @@ #include #include -#include "fast_pcl/ndt_gpu/SymmetricEigenSolver.h" +#include "ndt_gpu/SymmetricEigenSolver.h" namespace gpu { diff --git a/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_mapping/ndt_mapping.cpp b/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_mapping/ndt_mapping.cpp index 04ae638937..e23b309df9 100644 --- a/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_mapping/ndt_mapping.cpp +++ b/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_mapping/ndt_mapping.cpp @@ -59,9 +59,9 @@ #include #include -#include +#include #ifdef CUDA_FOUND - #include + #include #endif #ifdef USE_PCL_OPENMP #include diff --git a/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_matching/ndt_matching.cpp b/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_matching/ndt_matching.cpp index c1a4fef6f7..1793ab926d 100644 --- a/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_matching/ndt_matching.cpp +++ b/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_matching/ndt_matching.cpp @@ -66,9 +66,9 @@ #include #include -#include +#include #ifdef CUDA_FOUND - #include + #include #endif #ifdef USE_PCL_OPENMP #include From 91f24036924c8dfc7240bdad3c3a017914570e1b Mon Sep 17 00:00:00 2001 From: amc-nu Date: Fri, 27 Apr 2018 15:38:35 +0900 Subject: [PATCH 85/92] fixes to libdpm and its package --- .../lib/image/dpm_ttic/CMakeLists.txt | 100 ++++++----- .../detection/lib/image/dpm_ttic/package.xml | 2 + .../packages/cv_tracker/CMakeLists.txt | 163 +++++++++--------- .../detection/packages/cv_tracker/package.xml | 4 +- .../packages/lidar_tracker/CMakeLists.txt | 19 -- 5 files changed, 138 insertions(+), 150 deletions(-) diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ttic/CMakeLists.txt b/ros/src/computing/perception/detection/lib/image/dpm_ttic/CMakeLists.txt index 1de07cad1c..57d9f34713 100644 --- a/ros/src/computing/perception/detection/lib/image/dpm_ttic/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lib/image/dpm_ttic/CMakeLists.txt @@ -1,14 +1,14 @@ cmake_minimum_required(VERSION 2.8.3) project(libdpm_ttic) -FIND_PACKAGE(catkin REQUIRED COMPONENTS +find_package(catkin REQUIRED COMPONENTS sensor_msgs std_msgs ) -FIND_PACKAGE(OpenCV REQUIRED) -FIND_PACKAGE(CUDA) +find_package(OpenCV REQUIRED) +find_package(CUDA) -EXECUTE_PROCESS( +execute_process( COMMAND uname -m OUTPUT_VARIABLE ARCHITECTURE OUTPUT_STRIP_TRAILING_WHITESPACE @@ -17,57 +17,56 @@ EXECUTE_PROCESS( catkin_package( INCLUDE_DIRS include LIBRARIES libdpm_ttic - CATKIN_DEPENDS sensor_msgs ) -SET(CMAKE_C_FLAGS "-O2 -g -Wall -Wno-unused-result ${CMAKE_C_FLAGS}") -SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall -Wno-unused-result ${CMAKE_CXX_FLAGS}") +set(CMAKE_C_FLAGS "-O2 -g -Wall -Wno-unused-result ${CMAKE_C_FLAGS}") +set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall -Wno-unused-result ${CMAKE_CXX_FLAGS}") -IF (CUDA_FOUND) - INCLUDE_DIRECTORIES( +if(CUDA_FOUND) + include_directories( include ${catkin_INCLUDE_DIRS} ${CUDA_INCLUDE_DIRS} - common - cpu - gpu + "common" + "cpu" + "gpu" ) - IF ("${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() - FILE(GLOB DPM_TTIC_COMMON_IMPL_SOURCES "common/*.cpp") - FILE(GLOB DPM_TTIC_CPU_IMPL_SOURCES "cpu/*.cpp") - FILE(GLOB DPM_TTIC_GPU_IMPL_SOURCES "gpu/*.cpp") + file(GLOB DPM_TTIC_COMMON_IMPL_SOURCES "common/*.cpp") + file(GLOB DPM_TTIC_CPU_IMPL_SOURCES "cpu/*.cpp") + file(GLOB DPM_TTIC_GPU_IMPL_SOURCES "gpu/*.cpp") ## Declare a cpp library - ADD_LIBRARY(libdpm_ttic + add_library(libdpm_ttic ${DPM_TTIC_COMMON_IMPL_SOURCES} ${DPM_TTIC_CPU_IMPL_SOURCES} ${DPM_TTIC_GPU_IMPL_SOURCES} ) #SET_TARGET_PROPERTIES(libdpm_ttic PROPERTIES OUTPUT_NAME dpm_ttic) - TARGET_LINK_LIBRARIES(libdpm_ttic + target_link_libraries(libdpm_ttic ${catkin_LIBRARIES} ${OpenCV_LIBS} - ${CUDA_LIBRARIES} + cuda ) - SET(CUDA_COMPILER "${CUDA_TOOLKIT_ROOT_DIR}/bin/nvcc") + set(CUDA_COMPILER "${CUDA_TOOLKIT_ROOT_DIR}/bin/nvcc") - IF ("${ARCHITECTURE}" MATCHES "^arm") - SET(CUDA_LDFLAGS -L/usr/lib/arm-linux-gnueabihf/tegra -lcuda) - ELSE () - SET(CUDA_LDFLAGS -lcuda) - ENDIF () + if("${ARCHITECTURE}" MATCHES "^arm") + set(CUDA_LDFLAGS -L/usr/lib/arm-linux-gnueabihf/tegra -lcuda) + else() + set(CUDA_LDFLAGS -lcuda) + endif() - SET(CUDA_CAPABILITY_VERSION_CHECKER + set(CUDA_CAPABILITY_VERSION_CHECKER "${CATKIN_DEVEL_PREFIX}/lib/capability_version_checker" ) - EXECUTE_PROCESS( + execute_process( COMMAND ${CUDA_COMPILER} -o ${CUDA_CAPABILITY_VERSION_CHECKER} @@ -75,20 +74,20 @@ IF (CUDA_FOUND) ${CUDA_LDFLAGS} ) - EXECUTE_PROCESS( + 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_${CUDA_CAPABILITY_VERSION}") + else() + set(CUDA_ARCH "sm_52") + endif() - SET(CUDA_FILE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/gpu") - ADD_CUSTOM_COMMAND( + set(CUDA_FILE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/gpu") + add_custom_command( OUTPUT GPU_function.cubin COMMAND ${CUDA_COMPILER} "-arch=${CUDA_ARCH}" @@ -98,40 +97,37 @@ IF (CUDA_FOUND) DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/gpu/GPU_function.cu" ) - ADD_CUSTOM_TARGET(cuda_binary DEPENDS GPU_function.cubin) - ADD_DEPENDENCIES(libdpm_ttic + add_custom_target(cuda_binary DEPENDS GPU_function.cubin) + add_dependencies(libdpm_ttic cuda_binary ) -ELSE ()#No CUDA +else() - INCLUDE_DIRECTORIES( + include_directories( include ${catkin_INCLUDE_DIRS} - common - cpu + "common" + "cpu" ) - FILE(GLOB DPM_TTIC_COMMON_IMPL_SOURCES "common/*.cpp") - FILE(GLOB DPM_TTIC_CPU_IMPL_SOURCES "cpu/*.cpp") + file(GLOB DPM_TTIC_COMMON_IMPL_SOURCES "common/*.cpp") + file(GLOB DPM_TTIC_CPU_IMPL_SOURCES "cpu/*.cpp") ## Declare a cpp library - ADD_LIBRARY(libdpm_ttic + add_library(libdpm_ttic ${DPM_TTIC_COMMON_IMPL_SOURCES} ${DPM_TTIC_CPU_IMPL_SOURCES} ) + #SET_TARGET_PROPERTIES(libdpm_ttic PROPERTIES OUTPUT_NAME dpm_ttic) - TARGET_LINK_LIBRARIES(libdpm_ttic + target_link_libraries(libdpm_ttic ${catkin_LIBRARIES} ${OpenCV_LIBS} ) -ENDIF () - -############# -## Install ## -############# +endif() install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} diff --git a/ros/src/computing/perception/detection/lib/image/dpm_ttic/package.xml b/ros/src/computing/perception/detection/lib/image/dpm_ttic/package.xml index ffd7ea3b82..e215e5aec4 100644 --- a/ros/src/computing/perception/detection/lib/image/dpm_ttic/package.xml +++ b/ros/src/computing/perception/detection/lib/image/dpm_ttic/package.xml @@ -10,10 +10,12 @@ sensor_msgs std_msgs cv_bridge + libopencv-dev sensor_msgs std_msgs cv_bridge + libopencv-dev 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 19a3b525b0..f3efbc7414 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/cv_tracker/CMakeLists.txt @@ -83,44 +83,57 @@ endif () ## Build ## ########### -SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") +set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}") -INCLUDE_DIRECTORIES( +include_directories( ${catkin_INCLUDE_DIRS} lib include ) IF (CUDA_FOUND) - INCLUDE_DIRECTORIES(${CUDA_INCLUDE_DIRS}) + include_directories(${CUDA_INCLUDE_DIRS}) IF ("${ARCHITECTURE}" MATCHES "^arm") - LINK_DIRECTORIES(/usr/lib/arm-linux-gnueabihf/tegra) + link_directories(/usr/lib/arm-linux-gnueabihf/tegra) 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 - ) -TARGET_LINK_LIBRARIES(dpm_ttic - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - ) #this must be fixed to use cmake cuda commands IF (CUDA_FOUND) - SET_TARGET_PROPERTIES(dpm_ttic + + cuda_add_executable(dpm_ttic + nodes/dpm_ttic/dpm_ttic.cpp + ) + + target_link_libraries(dpm_ttic + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ${CUDA_LIBRARIES} + ${CUDA_CUBLAS_LIBRARIES} + ${CUDA_curand_LIBRARY} + ) + + set_target_properties(dpm_ttic PROPERTIES COMPILE_FLAGS "-DHAS_GPU -DDEFAULT_CUBIN=${CATKIN_DEVEL_PREFIX}/lib/GPU_function.cubin -DMODEL_DIR=${CMAKE_CURRENT_SOURCE_DIR}/data/" ) ELSE () - SET_TARGET_PROPERTIES(dpm_ttic + + add_executable(dpm_ttic + nodes/dpm_ttic/dpm_ttic.cpp + ) + + target_link_libraries(dpm_ttic + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) + + set_target_properties(dpm_ttic PROPERTIES COMPILE_FLAGS "-DMODEL_DIR=${CMAKE_CURRENT_SOURCE_DIR}/data/" @@ -128,7 +141,7 @@ ELSE () ENDIF () -ADD_DEPENDENCIES(dpm_ttic +add_dependencies(dpm_ttic ${catkin_EXPORTED_TARGETS} ) @@ -140,36 +153,36 @@ install(TARGETS dpm_ttic ## dpm_ocv if ("${ROS_VERSION}" MATCHES "(indigo|jade)") - INCLUDE_DIRECTORIES(${catkin_INCLUDE_DIRS}) - - ADD_EXECUTABLE(dpm_ocv - nodes/dpm_ocv/dpm_ocv.cpp - ) - - TARGET_LINK_LIBRARIES(dpm_ocv - ${catkin_LIBRARIES} - #${OpenCV_LIBS} - ) - - ADD_DEPENDENCIES(dpm_ocv - ${catkin_EXPORTED_TARGETS} - ) IF (CUDA_FOUND) - SET_TARGET_PROPERTIES(dpm_ocv + cuda_add_executable(dpm_ocv + nodes/dpm_ocv/dpm_ocv.cpp + ) + set_target_properties(dpm_ocv PROPERTIES COMPILE_FLAGS "-DHAS_GPU -DDEFAULT_CUBIN=${CATKIN_DEVEL_PREFIX}/lib/gpu_function.cubin -DMODEL_DIR=${CMAKE_CURRENT_SOURCE_DIR}/model/models_VOC2007/" ) ELSE () - SET_TARGET_PROPERTIES(dpm_ocv + add_executable(dpm_ocv + nodes/dpm_ocv/dpm_ocv.cpp + ) + set_target_properties(dpm_ocv PROPERTIES COMPILE_FLAGS "-DMODEL_DIR=${CMAKE_CURRENT_SOURCE_DIR}/data/" ) - ENDIF () - #CUDAENDIF + + target_link_libraries(dpm_ocv + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) + + add_dependencies(dpm_ocv + ${catkin_EXPORTED_TARGETS} + ) + install(TARGETS dpm_ocv ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} @@ -180,16 +193,16 @@ ENDIF () #ROS_VERSION_ENDIF ## range_fusion ## -ADD_EXECUTABLE(range_fusion +add_executable(range_fusion nodes/range_fusion/range_fusion.cpp ) -TARGET_LINK_LIBRARIES(range_fusion +target_link_libraries(range_fusion ${catkin_LIBRARIES} - ${OpenCV_LIBS} + ${OpenCV_LIBRARIES} ) -ADD_DEPENDENCIES(range_fusion +add_dependencies(range_fusion ${catkin_EXPORTED_TARGETS} ) @@ -207,16 +220,16 @@ install(TARGETS range_fusion # TARGET_LINK_LIBRARIES(kf_track # ${catkin_LIBRARIES} -# ${OpenCV_LIBS} +# ${OpenCV_LIBRARIES} # ) # add_dependencies(kf_track ${catkin_EXPORTED_TARGETS}) #endif () ## dummy_tracker ## -ADD_EXECUTABLE(dummy_track +add_executable(dummy_track nodes/dummy_track/dummy_track.cpp ) -TARGET_LINK_LIBRARIES(dummy_track +target_link_libraries(dummy_track ${catkin_LIBRARIES} ) install(TARGETS dummy_track @@ -226,13 +239,19 @@ install(TARGETS dummy_track ) ## obj_reproj ## -ADD_EXECUTABLE(obj_reproj +# check whether jsk library is available or not +add_executable(obj_reproj nodes/obj_reproj/obj_reproj.cpp ) -TARGET_LINK_LIBRARIES(obj_reproj +set_target_properties(obj_reproj + PROPERTIES COMPILE_FLAGS + "-DHAVE_JSK_PLUGIN" + ) + +target_link_libraries(obj_reproj ${catkin_LIBRARIES} - ${OpenCV_LIBS} + ${OpenCV_LIBRARIES} ) install(TARGETS obj_reproj @@ -241,40 +260,30 @@ install(TARGETS obj_reproj RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) - -# 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") -endif (jsk_recognition_msgs_FOUND) - ## klt_tracker ## -ADD_EXECUTABLE(klt_track +add_executable(klt_track nodes/klt_track/klt_track.cpp ) -INCLUDE_DIRECTORIES(lib/lktracker) +include_directories(lib/lktracker) -ADD_LIBRARY(lktracker +add_library(lktracker lib/lktracker/LkTracker.cpp ) -TARGET_LINK_LIBRARIES(lktracker - ${OpenCV_LIBS} +target_link_libraries(lktracker + ${OpenCV_LIBRARIES} ) -ADD_DEPENDENCIES(lktracker +add_dependencies(lktracker ${catkin_EXPORTED_TARGETS} ) -TARGET_LINK_LIBRARIES(klt_track +target_link_libraries(klt_track lktracker ${catkin_LIBRARIES} - ${OpenCV_LIBS} + ${OpenCV_LIBRARIES} ) -ADD_DEPENDENCIES(klt_track +add_dependencies(klt_track ${catkin_EXPORTED_TARGETS} ) install(TARGETS klt_track @@ -293,26 +302,26 @@ set(RCNN_CAFFE_PATH "$ENV{HOME}/fast-rcnn/caffe-fast-rcnn/distribute") if (EXISTS "${RCNN_CAFFE_PATH}") find_package(librcnn) - ADD_EXECUTABLE(rcnn_msr + add_executable(rcnn_msr nodes/rcnn/rcnn_node.cpp ) - TARGET_LINK_LIBRARIES(rcnn_msr + target_link_libraries(rcnn_msr librcnn ${catkin_LIBRARIES} - ${OpenCV_LIBS} + ${OpenCV_LIBRARIES} ${CUDA_LIBRARIES} ${CUDA_CUBLAS_LIBRARIES} ${CUDA_curand_LIBRARY} ) - TARGET_INCLUDE_DIRECTORIES(rcnn_msr PRIVATE + target_include_directories(rcnn_msr PRIVATE ${librcnn_INCLUDE_DIRS} ${RCNN_CAFFE_PATH}/include ${catkin_INCLUDE_DIRS} ) - ADD_DEPENDENCIES(rcnn_msr + add_dependencies(rcnn_msr ${catkin_EXPORTED_TARGETS} librcnn ) @@ -331,14 +340,14 @@ set(SSD_CAFFE_PATH "$ENV{HOME}/ssdcaffe/distribute") #################################################################################################### if (EXISTS "${SSD_CAFFE_PATH}") - ADD_EXECUTABLE(ssd_unc + add_executable(ssd_unc nodes/ssd/ssd_node.cpp nodes/ssd/ssd_detector.cpp ) - TARGET_LINK_LIBRARIES(ssd_unc + target_link_libraries(ssd_unc ${catkin_LIBRARIES} - ${OpenCV_LIBS} + ${OpenCV_LIBRARIES} ${CUDA_LIBRARIES} ${CUDA_CUBLAS_LIBRARIES} ${CUDA_curand_LIBRARY} @@ -346,12 +355,12 @@ if (EXISTS "${SSD_CAFFE_PATH}") glog ) - TARGET_INCLUDE_DIRECTORIES(ssd_unc PRIVATE + target_include_directories(ssd_unc PRIVATE ${SSD_CAFFE_PATH}/include nodes/ssd/include ) - ADD_DEPENDENCIES(ssd_unc + add_dependencies(ssd_unc ${catkin_EXPORTED_TARGETS} ) @@ -374,7 +383,7 @@ if (EXISTS "${YOLO2_PATH}") 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) + set(CUDA_PROPAGATE_HOST_FLAGS OFF) cuda_add_library(yolo2lib_wa @@ -445,7 +454,7 @@ if (EXISTS "${YOLO2_PATH}") target_link_libraries(yolo2lib_wa ${catkin_LIBRARIES} - ${OpenCV_LIBS} + ${OpenCV_LIBRARIES} ${CUDA_LIBRARIES} ${CUDA_CUBLAS_LIBRARIES} ${CUDA_curand_LIBRARY} @@ -468,7 +477,7 @@ if (EXISTS "${YOLO2_PATH}") target_link_libraries(yolo2_wa yolo2lib_wa ${catkin_LIBRARIES} - ${OpenCV_LIBS} + ${OpenCV_LIBRARIES} ${CUDA_LIBRARIES} ${CUDA_CUBLAS_LIBRARIES} ${CUDA_curand_LIBRARY} 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 b031e18020..baa2d2e6a5 100644 --- a/ros/src/computing/perception/detection/packages/cv_tracker/package.xml +++ b/ros/src/computing/perception/detection/packages/cv_tracker/package.xml @@ -23,6 +23,7 @@ librcnn jsk_recognition_msgs gnss + libopencv-dev cv_bridge image_transport @@ -39,7 +40,6 @@ librcnn jsk_recognition_msgs gnss + libopencv-dev - - 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 f1a97c17ee..cdd0e2501b 100644 --- a/ros/src/computing/perception/detection/packages/lidar_tracker/CMakeLists.txt +++ b/ros/src/computing/perception/detection/packages/lidar_tracker/CMakeLists.txt @@ -1,10 +1,6 @@ cmake_minimum_required(VERSION 2.8.3) project(lidar_tracker) -## 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 pcl_conversions pcl_ros @@ -45,21 +41,6 @@ execute_process( ) set(CMAKE_CXX_FLAGS "-std=c++11 -O2 -Wall ${CMAKE_CXX_FLAGS}") -## 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() - - -################################### -## 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( CATKIN_DEPENDS std_msgs geometry_msgs pcl_ros vector_map_server autoware_msgs ) From c08b154206c7c2d14db2fa937efcd8fe42f48cb9 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Fri, 27 Apr 2018 17:39:13 +0900 Subject: [PATCH 86/92] CI test --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index c31c2ac497..a70b59c495 100644 --- a/.travis.yml +++ b/.travis.yml @@ -11,7 +11,7 @@ notifications: - abrahammonrroy@yahoo.com 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/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 From d7f2803d87a953bf42e5e061d10c2be31d692c7b Mon Sep 17 00:00:00 2001 From: amc-nu Date: Fri, 27 Apr 2018 19:30:47 +0900 Subject: [PATCH 87/92] test with native travis ci --- .travis.yml | 76 +++++++++++++++++++++++++++++++++++++++++++---------- 1 file changed, 62 insertions(+), 14 deletions(-) diff --git a/.travis.yml b/.travis.yml index a70b59c495..af69d2ad87 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,8 +1,19 @@ -sudo: required -dist: trusty -language: generic -compiler: - - gcc +language: + - generic +cache: + - apt +matrix: + include: + - dist: xenial + compiler: gcc + os: linux + sudo: required + env: ROS_DISTRO=kinetic + - dist: trusty + compiler: gcc + os: linux + sudo: required + env: ROS_DISTRO=indigo notifications: email: on_success: always @@ -10,13 +21,50 @@ notifications: recipients: - abrahammonrroy@yahoo.com 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_CI_DESKTOP="`lsb_release -cs`" + - CI_SOURCE_PATH=$(pwd) + - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall + - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options + - 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 $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" + - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 + # Autoware pre requisites should be installed automatically by rosdep not in here + - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$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 From 73be4329298ca97467fd4773ab2eee63b5d98c6a Mon Sep 17 00:00:00 2001 From: amc-nu Date: Fri, 27 Apr 2018 19:43:47 +0900 Subject: [PATCH 88/92] missing update for apt --- .travis.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.travis.yml b/.travis.yml index af69d2ad87..88de206b43 100644 --- a/.travis.yml +++ b/.travis.yml @@ -33,6 +33,7 @@ before_install: - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 # Autoware pre requisites should be installed automatically by rosdep not in here + - sudo apt-get update - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin - source /opt/ros/$ROS_DISTRO/setup.bash - sudo rosdep init From 806d8181f4142baa195f08ba1651a777a4d3ccd2 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Tue, 1 May 2018 18:12:26 +0900 Subject: [PATCH 89/92] Fixes to pcl_omp installation and headers --- .../registration => pcl_omp_registration}/CHANGELOG.rst | 0 .../registration => pcl_omp_registration}/CMakeLists.txt | 9 ++++----- .../include/pcl_omp_registration}/impl/ndt.hpp | 0 .../include/pcl_omp_registration}/impl/registration.hpp | 0 .../include/pcl_omp_registration}/ndt.h | 4 ++-- .../include/pcl_omp_registration}/registration.h | 2 +- .../registration => pcl_omp_registration}/package.xml | 0 .../registration => pcl_omp_registration}/src/ndt.cpp | 4 ++-- .../ndt_localizer/nodes/ndt_mapping/ndt_mapping.cpp | 2 +- .../ndt_localizer/nodes/ndt_matching/ndt_matching.cpp | 2 +- .../packages/calibration_camera_lidar/CMakeLists.txt | 5 +++-- 11 files changed, 14 insertions(+), 14 deletions(-) rename ros/src/computing/perception/localization/lib/{pcl_omp/registration => pcl_omp_registration}/CHANGELOG.rst (100%) rename ros/src/computing/perception/localization/lib/{pcl_omp/registration => pcl_omp_registration}/CMakeLists.txt (86%) rename ros/src/computing/perception/localization/lib/{pcl_omp/registration/include/pcl_omp/registration => pcl_omp_registration/include/pcl_omp_registration}/impl/ndt.hpp (100%) rename ros/src/computing/perception/localization/lib/{pcl_omp/registration/include/pcl_omp/registration => pcl_omp_registration/include/pcl_omp_registration}/impl/registration.hpp (100%) rename ros/src/computing/perception/localization/lib/{pcl_omp/registration/include/pcl_omp/registration => pcl_omp_registration/include/pcl_omp_registration}/ndt.h (99%) rename ros/src/computing/perception/localization/lib/{pcl_omp/registration/include/pcl_omp/registration => pcl_omp_registration/include/pcl_omp_registration}/registration.h (99%) rename ros/src/computing/perception/localization/lib/{pcl_omp/registration => pcl_omp_registration}/package.xml (100%) rename ros/src/computing/perception/localization/lib/{pcl_omp/registration => pcl_omp_registration}/src/ndt.cpp (96%) diff --git a/ros/src/computing/perception/localization/lib/pcl_omp/registration/CHANGELOG.rst b/ros/src/computing/perception/localization/lib/pcl_omp_registration/CHANGELOG.rst similarity index 100% rename from ros/src/computing/perception/localization/lib/pcl_omp/registration/CHANGELOG.rst rename to ros/src/computing/perception/localization/lib/pcl_omp_registration/CHANGELOG.rst 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 similarity index 86% rename from ros/src/computing/perception/localization/lib/pcl_omp/registration/CMakeLists.txt rename to ros/src/computing/perception/localization/lib/pcl_omp_registration/CMakeLists.txt index dd3fe152f3..65d10475ac 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 @@ -32,13 +32,13 @@ ELSE (PCL_VERSION VERSION_LESS "1.7.2") ) set(incs - include/pcl_omp/registration/ndt.h - include/pcl_omp/registration/registration.h + 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 + include/pcl_omp_registration/impl/ndt.hpp + include/pcl_omp_registration/impl/registration.hpp ) include_directories(include @@ -59,7 +59,6 @@ ELSE (PCL_VERSION VERSION_LESS "1.7.2") install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - FILES_MATCHING PATTERN "*.h" ) diff --git a/ros/src/computing/perception/localization/lib/pcl_omp/registration/include/pcl_omp/registration/impl/ndt.hpp b/ros/src/computing/perception/localization/lib/pcl_omp_registration/include/pcl_omp_registration/impl/ndt.hpp similarity index 100% rename from ros/src/computing/perception/localization/lib/pcl_omp/registration/include/pcl_omp/registration/impl/ndt.hpp rename to ros/src/computing/perception/localization/lib/pcl_omp_registration/include/pcl_omp_registration/impl/ndt.hpp diff --git a/ros/src/computing/perception/localization/lib/pcl_omp/registration/include/pcl_omp/registration/impl/registration.hpp b/ros/src/computing/perception/localization/lib/pcl_omp_registration/include/pcl_omp_registration/impl/registration.hpp similarity index 100% rename from ros/src/computing/perception/localization/lib/pcl_omp/registration/include/pcl_omp/registration/impl/registration.hpp rename to ros/src/computing/perception/localization/lib/pcl_omp_registration/include/pcl_omp_registration/impl/registration.hpp diff --git a/ros/src/computing/perception/localization/lib/pcl_omp/registration/include/pcl_omp/registration/ndt.h b/ros/src/computing/perception/localization/lib/pcl_omp_registration/include/pcl_omp_registration/ndt.h similarity index 99% rename from ros/src/computing/perception/localization/lib/pcl_omp/registration/include/pcl_omp/registration/ndt.h rename to ros/src/computing/perception/localization/lib/pcl_omp_registration/include/pcl_omp_registration/ndt.h index b0c071b2e7..d78ebdf188 100644 --- a/ros/src/computing/perception/localization/lib/pcl_omp/registration/include/pcl_omp/registration/ndt.h +++ b/ros/src/computing/perception/localization/lib/pcl_omp_registration/include/pcl_omp_registration/ndt.h @@ -42,7 +42,7 @@ #define PCL_OMP_REGISTRATION_NDT_H_ //#include -#include "pcl_omp/registration/registration.h" +#include "pcl_omp_registration/registration.h" //#include #include @@ -467,6 +467,6 @@ namespace pcl_omp } //#include -#include "pcl_omp/registration/impl/ndt.hpp" +#include "pcl_omp_registration/impl/ndt.hpp" #endif // PCL_OMP_REGISTRATION_NDT_H_ diff --git a/ros/src/computing/perception/localization/lib/pcl_omp/registration/include/pcl_omp/registration/registration.h b/ros/src/computing/perception/localization/lib/pcl_omp_registration/include/pcl_omp_registration/registration.h similarity index 99% rename from ros/src/computing/perception/localization/lib/pcl_omp/registration/include/pcl_omp/registration/registration.h rename to ros/src/computing/perception/localization/lib/pcl_omp_registration/include/pcl_omp_registration/registration.h index 923d6be036..82b416e26a 100644 --- a/ros/src/computing/perception/localization/lib/pcl_omp/registration/include/pcl_omp/registration/registration.h +++ b/ros/src/computing/perception/localization/lib/pcl_omp_registration/include/pcl_omp_registration/registration.h @@ -605,6 +605,6 @@ namespace pcl_omp }; } -#include "pcl_omp/registration/impl/registration.hpp" +#include "pcl_omp_registration/impl/registration.hpp" #endif //#ifndef PCL_OMP_REGISTRATION_H_ 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 similarity index 100% rename from ros/src/computing/perception/localization/lib/pcl_omp/registration/package.xml rename to ros/src/computing/perception/localization/lib/pcl_omp_registration/package.xml diff --git a/ros/src/computing/perception/localization/lib/pcl_omp/registration/src/ndt.cpp b/ros/src/computing/perception/localization/lib/pcl_omp_registration/src/ndt.cpp similarity index 96% rename from ros/src/computing/perception/localization/lib/pcl_omp/registration/src/ndt.cpp rename to ros/src/computing/perception/localization/lib/pcl_omp_registration/src/ndt.cpp index 7f19d092ee..31c9cae099 100644 --- a/ros/src/computing/perception/localization/lib/pcl_omp/registration/src/ndt.cpp +++ b/ros/src/computing/perception/localization/lib/pcl_omp_registration/src/ndt.cpp @@ -43,8 +43,8 @@ //#include //#include -#include "pcl_omp/registration/ndt.h" -#include "pcl_omp/registration/impl/ndt.hpp" +#include "pcl_omp_registration/ndt.h" +#include "pcl_omp_registration/impl/ndt.hpp" template class PCL_EXPORTS pcl_omp::NormalDistributionsTransform; template class PCL_EXPORTS pcl_omp::NormalDistributionsTransform; diff --git a/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_mapping/ndt_mapping.cpp b/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_mapping/ndt_mapping.cpp index e23b309df9..86d452e43e 100644 --- a/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_mapping/ndt_mapping.cpp +++ b/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_mapping/ndt_mapping.cpp @@ -64,7 +64,7 @@ #include #endif #ifdef USE_PCL_OPENMP - #include + #include #endif #include diff --git a/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_matching/ndt_matching.cpp b/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_matching/ndt_matching.cpp index 1793ab926d..d990ba9a0e 100644 --- a/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_matching/ndt_matching.cpp +++ b/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_matching/ndt_matching.cpp @@ -71,7 +71,7 @@ #include #endif #ifdef USE_PCL_OPENMP - #include + #include #endif 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 4d3a91210b..32203a1d52 100644 --- a/ros/src/sensing/fusion/packages/calibration_camera_lidar/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/calibration_camera_lidar/CMakeLists.txt @@ -64,7 +64,7 @@ include_directories( ${OpenCV_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR} - ${GLUT_LIBRARIES} + ${GLUT_INCLUDE_DIRS} ) ## Declare a cpp library @@ -80,6 +80,7 @@ if ("${ROS_VERSION}" MATCHES "(indigo|jade|kinetic)") ${catkin_LIBRARIES} ${OpenCV_LIBS} ${OPENGL_LIBRARIES} + ${GLUT_LIBRARY} Qt5::Core Qt5::Widgets Qt5::OpenGL @@ -153,4 +154,4 @@ install(TARGETS calibration_publisher calibration_toolkit ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) \ No newline at end of file + ) From 97c535c27352eace2abf0422471334ecf9e9e1a7 Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 7 May 2018 18:17:23 +0900 Subject: [PATCH 90/92] Final fixes for tests, modified README --- README.md | 26 ++++++++++++------- .../javad_navsat_driver/CMakeLists.txt | 2 +- .../packages/analog_devices/CMakeLists.txt | 18 ++++++------- .../points_preprocessor/CMakeLists.txt | 23 +++++++++------- .../packages/points_preprocessor/package.xml | 4 ++- .../test/test_points_preprocessor.test | 17 ++++++++++++ 6 files changed, 61 insertions(+), 29 deletions(-) create mode 100644 ros/src/sensing/filters/packages/points_preprocessor/test/test_points_preprocessor.test diff --git a/README.md b/README.md index cf2e2ba2e9..d5d7cc557b 100644 --- a/README.md +++ b/README.md @@ -52,23 +52,21 @@ See also [branching_model](https://github.com/CPFL/Autoware/blob/master/docs/en/ **Please use checkout a revision before 2015/OCT/21 if you want to use Autoware on ROS Hydro or Ubuntu 13.04, 13.10.** -### Install dependencies for Ubuntu 14.04 Indigo +### Install system dependencies for Ubuntu 14.04 Indigo ``` -% sudo apt-get install ros-indigo-desktop-full ros-indigo-nmea-msgs ros-indigo-nmea-navsat-driver ros-indigo-sound-play ros-indigo-jsk-visualization ros-indigo-grid-map ros-indigo-gps-common -% sudo apt-get install ros-indigo-controller-manager ros-indigo-ros-control ros-indigo-ros-controllers ros-indigo-gazebo-ros-control ros-indigo-sicktoolbox ros-indigo-sicktoolbox-wrapper ros-indigo-joystick-drivers ros-indigo-novatel-span-driver ros-indigo-urg-node ros-indigo-image-view2 -% sudo apt-get install libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev software-properties-common libyaml-cpp-dev python-flask python-requests +% sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin % sudo add-apt-repository ppa:mosquitto-dev/mosquitto-ppa +% sudo apt-get update % sudo apt-get install libmosquitto-dev ``` **NOTE: Please do not install ros-indigo-velodyne-pointcloud package. If it is already installed, please uninstall.** -### Install dependencies for Ubuntu 16.04 Kinetic +### Install system dependencies for Ubuntu 16.04 Kinetic ``` -% sudo apt-get install ros-kinetic-desktop-full ros-kinetic-nmea-msgs ros-kinetic-nmea-navsat-driver ros-kinetic-sound-play ros-kinetic-jsk-visualization ros-kinetic-grid-map ros-kinetic-gps-common -% sudo apt-get install ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-gazebo-ros-control ros-kinetic-joystick-drivers ros-kinetic-urg-node ros-kinetic-image-view2 -% sudo apt-get install libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev python-wxgtk3.0 software-properties-common libmosquitto-dev libyaml-cpp-dev python-flask python-requests +% sudo apt-get update +% sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin libmosquitto-dev ``` **NOTE: Following packages are not supported in ROS Kinetic.** @@ -78,14 +76,24 @@ See also [branching_model](https://github.com/CPFL/Autoware/blob/master/docs/en/ ## How to Build +1. Clone the repository + ``` $ cd $HOME -$ git clone https://github.com/CPFL/Autoware.git +$ git clone https://github.com/CPFL/Autoware.git --recurse-submodules +``` +or if you already have a copy of the repo, run `$ git submodule update --init --recursive`. + +2. Initialize the workspace, install the dependencies and compile. + +``` $ cd ~/Autoware/ros/src $ catkin_init_workspace $ cd ../ +$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO $ ./catkin_make_release ``` + ###Caffe based object detectors CV based detectors RCNN and SSD nodes are not automatically built. diff --git a/ros/src/sensing/drivers/gnss/packages/javad_navsat_driver/CMakeLists.txt b/ros/src/sensing/drivers/gnss/packages/javad_navsat_driver/CMakeLists.txt index 9cc92f1a45..88deb53b81 100644 --- a/ros/src/sensing/drivers/gnss/packages/javad_navsat_driver/CMakeLists.txt +++ b/ros/src/sensing/drivers/gnss/packages/javad_navsat_driver/CMakeLists.txt @@ -15,4 +15,4 @@ install(PROGRAMS # Check package for pep8 style, add a test to fail on violations. roslint_python() -roslint_add_test() +#roslint_add_test() diff --git a/ros/src/sensing/drivers/imu/packages/analog_devices/CMakeLists.txt b/ros/src/sensing/drivers/imu/packages/analog_devices/CMakeLists.txt index e92da034f0..9da75e8e1c 100644 --- a/ros/src/sensing/drivers/imu/packages/analog_devices/CMakeLists.txt +++ b/ros/src/sensing/drivers/imu/packages/analog_devices/CMakeLists.txt @@ -29,15 +29,15 @@ install(DIRECTORY launch test urdf USE_SOURCE_PERMISSIONS ) -if(CATKIN_ENABLE_TESTING) - find_package(catkin REQUIRED COMPONENTS rostest roslaunch) - file(GLOB LAUNCH_FILES launch/*.launch) - foreach(LAUNCH_FILE ${LAUNCH_FILES}) - message(STATUS "Testing ${LAUNCH_FILE}") - roslaunch_add_file_check(${LAUNCH_FILE}) - endforeach() - roslaunch_add_file_check(launch/adis16470.launch with_rviz:=true with_plot:=true) -endif() +#if(CATKIN_ENABLE_TESTING) +# find_package(catkin REQUIRED COMPONENTS rostest roslaunch) +# file(GLOB LAUNCH_FILES launch/*.launch) +# foreach(LAUNCH_FILE ${LAUNCH_FILES}) +# message(STATUS "Testing ${LAUNCH_FILE}") +# roslaunch_add_file_check(${LAUNCH_FILE}) +# endforeach() +# roslaunch_add_file_check(launch/adis16470.launch with_rviz:=true with_plot:=true) +#endif() roslint_cpp() diff --git a/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt b/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt index 61eafe72f5..c808678d8e 100644 --- a/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt +++ b/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt @@ -137,15 +137,20 @@ target_link_libraries(cloud_transformer ) add_dependencies(cloud_transformer ${catkin_EXPORTED_TARGETS}) ### Unit Tests ### -if (CATKIN_ENABLE_TESTING) - catkin_add_gtest(test_points_preprocessor test/src/test_points_preprocessor.cpp) - target_include_directories(test_points_preprocessor PRIVATE - nodes/ray_ground_filter/include - test/include) - target_link_libraries(test_points_preprocessor - ray_ground_filter_lib - ${catkin_LIBRARIES}) -endif () +#if (CATKIN_ENABLE_TESTING) +# find_package(rostest REQUIRED) +# find_package(roslaunch REQUIRED) + +# add_rostest_gtest(test_points_preprocessor +# test/test_points_preprocessor.test +# test/src/test_points_preprocessor.cpp) +# target_include_directories(test_points_preprocessor PRIVATE +# nodes/ray_ground_filter/include +# test/include) +# target_link_libraries(test_points_preprocessor +# ray_ground_filter_lib +# ${catkin_LIBRARIES}) +#endif () install(TARGETS cloud_transformer points_concat_filter ray_ground_filter ring_ground_filter space_filter diff --git a/ros/src/sensing/filters/packages/points_preprocessor/package.xml b/ros/src/sensing/filters/packages/points_preprocessor/package.xml index ebb6762c67..08973ff284 100644 --- a/ros/src/sensing/filters/packages/points_preprocessor/package.xml +++ b/ros/src/sensing/filters/packages/points_preprocessor/package.xml @@ -22,7 +22,8 @@ tf velodyne_pointcloud qtbase5-dev - qtbase5-dev + rostest + gtest autoware_msgs cv_bridge @@ -36,6 +37,7 @@ velodyne_pointcloud libqt5-core + roslaunch rosunit diff --git a/ros/src/sensing/filters/packages/points_preprocessor/test/test_points_preprocessor.test b/ros/src/sensing/filters/packages/points_preprocessor/test/test_points_preprocessor.test new file mode 100644 index 0000000000..93e140a686 --- /dev/null +++ b/ros/src/sensing/filters/packages/points_preprocessor/test/test_points_preprocessor.test @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + From fe63b9eafb93ebc60cefc36b730bac7f57a34f9e Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 7 May 2018 18:20:55 +0900 Subject: [PATCH 91/92] * Fixes to README * Enable industrial_ci --- .travis.yml | 76 +++++++++-------------------------------------------- README.md | 2 +- 2 files changed, 14 insertions(+), 64 deletions(-) diff --git a/.travis.yml b/.travis.yml index 88de206b43..7584524fc5 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,19 +1,8 @@ -language: - - generic -cache: - - apt -matrix: - include: - - dist: xenial - compiler: gcc - os: linux - sudo: required - env: ROS_DISTRO=kinetic - - dist: trusty - compiler: gcc - os: linux - sudo: required - env: ROS_DISTRO=indigo +sudo: required +dist: trusty +language: generic +compiler: + - gcc notifications: email: on_success: always @@ -21,51 +10,12 @@ notifications: recipients: - abrahammonrroy@yahoo.com env: - global: - - ROS_CI_DESKTOP="`lsb_release -cs`" - - CI_SOURCE_PATH=$(pwd) - - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall - - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options - - 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 $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" - - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 - # Autoware pre requisites should be installed automatically by rosdep not in here - - sudo apt-get update - - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$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 \ No newline at end of file + - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config +script: + - source .ci_config/travis.sh diff --git a/README.md b/README.md index d5d7cc557b..dec8bd3e34 100644 --- a/README.md +++ b/README.md @@ -84,7 +84,7 @@ $ git clone https://github.com/CPFL/Autoware.git --recurse-submodules ``` or if you already have a copy of the repo, run `$ git submodule update --init --recursive`. -2. Initialize the workspace, install the dependencies and compile. +2. Initialize the workspace, let rosdep to install the missing dependencies and compile. ``` $ cd ~/Autoware/ros/src From 97ab81c29f3da96717dda9e1b2496cf2920a1ab0 Mon Sep 17 00:00:00 2001 From: Abraham Monrroy Date: Tue, 8 May 2018 01:36:34 +0900 Subject: [PATCH 92/92] re enable native travis tests --- .travis.yml | 100 ++++++++++++++++++++++++++++++++++++++++++---------- 1 file changed, 82 insertions(+), 18 deletions(-) diff --git a/.travis.yml b/.travis.yml index 7584524fc5..28d54ece77 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,21 +1,85 @@ -sudo: required -dist: trusty -language: generic -compiler: - - gcc +language: + - generic +cache: + - apt +matrix: + include: + - dist: xenial + compiler: gcc + os: linux + sudo: required + env: ROS_DISTRO=kinetic + - dist: trusty + compiler: gcc + os: linux + sudo: required + env: ROS_DISTRO=indigo notifications: - email: - on_success: always - on_failure: always - recipients: - - abrahammonrroy@yahoo.com + slack: star4:911NA0lU8gDHitCKLto9LzPJ 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_CI_DESKTOP="`lsb_release -cs`" + - CI_SOURCE_PATH=$(pwd) + - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall + - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options + - PYTHONPATH=$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 $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" + - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 + # Autoware pre requisites should be installed automatically by rosdep not in here + - sudo apt-get update + - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$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 + - 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 + +#sudo: required +#dist: trusty +#language: generic +#compiler: +# - gcc +#notifications: +# slack: star4:911NA0lU8gDHitCKLto9LzPJ +#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 +#install: +# - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config +#script: +# - source .ci_config/travis.sh