[fix] Fixes for all packages and dependencies

.travis.yml

@@ -1,31 +1,40 @@
-# Use ubuntu trusty (14.04) with sudo privileges.
-dist: trusty
-sudo: required
 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
 env:
   global:
-    - ROS_DISTRO=indigo
-    - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
+    - ROS_CI_DESKTOP="`lsb_release -cs`"
     - 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
+  # 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

ros/src/actuation/vehicles/packages/as/CMakeLists.txt

@@ -1,40 +1,49 @@
 cmake_minimum_required(VERSION 2.8.3)
 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 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
+        CATKIN_DEPENDS
+        roscpp
+        std_msgs
+        geometry_msgs
+        module_comm_msgs
+        dbw_mkz_msgs
 )
 
-SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}")
+# If submodule is not cloned this project will not be build.
+set(AS_MSG_PATH "${CMAKE_SOURCE_DIR}/msgs/platform_automation_msgs/module_comm_msgs")
+if (EXISTS "${AS_MSG_PATH}")
+
+    SET(CMAKE_CXX_FLAGS "-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}")
 
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-)
+    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}
+            )
 
-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(DIRECTORY launch/
+            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+            PATTERN ".svn" EXCLUDE)
 
-endif()
+endif ()

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}
+        )

ros/src/computing/perception/detection/lib/fusion/CMakeLists.txt

@@ -2,40 +2,46 @@ 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 cv_bridge
 )
 
 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
-)
+        src/fusion.cpp
+        src/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 ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "fusion_func.h"
-)
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+        FILES_MATCHING PATTERN "*.h"
+        )
+
+install(TARGETS
+        fusion
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+        )

ros/src/computing/perception/detection/lib/fusion/package.xml

@@ -1,15 +1,17 @@
 <?xml version="1.0"?>
 <package>
-  <name>fusion</name>
-  <version>1.6.3</version>
-  <description>The fusion package</description>
-  <maintainer email="kondoh@axe-inc.co.jp">Masao KONDOH</maintainer>
-  <license>BSD</license>
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>autoware_msgs</build_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>autoware_msgs</run_depend>
-  <export>
-  </export>
+    <name>fusion</name>
+    <version>1.6.3</version>
+    <description>The fusion package</description>
+    <maintainer email="kondoh@axe-inc.co.jp">Masao KONDOH</maintainer>
+    <license>BSD</license>
+    <buildtool_depend>catkin</buildtool_depend>
+
+    <build_depend>roscpp</build_depend>
+    <build_depend>autoware_msgs</build_depend>
+    <build_depend>cv_bridge</build_depend>
+
+    <run_depend>roscpp</run_depend>
+    <run_depend>autoware_msgs</run_depend>
+    <run_depend>cv_bridge</run_depend>
 </package>

ros/src/computing/perception/detection/lib/fusion/fusion.cpp → ros/src/computing/perception/detection/lib/fusion/src/fusion.cpp

@@ -32,8 +32,8 @@
 #include <opencv/highgui.h>
 #include <opencv/cxcore.h>
 
-#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";

ros/src/computing/perception/detection/lib/fusion/search_distance.cpp → ros/src/computing/perception/detection/lib/fusion/src/search_distance.cpp

@@ -1,7 +1,7 @@
 #include <algorithm>
 #include <iterator>
 #include <map>
-#include "search_distance.h"
+#include "fusion/search_distance.h"
 
 
 float getShortest(const std::vector<float>& candidates) {