From f6d614d494cb22b5c1e3935eec72fecf195d0c4d Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Fri, 9 Nov 2018 14:48:02 +0100 Subject: [PATCH 1/9] Switch to colcon as the build tool instead of catkin --- .gitlab-ci.yml | 44 +++++----- .travis.yml | 2 +- docker/96boards/Dockerfile.kinetic | 7 +- .../crossbuild/Dockerfile.kinetic-crossbuild | 5 ++ .../Dockerfile.kinetic-crossbuild-driveworks | 2 +- docker/crossbuild/README.md | 4 +- docker/crossbuild/build_cross_image.sh | 2 +- docker/generic/Dockerfile.kinetic | 7 +- docs/en/installation_with_db820c.md | 12 +-- docs/en/installation_with_drivepx2.md | 5 +- ros/colcon_release | 15 ++++ ros/colcon_release_cross | 86 +++++++++++++++++++ ros/cross_toolchain.cmake | 2 +- .../vehicles/packages/as/CMakeLists.txt | 1 - .../vehicles/packages/ymc/CMakeLists.txt | 7 +- .../common/libs/amathutils_lib/CMakeLists.txt | 7 +- .../libs/state_machine_lib/CMakeLists.txt | 7 +- ros/src/common/libvectormap/CMakeLists.txt | 7 +- .../pixel_cloud_fusion/CMakeLists.txt | 3 +- .../range_vision_fusion/CMakeLists.txt | 8 +- .../CMakeLists.txt | 7 +- .../lidar_fake_perception/CMakeLists.txt | 7 +- .../lidar_naive_l_shape_detect/CMakeLists.txt | 7 +- .../packages/lidar_svm_detect/CMakeLists.txt | 7 +- .../lidar_tracker/libs/fusion/CMakeLists.txt | 7 +- .../lidar_euclidean_track/CMakeLists.txt | 7 +- .../lidar_imm_ukf_pda_track/CMakeLists.txt | 12 ++- .../lidar_kf_contour_track/CMakeLists.txt | 7 +- .../packages/lidar_kf_track/CMakeLists.txt | 7 +- .../packages/lidar_pf_track/CMakeLists.txt | 7 +- .../packages/obj_fusion/CMakeLists.txt | 11 ++- .../packages/obj_reproj/CMakeLists.txt | 7 +- .../packages/range_fusion/CMakeLists.txt | 7 +- .../trafficlight_recognizer/CMakeLists.txt | 19 +++- .../libs/dpm_ttic/CMakeLists.txt | 3 +- .../vision_darknet_detect/CMakeLists.txt | 13 ++- .../vision_dpm_ttic_detect/CMakeLists.txt | 9 +- .../vision_lane_detect/CMakeLists.txt | 4 +- .../vision_segment_enet_detect/CMakeLists.txt | 1 - .../packages/vision_ssd_detect/CMakeLists.txt | 2 - .../vision_tracker/libs/kf/CMakeLists.txt | 6 +- .../vision_beyond_track/CMakeLists.txt | 7 +- .../vision_dummy_track/CMakeLists.txt | 5 +- .../packages/vision_kf_track/CMakeLists.txt | 2 - .../packages/vision_klt_track/CMakeLists.txt | 5 +- .../packages/integrated_viewer/CMakeLists.txt | 7 +- .../packages/viewers/CMakeLists.txt | 7 +- .../autoware_connector/CMakeLists.txt | 4 +- .../packages/gnss_localizer/CMakeLists.txt | 3 +- .../packages/lidar_localizer/CMakeLists.txt | 15 +++- .../packages/orb_localizer/CMakeLists.txt | 3 +- .../naive_motion_predict/CMakeLists.txt | 23 +++-- .../packages/object_map/CMakeLists.txt | 12 ++- .../road_occupancy_processor/CMakeLists.txt | 8 +- .../openplanner/op_ros_helpers/CMakeLists.txt | 11 ++- .../lib/openplanner/op_simu/CMakeLists.txt | 5 +- .../lib/openplanner/op_utility/CMakeLists.txt | 5 +- .../packages/decision_maker/CMakeLists.txt | 23 +++-- .../packages/freespace_planner/CMakeLists.txt | 10 ++- .../packages/lane_planner/CMakeLists.txt | 11 ++- .../packages/op_global_planner/CMakeLists.txt | 7 +- .../packages/way_planner/CMakeLists.txt | 7 +- .../packages/astar_planner/CMakeLists.txt | 10 ++- .../motion/packages/dp_planner/CMakeLists.txt | 15 +++- .../ff_waypoint_follower/CMakeLists.txt | 14 ++- .../packages/lattice_planner/CMakeLists.txt | 7 +- .../packages/op_local_planner/CMakeLists.txt | 7 +- .../op_simulation_package/CMakeLists.txt | 15 +++- .../packages/op_utilities/CMakeLists.txt | 9 +- .../packages/waypoint_follower/CMakeLists.txt | 15 +++- .../packages/waypoint_maker/CMakeLists.txt | 11 ++- .../state/state_machine/CMakeLists.txt | 7 +- ros/src/data/packages/map_file/CMakeLists.txt | 13 ++- ros/src/data/packages/obj_db/CMakeLists.txt | 3 +- ros/src/data/packages/pos_db/CMakeLists.txt | 7 +- .../data/packages/vector_map/CMakeLists.txt | 8 +- .../packages/vector_map_msgs/CMakeLists.txt | 3 +- .../packages/vector_map_server/CMakeLists.txt | 18 ++-- .../CMakeLists.txt | 7 +- .../camera/packages/baumer/CMakeLists.txt | 3 +- .../camera/packages/hexacam/CMakeLists.txt | 3 +- .../camera/packages/vectacam/CMakeLists.txt | 3 +- .../gnss/packages/garmin/CMakeLists.txt | 3 +- .../lidar/packages/hokuyo/CMakeLists.txt | 3 +- .../velodyne/velodyne_driver/CMakeLists.txt | 2 + .../velodyne_pointcloud/CMakeLists.txt | 34 ++++++-- .../packages/image_processor/CMakeLists.txt | 3 +- .../points_downsampler/CMakeLists.txt | 9 +- .../points_preprocessor/CMakeLists.txt | 7 +- .../CMakeLists.txt | 7 +- .../calibration_camera_lidar/CMakeLists.txt | 7 +- .../multi_lidar_calibrator/CMakeLists.txt | 3 +- .../packages/points2image/CMakeLists.txt | 7 +- .../fusion/packages/scan2image/CMakeLists.txt | 6 +- .../packages/points2polygon/CMakeLists.txt | 7 +- .../packages/mqtt_socket/CMakeLists.txt | 11 ++- .../packages/tablet_socket/CMakeLists.txt | 11 ++- .../packages/udon_socket/CMakeLists.txt | 7 +- .../packages/vehicle_socket/CMakeLists.txt | 11 ++- .../system/gazebo/catvehicle/CMakeLists.txt | 3 +- ros/src/system/sync/CMakeLists.txt | 12 ++- .../RobotSDK/fastvirtualscan/CMakeLists.txt | 3 +- .../packages/RobotSDK/glviewer/CMakeLists.txt | 3 +- .../RobotSDK/rosinterface/CMakeLists.txt | 3 +- .../autoware_rviz_plugins/CMakeLists.txt | 3 +- .../packages/data_preprocessor/CMakeLists.txt | 3 +- .../util/packages/fake_drivers/CMakeLists.txt | 3 +- .../kitti_box_publisher/CMakeLists.txt | 4 +- .../kitti_pkg/kitti_player/CMakeLists.txt | 3 +- .../util/packages/log_tools/CMakeLists.txt | 3 +- .../packages/map_tf_generator/CMakeLists.txt | 3 +- .../util/packages/map_tools/CMakeLists.txt | 3 +- .../util/packages/sample_data/CMakeLists.txt | 3 +- 113 files changed, 691 insertions(+), 247 deletions(-) create mode 100755 ros/colcon_release create mode 100755 ros/colcon_release_cross diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index e5d2313e19..c8b5549d09 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -7,7 +7,6 @@ variables: CI_SOURCE_PATH: $CI_PROJECT_DIR ROSINSTALL_FILE: $CI_SOURCE_PATH/dependencies.rosinstall CATKIN_OPTIONS: $CI_SOURCE_PATH/catkin.options - PYTHONPATH: ${PYTHONPATH}:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages GIT_SUBMODULE_STRATEGY: recursive #CI_DEBUG_TRACE: "true" @@ -21,6 +20,9 @@ variables: - apt-get update - apt-get install -y dpkg - apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-${ROS_DISTRO}-catkin + - apt-get install -y python3-pip python3-setuptools + # Update setuptools from PyPI because the version Ubuntu ships with is too old + - pip3 install -U setuptools - source /opt/ros/${ROS_DISTRO}/setup.bash - rosdep init - rosdep update @@ -39,6 +41,8 @@ build_kinetic: ROS_DISTRO: kinetic <<: *build_common script: + # colcon as a Debian package is only available in Kinetic and up + - apt-get install -y python3-colcon-common-extensions # Install lcov from source as binary installation errors when appending files - git clone https://github.com/linux-test-project/lcov.git - cd lcov @@ -46,11 +50,10 @@ build_kinetic: - make install - cd .. - rm -r lcov - - catkin_make clean - - catkin_make -j2 --cmake-args -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_C_FLAGS="${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_BUILD_TYPE=Debug + - colcon build --cmake-args -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_C_FLAGS="${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_BUILD_TYPE=Debug - lcov --initial --directory build --capture --output-file lcov.base - - catkin_make run_tests - - catkin_test_results + - colcon test + - colcon test-result - lcov --directory build --capture --output-file lcov.test - lcov -a lcov.base -a lcov.test -o lcov.total - lcov -r lcov.total '*/tests/*' '*/test/*' '*/build/*' '*/devel/*' '/usr/*' '/opt/*' '*/CMakeCCompilerId.c' '*/CMakeCXXCompilerId.cpp' -o lcov.total.filtered @@ -76,15 +79,16 @@ build_cross: - docker:dind variables: ROS_DISTRO: kinetic - AUTOWARE_DOCKER_DATE: 20181123 + AUTOWARE_DOCKER_DATE: 20181124 AUTOWARE_HOME: $CI_PROJECT_DIR AUTOWARE_TARGET_ARCH: aarch64 AUTOWARE_TARGET_PLATFORM: generic-aarch64 AUTOWARE_BUILD_PATH: $CI_PROJECT_DIR/ros/build-${AUTOWARE_TARGET_PLATFORM} - AUTOWARE_DEVEL_PATH: $CI_PROJECT_DIR/ros/devel-${AUTOWARE_TARGET_PLATFORM} + AUTOWARE_INSTALL_PATH: $CI_PROJECT_DIR/ros/install-${AUTOWARE_TARGET_PLATFORM} AUTOWARE_TOOLCHAIN_FILE_PATH: $CI_PROJECT_DIR/ros/cross_toolchain.cmake AUTOWARE_SYSROOT: /sysroot/${AUTOWARE_TARGET_PLATFORM} script: + # - ${AUTOWARE_HOME}/docker/crossbuild/build_cross_image.sh - 'docker run -e AUTOWARE_SYSROOT=${AUTOWARE_SYSROOT} --rm @@ -92,20 +96,18 @@ build_cross: -w ${AUTOWARE_HOME}/ros autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-${AUTOWARE_DOCKER_DATE} bash - -c "source /opt/ros/kinetic/setup.bash && - catkin_make - -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH} - -DCATKIN_DEVEL_PREFIX=${AUTOWARE_DEVEL_PATH} - -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH} - --build ${AUTOWARE_BUILD_PATH} - clean && - source devel-${AUTOWARE_TARGET_PLATFORM}/setup.bash && - catkin_make - -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH} - -DCATKIN_DEVEL_PREFIX=${AUTOWARE_DEVEL_PATH} - -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH} - --build ${AUTOWARE_BUILD_PATH} - -j2" + -c " + source ${AUTOWARE_SYSROOT}/opt/ros/kinetic/setup.bash && + colcon build + --merge-install + --build-base ${AUTOWARE_BUILD_PATH} + --install-base ${AUTOWARE_INSTALL_PATH} + --cmake-args + -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH} + -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH} + -DCMAKE_PREFIX_PATH=\"${AUTOWARE_SYSROOT}/opt/ros/kinetic;${AUTOWARE_INSTALL_PATH}\" + -DCMAKE_FIND_ROOT_PATH=${AUTOWARE_INSTALL_PATH} + " ' retry: 1 diff --git a/.travis.yml b/.travis.yml index cddb232422..431d62f4c1 100644 --- a/.travis.yml +++ b/.travis.yml @@ -78,7 +78,7 @@ script: --rm -v ${AUTOWARE_HOME}:${AUTOWARE_HOME} -w ${AUTOWARE_HOME}/ros - autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20181220 + autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20190102 bash -c "source /opt/ros/kinetic/setup.bash && catkin_make diff --git a/docker/96boards/Dockerfile.kinetic b/docker/96boards/Dockerfile.kinetic index b231db3ff8..0a4142ab2b 100644 --- a/docker/96boards/Dockerfile.kinetic +++ b/docker/96boards/Dockerfile.kinetic @@ -52,6 +52,11 @@ RUN echo "source /opt/ros/kinetic/setup.bash" >> /home/$USERNAME/.bashrc && \ # cd to home on login echo "cd" >> /home/$USERNAME/.bashrc +# Install colcon +RUN apt-get install -y python3-pip python3-setuptools +RUN pip3 install -U setuptools +RUN apt-get install -y python3-colcon-common-extensions + # Change user USER autoware @@ -63,7 +68,7 @@ RUN sudo rosdep init \ # Install Autoware RUN cd && git clone https://github.com/CPFL/Autoware.git /home/$USERNAME/Autoware -RUN /bin/bash -c 'source /opt/ros/kinetic/setup.bash; cd /home/$USERNAME/Autoware/ros/src; git submodule update --init --recursive; catkin_init_workspace; cd ../; ./catkin_make_release -j2' +RUN /bin/bash -c 'source /opt/ros/kinetic/setup.bash; cd /home/$USERNAME/Autoware/ros/src; git submodule update --init --recursive; cd ../; ./colcon_release -j2' RUN echo "source /home/$USERNAME/Autoware/ros/devel/setup.bash" >> /home/$USERNAME/.bashrc # Setting diff --git a/docker/crossbuild/Dockerfile.kinetic-crossbuild b/docker/crossbuild/Dockerfile.kinetic-crossbuild index 3202c5c4e9..f90dc4c717 100644 --- a/docker/crossbuild/Dockerfile.kinetic-crossbuild +++ b/docker/crossbuild/Dockerfile.kinetic-crossbuild @@ -140,6 +140,11 @@ RUN sed -i -e "s#set(imported_location \"\${_qt5Core_install_prefix}/lib/${AUTOW ${AUTOWARE_SYSROOT}/usr/lib/${AUTOWARE_TARGET_ARCH}-linux-gnu/cmake/Qt5Core/Qt5CoreConfigExtras.cmake RUN sed -i -e "s#define ARMA_SUPERLU_INCLUDE_DIR /usr/include/superlu/#define ARMA_SUPERLU_INCLUDE_DIR ${AUTOWARE_SYSROOT}/usr/include/superlu/#g" \ ${AUTOWARE_SYSROOT}/usr/include/armadillo_bits/config.hpp + +RUN apt-get install -y python3-pip python3-setuptools +RUN pip3 install -U setuptools +RUN apt-get install -y python3-colcon-common-extensions + ENV ROS_DISTRO kinetic ENV CC /usr/bin/${AUTOWARE_TARGET_ARCH}-linux-gnu-gcc ENV CXX /usr/bin/${AUTOWARE_TARGET_ARCH}-linux-gnu-g++ diff --git a/docker/crossbuild/Dockerfile.kinetic-crossbuild-driveworks b/docker/crossbuild/Dockerfile.kinetic-crossbuild-driveworks index 9c31ebe9d7..7c61baa77e 100644 --- a/docker/crossbuild/Dockerfile.kinetic-crossbuild-driveworks +++ b/docker/crossbuild/Dockerfile.kinetic-crossbuild-driveworks @@ -1,7 +1,7 @@ ARG AUTOWARE_DOCKER_ARCH ARG AUTOWARE_TARGET_ARCH ARG AUTOWARE_TARGET_PLATFORM -FROM autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20181123 +FROM autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20181124 RUN apt-get update && apt-get install -y --no-install-recommends \ build-essential COPY files/FindCUDA.cmake /usr/share/cmake-3.5/Modules/FindCUDA.cmake diff --git a/docker/crossbuild/README.md b/docker/crossbuild/README.md index c46e937a4a..f56124ab28 100644 --- a/docker/crossbuild/README.md +++ b/docker/crossbuild/README.md @@ -20,8 +20,8 @@ $ ./build_cross_image.sh synquacer $ cd Autoware/ros/ # generic-aarch64 -$ ./catkin_make_release_cross generic-aarch64 +$ ./colcon_release_cross generic-aarch64 # synquacer -$ ./catkin_make_release_cross synquacer +$ ./colcon_release_cross synquacer ``` diff --git a/docker/crossbuild/build_cross_image.sh b/docker/crossbuild/build_cross_image.sh index bc65edf134..8f8c7a220e 100755 --- a/docker/crossbuild/build_cross_image.sh +++ b/docker/crossbuild/build_cross_image.sh @@ -5,7 +5,7 @@ if [ "$1" = "synquacer" ] || [ "$1" = "driveworks" ] || [ "$1" = "generic-aarch6 then # Once we support for targets, change this to the appropriate Docker image AUTOWARE_DOCKER_ARCH=arm64v8 - AUTOWARE_DOCKER_DATE=20181220 + AUTOWARE_DOCKER_DATE=20190102 AUTOWARE_TARGET_ARCH=aarch64 AUTOWARE_TARGET_PLATFORM=$1 diff --git a/docker/generic/Dockerfile.kinetic b/docker/generic/Dockerfile.kinetic index 751f1c49f3..7e356a8c10 100644 --- a/docker/generic/Dockerfile.kinetic +++ b/docker/generic/Dockerfile.kinetic @@ -100,6 +100,11 @@ RUN echo "source /opt/ros/kinetic/setup.bash" >> /home/$USERNAME/.bashrc && \ # cd to home on login echo "cd" >> /home/$USERNAME/.bashrc +# Install colcon +RUN apt-get install -y python3-pip python3-setuptools +RUN pip3 install -U setuptools +RUN apt-get install -y python3-colcon-common-extensions + # Change user USER autoware @@ -115,7 +120,7 @@ RUN cd ~/darknet/data && wget https://pjreddie.com/media/files/yolo.weights # Install Autoware RUN cd && mkdir /home/$USERNAME/Autoware COPY --chown=autoware ./ /home/$USERNAME/Autoware/ -RUN /bin/bash -c 'source /opt/ros/kinetic/setup.bash; cd /home/$USERNAME/Autoware/ros/src; git submodule update --init --recursive; catkin_init_workspace; cd ../; ./catkin_make_release' +RUN /bin/bash -c 'source /opt/ros/kinetic/setup.bash; cd /home/$USERNAME/Autoware/ros/src; git submodule update --init --recursive; cd ../; ./colcon_release' RUN echo "source /home/$USERNAME/Autoware/ros/devel/setup.bash" >> /home/$USERNAME/.bashrc # Setting diff --git a/docs/en/installation_with_db820c.md b/docs/en/installation_with_db820c.md index b082c72beb..641dbef407 100644 --- a/docs/en/installation_with_db820c.md +++ b/docs/en/installation_with_db820c.md @@ -58,7 +58,8 @@ $ sudo fastboot flash rootfs stretch.raw Install the below packages on Dragonboard820c: ```shell -$ sudo apt-get install libxmu-dev libxi-dev 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 dirmngr libtf2-eigen-dev libpcl-dev +$ sudo apt-get install -y libxmu-dev libxi-dev 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 dirmngr libtf2-eigen-dev libpcl-dev python3-pip python3-setuptools +$ sudo pip3 install -U setuptools ``` ### 2.3) Enable ZRAM Swap Space @@ -72,7 +73,8 @@ Build and install ROS Kinetic by following the instructions [here](http://wiki.r Only change required is to replace the `rosdep install` command with below: ```shell -rosdep install --from-paths src --ignore-src --rosdistro kinetic -y --os=debian:stretch +$ sudo apt-get install -y python3-colcon-common-extensions +$ rosdep install --from-paths src --ignore-src --rosdistro kinetic -y --os=debian:stretch ``` After installing, export the `ROS_DISTRO` variable @@ -127,8 +129,6 @@ in the package directories: $ source /opt/ros/kinetic/setup.bash $ cd $HOME $ git clone https://github.com/CPFL/Autoware.git -$ cd ~/Autoware/ros/src -$ catkin_init_workspace -$ cd ../ -$ ./catkin_make_release +$ cd ~/Autoware/ros +$ ./colcon_release ``` diff --git a/docs/en/installation_with_drivepx2.md b/docs/en/installation_with_drivepx2.md index ef3dcdf019..1a508489c2 100644 --- a/docs/en/installation_with_drivepx2.md +++ b/docs/en/installation_with_drivepx2.md @@ -36,6 +36,9 @@ sudo apt-get update sudo apt-get install -y build-essential cmake python-pip + sudo apt-get install -y python3-pip python3-setuptools + sudo pip3 install -U setuptools + sudo apt-get install -y python3-colcon-common-extensions sudo apt-get install -y checkinstall sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential sudo apt-get install -y libavutil-ffmpeg54=7:2.8.11-0ubuntu0.16.04.1 @@ -66,7 +69,7 @@ If you need to use a SSD detector, please refer SSD readme. cd Autoware cd ros - ./catkin_make_release -j1 + ./colcon_release -j1 (if you need more speed up compilation, you can choose -j2~6, however it may often cause internal erros by GCC. diff --git a/ros/colcon_release b/ros/colcon_release new file mode 100755 index 0000000000..02fcf75055 --- /dev/null +++ b/ros/colcon_release @@ -0,0 +1,15 @@ +#!/usr/bin/env bash +set -e + +if [[ -d build ]]; then + rm -rf build +fi + +if [[ -d install ]]; then + rm -rf install +fi + +COLCON_OPTS="-DCMAKE_BUILD_TYPE=Release -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs" + +export LIBRARY_PATH=/usr/lib/OpenNI2/Drivers:$LIBRARY_PATH +colcon build $CATKIN_OPTS $@ diff --git a/ros/colcon_release_cross b/ros/colcon_release_cross new file mode 100755 index 0000000000..948fef6750 --- /dev/null +++ b/ros/colcon_release_cross @@ -0,0 +1,86 @@ +#!/usr/bin/env bash +set -e + +if [ "$1" = "synquacer" ] || [ "$1" = "driveworks" ] || [ "$1" = "generic-aarch64" ] +then + AUTOWARE_TARGET_ARCH=aarch64 + AUTOWARE_TARGET_PLATFORM=$1 + shift + + if [[ -d build-${AUTOWARE_TARGET_PLATFORM} ]]; then + rm -rf build-${AUTOWARE_TARGET_PLATFORM} + fi + + if [[ -d install-${AUTOWARE_TARGET_PLATFORM} ]]; then + rm -rf install-${AUTOWARE_TARGET_PLATFORM} + fi + + AUTOWARE_HOME=/home/autoware/Autoware + if [ "$AUTOWARE_TARGET_PLATFORM" = "driveworks" ] + then + if [[ -z "${DRIVEWORKS_TOOLKIT_ROOT_DIR}" ]] || [[ -z "${CUDA_TOOLKIT_ROOT_DIR}" ]] || [[ -z "${NVIDIA_TENSORRT_ROOT_DIR}" ]] || [[ -z "${DRIVE_T186REF_LINUX_ROOT_DIR}" ]] + then + echo "Please ensure that the following environment variables are set and point to their respective correct locations: DRIVEWORKS_TOOLKIT_ROOT_DIR CUDA_TOOLKIT_ROOT_DIR NVIDIA_TENSORRT_ROOT_DIR DRIVE_T186REF_LINUX_ROOT_DIR" + exit 1 + fi + AUTOWARE_HOME=/home/nvidia/Autoware + AUTOWARE_TOOLCHAIN_FILE=cross_toolchain_driveworks.cmake + AUTOWARE_DOCKER_EXTRA_ARGS=$(cat <<-END +-v ${DRIVEWORKS_TOOLKIT_ROOT_DIR}:/usr/local/driveworks:ro +-v ${CUDA_TOOLKIT_ROOT_DIR}:/usr/local/cuda:ro +-v ${NVIDIA_TENSORRT_ROOT_DIR}:/usr/local/tensorrt:ro +-v ${DRIVE_T186REF_LINUX_ROOT_DIR}:/usr/local/drive-t186ref-linux:ro +-e DRIVEWORKS_TOOLKIT_ROOT_DIR=/usr/local/driveworks +-e CUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda +-e NVIDIA_TENSORRT_ROOT_DIR=/usr/local/tensorrt +-e DRIVE_T186REF_LINUX_ROOT_DIR=/usr/local/drive-t186ref-linux +END +) + AUTOWARE_CUDA_ARCH=sm_61 + else + AUTOWARE_TOOLCHAIN_FILE=cross_toolchain.cmake + fi + if [ ! -f "${PWD}/${AUTOWARE_TOOLCHAIN_FILE}" ]; then + echo "Toolchain file: '${PWD}/${AUTOWARE_TOOLCHAIN_FILE}' not found" + exit 1 + fi + + AUTOWARE_BUILD_PATH=${AUTOWARE_HOME}/ros/build-${AUTOWARE_TARGET_PLATFORM} + AUTOWARE_INSTALL_PATH=${AUTOWARE_HOME}/ros/install-${AUTOWARE_TARGET_PLATFORM} + + AUTOWARE_TOOLCHAIN_FILE_PATH="${AUTOWARE_HOME}/ros/${AUTOWARE_TOOLCHAIN_FILE}" + echo "Using toolchain file: '${AUTOWARE_TOOLCHAIN_FILE_PATH}''" + AUTOWARE_SYSROOT=/sysroot/${AUTOWARE_TARGET_PLATFORM} + + AUTOWARE_DOCKER_DATE=20181124 + + docker container run \ + -it \ + --rm \ + ${AUTOWARE_DOCKER_EXTRA_ARGS} \ + -e AUTOWARE_SYSROOT=${AUTOWARE_SYSROOT} \ + -v ${PWD}/../:${AUTOWARE_HOME} \ + -w ${AUTOWARE_HOME}/ros \ + -u ${UID}:${UID} \ + autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-${AUTOWARE_DOCKER_DATE} \ + bash \ + -c "\ + source ${AUTOWARE_SYSROOT}/opt/ros/kinetic/setup.bash && \ + colcon build \ + --merge-install \ + --build-base ${AUTOWARE_BUILD_PATH} \ + --install-base ${AUTOWARE_INSTALL_PATH} \ + --cmake-args \ + -DCUDA_ARCH=${AUTOWARE_CUDA_ARCH} \ + -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH} \ + -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH} \ + -DCMAKE_PREFIX_PATH='/sysroot/synquacer/opt/ros/kinetic;${AUTOWARE_INSTALL_PATH}' \ + -DCMAKE_FIND_ROOT_PATH=${AUTOWARE_INSTALL_PATH} \ + -DCMAKE_BUILD_TYPE=Release $* + " + + find install-${AUTOWARE_TARGET_PLATFORM}/ -type f -exec grep -Iq . {} \; -and -exec sed -i -e "s#${AUTOWARE_SYSROOT}##g" {} \; +else + echo "Select target platform: synquacer, driveworks, generic-aarch64" +fi + diff --git a/ros/cross_toolchain.cmake b/ros/cross_toolchain.cmake index c75d0c610b..8bb8c3155b 100644 --- a/ros/cross_toolchain.cmake +++ b/ros/cross_toolchain.cmake @@ -3,7 +3,7 @@ set(CMAKE_SYSTEM_VERSION 1) set(CMAKE_SYSTEM_PROCESSOR aarch64) set(CMAKE_CROSSCOMPILING ON) set(CMAKE_SYSROOT $ENV{AUTOWARE_SYSROOT}) -set(CMAKE_PREFIX_PATH "${CMAKE_SYSROOT}/opt/ros/kinetic") +#set(CMAKE_PREFIX_PATH "${CMAKE_SYSROOT}/opt/ros/kinetic") # specify the cross compiler set(CMAKE_C_COMPILER "/usr/bin/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu-gcc") diff --git a/ros/src/actuation/vehicles/packages/as/CMakeLists.txt b/ros/src/actuation/vehicles/packages/as/CMakeLists.txt index 9a1f0ad0b9..e5c65ada3a 100644 --- a/ros/src/actuation/vehicles/packages/as/CMakeLists.txt +++ b/ros/src/actuation/vehicles/packages/as/CMakeLists.txt @@ -3,7 +3,6 @@ project(as) find_package( catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs geometry_msgs diff --git a/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt b/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt index 62b2d950fd..e9260a4c5b 100755 --- a/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt +++ b/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt @@ -3,13 +3,15 @@ project(ymc) set(CMAKE_CXX_FLAGS "-Wall ${CMAKE_CXX_FLAGS}") +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + find_package( catkin REQUIRED COMPONENTS - autoware_build_flags roscpp geometry_msgs rosconsole - autoware_msgs ) catkin_package( @@ -27,6 +29,7 @@ ELSE () ENDIF () include_directories( + ${autoware_msgs_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} include ) diff --git a/ros/src/common/libs/amathutils_lib/CMakeLists.txt b/ros/src/common/libs/amathutils_lib/CMakeLists.txt index 861b8e4c4a..e264a48ab4 100644 --- a/ros/src/common/libs/amathutils_lib/CMakeLists.txt +++ b/ros/src/common/libs/amathutils_lib/CMakeLists.txt @@ -1,9 +1,11 @@ cmake_minimum_required(VERSION 2.8.11) project(amathutils_lib) # autoware math utility + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp - autoware_msgs ) set(CMAKE_CXX_FLAGS "-O2 -Wall ${CMAKE_CXX_FLAGS}") @@ -17,6 +19,7 @@ catkin_package( include_directories(amathutils_lib include ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) add_library(amathutils_lib diff --git a/ros/src/common/libs/state_machine_lib/CMakeLists.txt b/ros/src/common/libs/state_machine_lib/CMakeLists.txt index 11042e63a4..533a333f62 100644 --- a/ros/src/common/libs/state_machine_lib/CMakeLists.txt +++ b/ros/src/common/libs/state_machine_lib/CMakeLists.txt @@ -1,10 +1,12 @@ cmake_minimum_required(VERSION 2.8.3) project(state_machine_lib) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp - autoware_msgs ) catkin_package( @@ -18,6 +20,7 @@ SET(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( include ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) add_library(state_machine_lib diff --git a/ros/src/common/libvectormap/CMakeLists.txt b/ros/src/common/libvectormap/CMakeLists.txt index 3a5e7cbce6..730ce41f30 100644 --- a/ros/src/common/libvectormap/CMakeLists.txt +++ b/ros/src/common/libvectormap/CMakeLists.txt @@ -1,9 +1,11 @@ cmake_minimum_required(VERSION 2.8.12) project(libvectormap) + +find_package(autoware_build_flags REQUIRED) + +find_package(vector_map REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags - vector_map ) find_package(Eigen3 QUIET) @@ -34,6 +36,7 @@ catkin_package( include_directories( include + ${vector_map_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ) diff --git a/ros/src/computing/perception/detection/fusion_tools/packages/pixel_cloud_fusion/CMakeLists.txt b/ros/src/computing/perception/detection/fusion_tools/packages/pixel_cloud_fusion/CMakeLists.txt index 4ce8adb30b..c4faf49b5a 100644 --- a/ros/src/computing/perception/detection/fusion_tools/packages/pixel_cloud_fusion/CMakeLists.txt +++ b/ros/src/computing/perception/detection/fusion_tools/packages/pixel_cloud_fusion/CMakeLists.txt @@ -1,8 +1,9 @@ cmake_minimum_required(VERSION 2.8.12) project(pixel_cloud_fusion) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags cv_bridge image_transport pcl_conversions diff --git a/ros/src/computing/perception/detection/fusion_tools/packages/range_vision_fusion/CMakeLists.txt b/ros/src/computing/perception/detection/fusion_tools/packages/range_vision_fusion/CMakeLists.txt index 7510f1bbdc..e61bce8b85 100644 --- a/ros/src/computing/perception/detection/fusion_tools/packages/range_vision_fusion/CMakeLists.txt +++ b/ros/src/computing/perception/detection/fusion_tools/packages/range_vision_fusion/CMakeLists.txt @@ -1,14 +1,16 @@ cmake_minimum_required(VERSION 2.8.12) project(range_vision_fusion) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS cv_bridge sensor_msgs image_transport roscpp tf - autoware_msgs - autoware_build_flags jsk_recognition_utils eigen_conversions tf_conversions @@ -71,6 +73,7 @@ endif () target_include_directories(range_vision_fusion_lib PRIVATE ${OpenCV_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} @@ -98,6 +101,7 @@ add_executable(range_vision_fusion target_include_directories(range_vision_fusion PRIVATE ${OpenCV_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} include ) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_euclidean_cluster_detect/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_euclidean_cluster_detect/CMakeLists.txt index 42691231a6..cc75c0b743 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_euclidean_cluster_detect/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_euclidean_cluster_detect/CMakeLists.txt @@ -1,14 +1,16 @@ cmake_minimum_required(VERSION 2.8.3) project(lidar_euclidean_cluster_detect) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags pcl_ros roscpp geometry_msgs std_msgs sensor_msgs - autoware_msgs tf vector_map_server grid_map_ros @@ -48,6 +50,7 @@ link_directories(${YAML_CPP_LIBRARY_DIRS}) include_directories( include ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ) link_directories(${PCL_LIBRARY_DIRS}) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_fake_perception/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_fake_perception/CMakeLists.txt index bf8e87550d..bd78f096f0 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_fake_perception/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_fake_perception/CMakeLists.txt @@ -3,15 +3,17 @@ project(lidar_fake_perception) set(CMAKE_CXX_FLAGS "-O2 -Wall ${CMAKE_CXX_FLAGS}") + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp tf tf_conversions pcl_ros sensor_msgs geometry_msgs - autoware_msgs ) catkin_package( @@ -28,6 +30,7 @@ catkin_package( include_directories( include + ${autoware_msgs_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_naive_l_shape_detect/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_naive_l_shape_detect/CMakeLists.txt index dd753f36fd..6da0ff1af0 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_naive_l_shape_detect/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_naive_l_shape_detect/CMakeLists.txt @@ -1,11 +1,13 @@ cmake_minimum_required(VERSION 2.8.3) project(lidar_naive_l_shape_detect) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp pcl_ros - autoware_msgs tf ) @@ -27,6 +29,7 @@ link_directories(${OpenCV_LIBRARY_DIRS}) include_directories( include + ${autoware_msgs_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/CMakeLists.txt index 0f281561ee..76e42ee7e4 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/CMakeLists.txt @@ -1,11 +1,13 @@ cmake_minimum_required(VERSION 2.8.3) project(lidar_svm_detect) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp sensor_msgs - autoware_msgs tf jsk_recognition_msgs jsk_rviz_plugins @@ -27,6 +29,7 @@ catkin_package( include_directories( ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ) link_directories(${OpenCV_LIBRARY_DIRS}) diff --git a/ros/src/computing/perception/detection/lidar_tracker/libs/fusion/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_tracker/libs/fusion/CMakeLists.txt index 0296c1538b..b6d980ef4f 100644 --- a/ros/src/computing/perception/detection/lidar_tracker/libs/fusion/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_tracker/libs/fusion/CMakeLists.txt @@ -1,11 +1,13 @@ cmake_minimum_required(VERSION 2.8.3) project(fusion) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp cv_bridge - autoware_msgs ) find_package(OpenCV REQUIRED) @@ -19,6 +21,7 @@ SET(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( include + ${autoware_msgs_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ) diff --git a/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_euclidean_track/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_euclidean_track/CMakeLists.txt index ffe979b25c..8c7d834f11 100644 --- a/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_euclidean_track/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_euclidean_track/CMakeLists.txt @@ -5,11 +5,13 @@ project(lidar_euclidean_track) ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp geometry_msgs - autoware_msgs jsk_recognition_msgs ) @@ -25,6 +27,7 @@ catkin_package( ) include_directories( + ${autoware_msgs_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ) diff --git a/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_imm_ukf_pda_track/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_imm_ukf_pda_track/CMakeLists.txt index 854c522301..5b8513ace8 100644 --- a/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_imm_ukf_pda_track/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_imm_ukf_pda_track/CMakeLists.txt @@ -1,11 +1,14 @@ cmake_minimum_required(VERSION 2.8.3) project(imm_ukf_pda_track) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp pcl_ros - autoware_msgs + geometry_msgs tf vector_map ) @@ -23,8 +26,9 @@ catkin_package( ) include_directories( - ${catkin_INCLUDE_DIRS} - include) + ${autoware_msgs_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + include) link_directories(${PCL_LIBRARY_DIRS}) diff --git a/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_kf_contour_track/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_kf_contour_track/CMakeLists.txt index b14637b9be..adc7582f4b 100644 --- a/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_kf_contour_track/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_kf_contour_track/CMakeLists.txt @@ -1,10 +1,12 @@ cmake_minimum_required(VERSION 2.8.3) project(lidar_kf_contour_track) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp - autoware_msgs tf jsk_recognition_msgs op_ros_helpers @@ -25,6 +27,7 @@ catkin_package( include_directories( ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} include ) diff --git a/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_kf_track/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_kf_track/CMakeLists.txt index a8ace12f89..6ec6c2051c 100644 --- a/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_kf_track/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_kf_track/CMakeLists.txt @@ -2,12 +2,14 @@ cmake_minimum_required(VERSION 2.8.3) project(lidar_kf_track) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags pcl_ros roscpp std_msgs - autoware_msgs tf jsk_recognition_msgs jsk_rviz_plugins @@ -30,6 +32,7 @@ catkin_package( include_directories( ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} include ) diff --git a/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_pf_track/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_pf_track/CMakeLists.txt index 17208c7ed4..9cee8938fb 100644 --- a/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_pf_track/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_pf_track/CMakeLists.txt @@ -1,10 +1,12 @@ cmake_minimum_required(VERSION 2.8.3) project(lidar_pf_track) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp - autoware_msgs ) @@ -18,6 +20,7 @@ catkin_package( include_directories( ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) #ParticleFilter Track diff --git a/ros/src/computing/perception/detection/lidar_tracker/packages/obj_fusion/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_tracker/packages/obj_fusion/CMakeLists.txt index c3b20f2248..6db29e87a0 100644 --- a/ros/src/computing/perception/detection/lidar_tracker/packages/obj_fusion/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_tracker/packages/obj_fusion/CMakeLists.txt @@ -1,13 +1,16 @@ cmake_minimum_required(VERSION 2.8.3) project(obj_fusion) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + +find_package(vector_map REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp - autoware_msgs tf jsk_recognition_msgs - vector_map vector_map_server ) @@ -25,6 +28,8 @@ catkin_package( include_directories( ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) #Object Fusion diff --git a/ros/src/computing/perception/detection/lidar_tracker/packages/obj_reproj/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_tracker/packages/obj_reproj/CMakeLists.txt index 403ceac294..fec87e1811 100644 --- a/ros/src/computing/perception/detection/lidar_tracker/packages/obj_reproj/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_tracker/packages/obj_reproj/CMakeLists.txt @@ -1,12 +1,14 @@ cmake_minimum_required(VERSION 2.8.12) project(obj_reproj) +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + FIND_PACKAGE(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp sensor_msgs std_msgs - autoware_msgs jsk_recognition_msgs tf ) @@ -27,6 +29,7 @@ set(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} lib include ) diff --git a/ros/src/computing/perception/detection/lidar_tracker/packages/range_fusion/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_tracker/packages/range_fusion/CMakeLists.txt index 8050195565..d036618593 100644 --- a/ros/src/computing/perception/detection/lidar_tracker/packages/range_fusion/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_tracker/packages/range_fusion/CMakeLists.txt @@ -1,11 +1,13 @@ cmake_minimum_required(VERSION 2.8.12) project(range_fusion) +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_config_msgs REQUIRED) + FIND_PACKAGE(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs - autoware_config_msgs fusion ) FIND_PACKAGE(CUDA) @@ -22,6 +24,7 @@ catkin_package( set(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( + ${autoware_config_msgs_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ) diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt b/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt index 3b0df5c169..d227a811de 100644 --- a/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt @@ -8,9 +8,13 @@ execute_process( set(ROS_VERSION $ENV{ROS_DISTRO}) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + +find_package(vector_map REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags - autoware_msgs cmake_modules cv_bridge geometry_msgs @@ -19,7 +23,6 @@ find_package(catkin REQUIRED COMPONENTS sensor_msgs std_msgs tf - vector_map vector_map_server visualization_msgs waypoint_follower @@ -55,6 +58,8 @@ find_package(OpenGL REQUIRED) include_directories( include ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${Eigen3_INCLUDE_DIRS} ) @@ -121,6 +126,8 @@ add_dependencies(region_tlr ### feat_proj ### include_directories( ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${Eigen3_INCLUDE_DIRS} ) @@ -148,6 +155,8 @@ include_directories( include nodes/tlr_tuner/ ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR} ) @@ -179,6 +188,8 @@ target_link_libraries(tlr_tuner ### roi_extractor ### include_directories( ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} include ) @@ -207,6 +218,8 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON) include_directories( ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${TinyXML_INCLUDE_DIRS} nodes/label_maker/ ${CMAKE_CURRENT_SOURCE_DIR} diff --git a/ros/src/computing/perception/detection/vision_detector/libs/dpm_ttic/CMakeLists.txt b/ros/src/computing/perception/detection/vision_detector/libs/dpm_ttic/CMakeLists.txt index 05225a005f..fbe1d599aa 100644 --- a/ros/src/computing/perception/detection/vision_detector/libs/dpm_ttic/CMakeLists.txt +++ b/ros/src/computing/perception/detection/vision_detector/libs/dpm_ttic/CMakeLists.txt @@ -1,8 +1,9 @@ cmake_minimum_required(VERSION 2.8.3) project(libdpm_ttic) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags sensor_msgs std_msgs ) diff --git a/ros/src/computing/perception/detection/vision_detector/packages/vision_darknet_detect/CMakeLists.txt b/ros/src/computing/perception/detection/vision_detector/packages/vision_darknet_detect/CMakeLists.txt index aa6ff12b25..e20c3b5f0a 100644 --- a/ros/src/computing/perception/detection/vision_detector/packages/vision_darknet_detect/CMakeLists.txt +++ b/ros/src/computing/perception/detection/vision_detector/packages/vision_darknet_detect/CMakeLists.txt @@ -1,15 +1,18 @@ cmake_minimum_required(VERSION 2.8.12) project(vision_darknet_detect) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + +find_package(autoware_config_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags cv_bridge image_transport roscpp sensor_msgs std_msgs - autoware_msgs - autoware_config_msgs ) find_package(CUDA) @@ -103,6 +106,8 @@ IF (CUDA_FOUND) target_include_directories(vision_darknet_detect_lib PRIVATE ${OpenCV_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} + ${autoware_config_msgs_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${CUDA_INCLUDE_DIRS} ${PROJECT_SOURCE_DIR}/darknet @@ -136,6 +141,8 @@ IF (CUDA_FOUND) target_include_directories(vision_darknet_detect PRIVATE ${CUDA_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} + ${autoware_config_msgs_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${PROJECT_SOURCE_DIR}/darknet ${PROJECT_SOURCE_DIR}/darknet/src ${PROJECT_SOURCE_DIR}/src diff --git a/ros/src/computing/perception/detection/vision_detector/packages/vision_dpm_ttic_detect/CMakeLists.txt b/ros/src/computing/perception/detection/vision_detector/packages/vision_dpm_ttic_detect/CMakeLists.txt index 12505f8089..aeb2fab523 100644 --- a/ros/src/computing/perception/detection/vision_detector/packages/vision_dpm_ttic_detect/CMakeLists.txt +++ b/ros/src/computing/perception/detection/vision_detector/packages/vision_dpm_ttic_detect/CMakeLists.txt @@ -3,14 +3,15 @@ project(vision_dpm_ttic_detect) include(FindPkgConfig) +find_package(autoware_msgs REQUIRED) + +find_package(autoware_config_msgs REQUIRED) + FIND_PACKAGE(catkin REQUIRED COMPONENTS - autoware_build_flags cv_bridge roscpp sensor_msgs std_msgs - autoware_config_msgs - autoware_msgs libdpm_ttic ) @@ -34,6 +35,8 @@ catkin_package( set(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( + ${autoware_config_msgs_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ) diff --git a/ros/src/computing/perception/detection/vision_detector/packages/vision_lane_detect/CMakeLists.txt b/ros/src/computing/perception/detection/vision_detector/packages/vision_lane_detect/CMakeLists.txt index ad4b591261..7e32e92334 100644 --- a/ros/src/computing/perception/detection/vision_detector/packages/vision_lane_detect/CMakeLists.txt +++ b/ros/src/computing/perception/detection/vision_detector/packages/vision_lane_detect/CMakeLists.txt @@ -1,11 +1,12 @@ cmake_minimum_required(VERSION 2.8.3) project(vision_lane_detect) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS cv_bridge image_transport roscpp - autoware_msgs ) find_package(OpenCV REQUIRED) find_package(OpenGL REQUIRED) @@ -23,6 +24,7 @@ catkin_package( include_directories( ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} nodes/vision_lane_detect ${OpenCV_INCLUDE_DIRS} ) diff --git a/ros/src/computing/perception/detection/vision_detector/packages/vision_segment_enet_detect/CMakeLists.txt b/ros/src/computing/perception/detection/vision_detector/packages/vision_segment_enet_detect/CMakeLists.txt index f0a1812739..f717456c54 100644 --- a/ros/src/computing/perception/detection/vision_detector/packages/vision_segment_enet_detect/CMakeLists.txt +++ b/ros/src/computing/perception/detection/vision_detector/packages/vision_segment_enet_detect/CMakeLists.txt @@ -2,7 +2,6 @@ cmake_minimum_required(VERSION 2.8.12) project(vision_segment_enet_detect) FIND_PACKAGE(catkin REQUIRED COMPONENTS - autoware_build_flags cv_bridge image_transport roscpp diff --git a/ros/src/computing/perception/detection/vision_detector/packages/vision_ssd_detect/CMakeLists.txt b/ros/src/computing/perception/detection/vision_detector/packages/vision_ssd_detect/CMakeLists.txt index 9d77d986cb..f9c9e24278 100644 --- a/ros/src/computing/perception/detection/vision_detector/packages/vision_ssd_detect/CMakeLists.txt +++ b/ros/src/computing/perception/detection/vision_detector/packages/vision_ssd_detect/CMakeLists.txt @@ -7,13 +7,11 @@ include(FindPkgConfig) FIND_PACKAGE(catkin REQUIRED COMPONENTS - autoware_build_flags cv_bridge image_transport roscpp sensor_msgs std_msgs - autoware_msgs tf ) diff --git a/ros/src/computing/perception/detection/vision_tracker/libs/kf/CMakeLists.txt b/ros/src/computing/perception/detection/vision_tracker/libs/kf/CMakeLists.txt index a9e070cc13..3a7c1ee2dd 100644 --- a/ros/src/computing/perception/detection/vision_tracker/libs/kf/CMakeLists.txt +++ b/ros/src/computing/perception/detection/vision_tracker/libs/kf/CMakeLists.txt @@ -1,14 +1,16 @@ cmake_minimum_required(VERSION 2.8.3) project(kf_lib) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags cv_bridge image_transport roscpp sensor_msgs std_msgs - autoware_msgs ) find_package(OpenCV REQUIRED) diff --git a/ros/src/computing/perception/detection/vision_tracker/packages/vision_beyond_track/CMakeLists.txt b/ros/src/computing/perception/detection/vision_tracker/packages/vision_beyond_track/CMakeLists.txt index 2c92c4964d..a16060729b 100644 --- a/ros/src/computing/perception/detection/vision_tracker/packages/vision_beyond_track/CMakeLists.txt +++ b/ros/src/computing/perception/detection/vision_tracker/packages/vision_beyond_track/CMakeLists.txt @@ -3,14 +3,16 @@ project(vision_beyond_track) find_package(OpenCV REQUIRED) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags cv_bridge image_transport roscpp sensor_msgs std_msgs - autoware_msgs tf ) @@ -29,6 +31,7 @@ include_directories( lib ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) add_library( diff --git a/ros/src/computing/perception/detection/vision_tracker/packages/vision_dummy_track/CMakeLists.txt b/ros/src/computing/perception/detection/vision_tracker/packages/vision_dummy_track/CMakeLists.txt index bcd8d229c2..34bd055ee1 100644 --- a/ros/src/computing/perception/detection/vision_tracker/packages/vision_dummy_track/CMakeLists.txt +++ b/ros/src/computing/perception/detection/vision_tracker/packages/vision_dummy_track/CMakeLists.txt @@ -5,10 +5,10 @@ set(ROS_VERSION $ENV{ROS_DISTRO}) include(FindPkgConfig) +find_package(autoware_msgs REQUIRED) + FIND_PACKAGE(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp - autoware_msgs ) @@ -23,6 +23,7 @@ catkin_package( set(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( + ${autoware_msgs_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} include ) diff --git a/ros/src/computing/perception/detection/vision_tracker/packages/vision_kf_track/CMakeLists.txt b/ros/src/computing/perception/detection/vision_tracker/packages/vision_kf_track/CMakeLists.txt index abaac207fa..2b9a7c505c 100644 --- a/ros/src/computing/perception/detection/vision_tracker/packages/vision_kf_track/CMakeLists.txt +++ b/ros/src/computing/perception/detection/vision_tracker/packages/vision_kf_track/CMakeLists.txt @@ -6,11 +6,9 @@ set(ROS_VERSION $ENV{ROS_DISTRO}) include(FindPkgConfig) FIND_PACKAGE(catkin REQUIRED COMPONENTS - autoware_build_flags cv_bridge roscpp sensor_msgs - autoware_msgs ) FIND_PACKAGE(OpenCV REQUIRED) diff --git a/ros/src/computing/perception/detection/vision_tracker/packages/vision_klt_track/CMakeLists.txt b/ros/src/computing/perception/detection/vision_tracker/packages/vision_klt_track/CMakeLists.txt index 1a6ccb4129..e8f7f2f4b6 100644 --- a/ros/src/computing/perception/detection/vision_tracker/packages/vision_klt_track/CMakeLists.txt +++ b/ros/src/computing/perception/detection/vision_tracker/packages/vision_klt_track/CMakeLists.txt @@ -5,12 +5,12 @@ set(ROS_VERSION $ENV{ROS_DISTRO}) include(FindPkgConfig) +find_package(autoware_msgs REQUIRED) + FIND_PACKAGE(catkin REQUIRED COMPONENTS - autoware_build_flags cv_bridge roscpp sensor_msgs - autoware_msgs ) FIND_PACKAGE(OpenCV REQUIRED) @@ -29,6 +29,7 @@ catkin_package( set(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( + ${autoware_msgs_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${OPENCV_INCLUDE_DIRS} lib diff --git a/ros/src/computing/perception/detection/visualizers/packages/integrated_viewer/CMakeLists.txt b/ros/src/computing/perception/detection/visualizers/packages/integrated_viewer/CMakeLists.txt index dc6568015e..405451331f 100644 --- a/ros/src/computing/perception/detection/visualizers/packages/integrated_viewer/CMakeLists.txt +++ b/ros/src/computing/perception/detection/visualizers/packages/integrated_viewer/CMakeLists.txt @@ -1,15 +1,17 @@ cmake_minimum_required(VERSION 2.8.7) project(integrated_viewer) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags cv_bridge image_transport roscpp sensor_msgs std_msgs rviz - autoware_msgs ) set(CMAKE_CXX_FLAGS @@ -60,6 +62,7 @@ include_directories( lib/ ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR} + ${autoware_msgs_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} include ) diff --git a/ros/src/computing/perception/detection/visualizers/packages/viewers/CMakeLists.txt b/ros/src/computing/perception/detection/visualizers/packages/viewers/CMakeLists.txt index c7ce56649c..448b04e698 100644 --- a/ros/src/computing/perception/detection/visualizers/packages/viewers/CMakeLists.txt +++ b/ros/src/computing/perception/detection/visualizers/packages/viewers/CMakeLists.txt @@ -1,12 +1,14 @@ cmake_minimum_required(VERSION 2.8.3) project(viewers) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp sensor_msgs std_msgs - autoware_msgs cv_bridge image_transport ) @@ -87,6 +89,7 @@ add_dependencies(vscan_image_d_viewer ${catkin_EXPORTED_TARGETS}) include_directories( ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} include ) add_executable(traffic_light_viewer nodes/traffic_light_viewer/traffic_light_viewer.cpp) 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 4a3d1485ad..fcfcd76edf 100644 --- a/ros/src/computing/perception/localization/packages/autoware_connector/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/autoware_connector/CMakeLists.txt @@ -1,13 +1,14 @@ cmake_minimum_required(VERSION 2.8.3) project(autoware_connector) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS autoware_build_flags roscpp tf geometry_msgs autoware_can_msgs - autoware_msgs nav_msgs std_msgs ) @@ -18,6 +19,7 @@ catkin_package( include_directories( ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) add_executable(can_status_translator 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 46ac2fff01..d5094e4aa8 100644 --- a/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/gnss_localizer/CMakeLists.txt @@ -1,8 +1,9 @@ cmake_minimum_required(VERSION 2.8.3) project(gnss_localizer) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs nmea_msgs diff --git a/ros/src/computing/perception/localization/packages/lidar_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/lidar_localizer/CMakeLists.txt index cfc11fa3f3..a0256c4076 100644 --- a/ros/src/computing/perception/localization/packages/lidar_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/lidar_localizer/CMakeLists.txt @@ -33,16 +33,19 @@ else () set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) endif () + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + +find_package(autoware_config_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs nav_msgs tf pcl_ros sensor_msgs - autoware_msgs - autoware_config_msgs pcl_conversions velodyne_pointcloud ndt_tku @@ -62,7 +65,9 @@ catkin_package( ## Build ## ########### -include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}) +include_directories(include ${catkin_INCLUDE_DIRS} + ${autoware_config_msgs_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}) SET(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") @@ -121,6 +126,8 @@ add_library(ndt_matching_monitor_lib SHARED ) target_include_directories(ndt_matching_monitor_lib PRIVATE ${catkin_INCLUDE_DIRS} + ${autoware_config_msgs_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ) add_dependencies(ndt_matching_monitor_lib 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 5301d533b1..f9b870342f 100644 --- a/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt @@ -1,8 +1,9 @@ cmake_minimum_required(VERSION 2.8.3) project(orb_localizer) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp tf sensor_msgs diff --git a/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/CMakeLists.txt b/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/CMakeLists.txt index 54ce595090..76eb7166dd 100644 --- a/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/CMakeLists.txt +++ b/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/CMakeLists.txt @@ -3,14 +3,18 @@ project(naive_motion_predict) include(FindPkgConfig) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags - roscpp - sensor_msgs - autoware_msgs - tf - imm_ukf_pda_track - ) + roscpp + sensor_msgs + tf + imm_ukf_pda_track + ) + +set(CMAKE_CXX_FLAGS "-O2 -Wall ${CMAKE_CXX_FLAGS}") catkin_package( CATKIN_DEPENDS @@ -22,8 +26,9 @@ catkin_package( ) include_directories( - include - ${catkin_INCLUDE_DIRS} + include + ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) #naive_motion_predict 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 1c60e686c1..7f6ea94180 100644 --- a/ros/src/computing/perception/semantics/packages/object_map/CMakeLists.txt +++ b/ros/src/computing/perception/semantics/packages/object_map/CMakeLists.txt @@ -2,8 +2,13 @@ cmake_minimum_required(VERSION 2.8.12) project(object_map) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + +find_package(vector_map REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp pcl_ros pcl_conversions @@ -13,8 +18,6 @@ find_package(catkin REQUIRED COMPONENTS grid_map_ros grid_map_cv grid_map_msgs - autoware_msgs - vector_map ) find_package(Qt5Core REQUIRED) @@ -35,6 +38,8 @@ set(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} include ) ### object_map_utils ### @@ -43,6 +48,7 @@ add_library(object_map_utils_lib include/object_map_utils.hpp ) target_link_libraries(object_map_utils_lib + ${vector_map_LIBRARIES} ${catkin_LIBRARIES} ) 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 ab2f0f6aae..7da8c9e52c 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 @@ -1,8 +1,11 @@ cmake_minimum_required(VERSION 2.8.12) project(road_occupancy_processor) + +find_package(autoware_build_flags REQUIRED) + +find_package(vector_map REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags cv_bridge image_transport pcl_conversions @@ -14,7 +17,6 @@ find_package(catkin REQUIRED COMPONENTS grid_map_ros grid_map_cv grid_map_msgs - vector_map ) find_package(Qt5Core REQUIRED) @@ -53,6 +55,7 @@ endif() target_include_directories(road_occupancy_processor_lib PRIVATE ${OpenCV_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} include @@ -76,6 +79,7 @@ add_executable(road_occupancy_processor target_include_directories(road_occupancy_processor PRIVATE ${OpenCV_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} include) 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 501dabca39..14173f397d 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 @@ -2,11 +2,15 @@ cmake_minimum_required(VERSION 2.8.3) project(op_ros_helpers) set(ROS_VERSION $ENV{ROS_DISTRO}) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + +find_package(vector_map_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp geometry_msgs - autoware_msgs map_file pcl_conversions pcl_ros @@ -17,7 +21,6 @@ find_package(catkin REQUIRED COMPONENTS op_planner op_simu waypoint_follower - vector_map_msgs ) catkin_package( @@ -47,6 +50,8 @@ endif () include_directories( include ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) set(ROS_HELPERS_SRC 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 31b59a73c4..f07973c133 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 @@ -6,8 +6,9 @@ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake") # Get a ros version set(ROS_VERSION $ENV{ROS_DISTRO}) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags op_utility op_planner ) @@ -67,7 +68,7 @@ add_executable(Simu target_link_libraries(Simu ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} + ${OpenCV_LIBS} ${OPENGL_LIBRARIES} ${GLUT_LIBRARIES} ${GLUT_LIBRARY} 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 6b75baf1b1..aa825551b9 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 @@ -4,10 +4,13 @@ project(op_utility) set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake") set(ROS_VERSION $ENV{ROS_DISTRO}) + +find_package(autoware_build_flags REQUIRED) + +find_package(vector_map_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS vector_map_msgs vector_map_server - autoware_build_flags ) find_package(TinyXML REQUIRED) diff --git a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt index e6bd38b15c..5ad49598d3 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt +++ b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt @@ -8,16 +8,21 @@ SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pg") SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -pg") SET(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -pg") + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + +find_package(autoware_config_msgs REQUIRED) + +find_package(vector_map_msgs REQUIRED) + +find_package(vector_map REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs tf - autoware_config_msgs - autoware_msgs geometry_msgs - vector_map_msgs - vector_map jsk_recognition_msgs dynamic_reconfigure amathutils_lib @@ -41,6 +46,9 @@ catkin_package( include_directories( include ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} + ${autoware_config_msgs_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) add_executable(decision_maker_node @@ -53,7 +61,10 @@ add_executable(decision_maker_node nodes/decision_maker/decision_maker_node_publish.cpp nodes/decision_maker/cross_road_area.cpp ) -target_link_libraries(decision_maker_node ${catkin_LIBRARIES}) +target_link_libraries(decision_maker_node + ${catkin_LIBRARIES} + ${vector_map_LIBRARIES} + ) add_dependencies(decision_maker_node ${catkin_EXPORTED_TARGETS}) # This function will be integrated into decision_maker soon. diff --git a/ros/src/computing/planning/mission/packages/freespace_planner/CMakeLists.txt b/ros/src/computing/planning/mission/packages/freespace_planner/CMakeLists.txt index 6b2709a60a..70354940a8 100644 --- a/ros/src/computing/planning/mission/packages/freespace_planner/CMakeLists.txt +++ b/ros/src/computing/planning/mission/packages/freespace_planner/CMakeLists.txt @@ -1,12 +1,14 @@ cmake_minimum_required(VERSION 2.8.3) project(freespace_planner) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp nav_msgs visualization_msgs - autoware_msgs tf ) @@ -17,7 +19,9 @@ catkin_package( ) include_directories( - ${catkin_INCLUDE_DIRS} include + include + ${autoware_msgs_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} ) add_executable(astar_navi nodes/astar_navi/astar_navi.cpp nodes/astar_navi/astar_search.cpp nodes/astar_navi/search_info_ros.cpp include/astar_util.cpp) 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 ed8201376f..90db78dd41 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt +++ b/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt @@ -1,15 +1,18 @@ cmake_minimum_required(VERSION 2.8.12) project(lane_planner) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + +find_package(vector_map REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs tablet_socket waypoint_follower - vector_map gnss - autoware_msgs ) set(CMAKE_CXX_FLAGS "-O2 -Wall ${CMAKE_CXX_FLAGS}") @@ -29,6 +32,8 @@ catkin_package( include_directories( include ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) add_library(lane_planner lib/lane_planner/lane_planner_vmap.cpp) diff --git a/ros/src/computing/planning/mission/packages/op_global_planner/CMakeLists.txt b/ros/src/computing/planning/mission/packages/op_global_planner/CMakeLists.txt index 95a2986272..bb7d692c95 100644 --- a/ros/src/computing/planning/mission/packages/op_global_planner/CMakeLists.txt +++ b/ros/src/computing/planning/mission/packages/op_global_planner/CMakeLists.txt @@ -1,11 +1,13 @@ cmake_minimum_required(VERSION 2.8.3) project(op_global_planner) + +find_package(autoware_build_flags REQUIRED) + +find_package(vector_map_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags geometry_msgs - vector_map_msgs roscpp rospy std_msgs @@ -40,6 +42,7 @@ catkin_package( include_directories( include ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} ) 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 a608e94222..37de398e70 100644 --- a/ros/src/computing/planning/mission/packages/way_planner/CMakeLists.txt +++ b/ros/src/computing/planning/mission/packages/way_planner/CMakeLists.txt @@ -1,10 +1,12 @@ cmake_minimum_required(VERSION 2.8.3) project(way_planner) + +find_package(autoware_build_flags REQUIRED) + +find_package(vector_map_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags geometry_msgs - vector_map_msgs roscpp rospy std_msgs @@ -40,6 +42,7 @@ SET(CMAKE_CXX_FLAGS "-O2 -g -Wall -Wno-unused-result -DROS ${CMAKE_CXX_FLAGS}") include_directories( include include/plannerh ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} ) diff --git a/ros/src/computing/planning/motion/packages/astar_planner/CMakeLists.txt b/ros/src/computing/planning/motion/packages/astar_planner/CMakeLists.txt index 38e3f7867b..c9978c7754 100644 --- a/ros/src/computing/planning/motion/packages/astar_planner/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/astar_planner/CMakeLists.txt @@ -1,8 +1,13 @@ cmake_minimum_required(VERSION 2.8.3) project(astar_planner) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + +find_package(vector_map REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs pcl_ros @@ -10,7 +15,6 @@ find_package(catkin REQUIRED COMPONENTS tf waypoint_follower autoware_msgs - vector_map ) ################################### @@ -28,6 +32,8 @@ SET(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) add_executable(velocity_set nodes/velocity_set/velocity_set.cpp nodes/velocity_set/velocity_set_path.cpp nodes/velocity_set/velocity_set_info.cpp nodes/velocity_set/libvelocity_set.cpp) 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 5f1e9096c8..d99aa2515a 100644 --- a/ros/src/computing/planning/motion/packages/dp_planner/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/dp_planner/CMakeLists.txt @@ -1,8 +1,13 @@ cmake_minimum_required(VERSION 2.8.3) project(dp_planner) set(ROS_VERSION $ENV{ROS_DISTRO}) + +find_package(autoware_build_flags REQUIRED) + +find_package(vector_map_msgs REQUIRED) +find_package(OpenCV REQUIRED) + find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp geometry_msgs autoware_can_msgs @@ -16,7 +21,6 @@ find_package(catkin REQUIRED COMPONENTS op_planner op_simu waypoint_follower - vector_map_msgs ) ## System dependencies are found with CMake's conventions @@ -57,6 +61,7 @@ endif () include_directories( include include/plannerh ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} ) ## Declare a C++ library @@ -65,7 +70,11 @@ include_directories( 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}) +target_link_libraries(dp_planner + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ${PCL_LIBRARIES} + ) add_dependencies(dp_planner ${catkin_EXPORTED_TARGETS} ) 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 6407a28c17..6e5315fc6e 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 @@ -1,12 +1,16 @@ cmake_minimum_required(VERSION 2.8.3) project(ff_waypoint_follower) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) +find_package(OpenCV REQUIRED) + find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp geometry_msgs runtime_manager - autoware_msgs map_file op_utility op_planner @@ -36,6 +40,7 @@ include_directories( include # /usr/local/include/zmp/minivan ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) ## Declare a C++ library @@ -43,7 +48,10 @@ include_directories( link_directories(lib) add_executable(ff_waypoint_follower nodes/ff_waypoint_follower.cpp nodes/ff_waypoint_follower_core.cpp) -target_link_libraries(ff_waypoint_follower ${catkin_LIBRARIES}) +target_link_libraries(ff_waypoint_follower + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ) #link_directories(/usr/local/lib/zmp/minivan) #add_executable(ff_waypoint_follower nodes/ff_waypoint_follower.cpp nodes/ff_waypoint_follower_core.cpp nodes/HevCnt.cpp nodes/HevComm.cpp) 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 bd46aa1380..415a6d130e 100644 --- a/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt @@ -1,8 +1,11 @@ cmake_minimum_required(VERSION 2.8.3) project(lattice_planner) + +find_package(autoware_build_flags REQUIRED) + +find_package(vector_map REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs pcl_ros @@ -11,7 +14,6 @@ find_package(catkin REQUIRED COMPONENTS tf gnss waypoint_follower - vector_map astar_planner autoware_can_msgs ) @@ -50,6 +52,7 @@ include_directories( include ${ARMADILLO_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} ) add_library(libtraj_gen lib/libtraj_gen.cpp) 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 7ff27b80a5..0ce9778031 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 @@ -3,8 +3,11 @@ project(op_local_planner) set(ROS_VERSION $ENV{ROS_DISTRO}) + +find_package(autoware_build_flags REQUIRED) + +find_package(vector_map_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp geometry_msgs autoware_can_msgs @@ -19,7 +22,6 @@ find_package(catkin REQUIRED COMPONENTS op_simu op_ros_helpers waypoint_follower - vector_map_msgs ) ## System dependencies are found with CMake's conventions @@ -56,6 +58,7 @@ endif() include_directories( include ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} ) link_directories(lib) diff --git a/ros/src/computing/planning/motion/packages/op_simulation_package/CMakeLists.txt b/ros/src/computing/planning/motion/packages/op_simulation_package/CMakeLists.txt index 52cc20e08b..f83614b63c 100644 --- a/ros/src/computing/planning/motion/packages/op_simulation_package/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/op_simulation_package/CMakeLists.txt @@ -7,8 +7,14 @@ execute_process( ) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + +find_package(OpenCV REQUIRED) + find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp geometry_msgs autoware_msgs @@ -49,13 +55,18 @@ endif() include_directories( include ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) link_directories(lib) add_executable(op_car_simulator nodes/op_car_simulator/op_car_simulator.cpp nodes/op_car_simulator/op_car_simulator_core.cpp) -target_link_libraries(op_car_simulator ${catkin_LIBRARIES} ${PCL_LIBRARIES}) +target_link_libraries(op_car_simulator + ${catkin_LIBRARIES} + ${PCL_LIBRARIES} + ${OpenCV_LIBS} + ) add_executable(op_perception_simulator nodes/op_perception_simulator/op_perception_simulator.cpp nodes/op_perception_simulator/op_perception_simulator_core.cpp) target_link_libraries(op_perception_simulator ${catkin_LIBRARIES} ${PCL_LIBRARIES}) diff --git a/ros/src/computing/planning/motion/packages/op_utilities/CMakeLists.txt b/ros/src/computing/planning/motion/packages/op_utilities/CMakeLists.txt index 4ef5b507ae..ecef294632 100644 --- a/ros/src/computing/planning/motion/packages/op_utilities/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/op_utilities/CMakeLists.txt @@ -1,8 +1,11 @@ cmake_minimum_required(VERSION 2.8.3) project(op_utilities) + +find_package(autoware_build_flags REQUIRED) + +find_package(vector_map_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp geometry_msgs autoware_msgs @@ -11,7 +14,6 @@ find_package(catkin REQUIRED COMPONENTS op_planner op_ros_helpers pcl_conversions - vector_map_msgs ) find_package(OpenCV REQUIRED) @@ -40,7 +42,8 @@ catkin_package( ########### -include_directories(include ${catkin_INCLUDE_DIRS}) +include_directories(include ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS}) link_directories(lib) 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 9c112ac49b..2577c38cb7 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/CMakeLists.txt @@ -1,18 +1,22 @@ cmake_minimum_required(VERSION 2.8.3) project(waypoint_follower) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + +find_package(autoware_config_msgs REQUIRED) + +find_package(tablet_socket_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs tf geometry_msgs - autoware_msgs - autoware_config_msgs pcl_ros pcl_conversions sensor_msgs - tablet_socket_msgs ) ################################################ @@ -45,6 +49,9 @@ SET(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( include + ${autoware_config_msgs_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} + ${tablet_socket_msgs_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ) 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 8d56d9e0bc..02a881eb5d 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/CMakeLists.txt @@ -1,8 +1,13 @@ cmake_minimum_required(VERSION 2.8.3) project(waypoint_maker) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + +find_package(vector_map REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags gnss roscpp std_msgs @@ -10,9 +15,7 @@ find_package(catkin REQUIRED COMPONENTS nav_msgs tf waypoint_follower - vector_map lane_planner - autoware_msgs ) find_package(Boost REQUIRED) @@ -34,6 +37,8 @@ SET(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ) diff --git a/ros/src/computing/planning/state/state_machine/CMakeLists.txt b/ros/src/computing/planning/state/state_machine/CMakeLists.txt index 5b5176aff2..0715f675ca 100644 --- a/ros/src/computing/planning/state/state_machine/CMakeLists.txt +++ b/ros/src/computing/planning/state/state_machine/CMakeLists.txt @@ -1,11 +1,13 @@ cmake_minimum_required(VERSION 2.8.3) project(state_machine) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp geometry_msgs - autoware_msgs ) @@ -25,6 +27,7 @@ SET(CMAKE_CXX_FLAGS "-O2 -g -Wall -Wno-unused-result -DROS ${CMAKE_CXX_FLAGS}") include_directories( include ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) add_executable(state_machine diff --git a/ros/src/data/packages/map_file/CMakeLists.txt b/ros/src/data/packages/map_file/CMakeLists.txt index a42abff521..4f7c3d839a 100644 --- a/ros/src/data/packages/map_file/CMakeLists.txt +++ b/ros/src/data/packages/map_file/CMakeLists.txt @@ -2,8 +2,13 @@ cmake_minimum_required(VERSION 2.8.3) project(map_file) include(FindPkgConfig) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + +find_package(vector_map REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs visualization_msgs @@ -12,8 +17,6 @@ find_package(catkin REQUIRED COMPONENTS pcl_ros tf2_ros tf2_geometry_msgs - vector_map - autoware_msgs ) find_package(PCL REQUIRED COMPONENTS io) @@ -46,7 +49,9 @@ catkin_package( include_directories( include + ${vector_map_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${PCL_IO_INCLUDE_DIRS} ${CURL_INCLUDE_DIRS} ) @@ -61,7 +66,7 @@ target_link_libraries(points_map_loader ${catkin_LIBRARIES} get_file ${CURL_LIBR add_dependencies(points_map_loader ${catkin_EXPORTED_TARGETS}) add_executable(vector_map_loader nodes/vector_map_loader/vector_map_loader.cpp) -target_link_libraries(vector_map_loader ${catkin_LIBRARIES} get_file ${CURL_LIBRARIES}) +target_link_libraries(vector_map_loader ${catkin_LIBRARIES} ${vector_map_LIBRARIES} get_file ${CURL_LIBRARIES}) add_executable(points_map_filter nodes/points_map_filter/points_map_filter_node.cpp nodes/points_map_filter/points_map_filter.cpp) target_link_libraries(points_map_filter ${catkin_LIBRARIES}) diff --git a/ros/src/data/packages/obj_db/CMakeLists.txt b/ros/src/data/packages/obj_db/CMakeLists.txt index c3fadf1b26..3b23d901f7 100644 --- a/ros/src/data/packages/obj_db/CMakeLists.txt +++ b/ros/src/data/packages/obj_db/CMakeLists.txt @@ -1,8 +1,9 @@ cmake_minimum_required(VERSION 2.8.3) project(obj_db) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp gnss visualization_msgs diff --git a/ros/src/data/packages/pos_db/CMakeLists.txt b/ros/src/data/packages/pos_db/CMakeLists.txt index c0a431a67a..4a8503ea5d 100644 --- a/ros/src/data/packages/pos_db/CMakeLists.txt +++ b/ros/src/data/packages/pos_db/CMakeLists.txt @@ -1,14 +1,16 @@ cmake_minimum_required(VERSION 2.8.12) project(pos_db) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp gnss jsk_recognition_msgs tf jsk_rviz_plugins - autoware_msgs ) include(FindLibSsh2.cmake) @@ -29,6 +31,7 @@ if (LIBSSH2_FOUND) include_directories( include ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${LIBSSH2_INCLUDE_DIRS} ) diff --git a/ros/src/data/packages/vector_map/CMakeLists.txt b/ros/src/data/packages/vector_map/CMakeLists.txt index 5c485c04cc..d17ac1a101 100644 --- a/ros/src/data/packages/vector_map/CMakeLists.txt +++ b/ros/src/data/packages/vector_map/CMakeLists.txt @@ -1,13 +1,15 @@ cmake_minimum_required(VERSION 2.8.3) project(vector_map) + +find_package(autoware_build_flags REQUIRED) + +find_package(vector_map_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp tf geometry_msgs visualization_msgs - vector_map_msgs ) set(CMAKE_CXX_FLAGS "-O2 -Wall ${CMAKE_CXX_FLAGS}") @@ -20,7 +22,9 @@ catkin_package( include_directories( include + ${vector_map_msgs_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} ) add_library(vector_map lib/vector_map/vector_map.cpp) diff --git a/ros/src/data/packages/vector_map_msgs/CMakeLists.txt b/ros/src/data/packages/vector_map_msgs/CMakeLists.txt index 4abc2c197a..db8ec59e47 100644 --- a/ros/src/data/packages/vector_map_msgs/CMakeLists.txt +++ b/ros/src/data/packages/vector_map_msgs/CMakeLists.txt @@ -1,8 +1,9 @@ cmake_minimum_required(VERSION 2.8.3) project(vector_map_msgs) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags std_msgs message_generation ) diff --git a/ros/src/data/packages/vector_map_server/CMakeLists.txt b/ros/src/data/packages/vector_map_server/CMakeLists.txt index 67f2c581e7..663b8f8c6f 100644 --- a/ros/src/data/packages/vector_map_server/CMakeLists.txt +++ b/ros/src/data/packages/vector_map_server/CMakeLists.txt @@ -1,17 +1,21 @@ cmake_minimum_required(VERSION 2.8.3) project(vector_map_server) + +find_package(vector_map REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp geometry_msgs visualization_msgs - autoware_msgs - vector_map_msgs - vector_map message_generation ) +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + +find_package(vector_map_msgs REQUIRED) + set(CMAKE_CXX_FLAGS "-O2 -Wall ${CMAKE_CXX_FLAGS}") add_service_files( @@ -57,17 +61,19 @@ catkin_package( ) include_directories( + ${autoware_msgs_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} + ${vector_map_INCLUDE_DIRS} ) add_executable(vector_map_server nodes/vector_map_server/vector_map_server.cpp) -target_link_libraries(vector_map_server ${catkin_LIBRARIES}) +target_link_libraries(vector_map_server ${catkin_LIBRARIES} ${vector_map_LIBRARIES}) add_dependencies(vector_map_server ${${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}) +target_link_libraries(vector_map_client ${catkin_LIBRARIES} ${vector_map_LIBRARIES}) add_dependencies(vector_map_client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ) diff --git a/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt b/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt index ec5181edd8..b69ec552fe 100755 --- a/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt +++ b/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt @@ -4,8 +4,11 @@ project(autoware_driveworks_interface) set(CMAKE_CXX_FLAGS "-O2 -s -Wno-error=unused-parameter") + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs sensor_msgs autoware_msgs ) @@ -32,13 +35,13 @@ if ("${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "aarch64" AND CUDA_FOUND) cv_bridge std_msgs sensor_msgs - autoware_msgs tf ) include_directories( include ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ) diff --git a/ros/src/sensing/drivers/camera/packages/baumer/CMakeLists.txt b/ros/src/sensing/drivers/camera/packages/baumer/CMakeLists.txt index b80190f984..9f4e5f547b 100644 --- a/ros/src/sensing/drivers/camera/packages/baumer/CMakeLists.txt +++ b/ros/src/sensing/drivers/camera/packages/baumer/CMakeLists.txt @@ -1,8 +1,9 @@ cmake_minimum_required(VERSION 2.8.3) project(vlg22c_cam) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags image_transport roscpp std_msgs diff --git a/ros/src/sensing/drivers/camera/packages/hexacam/CMakeLists.txt b/ros/src/sensing/drivers/camera/packages/hexacam/CMakeLists.txt index e6be86bf4e..6540d75229 100644 --- a/ros/src/sensing/drivers/camera/packages/hexacam/CMakeLists.txt +++ b/ros/src/sensing/drivers/camera/packages/hexacam/CMakeLists.txt @@ -4,8 +4,9 @@ project(hexacam) ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs message_generation diff --git a/ros/src/sensing/drivers/camera/packages/vectacam/CMakeLists.txt b/ros/src/sensing/drivers/camera/packages/vectacam/CMakeLists.txt index 7801bf38ab..933054cecb 100644 --- a/ros/src/sensing/drivers/camera/packages/vectacam/CMakeLists.txt +++ b/ros/src/sensing/drivers/camera/packages/vectacam/CMakeLists.txt @@ -1,8 +1,9 @@ cmake_minimum_required(VERSION 2.8.3) project(vectacam) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs message_generation diff --git a/ros/src/sensing/drivers/gnss/packages/garmin/CMakeLists.txt b/ros/src/sensing/drivers/gnss/packages/garmin/CMakeLists.txt index 7ee61d5a74..e437c45d13 100644 --- a/ros/src/sensing/drivers/gnss/packages/garmin/CMakeLists.txt +++ b/ros/src/sensing/drivers/gnss/packages/garmin/CMakeLists.txt @@ -3,8 +3,9 @@ project(garmin) set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") #or + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags sensor_msgs nmea_msgs roscpp diff --git a/ros/src/sensing/drivers/lidar/packages/hokuyo/CMakeLists.txt b/ros/src/sensing/drivers/lidar/packages/hokuyo/CMakeLists.txt index 6fa0271006..8fdf8d10d8 100644 --- a/ros/src/sensing/drivers/lidar/packages/hokuyo/CMakeLists.txt +++ b/ros/src/sensing/drivers/lidar/packages/hokuyo/CMakeLists.txt @@ -2,8 +2,9 @@ cmake_minimum_required(VERSION 2.8.3) project(hokuyo) ## Find catkin and any catkin packages + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp sensor_msgs ) diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/CMakeLists.txt b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/CMakeLists.txt index e8901f2340..d8be7374f7 100644 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/CMakeLists.txt +++ b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/CMakeLists.txt @@ -9,6 +9,8 @@ set(${PROJECT_NAME}_CATKIN_DEPS tf velodyne_msgs) + +find_package(velodyne_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS ${${PROJECT_NAME}_CATKIN_DEPS}) # This driver uses Boost threads diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/CMakeLists.txt b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/CMakeLists.txt index cefd96d727..b9022314e9 100644 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/CMakeLists.txt +++ b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/CMakeLists.txt @@ -9,13 +9,23 @@ set(${PROJECT_NAME}_CATKIN_DEPS roslib sensor_msgs tf - velodyne_driver - velodyne_msgs dynamic_reconfigure ) + +find_package(velodyne_msgs REQUIRED) + +find_package(velodyne_driver REQUIRED) find_package(catkin REQUIRED COMPONENTS - ${${PROJECT_NAME}_CATKIN_DEPS} pcl_conversions) + angles + nodelet + pcl_ros + roscpp + roslib + sensor_msgs + tf + dynamic_reconfigure + pcl_conversions) find_package(Boost COMPONENTS signals) # Resolve system dependency on yaml-cpp, which apparently does not @@ -39,12 +49,24 @@ if(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5") add_definitions(-DHAVE_NEW_YAMLCPP) endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5") -include_directories(include ${catkin_INCLUDE_DIRS} - ${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake +include_directories( + include + ${velodyne_msgs_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + ${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake ) catkin_package( - CATKIN_DEPENDS ${${PROJECT_NAME}_CATKIN_DEPS} + CATKIN_DEPENDS + angles + nodelet + pcl_ros + roscpp + roslib + sensor_msgs + tf + dynamic_reconfigure + velodyne_driver INCLUDE_DIRS include LIBRARIES velodyne_rawdata) diff --git a/ros/src/sensing/filters/packages/image_processor/CMakeLists.txt b/ros/src/sensing/filters/packages/image_processor/CMakeLists.txt index 0499a04f96..c9e5126b1c 100644 --- a/ros/src/sensing/filters/packages/image_processor/CMakeLists.txt +++ b/ros/src/sensing/filters/packages/image_processor/CMakeLists.txt @@ -1,8 +1,9 @@ cmake_minimum_required(VERSION 2.8.3) project(image_processor) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp sensor_msgs cv_bridge diff --git a/ros/src/sensing/filters/packages/points_downsampler/CMakeLists.txt b/ros/src/sensing/filters/packages/points_downsampler/CMakeLists.txt index 0c1ae1b473..54284f87b0 100644 --- a/ros/src/sensing/filters/packages/points_downsampler/CMakeLists.txt +++ b/ros/src/sensing/filters/packages/points_downsampler/CMakeLists.txt @@ -1,15 +1,17 @@ cmake_minimum_required(VERSION 2.8.3) project(points_downsampler) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_config_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp pcl_ros sensor_msgs pcl_conversions velodyne_pointcloud message_generation - autoware_config_msgs ) add_message_files( @@ -37,7 +39,8 @@ catkin_package( ## Build ## ########### -include_directories(include ${catkin_INCLUDE_DIRS}) +include_directories(include ${catkin_INCLUDE_DIRS} + ${autoware_config_msgs_INCLUDE_DIRS}) SET(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") add_executable(voxel_grid_filter nodes/voxel_grid_filter/voxel_grid_filter.cpp) diff --git a/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt b/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt index 18346f9dcd..c7315e3428 100644 --- a/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt +++ b/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt @@ -1,8 +1,11 @@ cmake_minimum_required(VERSION 2.8.3) project(points_preprocessor) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_config_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs sensor_msgs @@ -10,7 +13,6 @@ find_package(catkin REQUIRED COMPONENTS pcl_conversions cv_bridge velodyne_pointcloud - autoware_config_msgs tf ) @@ -45,6 +47,7 @@ link_directories(${YAML_CPP_LIBRARY_DIRS}) include_directories( ${catkin_INCLUDE_DIRS} + ${autoware_config_msgs_INCLUDE_DIRS} include ) diff --git a/ros/src/sensing/fusion/packages/autoware_camera_lidar_calibrator/CMakeLists.txt b/ros/src/sensing/fusion/packages/autoware_camera_lidar_calibrator/CMakeLists.txt index 0aa3d286ca..ccf9381cfa 100644 --- a/ros/src/sensing/fusion/packages/autoware_camera_lidar_calibrator/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/autoware_camera_lidar_calibrator/CMakeLists.txt @@ -3,15 +3,17 @@ project(autoware_camera_lidar_calibrator) include(FindPkgConfig) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags cv_bridge image_transport pcl_conversions pcl_ros roscpp sensor_msgs - autoware_msgs geometry_msgs tf ) @@ -35,6 +37,7 @@ set(CMAKE_CXX_FLAGS "-O3 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ) 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 44339e6981..56ae9e460d 100644 --- a/ros/src/sensing/fusion/packages/calibration_camera_lidar/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/calibration_camera_lidar/CMakeLists.txt @@ -4,8 +4,11 @@ set(ROS_VERSION $ENV{ROS_DISTRO}) include(FindPkgConfig) include(FindLibXml2 REQUIRED) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp rosconsole std_msgs @@ -15,7 +18,6 @@ find_package(catkin REQUIRED COMPONENTS cv_bridge pcl_ros image_transport - autoware_msgs ) find_package(OpenCV REQUIRED) @@ -61,6 +63,7 @@ include_directories( CalibrationToolkit nodes/calibration_toolkit ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${LIBXML2_INCLUDE_DIR} ${OpenCV_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR} diff --git a/ros/src/sensing/fusion/packages/multi_lidar_calibrator/CMakeLists.txt b/ros/src/sensing/fusion/packages/multi_lidar_calibrator/CMakeLists.txt index cf7e294bb5..7874c7b6e7 100644 --- a/ros/src/sensing/fusion/packages/multi_lidar_calibrator/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/multi_lidar_calibrator/CMakeLists.txt @@ -1,8 +1,9 @@ cmake_minimum_required(VERSION 2.8.12) project(multi_lidar_calibrator) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs sensor_msgs diff --git a/ros/src/sensing/fusion/packages/points2image/CMakeLists.txt b/ros/src/sensing/fusion/packages/points2image/CMakeLists.txt index 6de61c25be..77435794b5 100644 --- a/ros/src/sensing/fusion/packages/points2image/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/points2image/CMakeLists.txt @@ -2,12 +2,14 @@ cmake_minimum_required(VERSION 2.8.12) project(points2image) include(FindPkgConfig) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs sensor_msgs - autoware_msgs rosinterface fastvirtualscan cv_bridge @@ -49,6 +51,7 @@ set(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") include_directories( include ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR} ) diff --git a/ros/src/sensing/fusion/packages/scan2image/CMakeLists.txt b/ros/src/sensing/fusion/packages/scan2image/CMakeLists.txt index b37e3f8386..b7cff97583 100644 --- a/ros/src/sensing/fusion/packages/scan2image/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/scan2image/CMakeLists.txt @@ -1,13 +1,14 @@ cmake_minimum_required(VERSION 2.8.3) project(scan2image) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS cv_bridge image_transport roscpp sensor_msgs std_msgs - autoware_msgs ) find_package(OpenCV REQUIRED) @@ -16,7 +17,8 @@ catkin_package( ) -include_directories(include ${catkin_INCLUDE_DIRS}) +include_directories(include ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS}) add_executable(scan2image nodes/scan2image/scan2image.cpp) diff --git a/ros/src/sensing/polygon/packages/points2polygon/CMakeLists.txt b/ros/src/sensing/polygon/packages/points2polygon/CMakeLists.txt index 61981838f1..7de8cd134e 100644 --- a/ros/src/sensing/polygon/packages/points2polygon/CMakeLists.txt +++ b/ros/src/sensing/polygon/packages/points2polygon/CMakeLists.txt @@ -1,11 +1,13 @@ cmake_minimum_required(VERSION 2.8.3) project(points2polygon) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_config_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp sensor_msgs - autoware_config_msgs pcl_conversions ) @@ -24,6 +26,7 @@ catkin_package( include_directories( ${catkin_INCLUDE_DIRS} + ${autoware_config_msgs_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ) diff --git a/ros/src/socket/packages/mqtt_socket/CMakeLists.txt b/ros/src/socket/packages/mqtt_socket/CMakeLists.txt index 57063837ac..dc9bbe1960 100644 --- a/ros/src/socket/packages/mqtt_socket/CMakeLists.txt +++ b/ros/src/socket/packages/mqtt_socket/CMakeLists.txt @@ -1,14 +1,17 @@ cmake_minimum_required(VERSION 2.8.3) project(mqtt_socket) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + +find_package(tablet_socket_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp roslib std_msgs - autoware_msgs autoware_can_msgs - tablet_socket_msgs ) catkin_package(CATKIN_DEPENDS @@ -26,6 +29,8 @@ if (EXISTS /usr/include/mosquitto.h) include_directories( include ${catkin_INCLUDE_DIRS} + ${tablet_socket_msgs_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) add_executable(mqtt_sender nodes/mqtt_sender/mqtt_sender.cpp) diff --git a/ros/src/socket/packages/tablet_socket/CMakeLists.txt b/ros/src/socket/packages/tablet_socket/CMakeLists.txt index 3904da107e..4a2d2dda95 100644 --- a/ros/src/socket/packages/tablet_socket/CMakeLists.txt +++ b/ros/src/socket/packages/tablet_socket/CMakeLists.txt @@ -1,14 +1,17 @@ cmake_minimum_required(VERSION 2.8.3) project(tablet_socket) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + +find_package(tablet_socket_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp tf gnss - tablet_socket_msgs autoware_can_msgs - autoware_msgs geometry_msgs ) @@ -25,6 +28,8 @@ catkin_package(CATKIN_DEPENDS include_directories( include ${catkin_INCLUDE_DIRS} + ${tablet_socket_msgs_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) add_executable(tablet_receiver nodes/tablet_receiver/tablet_receiver.cpp) diff --git a/ros/src/socket/packages/udon_socket/CMakeLists.txt b/ros/src/socket/packages/udon_socket/CMakeLists.txt index 00cdcfa1a9..86114db8dd 100644 --- a/ros/src/socket/packages/udon_socket/CMakeLists.txt +++ b/ros/src/socket/packages/udon_socket/CMakeLists.txt @@ -1,10 +1,12 @@ cmake_minimum_required(VERSION 2.8.3) project(udon_socket) + +find_package(autoware_build_flags REQUIRED) + +find_package(tablet_socket_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp - tablet_socket_msgs ) set(CMAKE_CXX_FLAGS "-O2 -Wall ${CMAKE_CXX_FLAGS}") @@ -18,6 +20,7 @@ catkin_package( include_directories( include ${catkin_INCLUDE_DIRS} + ${tablet_socket_msgs_INCLUDE_DIRS} ) add_library(udon lib/udon_socket/udon.cpp) diff --git a/ros/src/socket/packages/vehicle_socket/CMakeLists.txt b/ros/src/socket/packages/vehicle_socket/CMakeLists.txt index 777049e2e9..91d9c9a5ad 100644 --- a/ros/src/socket/packages/vehicle_socket/CMakeLists.txt +++ b/ros/src/socket/packages/vehicle_socket/CMakeLists.txt @@ -1,13 +1,16 @@ cmake_minimum_required(VERSION 2.8.3) project(vehicle_socket) + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) + +find_package(tablet_socket_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs autoware_can_msgs - autoware_msgs - tablet_socket_msgs ) set(CMAKE_CXX_FLAGS "-O2 -Wall ${CMAKE_CXX_FLAGS}") @@ -22,6 +25,8 @@ catkin_package(CATKIN_DEPENDS include_directories( ${catkin_INCLUDE_DIRS} + ${tablet_socket_msgs_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) add_executable(vehicle_receiver nodes/vehicle_receiver/vehicle_receiver.cpp) diff --git a/ros/src/system/gazebo/catvehicle/CMakeLists.txt b/ros/src/system/gazebo/catvehicle/CMakeLists.txt index 3a69d00e03..61c05bd8a8 100644 --- a/ros/src/system/gazebo/catvehicle/CMakeLists.txt +++ b/ros/src/system/gazebo/catvehicle/CMakeLists.txt @@ -5,8 +5,9 @@ set(ROS_VERSION $ENV{ROS_DISTRO}) ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags controller_manager gazebo_ros_control geometry_msgs diff --git a/ros/src/system/sync/CMakeLists.txt b/ros/src/system/sync/CMakeLists.txt index 1ad25aeb3c..c02951a6d2 100644 --- a/ros/src/system/sync/CMakeLists.txt +++ b/ros/src/system/sync/CMakeLists.txt @@ -4,12 +4,14 @@ project(synchronization) ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages + +find_package(autoware_build_flags REQUIRED) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp sensor_msgs std_msgs - autoware_msgs lidar_tracker geometry_msgs visualization_msgs @@ -29,7 +31,11 @@ catkin_package( ## Build ## ########### -include_directories(include ${catkin_INCLUDE_DIRS}) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} +) add_executable(sync_drivers sync_drivers.cpp) target_link_libraries(sync_drivers ${catkin_LIBRARIES} ${OpenCV_LIBS}) diff --git a/ros/src/util/packages/RobotSDK/fastvirtualscan/CMakeLists.txt b/ros/src/util/packages/RobotSDK/fastvirtualscan/CMakeLists.txt index 4702a69874..e9fc298005 100644 --- a/ros/src/util/packages/RobotSDK/fastvirtualscan/CMakeLists.txt +++ b/ros/src/util/packages/RobotSDK/fastvirtualscan/CMakeLists.txt @@ -1,8 +1,9 @@ cmake_minimum_required(VERSION 2.8.3) project(fastvirtualscan) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp sensor_msgs ) diff --git a/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt b/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt index 50d8eb23f9..1ad0f7b824 100644 --- a/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt +++ b/ros/src/util/packages/RobotSDK/glviewer/CMakeLists.txt @@ -2,8 +2,9 @@ cmake_minimum_required(VERSION 2.8.3) project(glviewer) include(FindPkgConfig) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp ) diff --git a/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt b/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt index 1bc54ff436..1199691d12 100644 --- a/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt +++ b/ros/src/util/packages/RobotSDK/rosinterface/CMakeLists.txt @@ -2,8 +2,9 @@ cmake_minimum_required(VERSION 2.8.12) project(rosinterface) include(FindPkgConfig) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED - autoware_build_flags roscpp tf ) diff --git a/ros/src/util/packages/autoware_rviz_plugins/CMakeLists.txt b/ros/src/util/packages/autoware_rviz_plugins/CMakeLists.txt index 34e0fc3a29..594bb7bdb3 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/CMakeLists.txt +++ b/ros/src/util/packages/autoware_rviz_plugins/CMakeLists.txt @@ -1,8 +1,9 @@ cmake_minimum_required(VERSION 2.8.3) project(autoware_rviz_plugins) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags rviz std_msgs ) diff --git a/ros/src/util/packages/data_preprocessor/CMakeLists.txt b/ros/src/util/packages/data_preprocessor/CMakeLists.txt index ef64ff5abc..7c3c34766e 100644 --- a/ros/src/util/packages/data_preprocessor/CMakeLists.txt +++ b/ros/src/util/packages/data_preprocessor/CMakeLists.txt @@ -3,8 +3,9 @@ project(data_preprocessor) set(CMAKE_CXX_FLAGS "-std=c++0x -O2 -Wall ${CMAKE_CXX_FLAGS}") + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags cv_bridge #libpcl-all-dev pcl_conversions diff --git a/ros/src/util/packages/fake_drivers/CMakeLists.txt b/ros/src/util/packages/fake_drivers/CMakeLists.txt index 8eee13cf74..591f0a69c4 100644 --- a/ros/src/util/packages/fake_drivers/CMakeLists.txt +++ b/ros/src/util/packages/fake_drivers/CMakeLists.txt @@ -1,8 +1,9 @@ cmake_minimum_required(VERSION 2.8.3) project(fake_drivers) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs sensor_msgs diff --git a/ros/src/util/packages/kitti_pkg/kitti_box_publisher/CMakeLists.txt b/ros/src/util/packages/kitti_pkg/kitti_box_publisher/CMakeLists.txt index 5b7dfc7bb8..9cf7920be0 100644 --- a/ros/src/util/packages/kitti_pkg/kitti_box_publisher/CMakeLists.txt +++ b/ros/src/util/packages/kitti_pkg/kitti_box_publisher/CMakeLists.txt @@ -1,13 +1,14 @@ cmake_minimum_required(VERSION 2.8.3) project(kitti_box_publisher) + +find_package(autoware_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS geometry_msgs jsk_recognition_msgs rospy sensor_msgs std_msgs - autoware_msgs ) catkin_package( @@ -20,4 +21,5 @@ catkin_package( include_directories( ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) \ No newline at end of file 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 8999f7d887..aa078f7cbb 100644 --- a/ros/src/util/packages/kitti_pkg/kitti_player/CMakeLists.txt +++ b/ros/src/util/packages/kitti_pkg/kitti_player/CMakeLists.txt @@ -3,8 +3,9 @@ project(kitti_player) SET(CMAKE_CXX_FLAGS "-O3") + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp tf tf2 diff --git a/ros/src/util/packages/log_tools/CMakeLists.txt b/ros/src/util/packages/log_tools/CMakeLists.txt index 803d71a417..6d1800ae9d 100644 --- a/ros/src/util/packages/log_tools/CMakeLists.txt +++ b/ros/src/util/packages/log_tools/CMakeLists.txt @@ -3,8 +3,9 @@ project(log_tools) add_compile_options(-std=c++11) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags ) catkin_package() diff --git a/ros/src/util/packages/map_tf_generator/CMakeLists.txt b/ros/src/util/packages/map_tf_generator/CMakeLists.txt index a99be1679c..43c4a70194 100644 --- a/ros/src/util/packages/map_tf_generator/CMakeLists.txt +++ b/ros/src/util/packages/map_tf_generator/CMakeLists.txt @@ -7,8 +7,9 @@ project(map_tf_generator) ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp std_msgs pcl_ros diff --git a/ros/src/util/packages/map_tools/CMakeLists.txt b/ros/src/util/packages/map_tools/CMakeLists.txt index 66a790a6e5..950a597ac1 100644 --- a/ros/src/util/packages/map_tools/CMakeLists.txt +++ b/ros/src/util/packages/map_tools/CMakeLists.txt @@ -3,8 +3,9 @@ project(map_tools) find_package(PCL REQUIRED) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp tf sensor_msgs diff --git a/ros/src/util/packages/sample_data/CMakeLists.txt b/ros/src/util/packages/sample_data/CMakeLists.txt index 7b8e5a8c0a..ad7609eac0 100644 --- a/ros/src/util/packages/sample_data/CMakeLists.txt +++ b/ros/src/util/packages/sample_data/CMakeLists.txt @@ -2,8 +2,9 @@ cmake_minimum_required(VERSION 2.8.3) project(sample_data) include(FindPkgConfig) + +find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags roscpp gnss std_msgs From cf3cd1693fcbc0871a30b8042e594c437a83f344 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Wed, 5 Dec 2018 16:35:18 +0100 Subject: [PATCH 2/9] Added cmake-target --- .gitlab-ci.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index c8b5549d09..1c0f1f6d8f 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -51,6 +51,7 @@ build_kinetic: - cd .. - rm -r lcov - colcon build --cmake-args -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_C_FLAGS="${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_BUILD_TYPE=Debug + - colcon build --cmake-target tests --cmake-args -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_C_FLAGS="${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_BUILD_TYPE=Debug - lcov --initial --directory build --capture --output-file lcov.base - colcon test - colcon test-result From feaf1fca0e5c435db54c3180a55e6ba8bf476796 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Fri, 7 Dec 2018 18:31:26 +0100 Subject: [PATCH 3/9] Added note about the second colcon call --- .gitlab-ci.yml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index 1c0f1f6d8f..243b76a5c5 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -50,7 +50,11 @@ build_kinetic: - make install - cd .. - rm -r lcov + # We first build the entire workspace normally - colcon build --cmake-args -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_C_FLAGS="${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_BUILD_TYPE=Debug + # And then build the tests target. catkin (ROS1) packages add their tests to the tests target + # which is not the standard target for CMake projects. We need to trigger the tests target so that + # tests are built and any fixtures are set up. - colcon build --cmake-target tests --cmake-args -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_C_FLAGS="${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_BUILD_TYPE=Debug - lcov --initial --directory build --capture --output-file lcov.base - colcon test From 6d6a1cc1215bf43fa5f8255dc9ef453e76606c59 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Fri, 7 Dec 2018 18:37:05 +0100 Subject: [PATCH 4/9] Added warning about catkin* scripts being deprecated --- ros/catkin_make_release | 3 +++ ros/catkin_make_release_cross | 3 +++ 2 files changed, 6 insertions(+) diff --git a/ros/catkin_make_release b/ros/catkin_make_release index 70d8852766..e925aeeb2e 100755 --- a/ros/catkin_make_release +++ b/ros/catkin_make_release @@ -1,6 +1,9 @@ #!/usr/bin/env bash set -e +echo "This script is deprecated and will be removed soon, please use colcon_release instead" +sleep 2 + if [[ -d build ]]; then rm -rf build fi diff --git a/ros/catkin_make_release_cross b/ros/catkin_make_release_cross index 6d31206282..bfbf463364 100755 --- a/ros/catkin_make_release_cross +++ b/ros/catkin_make_release_cross @@ -1,6 +1,9 @@ #!/usr/bin/env bash set -e +echo "This script is deprecated and will be removed soon, please use colcon_release_cross instead" +sleep 2 + if [ "$1" = "synquacer" ] || [ "$1" = "driveworks" ] || [ "$1" = "generic-aarch64" ] then AUTOWARE_TARGET_ARCH=aarch64 From 77ad7f398257b28bc164a964c4d11eccab9057ff Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Wed, 19 Dec 2018 11:40:06 +0100 Subject: [PATCH 5/9] Fix COLCON_OPTS --- ros/colcon_release | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ros/colcon_release b/ros/colcon_release index 02fcf75055..83e3f6bf39 100755 --- a/ros/colcon_release +++ b/ros/colcon_release @@ -9,7 +9,7 @@ if [[ -d install ]]; then rm -rf install fi -COLCON_OPTS="-DCMAKE_BUILD_TYPE=Release -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs" +COLCON_OPTS="--cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs" export LIBRARY_PATH=/usr/lib/OpenNI2/Drivers:$LIBRARY_PATH -colcon build $CATKIN_OPTS $@ +colcon build $COLCON_OPTS $@ From 13d6d9c164695e07c9286d1e4fddf04977ff7311 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Wed, 2 Jan 2019 13:26:09 +0100 Subject: [PATCH 6/9] Added install targets --- .../packages/runtime_manager/CMakeLists.txt | 74 +++++++++++++++++++ 1 file changed, 74 insertions(+) diff --git a/ros/src/util/packages/runtime_manager/CMakeLists.txt b/ros/src/util/packages/runtime_manager/CMakeLists.txt index 5209a75681..55bf164e07 100644 --- a/ros/src/util/packages/runtime_manager/CMakeLists.txt +++ b/ros/src/util/packages/runtime_manager/CMakeLists.txt @@ -5,6 +5,80 @@ find_package(catkin REQUIRED COMPONENTS rospy ) +catkin_install_python(PROGRAMS + scripts/ftrace.py + scripts/proc_manager.py + scripts/rtmgr.py + scripts/runtime_manager_dialog.py + scripts/test_pub.py + scripts/test_srv.py + DESTINATION share/${PROJECT_NAME}) + +install(FILES + scripts/3dm_gx5_15.sh + scripts/add_perm.sh + scripts/adis16470.sh + scripts/avt_camera.launch + scripts/avt_vimba.sh + scripts/calibration_publisher.launch + scripts/computing.yaml + scripts/data.yaml + scripts/empty.yaml + scripts/ex_mat_pub.launch + scripts/gazebo.sh + scripts/interface.yaml + scripts/main.yaml + scripts/map.yaml + scripts/mqtt_socket.launch + scripts/mti300.sh + scripts/points2image.launch + scripts/qs.yaml + scripts/rtmgr_icon.xpm + scripts/rtmgr.wxg + scripts/sensing.yaml + scripts/setup_tf.launch + scripts/setup_vehicle_info.launch + scripts/setup.yaml + scripts/simulation.yaml + scripts/state.yaml + scripts/status.yaml + scripts/synchronization.launch + scripts/tablet_socket.launch + scripts/topics.yaml + scripts/traffic_light.launch + scripts/uvc_camera.launch + scripts/vector_map_files.yaml + scripts/vehicle_socket.launch + scripts/vg440.sh + scripts/viewer.yaml + scripts/vscan.launch + DESTINATION share/${PROJECT_NAME}) + +install(FILES + scripts/images/autoware_logo_1.png + scripts/images/autoware_logo_2.png + scripts/images/autoware_logo_2_white.png + scripts/images/axe.png + scripts/images/database.png + scripts/images/dec.png + scripts/images/inc.png + scripts/images/mobile.png + scripts/images/nagoya_university.png + scripts/images/tablet.png + scripts/images/vehicle.png + DESTINATION share/${PROJECT_NAME}/images) + +install(FILES + scripts/launch_files/check.launch + scripts/launch_files/control.launch + scripts/launch_files/init.launch + scripts/launch_files/map.launch + scripts/launch_files/perception.launch + scripts/launch_files/planning.launch + scripts/launch_files/sensor.launch + scripts/launch_files/set.launch + DESTINATION share/${PROJECT_NAME}/launch_files) + catkin_package( CATKIN_DEPENDS rospy std_msgs message_runtime ) From 71db0938b3579fe9a044afa6dc7d16971f417a74 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Wed, 2 Jan 2019 13:32:47 +0100 Subject: [PATCH 7/9] Update Docker image tags --- .gitlab-ci.yml | 2 +- docker/crossbuild/Dockerfile.kinetic-crossbuild-driveworks | 2 +- ros/colcon_release_cross | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index 243b76a5c5..1a8330278f 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -84,7 +84,7 @@ build_cross: - docker:dind variables: ROS_DISTRO: kinetic - AUTOWARE_DOCKER_DATE: 20181124 + AUTOWARE_DOCKER_DATE: 20190102 AUTOWARE_HOME: $CI_PROJECT_DIR AUTOWARE_TARGET_ARCH: aarch64 AUTOWARE_TARGET_PLATFORM: generic-aarch64 diff --git a/docker/crossbuild/Dockerfile.kinetic-crossbuild-driveworks b/docker/crossbuild/Dockerfile.kinetic-crossbuild-driveworks index 7c61baa77e..bb7ac1e3e3 100644 --- a/docker/crossbuild/Dockerfile.kinetic-crossbuild-driveworks +++ b/docker/crossbuild/Dockerfile.kinetic-crossbuild-driveworks @@ -1,7 +1,7 @@ ARG AUTOWARE_DOCKER_ARCH ARG AUTOWARE_TARGET_ARCH ARG AUTOWARE_TARGET_PLATFORM -FROM autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20181124 +FROM autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20190102 RUN apt-get update && apt-get install -y --no-install-recommends \ build-essential COPY files/FindCUDA.cmake /usr/share/cmake-3.5/Modules/FindCUDA.cmake diff --git a/ros/colcon_release_cross b/ros/colcon_release_cross index 948fef6750..dcd074881f 100755 --- a/ros/colcon_release_cross +++ b/ros/colcon_release_cross @@ -52,7 +52,7 @@ END echo "Using toolchain file: '${AUTOWARE_TOOLCHAIN_FILE_PATH}''" AUTOWARE_SYSROOT=/sysroot/${AUTOWARE_TARGET_PLATFORM} - AUTOWARE_DOCKER_DATE=20181124 + AUTOWARE_DOCKER_DATE=20190102 docker container run \ -it \ From b6416793572f644808abf266caf4ee1aa0a7ae63 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Fri, 4 Jan 2019 17:17:57 +0000 Subject: [PATCH 8/9] Message packages fixes --- ros/catkin_make_release_cross | 4 ++++ ros/colcon_release_cross | 2 +- ros/src/common/libvectormap/CMakeLists.txt | 11 +++++++++-- ros/src/common/libvectormap/package.xml | 2 ++ ros/src/data/packages/vector_map/CMakeLists.txt | 14 +++++++++++--- .../velodyne_pointcloud/src/lib/CMakeLists.txt | 6 ++++++ 6 files changed, 33 insertions(+), 6 deletions(-) diff --git a/ros/catkin_make_release_cross b/ros/catkin_make_release_cross index bfbf463364..08e337a83d 100755 --- a/ros/catkin_make_release_cross +++ b/ros/catkin_make_release_cross @@ -74,6 +74,8 @@ END -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH} \ -DCATKIN_DEVEL_PREFIX=${AUTOWARE_DEVEL_PATH} \ -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH} \ + -DCMAKE_PREFIX_PATH='${AUTOWARE_SYSROOT}/opt/ros/kinetic;${AUTOWARE_DEVEL_PATH}' \ + -DCMAKE_FIND_ROOT_PATH=${AUTOWARE_DEVEL_PATH} \ --build ${AUTOWARE_BUILD_PATH} \ clean && \ source devel-${AUTOWARE_TARGET_PLATFORM}/setup.bash && \ @@ -82,6 +84,8 @@ END -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH} \ -DCATKIN_DEVEL_PREFIX=${AUTOWARE_DEVEL_PATH} \ -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH} \ + -DCMAKE_PREFIX_PATH='${AUTOWARE_SYSROOT}/opt/ros/kinetic;${AUTOWARE_DEVEL_PATH}' \ + -DCMAKE_FIND_ROOT_PATH=${AUTOWARE_DEVEL_PATH} \ --build ${AUTOWARE_BUILD_PATH} \ -DCMAKE_BUILD_TYPE=Release $* " diff --git a/ros/colcon_release_cross b/ros/colcon_release_cross index dcd074881f..31834e7094 100755 --- a/ros/colcon_release_cross +++ b/ros/colcon_release_cross @@ -74,7 +74,7 @@ END -DCUDA_ARCH=${AUTOWARE_CUDA_ARCH} \ -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH} \ -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH} \ - -DCMAKE_PREFIX_PATH='/sysroot/synquacer/opt/ros/kinetic;${AUTOWARE_INSTALL_PATH}' \ + -DCMAKE_PREFIX_PATH='${AUTOWARE_SYSROOT}/opt/ros/kinetic;${AUTOWARE_INSTALL_PATH}' \ -DCMAKE_FIND_ROOT_PATH=${AUTOWARE_INSTALL_PATH} \ -DCMAKE_BUILD_TYPE=Release $* " diff --git a/ros/src/common/libvectormap/CMakeLists.txt b/ros/src/common/libvectormap/CMakeLists.txt index 730ce41f30..3dd012aa3e 100644 --- a/ros/src/common/libvectormap/CMakeLists.txt +++ b/ros/src/common/libvectormap/CMakeLists.txt @@ -5,8 +5,8 @@ project(libvectormap) find_package(autoware_build_flags REQUIRED) find_package(vector_map REQUIRED) -find_package(catkin REQUIRED COMPONENTS - ) +find_package(vector_map_msgs REQUIRED) +find_package(catkin REQUIRED) find_package(Eigen3 QUIET) @@ -37,6 +37,7 @@ catkin_package( include_directories( include ${vector_map_INCLUDE_DIRS} + ${vector_map_msgs_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ) @@ -48,9 +49,15 @@ add_library(libvectormap STATIC target_link_libraries(libvectormap ${catkin_LIBRARIES} + ${vector_map_msgs_LIBRARIES} ${EIGEN3_LIBRARIES} ) +add_dependencies(libvectormap + ${catkin_EXPORTED_TARGETS} + ${vector_map_msgs_EXPORTED_TARGETS} + ) + install(TARGETS libvectormap ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} diff --git a/ros/src/common/libvectormap/package.xml b/ros/src/common/libvectormap/package.xml index 9a302a7b83..1f54991910 100644 --- a/ros/src/common/libvectormap/package.xml +++ b/ros/src/common/libvectormap/package.xml @@ -9,11 +9,13 @@ autoware_build_flags vector_map + vector_map_msgs cmake_modules eigen cmake_modules vector_map + vector_map_msgs eigen diff --git a/ros/src/data/packages/vector_map/CMakeLists.txt b/ros/src/data/packages/vector_map/CMakeLists.txt index d17ac1a101..a9f7fb8183 100644 --- a/ros/src/data/packages/vector_map/CMakeLists.txt +++ b/ros/src/data/packages/vector_map/CMakeLists.txt @@ -27,9 +27,17 @@ include_directories( ${vector_map_INCLUDE_DIRS} ) -add_library(vector_map lib/vector_map/vector_map.cpp) -add_dependencies(vector_map ${catkin_EXPORTED_TARGETS}) -target_link_libraries(vector_map ${catkin_LIBRARIES}) +add_library(vector_map + lib/vector_map/vector_map.cpp +) +add_dependencies(vector_map + ${catkin_EXPORTED_TARGETS} + ${vector_map_msgs_EXPORTED_TARGETS} +) +target_link_libraries(vector_map + ${catkin_LIBRARIES} + ${vector_map_msgs_LIBRARIES} +) ## Install executables and/or libraries install(TARGETS vector_map diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/lib/CMakeLists.txt b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/lib/CMakeLists.txt index aa50fd8def..72d4275174 100644 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/lib/CMakeLists.txt +++ b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/lib/CMakeLists.txt @@ -1,4 +1,10 @@ +find_package(vector_map_msgs REQUIRED) + add_library(velodyne_rawdata rawdata.cc calibration.cc) + +add_dependencies(velodyne_rawdata + ${vector_map_msgs_EXPORTED_TARGETS} +) target_link_libraries(velodyne_rawdata ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES}) From fc7785a63afd95fb5b77d5c61f67d819fcffdef5 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Mon, 7 Jan 2019 11:06:58 +0100 Subject: [PATCH 9/9] Fix missing dependency --- .../lidar/packages/velodyne/velodyne_pointcloud/package.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/package.xml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/package.xml index bbfbd34d01..9109d2e4ba 100644 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/package.xml +++ b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/package.xml @@ -29,6 +29,7 @@ velodyne_msgs yaml-cpp dynamic_reconfigure + vector_map_msgs roslaunch @@ -49,6 +50,7 @@ yaml-cpp dynamic_reconfigure velodyne_laserscan + vector_map_msgs