preparing for deb

ctu-mrs · Aug 14, 2023 · b7f5d46 · b7f5d46
1 parent af2c51f
commit b7f5d46
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Showing 18 changed files with 158 additions and 120 deletions.
diff --git a/.github/workflows/noetic.yml b/.github/workflows/noetic.yml
diff --git a/.github/workflows/ros_package_build.yml b/.github/workflows/ros_package_build.yml
@@ -0,0 +1,22 @@
+name: ros_package_build
+
+on:
+
+  push:
+    branches: [ deb ]
+
+  pull_request:
+    branches: [ deb ]
+
+  workflow_dispatch:
+
+concurrency:
+  group: ${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+
+  build:
+    uses: ctu-mrs/ci_scripts/.github/workflows/ros_package_build.yml@master
+    secrets:
+      PUSH_TOKEN: ${{ secrets.PUSH_TOKEN }}
diff --git a/euler_counter_example/.package.xml.swp b/euler_counter_example/.package.xml.swp
diff --git a/euler_counter_example/CMakeLists.txt b/euler_counter_example/CMakeLists.txt
@@ -1,29 +1,34 @@
-cmake_minimum_required(VERSION 3.1.2)
+cmake_minimum_required(VERSION 3.5)
 project(euler_counter_example)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+set(CATKIN_DEPENDENCIES
+  cmake_modules
+  dynamic_reconfigure
+  message_generation
+  message_runtime
+  mrs_lib
+  nodelet
+  roscpp
+  tf2
+  )
+
 find_package(Eigen3 REQUIRED)
 set(Eigen_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS})
 set(Eigen_LIBRARIES ${Eigen_LIBRARIES})
 
 find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  message_generation
-  mrs_lib
-  dynamic_reconfigure
-  tf
-  nodelet
-  mrs_lib
+  ${CATKIN_DEPENDENCIES}
   )
 
 generate_dynamic_reconfigure_options(
   config/euler_counter_example.cfg
   )
 
 set(LIBRARIES
-  EulerCounterExample
+  MrsUtils_EulerCounterExample
   )
 
 catkin_package(
@@ -37,16 +42,16 @@ include_directories(
   ${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake
   )
 
-add_library(EulerCounterExample
+add_library(MrsUtils_EulerCounterExample
   src/euler_counter_example.cpp
   )
 
-add_dependencies(EulerCounterExample
+add_dependencies(MrsUtils_EulerCounterExample
   ${catkin_EXPORTED_TARGETS}
   ${PROJECT_NAME}_gencfg
   )
 
-target_link_libraries(EulerCounterExample
+target_link_libraries(MrsUtils_EulerCounterExample
   ${LIBS}
   ${catkin_LIBRARIES}
   )
@@ -70,7 +75,6 @@ install(DIRECTORY launch config
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   )
 
-install(DIRECTORY ./
+install(FILES nodelets.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  FILES_MATCHING PATTERN "*.xml"
   )
diff --git a/euler_counter_example/nodelets.xml b/euler_counter_example/nodelets.xml
@@ -1,4 +1,4 @@
-<library path="lib/libEulerCounterExample">
+<library path="lib/libMrsUtils_EulerCounterExample">
   <class name="euler_counter_example/EulerCounterExample" type="euler_counter_example::EulerCounterExample" base_class_type="nodelet::Nodelet">
     <description>EulerCounterExample nodelet</description>
   </class>

diff --git a/euler_counter_example/package.xml b/euler_counter_example/package.xml
@@ -12,15 +12,13 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <depend>cmake_modules</depend>
-  <depend>roscpp</depend>
-  <depend>sensor_msgs</depend>
-  <depend>nav_msgs</depend>
+  <depend>dynamic_reconfigure</depend>
+  <depend>message_generation</depend>
+  <depend>message_runtime</depend>
   <depend>mrs_lib</depend>
   <depend>nodelet</depend>
+  <depend>roscpp</depend>
   <depend>tf2</depend>
-  <depend>tf2_ros</depend>
-  <depend>tf2_sensor_msgs</depend>
-  <depend>message_runtime</depend>
 
   <export>
     <nodelet plugin="${prefix}/nodelets.xml" />

diff --git a/euler_counter_example/tmux/session.yml b/euler_counter_example/tmux/session.yml
@@ -1,6 +1,9 @@
-name: euler
 root: ./
+name: simulation
 startup_window: node
+socket_name: mrs
+attach: false
+tmux_options: -f /etc/ctu-mrs/tmux.conf
 windows:
   - roscore:
       layout: tiled

diff --git a/euler_counter_example/tmux/start.sh b/euler_counter_example/tmux/start.sh
@@ -6,6 +6,22 @@ SCRIPT=$(readlink -f $0)
 SCRIPTPATH=`dirname $SCRIPT`
 cd "$SCRIPTPATH"
 
+export TMUX_SESSION_NAME=simulation
+export TMUX_SOCKET_NAME=mrs
+
 # start tmuxinator
 tmuxinator start -p ./session.yml
 
+# if we are not in tmux
+if [ -z $TMUX ]; then
+
+  # just attach to the session
+  tmux -L $TMUX_SOCKET_NAME a -t $TMUX_SESSION_NAME
+
+# if we are in tmux
+else
+
+  # switch to the newly-started session
+  tmux detach-client -E "tmux -L $TMUX_SOCKET_NAME a -t $TMUX_SESSION_NAME" 
+
+fi
diff --git a/multireconfigure/CMakeLists.txt b/multireconfigure/CMakeLists.txt
@@ -4,7 +4,31 @@ project(multireconfigure)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-find_package(catkin REQUIRED COMPONENTS
+set(CATKIN_DEPENDENCIES
+  cmake_modules
+  rospy
+  message_runtime
   dynamic_reconfigure
   )
 
+find_package(catkin REQUIRED COMPONENTS
+  ${CATKIN_DEPENDENCIES}
+  )
+
+catkin_package(
+  CATKIN_DEPENDS ${CATKIN_DEPENDENCIES}
+  )
+
+## --------------------------------------------------------------
+## |                           Install                          |
+## --------------------------------------------------------------
+
+install(TARGETS ${LIBRARIES}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  )
+
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )
diff --git a/multireconfigure/package.xml b/multireconfigure/package.xml
@@ -14,5 +14,6 @@
   <depend>cmake_modules</depend>
   <depend>rospy</depend>
   <depend>message_runtime</depend>
+  <depend>dynamic_reconfigure</depend>
 
 </package>
diff --git a/tf_connector/CMakeLists.txt b/tf_connector/CMakeLists.txt
@@ -1,42 +1,48 @@
-cmake_minimum_required(VERSION 3.1.2)
+cmake_minimum_required(VERSION 3.5)
 project(tf_connector)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  mrs_lib
+set(CATKIN_DEPENDENCIS
+  cmake_modules
+  ddynamic_reconfigure
   dynamic_reconfigure
+  mrs_lib
+  nodelet
+  roscpp
   tf2
   tf2_ros
-  nodelet
-  ddynamic_reconfigure
+  tf2_sensor_msgs
+  )
+
+find_package(catkin REQUIRED COMPONENTS
+  ${CATKIN_DEPENDENCIS}
   )
 
 set(LIBRARIES
-  TFConnector
+  MrsUtils_TFConnector
   )
 
 catkin_package(
   LIBRARIES ${LIBRARIES}
   INCLUDE_DIRS
-  CATKIN_DEPENDS roscpp nodelet mrs_lib dynamic_reconfigure ddynamic_reconfigure tf2 tf2_ros
+  CATKIN_DEPENDS ${CATKIN_DEPENDENCIS}
   )
 
 include_directories(
   ${catkin_INCLUDE_DIRS}
   )
 
-add_library(TFConnector
+add_library(MrsUtils_TFConnector
   src/tf_connector.cpp
   )
 
-add_dependencies(TFConnector
+add_dependencies(MrsUtils_TFConnector
   ${catkin_EXPORTED_TARGETS}
   )
 
-target_link_libraries(TFConnector
+target_link_libraries(MrsUtils_TFConnector
   ${LIBS}
   ${catkin_LIBRARIES}
   )
@@ -55,7 +61,6 @@ install(DIRECTORY launch config
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   )
 
-install(DIRECTORY ./
+install(FILES nodelets.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  FILES_MATCHING PATTERN "*.xml"
   )
diff --git a/tf_connector/nodelets.xml b/tf_connector/nodelets.xml
@@ -1,4 +1,4 @@
-<library path="lib/libTFConnector">
+<library path="lib/libMrsUtils_TFConnector">
   <class name="tf_connector/TFConnector" type="tf_connector::TFConnector" base_class_type="nodelet::Nodelet">
     <description>TFConnector nodelet</description>
   </class>

diff --git a/tf_connector/package.xml b/tf_connector/package.xml
@@ -12,17 +12,15 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <depend>cmake_modules</depend>
-  <depend>roscpp</depend>
-  <depend>sensor_msgs</depend>
-  <depend>nav_msgs</depend>
+  <depend>ddynamic_reconfigure</depend>
+  <depend>dynamic_reconfigure</depend>
+  <depend>message_runtime</depend>
   <depend>mrs_lib</depend>
   <depend>nodelet</depend>
+  <depend>roscpp</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_sensor_msgs</depend>
-  <depend>message_runtime</depend>
-  <depend>dynamic_reconfigure</depend>
-  <depend>ddynamic_reconfigure</depend>
 
   <export>
     <nodelet plugin="${prefix}/nodelets.xml" />

diff --git a/tf_connector/src/tf_connector.cpp b/tf_connector/src/tf_connector.cpp
@@ -15,10 +15,6 @@
 #include <geometry_msgs/TransformStamped.h>
 #include <geometry_msgs/PoseWithCovarianceStamped.h>
 #include <visualization_msgs/MarkerArray.h>
-#include <nav_msgs/Odometry.h>
-#include <nav_msgs/Path.h>
-#include <sensor_msgs/PointCloud2.h>
-#include <sensor_msgs/point_cloud2_iterator.h>
 
 // MRS stuff
 #include <mrs_lib/profiler.h>
@@ -31,6 +27,7 @@
 #include <numeric>
 
 //}
+//
 
 namespace tf_connector
 {