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[RST-1554] test depends #30

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merged 3 commits into from Nov 30, 2018
Merged

[RST-1554] test depends #30

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d83fd4f
Refactored all CMakeLists.txt to avoid path issues when using workspa…
svwilliams Nov 29, 2018
94087f7
Scope creep: Fix some small header include errors
svwilliams Nov 29, 2018
12d62d6
removed commented code
svwilliams Nov 29, 2018
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81 changes: 69 additions & 12 deletions fuse_constraints/CMakeLists.txt
View file
Open in desktop
@@ -1,13 +1,17 @@
cmake_minimum_required(VERSION 2.8.3)
project(fuse_constraints)

find_package(catkin REQUIRED COMPONENTS
set(build_depends
geometry_msgs
fuse_core
fuse_variables
roscpp
)

find_package(catkin REQUIRED COMPONENTS
${build_depends}
)

find_package(Ceres REQUIRED)
find_package(Eigen3 REQUIRED)

Expand All @@ -20,10 +24,7 @@ catkin_package(
${PROJECT_NAME}
${CERES_LIBRARIES}
CATKIN_DEPENDS
geometry_msgs
fuse_core
fuse_variables
roscpp
${build_depends}
)

###########
Expand All @@ -32,13 +33,6 @@ catkin_package(

add_compile_options(-std=c++14 -Wall -Werror)

include_directories(
include
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)

# fuse_constraints library
add_library(${PROJECT_NAME}
src/absolute_orientation_3d_stamped_constraint.cpp
Expand All @@ -54,6 +48,13 @@ add_library(${PROJECT_NAME}
add_dependencies(${PROJECT_NAME}
${catkin_EXPORTED_TARGETS}
)
target_include_directories(${PROJECT_NAME}
PUBLIC
include
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
${CERES_LIBRARIES}
Expand Down Expand Up @@ -94,6 +95,13 @@ if(CATKIN_ENABLE_TESTING)
add_dependencies(test_absolute_constraint
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_absolute_constraint
PRIVATE
include
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_absolute_constraint
${PROJECT_NAME}
${catkin_LIBRARIES}
Expand All @@ -107,6 +115,13 @@ if(CATKIN_ENABLE_TESTING)
add_dependencies(test_absolute_orientation_3d_stamped_constraint
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_absolute_orientation_3d_stamped_constraint
PRIVATE
include
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_absolute_orientation_3d_stamped_constraint
${PROJECT_NAME}
${catkin_LIBRARIES}
Expand All @@ -119,6 +134,13 @@ if(CATKIN_ENABLE_TESTING)
add_dependencies(test_absolute_orientation_3d_stamped_euler_constraint
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_absolute_orientation_3d_stamped_euler_constraint
PRIVATE
include
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_absolute_orientation_3d_stamped_euler_constraint
${PROJECT_NAME}
${catkin_LIBRARIES}
Expand All @@ -131,6 +153,13 @@ if(CATKIN_ENABLE_TESTING)
add_dependencies(test_absolute_pose_2d_stamped_constraint
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_absolute_pose_2d_stamped_constraint
PRIVATE
include
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_absolute_pose_2d_stamped_constraint
${PROJECT_NAME}
${catkin_LIBRARIES}
Expand All @@ -143,6 +172,13 @@ if(CATKIN_ENABLE_TESTING)
add_dependencies(test_absolute_pose_3d_stamped_constraint
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_absolute_pose_3d_stamped_constraint
PRIVATE
include
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_absolute_pose_3d_stamped_constraint
${PROJECT_NAME}
${catkin_LIBRARIES}
Expand All @@ -155,6 +191,13 @@ if(CATKIN_ENABLE_TESTING)
add_dependencies(test_relative_constraint
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_relative_constraint
PRIVATE
include
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_relative_constraint
${PROJECT_NAME}
${catkin_LIBRARIES}
Expand All @@ -168,6 +211,13 @@ if(CATKIN_ENABLE_TESTING)
add_dependencies(test_relative_pose_2d_stamped_constraint
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_relative_pose_2d_stamped_constraint
PRIVATE
include
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_relative_pose_2d_stamped_constraint
${PROJECT_NAME}
${catkin_LIBRARIES}
Expand All @@ -180,6 +230,13 @@ if(CATKIN_ENABLE_TESTING)
add_dependencies(test_relative_pose_3d_stamped_constraint
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_relative_pose_3d_stamped_constraint
PRIVATE
include
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_relative_pose_3d_stamped_constraint
${PROJECT_NAME}
${catkin_LIBRARIES}
Expand Down
113 changes: 100 additions & 13 deletions fuse_core/CMakeLists.txt
View file
Open in desktop
@@ -1,9 +1,13 @@
cmake_minimum_required(VERSION 2.8.3)
project(fuse_core)

find_package(catkin REQUIRED COMPONENTS
set(build_depends
roscpp
)

find_package(catkin REQUIRED COMPONENTS
${build_depends}
)
find_package(Boost REQUIRED)
find_package(Ceres REQUIRED)
find_package(Eigen3 REQUIRED)
Expand All @@ -17,7 +21,7 @@ catkin_package(
${PROJECT_NAME}
${CERES_LIBRARIES}
CATKIN_DEPENDS
roscpp
${build_depends}
DEPENDS
Boost
)
Expand All @@ -28,14 +32,6 @@ catkin_package(

add_compile_options(-std=c++14 -Wall -Werror)

include_directories(
include
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)

## fuse_core library
add_library(${PROJECT_NAME}
src/async_motion_model.cpp
Expand All @@ -51,6 +47,14 @@ add_library(${PROJECT_NAME}
add_dependencies(${PROJECT_NAME}
${catkin_EXPORTED_TARGETS}
)
target_include_directories(${PROJECT_NAME}
PUBLIC
include
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
${CERES_LIBRARIES}
Expand Down Expand Up @@ -79,9 +83,6 @@ install(
if(CATKIN_ENABLE_TESTING)
find_package(roslint REQUIRED)
find_package(rostest REQUIRED)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
)

# Lint tests
set(ROSLINT_CPP_OPTS "--filter=-build/c++11,-runtime/references")
Expand All @@ -96,6 +97,14 @@ if(CATKIN_ENABLE_TESTING)
add_dependencies(test_async_motion_model
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_async_motion_model
PRIVATE
include
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_async_motion_model
${PROJECT_NAME}
${catkin_LIBRARIES}
Expand All @@ -109,6 +118,14 @@ if(CATKIN_ENABLE_TESTING)
add_dependencies(test_async_publisher
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_async_publisher
PRIVATE
include
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_async_publisher
${PROJECT_NAME}
${catkin_LIBRARIES}
Expand All @@ -122,6 +139,14 @@ if(CATKIN_ENABLE_TESTING)
add_dependencies(test_async_sensor_model
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_async_sensor_model
PRIVATE
include
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_async_sensor_model
${PROJECT_NAME}
${catkin_LIBRARIES}
Expand All @@ -132,6 +157,17 @@ if(CATKIN_ENABLE_TESTING)
test/callback_wrapper.test
test/test_callback_wrapper.cpp
)
add_dependencies(test_callback_wrapper
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_callback_wrapper
PRIVATE
include
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_callback_wrapper
${catkin_LIBRARIES}
)
Expand All @@ -143,6 +179,15 @@ if(CATKIN_ENABLE_TESTING)
add_dependencies(test_constraint
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_constraint
PRIVATE
include
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_constraint
${PROJECT_NAME}
)
Expand All @@ -154,6 +199,14 @@ if(CATKIN_ENABLE_TESTING)
add_dependencies(test_message_buffer
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_message_buffer
PRIVATE
include
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_message_buffer
${catkin_LIBRARIES}
)
Expand All @@ -165,6 +218,14 @@ if(CATKIN_ENABLE_TESTING)
add_dependencies(test_timestamp_manager
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_timestamp_manager
PRIVATE
include
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_timestamp_manager
${PROJECT_NAME}
${catkin_LIBRARIES}
Expand All @@ -177,6 +238,15 @@ if(CATKIN_ENABLE_TESTING)
add_dependencies(test_transaction
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_transaction
PRIVATE
include
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_transaction
${PROJECT_NAME}
${catkin_LIBRARIES}
Expand All @@ -189,6 +259,14 @@ if(CATKIN_ENABLE_TESTING)
add_dependencies(test_uuid
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_uuid
PRIVATE
include
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_uuid
${PROJECT_NAME}
${catkin_LIBRARIES}
Expand All @@ -201,6 +279,15 @@ if(CATKIN_ENABLE_TESTING)
add_dependencies(test_variable
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_variable
PRIVATE
include
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_variable
${PROJECT_NAME}
)
Expand Down
1 change: 0 additions & 1 deletion fuse_core/include/fuse_core/publisher.h
View file
Open in desktop
Expand Up @@ -38,7 +38,6 @@
#include <fuse_core/macros.h>
#include <fuse_core/transaction.h>
#include <fuse_core/variable.h>
#include <ros/ros.h>

#include <string>
#include <vector>
Expand Down