Modernize cmake; make cmake compatible with git submoduling #382

jlblancoc · 2020-06-01T16:20:55Z

This PR does:

Use GNUInstallDirs to correctly install files in their standard directories (multiarch-compatible).
Add install(EXPORT ... to cmake scripts to allow better use of exported targets.
Add build options to allow not building parts of the projects (defaults=as it was before)
Automatic detection of libnabo if built as part of the same source tree (e.g. git submodules).

ethzasl-jenkins · 2020-06-01T16:20:58Z

Can one of the admins verify this patch?

pomerlef · 2020-06-01T17:25:44Z

ok to test

YoshuaNava

@jlblancoc I left some comments in your PR, mostly questions.

Have you also tested that the library builds with ROS? In merged and linked devel (--no-install and --install flags when using catkin build)

CMakeLists.txt

jlblancoc · 2020-06-06T19:11:31Z

Have you also tested that the library builds with ROS? In merged and linked devel (--no-install and --install flags when using catkin build)

I tried with catkin, and it failed due to failed to find "nabo/nabo.h"... But I'm not sure it's due to these changes. Perhaps it's assumed that the user should do a "sudo make install" after building "libnabo"? I will re-check this area, anyway, another day.

YoshuaNava · 2020-06-06T19:15:02Z

Hi @jlblancoc,
Thank you for addressing all the comments.

For the ones that require improvements that go beyond the scope of this PR, could you open issues? So we can actively keep track of them.

Thank you, and have a nice weekend :)

Yoshua

jlblancoc · 2020-06-07T14:31:10Z

All done: it was tested to build both, as a standalone project, and with "catkin build".

Note that there's another related PR in the queue: norlab-ulaval/libnabo#103

YoshuaNava · 2020-06-08T18:25:25Z

Nice! Thank you.

YoshuaNava · 2020-06-08T18:25:56Z

CMakeLists.txt

-
-add_custom_target(uninstall
-    COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
+if (NOT TARGET uninstall)


Does this require a documentation update?

YoshuaNava · 2020-08-22T11:56:55Z

@jlblancoc Is this PR in a state ready for merging?

jlblancoc · 2020-08-26T11:22:51Z

I'm alive ;-) Will come back soon, sorry...

jlblancoc · 2020-09-03T05:15:47Z

Please, test and merge norlab-ulaval/libnabo#103 first so this PR makes sure of using the updated version of libnabo too.

pomerlef · 2020-09-17T21:19:53Z

@jlblancoc so I guess we can continue on this PR. Could you update your branch?

jlblancoc · 2020-09-18T06:44:12Z

@pomerlef After the last commit, it builds cleanly locally... let's see what happens with Jenkins.

pomerlef · 2020-09-18T12:32:26Z

ok to test

pomerlef · 2020-09-18T18:56:28Z

the branch is still out-of-date. Here is the error log:

/home/jenkins/workspace/pointmatcher@2/label/ubuntu-xenial/pointmatcher/MatchersImpl.h:41:23: fatal error: nabo/nabo.h: No such file or directory
compilation terminated.
[ 31%] Building CXX object CMakeFiles/pointmatcher.dir/pointmatcher/Registrar.cpp.o
CMakeFiles/pointmatcher.dir/build.make:158: recipe for target 'CMakeFiles/pointmatcher.dir/pointmatcher/ICP.cpp.o' failed

make[2]: *** [CMakeFiles/pointmatcher.dir/pointmatcher/ICP.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/jenkins/workspace/pointmatcher@2/label/ubuntu-xenial/pointmatcher/Registry.cpp:41:0:

/home/jenkins/workspace/pointmatcher@2/label/ubuntu-xenial/pointmatcher/MatchersImpl.h:41:23: fatal error: nabo/nabo.h: No such file or directory
compilation terminated.
CMakeFiles/pointmatcher.dir/build.make:182: recipe for target 'CMakeFiles/pointmatcher.dir/pointmatcher/Registry.cpp.o' failed

jlblancoc · 2020-09-19T06:12:15Z

I just integrated @peci1 's fixes (thanks!) into this PR via a cherry-pick.

The order of operations to get this sorted out is:

Merge Fix install-space include directories libnabo#106
Then trigger another build of this PR to verify it builds in Jenkins.
Merge this PR
Reflect new changes in libnabo. #404 can be closed since its changes are already applied on top of this PR.

pomerlef · 2020-09-23T15:55:18Z

ok to test

pomerlef · 2020-09-23T18:26:23Z

@jlblancoc could you bring your branch to master so I can merge?

jlblancoc · 2020-09-23T18:52:40Z

I will

jlblancoc · 2020-09-23T23:03:34Z

rebase done.
Let's wait for Jenkins...

iabaldwin · 2020-09-23T23:32:49Z

Builds nicely again - thanks @jlblancoc @pomerlef

peci1 · 2020-09-24T10:12:02Z

Not yet there...

$ cat devel/lib/pkgconfig/libpointmatcher.pc 
prefix=/media/data/subt/mapper/devel
exec_prefix=/media/data/subt/mapper/devel
libdir=${prefix}/lib
includedir=${prefix}/include

Name: libpointmatcher
Description: See https://github.com/ethz-asl/libpointmatcher
Version: 1.3.1
Libs: -L${libdir}  /media/data/subt/mapper/devel/lib/$<TARGET_FILE:libpointmatcher> -l$<TARGET_FILE:yaml-cpp-pm>
Cflags: -I${includedir}/

$ cat devel/share/libpointmatcher/cmake/libpointmatcherConfig.cmake 
# - Config file for the libpointmatcher package
# It defines the following variables
#  libpointmatcher_INCLUDE_DIRS - include directories for pointmatcher
#  libpointmatcher_LIBRARIES    - libraries to link against

include(CMakeFindDependencyMacro)
find_dependency(libnabo REQUIRED)

# Compute paths
get_filename_component(POINTMATCHER_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
set(libpointmatcher_INCLUDE_DIRS "/media/data/subt/mapper/devel/include;/usr/include/eigen3")
set(LIBPOINTMATCHER_INCLUDE_DIRS "/media/data/subt/mapper/devel/include;/usr/include/eigen3")
set(pointmatcher_INCLUDE_DIRS "/media/data/subt/mapper/devel/include;/usr/include/eigen3")
set(POINTMATCHER_INCLUDE_DIRS "/media/data/subt/mapper/devel/include;/usr/include/eigen3")

set(libpointmatcher_LIBRARIES "/media/data/subt/mapper/devel/lib/$<TARGET_FILE:libpointmatcher>;$<TARGET_FILE:yaml-cpp-pm>")
set(LIBPOINTMATCHER_LIBRARIES "/media/data/subt/mapper/devel/lib/$<TARGET_FILE:libpointmatcher>;$<TARGET_FILE:yaml-cpp-pm>")
set(pointmatcher_LIBRARIES "/media/data/subt/mapper/devel/lib/$<TARGET_FILE:libpointmatcher>;$<TARGET_FILE:yaml-cpp-pm>")
set(POINTMATCHER_LIBRARIES "/media/data/subt/mapper/devel/lib/$<TARGET_FILE:libpointmatcher>;$<TARGET_FILE:yaml-cpp-pm>")

# This causes catkin simple to link against these libraries
set(libpointmatcher_FOUND_CATKIN_PROJECT true)
set(LIBPOINTMATCHER_FOUND_CATKIN_PROJECT true)
set(pointmatcher_FOUND_CATKIN_PROJECT true)
set(POINTMATCHER_FOUND_CATKIN_PROJECT true)

Errors     << libpointmatcher_ros:check /media/data/subt/mapper/logs/libpointmatcher_ros/build.check.038.log                                                                
/media/data/subt/mapper/devel/lib/$<TARGET_FILE:libpointmatcher>;$<TARGET_FILE:yaml-cpp-pm>
CMake Error at /media/data/subt/mapper/src/ethzasl_icp_mapping/libpointmatcher_ros/CMakeLists.txt:62 (target_link_libraries):
  Error evaluating generator expression:

    $<TARGET_FILE:libpointmatcher>

  No target "libpointmatcher"


CMake Error at /media/data/subt/mapper/src/ethzasl_icp_mapping/libpointmatcher_ros/CMakeLists.txt:62 (target_link_libraries):
  Error evaluating generator expression:

    $<TARGET_FILE:yaml-cpp-pm>

  No target "yaml-cpp-pm"


make: *** [cmake_check_build_system] Error 1

We need to find a way for the generator expressions to actually get evaluated.

peci1 · 2020-09-24T10:50:55Z

See #407.

YoshuaNava reviewed Jun 1, 2020

View reviewed changes

YoshuaNava approved these changes Aug 22, 2020

View reviewed changes

YoshuaNava mentioned this pull request Sep 18, 2020

Reflect new changes in libnabo. #404

Closed

pomerlef mentioned this pull request Sep 23, 2020

Build issues "Linking CXX executable icp_customized" #405

Closed

pomerlef mentioned this pull request Sep 23, 2020

Compatibility with libnabo #406

Closed

jlblancoc added 8 commits September 24, 2020 01:02

make the library git submodule-friendly

f373551

modernize cmake to have exported targets

a9129e6

less verbose cmake syntax

18e2cc9

add -fPIC if needed

4f3f1d8

cmake cleanup

f6f1411

more cmake clean up

e537f3f

fix build with catkin

15d03b7

avoid recursive -I include directories

8d33804

jlblancoc and others added 3 commits September 24, 2020 01:02

Fix missing add_dependencies()

dc29a83

Fix link with newer libnabo cmake exported target

e7c4ec2

Reflect new changes in libnabo.

b418a9c

jlblancoc force-pushed the master branch from 926d368 to b418a9c Compare September 23, 2020 23:02

pomerlef merged commit 0ee8c21 into norlab-ulaval:master Sep 24, 2020

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Modernize cmake; make cmake compatible with git submoduling #382

Modernize cmake; make cmake compatible with git submoduling #382

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Modernize cmake; make cmake compatible with git submoduling #382

Modernize cmake; make cmake compatible with git submoduling #382

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