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Improve linking times (#61) #63

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merged 2 commits into from Sep 11, 2023
Merged

Improve linking times (#61) #63

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fe70d94
Improve linking times (#61)
mxgrey Aug 22, 2023
67d2ab8
Make CI run with Iron images
Yadunund Sep 11, 2023
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2 changes: 1 addition & 1 deletion .github/workflows/build.yaml
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Expand Up @@ -20,5 +20,5 @@ jobs:
rmf_visualization_obstacles
rmf_visualization_rviz2_plugins
rmf_visualization_schedule
dist-matrix: '[{"ros_distribution": "humble", "ubuntu_distribution": "jammy"}, {"ros_distribution": "rolling", "ubuntu_distribution": "jammy"}]'
dist-matrix: '[{"ros_distribution": "iron", "ubuntu_distribution": "jammy"}]'

2 changes: 1 addition & 1 deletion .github/workflows/style.yaml
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Expand Up @@ -9,7 +9,7 @@ jobs:
runs-on: ubuntu-latest
strategy:
matrix:
docker_image: ['ros:humble-ros-base']
docker_image: ['ros:iron-ros-base']
container:
image: ${{ matrix.docker_image }}
steps:
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22 changes: 8 additions & 14 deletions rmf_visualization_fleet_states/CMakeLists.txt
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Expand Up @@ -22,26 +22,20 @@ endforeach()
#===============================================================================
add_library(fleetstates_visualizer SHARED src/FleetStatesVisualizer.cpp)

target_link_libraries(fleetstates_visualizer
PRIVATE
rclcpp::rclcpp
${rclcpp_components_LIBRARIES}
${rmf_fleet_msgs_LIBRARIES}
${rmf_visualization_msgs_LIBRARIES}
${visualization_msgs_LIBRARIES}
${geometry_msgs_LIBRARIES}
ament_target_dependencies(fleetstates_visualizer
PUBLIC
rclcpp
rclcpp_components
rmf_fleet_msgs
rmf_visualization_msgs
visualization_msgs
geometry_msgs
)

target_include_directories(fleetstates_visualizer
PRIVATE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
${rclcpp_INCLUDE_DIRS}
${rclcpp_components_INCLUDE_DIRS}
${rmf_fleet_msgs_INCLUDE_DIRS}
${rmf_visualization_msgs_INCLUDE_DIRS}
${visualization_msgs_INCLUDE_DIRS}
${geometry_msgs_INCLUDE_DIRS}
)

target_compile_features(fleetstates_visualizer INTERFACE cxx_std_17)
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31 changes: 11 additions & 20 deletions rmf_visualization_floorplans/CMakeLists.txt
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Expand Up @@ -25,32 +25,23 @@ endforeach()
#===============================================================================
add_library(floorplan_visualizer SHARED src/FloorplanVisualizer.cpp)

target_link_libraries(floorplan_visualizer
PRIVATE
rclcpp::rclcpp
Eigen3::Eigen
${rclcpp_components_LIBRARIES}
${OpenCV_LIBRARIES}
${rmf_building_map_msgs_LIBRARIES}
${rmf_visualization_msgs_LIBRARIES}
${nav_msgs_LIBRARIES}
${geometry_msgs_LIBRARIES}

ament_target_dependencies(floorplan_visualizer
PUBLIC
rclcpp
Eigen3
rclcpp_components
OpenCV
rmf_building_map_msgs
rmf_visualization_msgs
nav_msgs
geometry_msgs
)


target_include_directories(floorplan_visualizer
PRIVATE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
${rclcpp_INCLUDE_DIRS}
${rclcpp_components_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${Eigen3_INCLUDE_DIRS}
${rmf_fleet_msgs_INCLUDE_DIRS}
${rmf_building_map_msgs_INCLUDE_DIRS}
${rmf_visualization_msgs_INCLUDE_DIRS}
${nav_msgs_INCLUDE_DIRS}
${geometry_msgs_INCLUDE_DIRS}
)

target_compile_features(floorplan_visualizer INTERFACE cxx_std_17)
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31 changes: 10 additions & 21 deletions rmf_visualization_navgraphs/CMakeLists.txt
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Expand Up @@ -26,33 +26,22 @@ endforeach()
#===============================================================================
add_library(navgraph_visualizer SHARED src/NavGraphVisualizer.cpp)

target_link_libraries(navgraph_visualizer
PRIVATE
rclcpp::rclcpp
${rclcpp_components_LIBRARIES}
${rmf_fleet_msgs_LIBRARIES}
${rmf_building_map_msgs_LIBRARIES}
${rmf_visualization_msgs_LIBRARIES}
${visualization_msgs_LIBRARIES}
${geometry_msgs_LIBRARIES}
rmf_traffic::rmf_traffic
rmf_traffic_ros2::rmf_traffic_ros2

ament_target_dependencies(navgraph_visualizer
PUBLIC
rclcpp
rclcpp_components
rmf_fleet_msgs
rmf_building_map_msgs
rmf_visualization_msgs
visualization_msgs
geometry_msgs
rmf_traffic_ros2
)

target_include_directories(navgraph_visualizer
PRIVATE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
${rclcpp_INCLUDE_DIRS}
${rclcpp_components_INCLUDE_DIRS}
${rmf_fleet_msgs_INCLUDE_DIRS}
${rmf_building_map_msgs_INCLUDE_DIRS}
${rmf_visualization_msgs_INCLUDE_DIRS}
${visualization_msgs_INCLUDE_DIRS}
${geometry_msgs_INCLUDE_DIRS}
${rmf_traffic_INCLUDE_DIRS}
${rmf_traffic_ros2_INCLUDE_DIRS}
)

target_compile_features(navgraph_visualizer INTERFACE cxx_std_17)
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27 changes: 8 additions & 19 deletions rmf_visualization_obstacles/CMakeLists.txt
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Expand Up @@ -18,26 +18,15 @@ find_package(rmf_visualization_msgs REQUIRED)
#===============================================================================
add_library(obstacle_visualizer SHARED src/ObstacleVisualizer.cpp)

target_link_libraries(obstacle_visualizer
PRIVATE
rclcpp::rclcpp
${rclcpp_components_LIBRARIES}
${visualization_msgs_LIBRARIES}
${geometry_msgs_LIBRARIES}
${vision_msgs_LIBRARIES}
${rmf_obstacle_msgs_LIBRARIES}
${rmf_visualization_msgs_LIBRARIES}
)

target_include_directories(obstacle_visualizer
ament_target_dependencies(obstacle_visualizer
PUBLIC
${rclcpp_INCLUDE_DIRS}
${rclcpp_components_INCLUDE_DIRS}
${visualization_msgs_INCLUDE_DIRS}
${geometry_msgs_INCLUDE_DIRS}
${vision_msgs_INCLUDE_DIRS}
${rmf_obstacle_msgs_INCLUDE_DIRS}
${rmf_visualization_msgs_INCLUDE_DIRS}
rclcpp
rclcpp_components
visualization_msgs
geometry_msgs
vision_msgs
rmf_obstacle_msgs
rmf_visualization_msgs
)

target_compile_features(obstacle_visualizer INTERFACE cxx_std_17)
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27 changes: 12 additions & 15 deletions rmf_visualization_rviz2_plugins/CMakeLists.txt
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Expand Up @@ -56,31 +56,28 @@ add_library(${PROJECT_NAME} SHARED
src/NegotiationModel.cpp
)

ament_target_dependencies(${PROJECT_NAME}
PUBLIC
rclcpp
rmf_door_msgs
rmf_lift_msgs
rmf_visualization_msgs
rmf_traffic_ros2
rviz_common
rviz_rendering
rviz_default_plugins
)

target_link_libraries(${PROJECT_NAME}
PUBLIC
${QT5_LIBRARIES}
${rclcpp_LIBRARIES}
${rmf_door_msgs_LIBRARIES}
${rmf_lift_msgs_LIBRARIES}
${rmf_visualization_msgs_LIBRARIES}
rviz_common::rviz_common
${rviz_rendering_LIBRARIES}
${rviz_default_plugins_LIBRARIES}
${Qt5Widgets_LIBRARIES}
rmf_traffic_ros2::rmf_traffic_ros2
)

target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
${rclcpp_INCLUDE_DIRS}
${rmf_door_msgs_INCLUDE_DIRS}
${rmf_lift_msgs_INCLUDE_DIRS}
${rmf_visualization_msgs_INCLUDE_DIRS}
${rviz_common_INCLUDE_DIRS}
${rviz_rendering_INCLUDE_DIRS}
${rviz_default_plugins_INCLUDE_DIRS}
${Qt5Widgets_INCLUDE_DIRS}
${QT5_INCLUDE_DIRS}
)
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41 changes: 15 additions & 26 deletions rmf_visualization_schedule/CMakeLists.txt
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Expand Up @@ -48,25 +48,20 @@ endif()
file(GLOB_RECURSE core_lib_srcs "src/rmf_visualization_schedule/*.cpp")
add_library(rmf_visualization_schedule SHARED ${core_lib_srcs})

target_link_libraries(rmf_visualization_schedule
ament_target_dependencies(rmf_visualization_schedule
PUBLIC
rmf_traffic_ros2::rmf_traffic_ros2
rmf_traffic::rmf_traffic
${rclcpp_LIBRARIES}
${websocketpp_LIBRARIES}
OpenSSL::SSL
OpenSSL::Crypto
Threads::Threads
${rmf_traffic_msgs_LIBRARIES}
rmf_traffic
rmf_traffic_ros2
rclcpp
websocketpp
OpenSSL
Threads
rmf_traffic_msgs
)

target_include_directories(rmf_visualization_schedule
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
${rclcpp_INCLUDE_DIRS}
${WEBSOCKETPP_INCLUDE_DIR}
${OpenSSL_INCLUDE_DIR}
)

ament_export_dependencies(
Expand All @@ -81,23 +76,17 @@ ament_export_targets(rmf_visualization_schedule HAS_LIBRARY_TARGET)

#===============================================================================
add_library(schedule_visualizer SHARED src/ScheduleVisualizer.cpp)
ament_target_dependencies(schedule_visualizer
PUBLIC
rclcpp_components
visualization_msgs
geometry_msgs
rmf_visualization_msgs
)

target_link_libraries(schedule_visualizer
PRIVATE
rmf_visualization_schedule
${rclcpp_components_LIBRARIES}
${visualization_msgs_LIBRARIES}
${geometry_msgs_LIBRARIES}
${rmf_visualization_msgs_LIBRARIES}
)

target_include_directories(schedule_visualizer
PRIVATE
${rclcpp_INCLUDE_DIRS}
${rclcpp_components_INCLUDE_DIRS}
${visualization_msgs_INCLUDE_DIRS}
${geometry_msgs_INCLUDE_DIRS}
${rmf_visualization_msgs_INCLUDE_DIRS}
)

target_compile_features(schedule_visualizer INTERFACE cxx_std_17)
Expand Down