From f0f124f5ba0e99e984a4079551739c3fdad811d8 Mon Sep 17 00:00:00 2001 From: Martin Pecka Date: Fri, 29 Jan 2021 17:32:20 +0100 Subject: [PATCH 1/5] Fix develspace build and launch --- subt_ign/CMakeLists.txt | 2 ++ subt_ign/env-hooks/ign.bash.em | 13 +++++++++++++ subt_ign/env-hooks/ign.bash.in | 6 ------ subt_ign/env-hooks/ign.zsh.em | 13 +++++++++++++ subt_ign/env-hooks/ign.zsh.in | 6 ------ 5 files changed, 28 insertions(+), 12 deletions(-) create mode 100644 subt_ign/env-hooks/ign.bash.em delete mode 100644 subt_ign/env-hooks/ign.bash.in create mode 100644 subt_ign/env-hooks/ign.zsh.em delete mode 100644 subt_ign/env-hooks/ign.zsh.in diff --git a/subt_ign/CMakeLists.txt b/subt_ign/CMakeLists.txt index 1c2ced81..156030e8 100644 --- a/subt_ign/CMakeLists.txt +++ b/subt_ign/CMakeLists.txt @@ -52,6 +52,7 @@ include_directories( include ${catkin_INCLUDE_DIRS} ${PROJECT_BINARY_DIR}/include + ${CATKIN_DEVEL_PREFIX}/include ) catkin_package( @@ -61,6 +62,7 @@ catkin_package( subt_communication_broker INCLUDE_DIRS include + ${CATKIN_DEVEL_PREFIX}/include LIBRARIES SubtProtobuf CFG_EXTRAS diff --git a/subt_ign/env-hooks/ign.bash.em b/subt_ign/env-hooks/ign.bash.em new file mode 100644 index 00000000..46812ade --- /dev/null +++ b/subt_ign/env-hooks/ign.bash.em @@ -0,0 +1,13 @@ +# Export Ignition environment variables + +@[if INSTALLSPACE]@ +export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/launch +export IGN_LAUNCH_PLUGIN_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_LIB_DESTINATION) +export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/worlds +export SUBT_IMAGES_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/images +@[else]@ +export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/launch +export IGN_LAUNCH_PLUGIN_PATH=@(CATKIN_DEVEL_PREFIX)/@(CATKIN_PACKAGE_LIB_DESTINATION) +export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/worlds +export SUBT_IMAGES_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/images +@[end if]@ diff --git a/subt_ign/env-hooks/ign.bash.in b/subt_ign/env-hooks/ign.bash.in deleted file mode 100644 index c094fff6..00000000 --- a/subt_ign/env-hooks/ign.bash.in +++ /dev/null @@ -1,6 +0,0 @@ -# Export Ignition environment variables - -export IGN_LAUNCH_CONFIG_PATH=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_SHARE_DESTINATION@/launch -export IGN_LAUNCH_PLUGIN_PATH=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_LIB_DESTINATION@ -export IGN_GAZEBO_RESOURCE_PATH=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_SHARE_DESTINATION@/worlds -export SUBT_IMAGES_PATH=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_SHARE_DESTINATION@/images diff --git a/subt_ign/env-hooks/ign.zsh.em b/subt_ign/env-hooks/ign.zsh.em new file mode 100644 index 00000000..46812ade --- /dev/null +++ b/subt_ign/env-hooks/ign.zsh.em @@ -0,0 +1,13 @@ +# Export Ignition environment variables + +@[if INSTALLSPACE]@ +export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/launch +export IGN_LAUNCH_PLUGIN_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_LIB_DESTINATION) +export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/worlds +export SUBT_IMAGES_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/images +@[else]@ +export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/launch +export IGN_LAUNCH_PLUGIN_PATH=@(CATKIN_DEVEL_PREFIX)/@(CATKIN_PACKAGE_LIB_DESTINATION) +export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/worlds +export SUBT_IMAGES_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/images +@[end if]@ diff --git a/subt_ign/env-hooks/ign.zsh.in b/subt_ign/env-hooks/ign.zsh.in deleted file mode 100644 index c094fff6..00000000 --- a/subt_ign/env-hooks/ign.zsh.in +++ /dev/null @@ -1,6 +0,0 @@ -# Export Ignition environment variables - -export IGN_LAUNCH_CONFIG_PATH=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_SHARE_DESTINATION@/launch -export IGN_LAUNCH_PLUGIN_PATH=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_LIB_DESTINATION@ -export IGN_GAZEBO_RESOURCE_PATH=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_SHARE_DESTINATION@/worlds -export SUBT_IMAGES_PATH=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_SHARE_DESTINATION@/images From ece5659862146e37f62f78506823a9b6b856a5a3 Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Wed, 10 Feb 2021 14:01:37 -0600 Subject: [PATCH 2/5] Fix Common_TEST path comparison Signed-off-by: Michael Carroll --- subt_ign/test/Common_TEST.cc | 37 ++++++++++++++++++++---------------- 1 file changed, 21 insertions(+), 16 deletions(-) diff --git a/subt_ign/test/Common_TEST.cc b/subt_ign/test/Common_TEST.cc index 6e303958..8d49db05 100644 --- a/subt_ign/test/Common_TEST.cc +++ b/subt_ign/test/Common_TEST.cc @@ -17,6 +17,9 @@ #include +#include + +#include #include #include @@ -26,7 +29,7 @@ TEST(subt_ign_Common, ArtifactTypes){ // // It is expected that these tests will fail when artifacts // are added or removed, and should be adjusted as such. - auto num_artifacts = static_cast(subt::ArtifactType::Count); + auto num_artifacts = static_cast(subt::ArtifactType::Count); ASSERT_EQ(14u, num_artifacts); ASSERT_EQ(num_artifacts, subt::kArtifactNames.size()); ASSERT_EQ(num_artifacts, subt::kArtifactTypes.size()); @@ -138,27 +141,29 @@ TEST(subt_ign_Common, StringFromArtifact) { ///////////////////////////////////////////////// TEST(subt_ign_Common, FullWorldPath) { std::vector> expected = { - {"simple_cave_01", "/simple_cave_01"}, - {"cave_qual", "/cave_qual"}, - {"cave_circuit_practice_01", "/cave_circuit_practice_01"}, - {"cave_circuit_01", "/cave_circuit/01/cave_circuit_01"}, - - {"simple_tunnel_02", "/simple_tunnel_02"}, - {"tunnel_circuit_practice_02", "/tunnel_circuit_practice_02"}, - {"tunnel_qual_ign", "/tunnel_qual_ign"}, - {"tunnel_circuit_02", "/tunnel_circuit/02/tunnel_circuit_02"}, - - {"simple_urban_03", "/simple_urban_03"}, - {"urban_circuit_practice_03", "/urban_circuit_practice_03"}, - {"urban_qual", "/urban_qual"}, - {"urban_circuit_03", "/urban_circuit/03/urban_circuit_03"}, + {"simple_cave_01", "simple_cave_01"}, + {"cave_qual", "cave_qual"}, + {"cave_circuit_practice_01", "cave_circuit_practice_01"}, + {"cave_circuit_01", "cave_circuit/01/cave_circuit_01"}, + + {"simple_tunnel_02", "simple_tunnel_02"}, + {"tunnel_circuit_practice_02", "tunnel_circuit_practice_02"}, + {"tunnel_qual_ign", "tunnel_qual_ign"}, + {"tunnel_circuit_02", "tunnel_circuit/02/tunnel_circuit_02"}, + + {"simple_urban_03", "simple_urban_03"}, + {"urban_circuit_practice_03", "urban_circuit_practice_03"}, + {"urban_qual", "urban_qual"}, + {"urban_circuit_03", "urban_circuit/03/urban_circuit_03"}, }; for (const auto &[input, expected_out] : expected) { std::string worldPath; EXPECT_TRUE(subt::FullWorldPath(input, worldPath)); - EXPECT_EQ(expected_out, worldPath); + EXPECT_EQ( + ignition::common::joinPaths(SUBT_INSTALL_WORLD_DIR, expected_out), + worldPath); } { From a1ff2ea9b15302e4ce89a0297d17d51dcbeedb9c Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Wed, 10 Feb 2021 14:11:06 -0600 Subject: [PATCH 3/5] Add statistics environment variable Signed-off-by: Michael Carroll --- subt_ign/env-hooks/ign.bash.em | 2 ++ subt_ign/env-hooks/ign.zsh.em | 2 ++ 2 files changed, 4 insertions(+) diff --git a/subt_ign/env-hooks/ign.bash.em b/subt_ign/env-hooks/ign.bash.em index 46812ade..6c9b1852 100644 --- a/subt_ign/env-hooks/ign.bash.em +++ b/subt_ign/env-hooks/ign.bash.em @@ -5,9 +5,11 @@ export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DES export IGN_LAUNCH_PLUGIN_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_LIB_DESTINATION) export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/worlds export SUBT_IMAGES_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/images +export IGN_TRANSPORT_TOPIC_STATISTICS=1 @[else]@ export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/launch export IGN_LAUNCH_PLUGIN_PATH=@(CATKIN_DEVEL_PREFIX)/@(CATKIN_PACKAGE_LIB_DESTINATION) export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/worlds export SUBT_IMAGES_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/images +export IGN_TRANSPORT_TOPIC_STATISTICS=1 @[end if]@ diff --git a/subt_ign/env-hooks/ign.zsh.em b/subt_ign/env-hooks/ign.zsh.em index 46812ade..6c9b1852 100644 --- a/subt_ign/env-hooks/ign.zsh.em +++ b/subt_ign/env-hooks/ign.zsh.em @@ -5,9 +5,11 @@ export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DES export IGN_LAUNCH_PLUGIN_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_LIB_DESTINATION) export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/worlds export SUBT_IMAGES_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/images +export IGN_TRANSPORT_TOPIC_STATISTICS=1 @[else]@ export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/launch export IGN_LAUNCH_PLUGIN_PATH=@(CATKIN_DEVEL_PREFIX)/@(CATKIN_PACKAGE_LIB_DESTINATION) export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/worlds export SUBT_IMAGES_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/images +export IGN_TRANSPORT_TOPIC_STATISTICS=1 @[end if]@ From 01c4853dafac0456cb38279273146c2a27b6c1c4 Mon Sep 17 00:00:00 2001 From: Martin Pecka Date: Fri, 12 Feb 2021 02:50:34 +0100 Subject: [PATCH 4/5] Fix env scripts --- ign_migration_scripts/CMakeLists.txt | 4 +--- .../env-hooks/29.ign_migration_scripts.bash.em | 9 +++++++++ .../env-hooks/29.ign_migration_scripts.zsh.em | 9 +++++++++ ign_migration_scripts/env-hooks/ign.bash.in | 6 ------ ign_migration_scripts/env-hooks/ign.zsh.in | 6 ------ subt_ign/CMakeLists.txt | 4 +--- .../env-hooks/{ign.zsh.em => 30.subt_ign.bash.em} | 12 ++++++------ .../env-hooks/{ign.bash.em => 30.subt_ign.zsh.em} | 0 8 files changed, 26 insertions(+), 24 deletions(-) create mode 100644 ign_migration_scripts/env-hooks/29.ign_migration_scripts.bash.em create mode 100644 ign_migration_scripts/env-hooks/29.ign_migration_scripts.zsh.em delete mode 100644 ign_migration_scripts/env-hooks/ign.bash.in delete mode 100644 ign_migration_scripts/env-hooks/ign.zsh.in rename subt_ign/env-hooks/{ign.zsh.em => 30.subt_ign.bash.em} (78%) rename subt_ign/env-hooks/{ign.bash.em => 30.subt_ign.zsh.em} (100%) diff --git a/ign_migration_scripts/CMakeLists.txt b/ign_migration_scripts/CMakeLists.txt index 3417c954..f1416edd 100644 --- a/ign_migration_scripts/CMakeLists.txt +++ b/ign_migration_scripts/CMakeLists.txt @@ -5,9 +5,7 @@ find_package(catkin REQUIRED) catkin_package() -catkin_add_env_hooks(ign SHELLS bash - DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks) -catkin_add_env_hooks(ign SHELLS zsh +catkin_add_env_hooks(29.ign_migration_scripts SHELLS bash zsh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks) install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} diff --git a/ign_migration_scripts/env-hooks/29.ign_migration_scripts.bash.em b/ign_migration_scripts/env-hooks/29.ign_migration_scripts.bash.em new file mode 100644 index 00000000..5b265b1a --- /dev/null +++ b/ign_migration_scripts/env-hooks/29.ign_migration_scripts.bash.em @@ -0,0 +1,9 @@ +# Export Ignition environment variables + +@[if INSTALLSPACE]@ +export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/launch +export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/worlds:${IGN_GAZEBO_RESOURCE_PATH} +@[else]@ +export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/launch +export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/worlds:${IGN_GAZEBO_RESOURCE_PATH} +@[end if]@ diff --git a/ign_migration_scripts/env-hooks/29.ign_migration_scripts.zsh.em b/ign_migration_scripts/env-hooks/29.ign_migration_scripts.zsh.em new file mode 100644 index 00000000..5b265b1a --- /dev/null +++ b/ign_migration_scripts/env-hooks/29.ign_migration_scripts.zsh.em @@ -0,0 +1,9 @@ +# Export Ignition environment variables + +@[if INSTALLSPACE]@ +export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/launch +export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/worlds:${IGN_GAZEBO_RESOURCE_PATH} +@[else]@ +export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/launch +export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/worlds:${IGN_GAZEBO_RESOURCE_PATH} +@[end if]@ diff --git a/ign_migration_scripts/env-hooks/ign.bash.in b/ign_migration_scripts/env-hooks/ign.bash.in deleted file mode 100644 index c094fff6..00000000 --- a/ign_migration_scripts/env-hooks/ign.bash.in +++ /dev/null @@ -1,6 +0,0 @@ -# Export Ignition environment variables - -export IGN_LAUNCH_CONFIG_PATH=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_SHARE_DESTINATION@/launch -export IGN_LAUNCH_PLUGIN_PATH=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_LIB_DESTINATION@ -export IGN_GAZEBO_RESOURCE_PATH=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_SHARE_DESTINATION@/worlds -export SUBT_IMAGES_PATH=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_SHARE_DESTINATION@/images diff --git a/ign_migration_scripts/env-hooks/ign.zsh.in b/ign_migration_scripts/env-hooks/ign.zsh.in deleted file mode 100644 index c094fff6..00000000 --- a/ign_migration_scripts/env-hooks/ign.zsh.in +++ /dev/null @@ -1,6 +0,0 @@ -# Export Ignition environment variables - -export IGN_LAUNCH_CONFIG_PATH=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_SHARE_DESTINATION@/launch -export IGN_LAUNCH_PLUGIN_PATH=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_LIB_DESTINATION@ -export IGN_GAZEBO_RESOURCE_PATH=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_SHARE_DESTINATION@/worlds -export SUBT_IMAGES_PATH=@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_SHARE_DESTINATION@/images diff --git a/subt_ign/CMakeLists.txt b/subt_ign/CMakeLists.txt index 9315f332..c09ba0a9 100644 --- a/subt_ign/CMakeLists.txt +++ b/subt_ign/CMakeLists.txt @@ -90,9 +90,7 @@ install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/include/${PROJECT_NAME}/protobuf/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/protobuf FILES_MATCHING PATTERN "*.h") -catkin_add_env_hooks(ign SHELLS bash - DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks) -catkin_add_env_hooks(ign SHELLS zsh +catkin_add_env_hooks(30.subt_ign SHELLS bash zsh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks) add_library(SubtCommon diff --git a/subt_ign/env-hooks/ign.zsh.em b/subt_ign/env-hooks/30.subt_ign.bash.em similarity index 78% rename from subt_ign/env-hooks/ign.zsh.em rename to subt_ign/env-hooks/30.subt_ign.bash.em index 6c9b1852..d5c8d8a5 100644 --- a/subt_ign/env-hooks/ign.zsh.em +++ b/subt_ign/env-hooks/30.subt_ign.bash.em @@ -2,14 +2,14 @@ @[if INSTALLSPACE]@ export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/launch -export IGN_LAUNCH_PLUGIN_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_LIB_DESTINATION) -export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/worlds +export IGN_LAUNCH_PLUGIN_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_LIB_DESTINATION):${IGN_LAUNCH_PLUGIN_PATH} +export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/worlds:${IGN_GAZEBO_RESOURCE_PATH} export SUBT_IMAGES_PATH=@(CMAKE_INSTALL_PREFIX)/@(CATKIN_PACKAGE_SHARE_DESTINATION)/images -export IGN_TRANSPORT_TOPIC_STATISTICS=1 @[else]@ export IGN_LAUNCH_CONFIG_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/launch -export IGN_LAUNCH_PLUGIN_PATH=@(CATKIN_DEVEL_PREFIX)/@(CATKIN_PACKAGE_LIB_DESTINATION) -export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/worlds +export IGN_LAUNCH_PLUGIN_PATH=@(CATKIN_DEVEL_PREFIX)/@(CATKIN_PACKAGE_LIB_DESTINATION):${IGN_LAUNCH_PLUGIN_PATH} +export IGN_GAZEBO_RESOURCE_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/worlds:${IGN_GAZEBO_RESOURCE_PATH} export SUBT_IMAGES_PATH=@(CMAKE_CURRENT_SOURCE_DIR)/images -export IGN_TRANSPORT_TOPIC_STATISTICS=1 @[end if]@ + +export IGN_TRANSPORT_TOPIC_STATISTICS=1 diff --git a/subt_ign/env-hooks/ign.bash.em b/subt_ign/env-hooks/30.subt_ign.zsh.em similarity index 100% rename from subt_ign/env-hooks/ign.bash.em rename to subt_ign/env-hooks/30.subt_ign.zsh.em From b5564282bdaeecfd4445b0c380346d7524707c4a Mon Sep 17 00:00:00 2001 From: Martin Pecka Date: Fri, 12 Feb 2021 03:33:41 +0100 Subject: [PATCH 5/5] Fix searching the path to preinstalled worlds in devel space --- subt_ign/CMakeLists.txt | 1 + subt_ign/include/subt_ign/Config.hh.in | 3 --- subt_ign/package.xml | 1 + subt_ign/src/Common.cc | 4 +++- subt_ign/src/ConnectionValidatorPrivate.cc | 5 ++++- subt_ign/test/Common_TEST.cc | 6 +++++- 6 files changed, 14 insertions(+), 6 deletions(-) diff --git a/subt_ign/CMakeLists.txt b/subt_ign/CMakeLists.txt index c09ba0a9..dd4b65bb 100644 --- a/subt_ign/CMakeLists.txt +++ b/subt_ign/CMakeLists.txt @@ -15,6 +15,7 @@ set (SUBT_VERSION_FULL find_package(catkin REQUIRED COMPONENTS + roslib rostest subt_rf_interface subt_communication_model diff --git a/subt_ign/include/subt_ign/Config.hh.in b/subt_ign/include/subt_ign/Config.hh.in index e8160fbd..f8fc32eb 100644 --- a/subt_ign/include/subt_ign/Config.hh.in +++ b/subt_ign/include/subt_ign/Config.hh.in @@ -20,7 +20,4 @@ /* Config.hh. Generated by CMake for @PROJECT_NAME@. */ -/* Directory where the world files are installed */ -#define SUBT_INSTALL_WORLD_DIR "${CMAKE_INSTALL_PREFIX}/share/subt_ign/worlds" - #endif diff --git a/subt_ign/package.xml b/subt_ign/package.xml index aa85530a..500fe1f5 100644 --- a/subt_ign/package.xml +++ b/subt_ign/package.xml @@ -22,6 +22,7 @@ libccd-dev libfcl-dev rosbag + roslib rostest diff --git a/subt_ign/src/Common.cc b/subt_ign/src/Common.cc index ceac28fb..31e3bec9 100644 --- a/subt_ign/src/Common.cc +++ b/subt_ign/src/Common.cc @@ -18,6 +18,7 @@ #include #include #include +#include namespace subt { @@ -99,7 +100,8 @@ bool FullWorldPath(const std::string &_worldName, return false; } - std::string worldsDirectory = SUBT_INSTALL_WORLD_DIR; + std::string worldsDirectory = ignition::common::joinPaths( + ros::package::getPath("subt_ign"), "worlds"); const std::string tunnelPrefix = "tunnel_circuit_"; const std::string urbanPrefix = "urban_circuit_"; diff --git a/subt_ign/src/ConnectionValidatorPrivate.cc b/subt_ign/src/ConnectionValidatorPrivate.cc index bbc4393d..b4afdd2f 100644 --- a/subt_ign/src/ConnectionValidatorPrivate.cc +++ b/subt_ign/src/ConnectionValidatorPrivate.cc @@ -31,13 +31,16 @@ #include #include +#include + using namespace subt; using namespace ignition; ///////////////////////////////////////////////// bool ConnectionValidatorPrivate::Load(const std::string &_worldName) { - std::string worldsDirectory = SUBT_INSTALL_WORLD_DIR; + std::string worldsDirectory = ignition::common::joinPaths( + ros::package::getPath("subt_ign"), "worlds"); std::string fullPath; subt::FullWorldPath(_worldName, fullPath); diff --git a/subt_ign/test/Common_TEST.cc b/subt_ign/test/Common_TEST.cc index 8d49db05..ff9fb542 100644 --- a/subt_ign/test/Common_TEST.cc +++ b/subt_ign/test/Common_TEST.cc @@ -23,6 +23,8 @@ #include #include +#include + ///////////////////////////////////////////////// TEST(subt_ign_Common, ArtifactTypes){ // Tests to make sure all of our types are consistent @@ -157,12 +159,14 @@ TEST(subt_ign_Common, FullWorldPath) { {"urban_circuit_03", "urban_circuit/03/urban_circuit_03"}, }; + std::string worldsDirectory = ignition::common::joinPaths( + ros::package::getPath("subt_ign"), "worlds"); for (const auto &[input, expected_out] : expected) { std::string worldPath; EXPECT_TRUE(subt::FullWorldPath(input, worldPath)); EXPECT_EQ( - ignition::common::joinPaths(SUBT_INSTALL_WORLD_DIR, expected_out), + ignition::common::joinPaths(worldsDirectory, expected_out), worldPath); }