This is a C++ implementation of OPTAR code that compiles into a library. It is setup with GNU Autotools and is designed to be built for mobile as well as desktop. Right now (as of January 2020) only Android platform has been tested and verified.
Clone repo with submodules:
git clone https://github.com/peetonn/optarLibrary --recursive
Before building optar library, prerequisites must be setup or built for the target platform. Depending on the platform, this process might get quite involved.
For building library for the Android, one need to setup Android ndk.
Get the latest version of OpenCV from here and extract archive into thirdparty folder
The process of building roscpp for Android is a lengthy one and following official tutorial does not help, as it is very outdated. The most recent Docker setup for roscpp that worked for this project dated April 2019 can be found here.
Follow these steps for roscpp Android crosscompilation (you'll need Docker):
git clone https://github.com/Intermodalics/ros_android
cd ros_android
docker/build.sh
docker/run.sh
./install.sh out
The build process may take couple hours to complete.
Once finished, out folder will contains compiled binaries of static libs that need to be packaged into one static archive.
To do that, navigate to optarLibrary/thirdparty and follow these steps:
cd <optarLibrary path>
cd thirdparty
mkdir -p roscpp/roscpp_android_ndk/jni
ln -s <ros_android path>/out/target/include roscpp/roscpp_android_ndk/include
ln -s <ros_android path>/out/target/lib roscpp/roscpp_android_ndk/lib
ln -s <ros_android path>/out/target/share roscpp/roscpp_android_ndk/share
Finally, inside roscpp/roscpp_android_ndk/jni folder, place this Android.mk file:
LOCAL_PATH := $(call my-dir)
stlibs := xmlrpcpp Bullet3Geometry boost_stacktrace_basic diagnostic_aggregator pcl_recognition orocos-bfl yaml-cpp bz2 boost_math_tr1 charset amcl_sensors base_local_planner theoraenc vorbisfile orocos-kdl opencv_imgcodecs3 opencv_xobjdetect3 opencv_videoio3 SDLmain tf2 boost_signals image_publisher SDL_image image_proc opencv_reg3 xml2 camera_calibration_parsers move_base boost_container joint_state_listener boost_context bondcpp boost_math_c99f camera_info_manager opencv_calib3d3 boost_math_c99l navfn tinyxml2 pcl_io_ply boost_iostreams opencv_xfeatures2d3 opencv_stereo3 urdfdom_world boost_thread eigen_conversions boost_program_options roslib boost_coroutine pcl_common opencv_xphoto3 PocoNet boost_timer Bullet3Dynamics opencv_ml3 boost_contract ogg opencv_plot3 collada-dom2.4-dp tf rosbag_storage opencv_rgbd3 boost_type_erasure interactive_markers boost_log_setup tinyxml boost_atomic flann_cpp_s-gd pcl_search laser_geometry boost_random pcl_ros_surface boost_date_time opencv_structured_light3 urdf theora opencv_optflow3 params qhullcpp uuid pcl_surface map_server_image_loader rosconsole_backend_interface urdfdom_model LinearMath tf2_ros Bullet3OpenCL_clew vorbisenc pcl_features pluginlib_tutorials tf_conversions opencv_fuzzy3 pcl_registration opencv_saliency3 boost_test_exec_monitor theoradec boost_stacktrace_noop opencv_img_hash3 opencv_ccalib3 boost_system PocoUtild opencv_tracking3 opencv_superres3 opencv_core3 lz4 opencv_surface_matching3 pointcloud_filters roscpp_serialization opencv_phase_unwrapping3 compressed_image_transport compressed_depth_image_transport move_slow_and_clear PocoXML assimp pcl_kdtree PocoJSON opencv_aruco3 cpp_common console_bridge rosconsole_bridge pcl_ros_filters opencv_ximgproc3 pcl_io opencv_bgsegm3 boost_exception pcl_sample_consensus layers Bullet3Collision BulletCollision robot_state_publisher_solver opencv_imgproc3 depth_image_proc rosbag pcl_filters stereo_image_proc octomap pcl_segmentation opencv_video3 pcl_stereo rosconsole_android boost_math_c99 kdl_conversions boost_prg_exec_monitor opencv_dnn3 opencv_line_descriptor3 image_transport_plugins amcl_map opencv_objdetect3 pcl_octree polled_camera boost_math_tr1l boost_math_tr1f voxel_grid flann_cpp_s qhullstatic_r actionlib boost_wave PocoUtil opencv_bioinspired3 image_geometry theora_image_transport opencv_text3 kdl_parser urdfdom_sensor Bullet3Common pcl_ros_tf opencv_highgui3 costmap_2d opencv_dpm3 Bullet2FileLoader carrot_planner nodeletlib BulletSoftBody pcl_keypoints pcl_ros_segmentation curl opencv_features2d3 increment mean PocoXMLd boost_log cv_bridge roscpp rotate_recovery opencv_photo3 SDL pcl_ros_features clear_costmap_recovery opencv_datasets3 rospack random_numbers boost_graph BulletDynamics iconv image_rotate dynamic_reconfigure_config_init_mutex image_transport opencv_shape3 octomath amcl_pf opencv_flann3 nodelet_math PocoJSONd pcl_ros_io median rostime boost_regex trajectory_planner_ros message_filters opencv_videostab3 pcl_ml PocoFoundationd global_planner roslz4 resource_retriever boost_wserialization rosconsole pluginlib boost_unit_test_framework opencv_face3 octomap_ros PocoFoundation transfer_function qhullstatic laser_scan_filters opencv_stitching3 class_loader vorbis urdfdom_model_state boost_filesystem geometric_shapes boost_chrono boost_serialization PocoNetd dwa_local_planner topic_tools
define include_shlib
$(eval include $$(CLEAR_VARS))
$(eval LOCAL_MODULE := $(1))
$(eval LOCAL_SRC_FILES := $$(LOCAL_PATH)/../lib/lib$(1).so)
$(eval include $$(PREBUILT_SHARED_LIBRARY))
endef
define include_stlib
$(eval include $$(CLEAR_VARS))
$(eval LOCAL_MODULE := $(1))
$(eval LOCAL_SRC_FILES := ../lib/lib$(1).a)
$(eval include $$(PREBUILT_STATIC_LIBRARY))
endef
$(foreach stlib,$(stlibs),$(eval $(call include_stlib,$(stlib))))
include $(CLEAR_VARS)
LOCAL_MODULE := roscpp_android_ndk
LOCAL_EXPORT_C_INCLUDES := $(LOCAL_PATH)/../include
LOCAL_EXPORT_CPPFLAGS := -fexceptions -frtti
LOCAL_CPP_FEATURES := exceptions
LOCAL_EXPORT_LDLIBS := $(foreach l,$(stlibs),-l$(l)) -L$(LOCAL_PATH)/../lib
LOCAL_EXPORT_LDLIBS += -L$(LOCAL_PATH)/../share/OpenCV-3.3.1-dev/3rdparty/lib -ltegra_hal
LOCAL_STATIC_LIBRARIES := $(stlibs) c++_static
include $(BUILD_STATIC_LIBRARY)
Build library as:
cd roscpp/roscpp_android_ndk
ndk-build
TBD
TBD
brew install opencv spdlog
TBD
cd Android
ndk-build
TBD
TBD
TBD