Refactored Warehouse ROS for pluginlib

CMakeLists.txt

@@ -1,61 +1,37 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(warehouse_ros)
 
-set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/" ${CMAKE_MODULE_PATH})
-
-find_package(catkin REQUIRED COMPONENTS
-  geometry_msgs
+find_package(catkin REQUIRED
   roscpp
   rostime
-  std_msgs)
-if (CATKIN_ENABLE_TESTING)
-  find_package(rostest REQUIRED)
-endif()
-find_package(Boost REQUIRED COMPONENTS system)
-find_package(OpenSSL)
-find_package(MongoDB)
-
-set(MONGO_EXPORT)
-if("${MongoDB_LIBRARIES}" MATCHES "\\.so$")
-  set(MONGO_EXPORT MongoDB)
-endif()
-
-file(MAKE_DIRECTORY "${CATKIN_DEVEL_PREFIX}/include")
-
-catkin_python_setup()
+  std_msgs
+  geometry_msgs
+  pluginlib
+  tf
+)
+find_package(Boost COMPONENTS system filesystem thread)
 
 catkin_package(
-  INCLUDE_DIRS ${CATKIN_DEVEL_PREFIX}/include include test
+  INCLUDE_DIRS include
   LIBRARIES warehouse_ros
-  CATKIN_DEPENDS roscpp geometry_msgs rostime std_msgs
-  DEPENDS Boost ${MONGO_EXPORT}
-  )
-
-include(cmake/FindMongoDB.cmake)
+  CATKIN_DEPENDS roscpp rostime std_msgs geometry_msgs
+  DEPENDS Boost
+)
 
-if (NOT MongoDB_EXPOSE_MACROS)
-  add_definitions(-DMONGO_EXPOSE_MACROS)
-endif()
-configure_file("include/mongo_ros/config.h.in" "${CATKIN_DEVEL_PREFIX}/include/mongo_ros/config.h")
-
-include_directories(${CATKIN_DEVEL_PREFIX}/include include test ${catkin_INCLUDE_DIRS} ${MongoDB_INCLUDE_DIR} ${Boost_INCLUDE_DIRS})
+include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
 link_directories(${catkin_LINK_DIRS})
 link_directories(${Boost_LIBRARY_DIRS})
 
 set(warehouse_srcs
-  src/mongo_ros.cpp
-  src/mongo_ros_dummy.cpp)
+  src/database_loader.cpp
+  src/transform_collection.cpp)
 
 add_library(warehouse_ros SHARED ${warehouse_srcs})
-target_link_libraries(warehouse_ros ${catkin_LIBRARIES} ${MongoDB_LIBRARIES} ${OPENSSL_LIBRARIES} ${Boost_LIBRARIES})
 
-if (CATKIN_ENABLE_TESTING)
-  add_executable(test_mongo_roscpp test/test_mongo_ros.cpp)
-  target_link_libraries(test_mongo_roscpp ${catkin_LIBRARIES} ${MongoDB_LIBRARIES} ${OPENSSL_LIBRARIES} ${Boost_LIBRARIES})
-  add_rostest(test/mongo_ros.test)
-endif()
+target_link_libraries(warehouse_ros ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+
+add_executable(warehouse_test_dbloader src/test_dbloader.cpp)
+target_link_libraries(warehouse_test_dbloader warehouse_ros ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 install(TARGETS warehouse_ros LIBRARY DESTINATION lib)
 install(DIRECTORY include/ DESTINATION include FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp")
-install(PROGRAMS src/mongo_wrapper_ros.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-install(FILES "${CATKIN_DEVEL_PREFIX}/include/mongo_ros/config.h" DESTINATION include/mongo_ros)

README.md

@@ -1,3 +1 @@
-Code for persisting ROS message data using MongoDB.  Contains C++ and Python libraries to serialize ROS data to MongoDB, as well as some handy scripts to record data from the command line.  See http://www.ros.org/wiki/warehousewg for more.
-
-master branch: [![Build Status](https://travis-ci.org/ros-planning/warehouse_ros.png?branch=master)](https://travis-ci.org/ros-planning/warehouse_ros)
+Abstract interface for persisting ROS message data.  Implementations are loaded using pluginlib.  Currently has one implementation, using MongoDB, warehouse_ros_mongo.  See http://www.ros.org/wiki/warehousewg for more.