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Merge pull request #72 from ethz-asl/feature/catkin_normal
Feature/catkin normal
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‎README.md‎

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@@ -17,25 +17,16 @@ Field and Service Robotics. Springer, Singapore, 2021.
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Install [ROS noetic](http://wiki.ros.org/noetic/Installation/Ubuntu).
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Install [mono](https://www.mono-project.com/download/stable/#download-lin-ubuntu).
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Create a workspace.
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Create a workspace and download the package.
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```
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cd ~
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mkdir -p catkin_ws/src
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cd catkin_ws
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catkin init
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catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
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catkin config --extend /opt/ros/noetic
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```
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Download package dependencies from [dependencies.rosinstall](install/dependencies.rosinstall).<br>
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**Note**: If you have not setup [SSH keys in GitHub](https://help.github.com/en/enterprise/2.16/user/articles/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent) use [dependencies_https.rosinstall](install/dependencies_https.rosinstall).
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```
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cd ~/catkin_ws/src
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wstool init
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wstool set --git polygon_coverage_planning git@github.com:ethz-asl/polygon_coverage_planning.git
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wstool update
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wstool merge polygon_coverage_planning/install/dependencies.rosinstall
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wstool update
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cd src
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git clone git@github.com:ethz-asl/polygon_coverage_planning.git
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```
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Install all [remaining dependencies](install/prepare-jenkins-slave.sh):

‎install/dependencies.rosinstall‎

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This file was deleted.

‎install/dependencies_https.rosinstall‎

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This file was deleted.

‎polygon_coverage_benchmark/CMakeLists.txt‎

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@@ -1,11 +1,7 @@
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cmake_minimum_required(VERSION 2.8.3)
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cmake_minimum_required(VERSION 3.16.3)
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project(polygon_coverage_benchmark)
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4-
set(CMAKE_CXX_STANDARD 17)
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find_package(catkin REQUIRED)
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catkin_package()
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6-
find_package(catkin_simple REQUIRED)
7-
catkin_simple(ALL_DEPS_REQUIRED)
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9-
catkin_python_setup()
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cs_install()
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cs_export()
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catkin_python_setup()

‎polygon_coverage_benchmark/package.xml‎

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@@ -9,7 +9,6 @@
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<license>GPL</license>
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<buildtool_depend>catkin</buildtool_depend>
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<buildtool_depend>catkin_simple</buildtool_depend>
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<depend>rospy</depend>
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</package>

‎polygon_coverage_geometry/CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -1,21 +1,25 @@
1-
cmake_minimum_required(VERSION 2.8.4)
1+
cmake_minimum_required(VERSION 3.16.3)
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project(polygon_coverage_geometry)
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4-
find_package(catkin_simple REQUIRED)
5-
catkin_simple(ALL_DEPS_REQUIRED)
4+
find_package(catkin REQUIRED COMPONENTS rosconsole roslib rosunit polygon_coverage_solvers)
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find_package(CGAL QUIET COMPONENTS Core)
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include(${CGAL_USE_FILE})
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
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set(CMAKE_BUILD_TYPE Release)
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13+
catkin_package(
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INCLUDE_DIRS include ${catkin_INCLUDE_DIRS}
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LIBRARIES ${PROJECT_NAME}
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)
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include_directories(include ${catkin_INCLUDE_DIRS})
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1519
#############
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# LIBRARIES #
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#############
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cs_add_library(${PROJECT_NAME}
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add_library(${PROJECT_NAME}
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src/bcd.cc
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src/boolean.cc
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src/cgal_comm.cc
@@ -36,35 +40,44 @@ target_link_libraries(${PROJECT_NAME} ${CGAL_LIBRARIES} ${CGAL_3RD_PARTY_LIBRARI
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catkin_add_gtest(test_bcd
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test/bcd-test.cpp
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)
39-
target_link_libraries(test_bcd ${PROJECT_NAME})
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target_link_libraries(test_bcd ${PROJECT_NAME} ${catkin_LIBRARIES})
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catkin_add_gtest(test_cgal_comm
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test/cgal_comm-test.cpp
4347
)
44-
target_link_libraries(test_cgal_comm ${PROJECT_NAME})
48+
target_link_libraries(test_cgal_comm ${PROJECT_NAME} ${catkin_LIBRARIES})
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4650
catkin_add_gtest(test_offset
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test/offset-test.cpp
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)
49-
target_link_libraries(test_offset ${PROJECT_NAME})
53+
target_link_libraries(test_offset ${PROJECT_NAME} ${catkin_LIBRARIES})
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5155
catkin_add_gtest(test_sweep
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test/sweep-test.cpp
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)
54-
target_link_libraries(test_sweep ${PROJECT_NAME})
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target_link_libraries(test_sweep ${PROJECT_NAME} ${catkin_LIBRARIES})
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catkin_add_gtest(test_visibility_graph
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test/visibility_graph-test.cpp
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)
59-
target_link_libraries(test_visibility_graph ${PROJECT_NAME})
63+
target_link_libraries(test_visibility_graph ${PROJECT_NAME} ${catkin_LIBRARIES})
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catkin_add_gtest(test_visibility_polygon
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test/visibility_polygon-test.cpp
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)
64-
target_link_libraries(test_visibility_polygon ${PROJECT_NAME})
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target_link_libraries(test_visibility_polygon ${PROJECT_NAME} ${catkin_LIBRARIES})
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##########
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# EXPORT #
6872
##########
69-
cs_install()
70-
cs_export()
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install(TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)
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‎polygon_coverage_geometry/package.xml‎

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@@ -11,10 +11,10 @@
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<license>GPL</license>
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<buildtool_depend>catkin</buildtool_depend>
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<buildtool_depend>catkin_simple</buildtool_depend>
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1615
<depend>rosconsole</depend>
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<depend>roslib</depend>
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<depend>rosunit</depend>
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<depend>polygon_coverage_solvers</depend>
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</package>

‎polygon_coverage_msgs/CMakeLists.txt‎

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@@ -1,20 +1,39 @@
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cmake_minimum_required(VERSION 2.8.3)
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cmake_minimum_required(VERSION 3.16.3)
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project(polygon_coverage_msgs)
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find_package(catkin_simple REQUIRED)
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catkin_simple(ALL_DEPS_REQUIRED)
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find_package(catkin REQUIRED COMPONENTS message_generation geometry_msgs std_msgs trajectory_msgs xmlrpcpp polygon_coverage_geometry)
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6+
add_message_files(FILES PolygonWithHoles.msg PolygonWithHolesStamped.msg)
7+
add_service_files(FILES PlannerService.srv PolygonService.srv)
8+
generate_messages(DEPENDENCIES geometry_msgs std_msgs trajectory_msgs)
9+
10+
catkin_package(
11+
INCLUDE_DIRS include ${catkin_INCLUDE_DIRS}
12+
LIBRARIES ${PROJECT_NAME}
13+
CATKIN_DEPENDS message_runtime
14+
)
15+
include_directories(include ${catkin_INCLUDE_DIRS})
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717
#############
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# LIBRARIES #
919
#############
10-
cs_add_library(${PROJECT_NAME}
20+
add_library(${PROJECT_NAME}
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src/msg_from_xml_rpc.cc
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src/conversion.cc
1323
)
14-
target_link_libraries(${PROJECT_NAME})
24+
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
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add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages_cpp)
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##########
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# EXPORT #
1829
##########
19-
cs_install()
20-
cs_export()
30+
install(TARGETS ${PROJECT_NAME}
31+
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
32+
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
33+
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
34+
)
35+
36+
install(DIRECTORY include/${PROJECT_NAME}/
37+
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)

‎polygon_coverage_msgs/package.xml‎

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<url type="bugtracker">https://github.com/ethz-asl/polygon_coverage_planning/issues</url>
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1717
<buildtool_depend>catkin</buildtool_depend>
18-
<buildtool_depend>catkin_simple</buildtool_depend>
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<depend>message_generation</depend>
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<depend>message_runtime</depend>

‎polygon_coverage_planners/CMakeLists.txt‎

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@@ -1,8 +1,7 @@
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cmake_minimum_required(VERSION 2.8.4)
1+
cmake_minimum_required(VERSION 3.16.3)
22
project(polygon_coverage_planners)
33

4-
find_package(catkin_simple REQUIRED)
5-
catkin_simple(ALL_DEPS_REQUIRED)
4+
find_package(catkin REQUIRED COMPONENTS rosconsole roslib polygon_coverage_solvers polygon_coverage_geometry)
65

76
find_package(CGAL QUIET COMPONENTS Core)
87
include(${CGAL_USE_FILE})
@@ -17,10 +16,16 @@ find_package(PkgConfig)
1716
pkg_check_modules(MONO mono-2 REQUIRED)
1817
include_directories(${MONO_INCLUDE_DIRS})
1918

19+
catkin_package(
20+
INCLUDE_DIRS include ${catkin_INCLUDE_DIRS}
21+
LIBRARIES ${PROJECT_NAME}
22+
)
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include_directories(include ${catkin_INCLUDE_DIRS})
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2025
#############
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# LIBRARIES #
2227
#############
23-
cs_add_library(${PROJECT_NAME}
28+
add_library(${PROJECT_NAME}
2429
src/cost_functions/path_cost_functions.cc
2530
src/graphs/gtspp_product_graph.cc
2631
src/graphs/sweep_plan_graph.cc
@@ -29,18 +34,27 @@ cs_add_library(${PROJECT_NAME}
2934
src/planners/polygon_stripmap_planner_exact.cc
3035
src/planners/polygon_stripmap_planner_exact_preprocessed.cc
3136
)
32-
target_link_libraries(${PROJECT_NAME} ${CGAL_LIBRARIES} ${CGAL_3RD_PARTY_LIBRARIES})
37+
target_link_libraries(${PROJECT_NAME} ${CGAL_LIBRARIES} ${CGAL_3RD_PARTY_LIBRARIES} ${catkin_LIBRARIES})
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3439
#########
3540
# TESTS #
3641
#########
3742
catkin_add_gtest(test_planners
3843
test/planners-test.cpp
3944
)
40-
target_link_libraries(test_planners ${PROJECT_NAME})
45+
target_link_libraries(test_planners ${PROJECT_NAME} ${catkin_LIBRARIES})
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4247
##########
4348
# EXPORT #
4449
##########
45-
cs_install()
46-
cs_export()
50+
install(TARGETS ${PROJECT_NAME}
51+
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
52+
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
53+
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
54+
)
55+
56+
install(DIRECTORY include/${PROJECT_NAME}/
57+
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
58+
FILES_MATCHING PATTERN "*.h"
59+
)
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