Update bot_core_sensor_status_t.lcm

CMakeLists.txt

@@ -4,6 +4,11 @@ string(TIMESTAMP timestamp "%Y%m%d" UTC)
 
 project(libbot2 VERSION 0.0.1.${timestamp})
 
+if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+  set(CMAKE_INSTALL_PREFIX "${PROJECT_BINARY_DIR}/install" CACHE STRING
+    "Install path prefix, prepended onto install directories" FORCE)
+endif()
+
 option(PACKAGE_LIBBOT2 "Set install prefix to package libbot2 on linux" OFF)
 if(PACKAGE_LIBBOT2)
   set(CMAKE_INSTALL_PREFIX "/opt/${CMAKE_PROJECT_NAME}/${PROJECT_VERSION}" CACHE PATH "Install location for project" FORCE)
@@ -46,16 +51,18 @@ find_package(PythonInterp REQUIRED)
 # Look for the gdkx.h header to decide whether the local gtk2 install has
 # X11 support or not.
 find_file(GDKX_HEADER gdkx.h PATH_SUFFIXES gtk-2.0/gdk)
+
 if(GDKX_HEADER)
-  set(bot_vis_default ON)
-  message(STATUS "gdkx.h found, system appears to have gtk+X11 support")
+  message(STATUS "gdkx.h found, system appears to have GTK+ X11 support")
 else()
-  set(bot_vis_default OFF)
-  message(STATUS "gdkx.h not found, system not appear to have gtk+X11 support")
+  message(STATUS "gdkx.h not found, system does not appear to have GTK+ X11 support")
 endif()
 
+mark_as_advanced(GDKX_HEADER)
 
-option(WITH_BOT_VIS "Build with bot2-vis" ${bot_vis_default})
+include(CMakeDependentOption)
+
+cmake_dependent_option(WITH_BOT_VIS "Build with bot2-vis" ON GDKX_HEADER OFF)
 
 include(ExternalProject)
 
@@ -100,94 +107,114 @@ ExternalProject_Add(bot2-core
   BUILD_ALWAYS 1)
 set(CPACK_INSTALL_CMAKE_PROJECTS "${CPACK_INSTALL_CMAKE_PROJECTS};${PROJECT_BINARY_DIR}/bot2-core;bot2core;Unspecified;/")
 
-ExternalProject_Add(bot2-procman
-  SOURCE_DIR ${PROJECT_SOURCE_DIR}/bot2-procman
-  BINARY_DIR ${PROJECT_BINARY_DIR}/bot2-procman
-  LIST_SEPARATOR ":::"
-  CMAKE_ARGS ${default_cmake_args}
-  "-DLCM_PYTHON_DIR_HINTS:PATH=${LCM_PYTHON_DIR_HINTS}"
-  ${INSTALL_CMD}
-  BUILD_ALWAYS 1)
-set(CPACK_INSTALL_CMAKE_PROJECTS "${CPACK_INSTALL_CMAKE_PROJECTS};${PROJECT_BINARY_DIR}/bot2-procman;bot2-procman;ALL;/")
-
-ExternalProject_Add(bot2-lcm-utils
-  SOURCE_DIR ${PROJECT_SOURCE_DIR}/bot2-lcm-utils
-  BINARY_DIR ${PROJECT_BINARY_DIR}/bot2-lcm-utils
-  LIST_SEPARATOR ":::"
-  CMAKE_ARGS ${default_cmake_args}
-  "-DLCM_PYTHON_DIR_HINTS:PATH=${LCM_PYTHON_DIR_HINTS}"
-  ${INSTALL_CMD}
-  BUILD_ALWAYS 1)
-set(CPACK_INSTALL_CMAKE_PROJECTS "${CPACK_INSTALL_CMAKE_PROJECTS};${PROJECT_BINARY_DIR}/bot2-lcm-utils;bot2-lcm-utils;ALL;/")
-
-ExternalProject_Add(bot2-param
-  SOURCE_DIR ${PROJECT_SOURCE_DIR}/bot2-param
-  BINARY_DIR ${PROJECT_BINARY_DIR}/bot2-param
-  LIST_SEPARATOR ":::"
-  CMAKE_ARGS ${default_cmake_args}
-  ${INSTALL_CMD}
-  DEPENDS bot2-core)
-set(CPACK_INSTALL_CMAKE_PROJECTS "${CPACK_INSTALL_CMAKE_PROJECTS};${PROJECT_BINARY_DIR}/bot2-param;bot2-param;ALL;/")
-
-if(WITH_BOT_VIS)
-
-  message(STATUS "Configuring with bot2-vis, modules requiring gtk+x11 will be built.")
+option(WITH_BOT_PROCMAN "Build with bot2-procman" ON)
 
-  ExternalProject_Add(bot2-vis
-    SOURCE_DIR ${PROJECT_SOURCE_DIR}/bot2-vis
-    BINARY_DIR ${PROJECT_BINARY_DIR}/bot2-vis
-    CMAKE_ARGS ${default_cmake_args}
+if(WITH_BOT_PROCMAN)
+  ExternalProject_Add(bot2-procman
+    SOURCE_DIR ${PROJECT_SOURCE_DIR}/bot2-procman
+    BINARY_DIR ${PROJECT_BINARY_DIR}/bot2-procman
     LIST_SEPARATOR ":::"
+    CMAKE_ARGS ${default_cmake_args}
+    "-DLCM_PYTHON_DIR_HINTS:PATH=${LCM_PYTHON_DIR_HINTS}"
     ${INSTALL_CMD}
-    DEPENDS bot2-core)
-  set(CPACK_INSTALL_CMAKE_PROJECTS "${CPACK_INSTALL_CMAKE_PROJECTS};${PROJECT_BINARY_DIR}/bot2-vis;bot2-vis;ALL;/")
+    BUILD_ALWAYS 1)
+  set(CPACK_INSTALL_CMAKE_PROJECTS "${CPACK_INSTALL_CMAKE_PROJECTS};${PROJECT_BINARY_DIR}/bot2-procman;bot2-procman;ALL;/")
+endif()
 
-  ExternalProject_Add(bot2-lcmgl
-    SOURCE_DIR ${PROJECT_SOURCE_DIR}/bot2-lcmgl
-    BINARY_DIR ${PROJECT_BINARY_DIR}/bot2-lcmgl
-    LIST_SEPARATOR ":::"
-    CMAKE_ARGS ${default_cmake_args} -DUSE_BOT_VIS:BOOL=${WITH_BOT_VIS}
-    ${INSTALL_CMD}
-    DEPENDS bot2-core bot2-vis)
-  set(CPACK_INSTALL_CMAKE_PROJECTS "${CPACK_INSTALL_CMAKE_PROJECTS};${PROJECT_BINARY_DIR}/bot2-lcmgl;bot2-lcmgl;ALL;/")
+option(WITH_BOT_LCM_UTILS "Build with lcm-utils" ON)
 
-  ExternalProject_Add(bot2-frames
-    SOURCE_DIR ${PROJECT_SOURCE_DIR}/bot2-frames
-    BINARY_DIR ${PROJECT_BINARY_DIR}/bot2-frames
+if(WITH_BOT_LCM_UTILS)
+  ExternalProject_Add(bot2-lcm-utils
+    SOURCE_DIR ${PROJECT_SOURCE_DIR}/bot2-lcm-utils
+    BINARY_DIR ${PROJECT_BINARY_DIR}/bot2-lcm-utils
     LIST_SEPARATOR ":::"
     CMAKE_ARGS ${default_cmake_args}
+    "-DLCM_PYTHON_DIR_HINTS:PATH=${LCM_PYTHON_DIR_HINTS}"
     ${INSTALL_CMD}
-    DEPENDS bot2-core bot2-param bot2-vis bot2-lcmgl)
-  set(CPACK_INSTALL_CMAKE_PROJECTS "${CPACK_INSTALL_CMAKE_PROJECTS};${PROJECT_BINARY_DIR}/bot2-frames;bot2-frames;ALL;/")
+    BUILD_ALWAYS 1)
+  set(CPACK_INSTALL_CMAKE_PROJECTS "${CPACK_INSTALL_CMAKE_PROJECTS};${PROJECT_BINARY_DIR}/bot2-lcm-utils;bot2-lcm-utils;ALL;/")
+endif()
 
-else()
+option(WITH_BOT_PARAM "Build with bot2-param" ON)
 
-  message(STATUS "Configuring without bot2-vis, modules requiring gtk+x11 will not be built.")
-  find_package(X11 REQUIRED )
-  find_package(ZLIB REQUIRED)
-  find_package(JPEG REQUIRED)
-  find_package(PNG REQUIRED)
-  find_package(GTK2 REQUIRED)
-  find_package(GLUT REQUIRED)
-
-  ExternalProject_Add(bot2-lcmgl
-    SOURCE_DIR ${PROJECT_SOURCE_DIR}/bot2-lcmgl
-    BINARY_DIR ${PROJECT_BINARY_DIR}/bot2-lcmgl
-    CMAKE_ARGS ${default_cmake_args} -DUSE_BOT_VIS:BOOL=${WITH_BOT_VIS}
+if(WITH_BOT_PARAM)
+  ExternalProject_Add(bot2-param
+    SOURCE_DIR ${PROJECT_SOURCE_DIR}/bot2-param
+    BINARY_DIR ${PROJECT_BINARY_DIR}/bot2-param
     LIST_SEPARATOR ":::"
+    CMAKE_ARGS ${default_cmake_args}
     ${INSTALL_CMD}
     DEPENDS bot2-core)
-  set(CPACK_INSTALL_CMAKE_PROJECTS "${CPACK_INSTALL_CMAKE_PROJECTS};${PROJECT_BINARY_DIR}/bot2-lcmgl;bot2-lcmgl;ALL;/")
+  set(CPACK_INSTALL_CMAKE_PROJECTS "${CPACK_INSTALL_CMAKE_PROJECTS};${PROJECT_BINARY_DIR}/bot2-param;bot2-param;ALL;/")
+endif()
+
+option(WITH_BOT_LCMGL "Build with bot2-lcmgl" ON)
+
+cmake_dependent_option(WITH_BOT_FRAMES "Build with bot2-frames, requires bot2-lcmgl and bot2-param" ON "WITH_BOT_LCMGL AND WITH_BOT_PARAM" OFF)
 
-  ExternalProject_Add(bot2-frames
-    SOURCE_DIR ${PROJECT_SOURCE_DIR}/bot2-frames
-    BINARY_DIR ${PROJECT_BINARY_DIR}/bot2-frames
+if(WITH_BOT_VIS)
+  message(STATUS "Configuring with bot2-vis, modules requiring GTK+ X11 will be built.")
+
+  ExternalProject_Add(bot2-vis
+    SOURCE_DIR ${PROJECT_SOURCE_DIR}/bot2-vis
+    BINARY_DIR ${PROJECT_BINARY_DIR}/bot2-vis
     CMAKE_ARGS ${default_cmake_args}
     LIST_SEPARATOR ":::"
     ${INSTALL_CMD}
-    DEPENDS bot2-core bot2-param bot2-lcmgl)
-  set(CPACK_INSTALL_CMAKE_PROJECTS "${CPACK_INSTALL_CMAKE_PROJECTS};${PROJECT_BINARY_DIR}/bot2-frames;bot2-frames;ALL;/")
+    DEPENDS bot2-core)
+  set(CPACK_INSTALL_CMAKE_PROJECTS "${CPACK_INSTALL_CMAKE_PROJECTS};${PROJECT_BINARY_DIR}/bot2-vis;bot2-vis;ALL;/")
 
+  if(WITH_BOT_LCMGL)
+    ExternalProject_Add(bot2-lcmgl
+      SOURCE_DIR ${PROJECT_SOURCE_DIR}/bot2-lcmgl
+      BINARY_DIR ${PROJECT_BINARY_DIR}/bot2-lcmgl
+      LIST_SEPARATOR ":::"
+      CMAKE_ARGS ${default_cmake_args} -DUSE_BOT_VIS:BOOL=${WITH_BOT_VIS}
+      ${INSTALL_CMD}
+      DEPENDS bot2-core bot2-vis)
+    set(CPACK_INSTALL_CMAKE_PROJECTS "${CPACK_INSTALL_CMAKE_PROJECTS};${PROJECT_BINARY_DIR}/bot2-lcmgl;bot2-lcmgl;ALL;/")
+
+    if(WITH_BOT_FRAMES AND WITH_BOT_PARAM)
+      ExternalProject_Add(bot2-frames
+        SOURCE_DIR ${PROJECT_SOURCE_DIR}/bot2-frames
+        BINARY_DIR ${PROJECT_BINARY_DIR}/bot2-frames
+        LIST_SEPARATOR ":::"
+        CMAKE_ARGS ${default_cmake_args}
+        ${INSTALL_CMD}
+        DEPENDS bot2-core bot2-param bot2-vis bot2-lcmgl)
+      set(CPACK_INSTALL_CMAKE_PROJECTS "${CPACK_INSTALL_CMAKE_PROJECTS};${PROJECT_BINARY_DIR}/bot2-frames;bot2-frames;ALL;/")
+    endif()
+  endif()
+else()
+  if(WITH_BOT_LCMGL)
+    message(STATUS "Configuring without bot2-vis, modules requiring GTK+ X11 will not be built.")
+    find_package(X11 REQUIRED )
+    find_package(ZLIB REQUIRED)
+    find_package(JPEG REQUIRED)
+    find_package(PNG REQUIRED)
+    find_package(GTK2 REQUIRED)
+    find_package(GLUT REQUIRED)
+
+    ExternalProject_Add(bot2-lcmgl
+      SOURCE_DIR ${PROJECT_SOURCE_DIR}/bot2-lcmgl
+      BINARY_DIR ${PROJECT_BINARY_DIR}/bot2-lcmgl
+      CMAKE_ARGS ${default_cmake_args} -DUSE_BOT_VIS:BOOL=${WITH_BOT_VIS}
+      LIST_SEPARATOR ":::"
+      ${INSTALL_CMD}
+      DEPENDS bot2-core)
+    set(CPACK_INSTALL_CMAKE_PROJECTS "${CPACK_INSTALL_CMAKE_PROJECTS};${PROJECT_BINARY_DIR}/bot2-lcmgl;bot2-lcmgl;ALL;/")
+
+    if(WITH_BOT_FRAMES AND WITH_BOT_PARAM)
+      ExternalProject_Add(bot2-frames
+        SOURCE_DIR ${PROJECT_SOURCE_DIR}/bot2-frames
+        BINARY_DIR ${PROJECT_BINARY_DIR}/bot2-frames
+        CMAKE_ARGS ${default_cmake_args}
+        LIST_SEPARATOR ":::"
+        ${INSTALL_CMD}
+        DEPENDS bot2-core bot2-param bot2-lcmgl)
+      set(CPACK_INSTALL_CMAKE_PROJECTS "${CPACK_INSTALL_CMAKE_PROJECTS};${PROJECT_BINARY_DIR}/bot2-frames;bot2-frames;ALL;/")
+    endif()
+  endif()
 endif()
 
 configure_file(cmake/${CMAKE_PROJECT_NAME}-config.cmake.in

bot2-core/CMakeLists.txt

@@ -23,6 +23,9 @@ set(POD_NAME bot2-core)
 set(NAMESPACE libbot2::)
 
 option(BUILD_SHARED_LIBS "Build libraries as shared libraries" OFF)
+if(NOT BUILD_SHARED_LIBS)
+  set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+endif()
 
 include(cmake/pods.cmake)
 

bot2-core/lcmtypes/bot_core_sensor_status_t.lcm

@@ -6,12 +6,13 @@ struct sensor_status_t
     string   sensor_name;
     double   rate;  
     int16_t  type;
-    const int16_t VELODYNE_32 = 0;
-    const int16_t VELODYNE_64 = 1;      
-    const int16_t SICK_LASER = 2;
-    const int16_t HOKUYO_LASER = 3;
-    const int16_t KINECT = 4;                     
-    const int16_t IMU = 5;                     
-    const int16_t ORC = 6;                          
-    const int16_t DYNAMIXEL_SERVO = 7;
-}
+    const int16_t VELODYNE_16 = 0;
+    const int16_t VELODYNE_32 = 1;
+    const int16_t VELODYNE_64 = 2;
+    const int16_t SICK_LASER = 3;
+    const int16_t HOKUYO_LASER = 4;
+    const int16_t KINECT = 5;
+    const int16_t IMU = 6;
+    const int16_t ORC = 7;
+    const int16_t DYNAMIXEL_SERVO = 8;
+}

bot2-frames/CMakeLists.txt

@@ -22,6 +22,9 @@ set(POD_NAME bot2-frames)
 set(NAMESPACE libbot2::)
 
 option(BUILD_SHARED_LIBS "Build libraries as shared libraries" OFF)
+if(NOT BUILD_SHARED_LIBS)
+  set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+endif()
 
 include(cmake/pods.cmake)
 

bot2-lcm-utils/bot-spy.sh.in

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!/bin/bash
 for d in . .. ../.. ../../.. ../../../.. "@CMAKE_INSTALL_PREFIX@"; do
   if [ -d $d/share/java ]; then
     jd=$d/share/java

bot2-lcm-utils/python/src/bot_log2mat/log_to_mat.py

@@ -1,5 +1,3 @@
-    #!/usr/bin/python
-#
 #Converts a LCM log to a "matrix" format that is easier to work with in external
 #tools such as Matlab. The set of messages on a given channel can be represented 
 #as a matrix, where the columns of this matrix are the the fields of the lcm type

bot2-lcm-utils/python/src/bot_log2mat/scan_for_lcmtypes.py

@@ -1,4 +1,3 @@
-#!/usr/bin/python
 import re
 import os
 import sys

bot2-lcmgl/CMakeLists.txt

@@ -23,6 +23,9 @@ set(POD_NAME bot2-lcmgl)
 set(NAMESPACE libbot2::)
 
 option(BUILD_SHARED_LIBS "Build libraries as shared libraries" OFF)
+if(NOT BUILD_SHARED_LIBS)
+  set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+endif()
 
 include(cmake/pods.cmake)
 

bot2-param/CMakeLists.txt

@@ -21,6 +21,9 @@ set(POD_NAME bot2-param)
 set(NAMESPACE libbot2::)
 
 option(BUILD_SHARED_LIBS "Build libraries as shared libraries" OFF)
+if(NOT BUILD_SHARED_LIBS)
+  set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+endif()
 
 include(cmake/pods.cmake)
 pods_config_search_paths()

bot2-procman/python/scripts/bot-procman-sheriff

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python2
 
 from bot_procman.sheriff_gtk import sheriff_gtk
 sheriff_gtk.main()

bot2-procman/python/src/bot_procman/sheriff_gtk/sheriff_gtk.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python2
 
 import os
 import sys

bot2-vis/CMakeLists.txt

@@ -4,6 +4,9 @@ set(POD_NAME bot2-vis)
 set(NAMESPACE libbot2::)
 
 option(BUILD_SHARED_LIBS "Build libraries as shared libraries" OFF)
+if(NOT BUILD_SHARED_LIBS)
+  set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+endif()
 
 list(INSERT CMAKE_MODULE_PATH 0 "${PROJECT_SOURCE_DIR}/cmake/modules")
 include(cmake/pods.cmake)

bot2-vis/src/bot_vis/viewer.c

@@ -595,7 +595,7 @@ on_button_press (GtkWidget *widget, GdkEventButton *event, void *user_data)
     _window_coord_to_ray (event->x, widget->allocation.height - event->y, ray_start, ray_dir);
 
     // find a new picker?
-    double best_distance = HUGE;
+    double best_distance = HUGE_VAL;
     BotEventHandler *best_handler = NULL;
 
     if (self->picking_handler == NULL || self->picking_handler->picking==0) {
@@ -683,7 +683,7 @@ on_motion_notify (GtkWidget *widget, GdkEventMotion *event, void *user_data)
     if (self->picking_handler == NULL || !self->picking_handler->picking) {
 
         // find a new hover?
-        double best_distance = HUGE;
+        double best_distance = HUGE_VAL;
         BotEventHandler *best_handler = NULL;
 
         for (unsigned int eidx = 0; eidx < self->event_handlers->len; eidx++) {

cmake/cpack.cmake

@@ -62,12 +62,22 @@ set(CPACK_PACKAGE_FILE_NAME ${CPACK_PACKAGE_NAME}_${CPACK_PACKAGE_VERSION}-${PAC
 set(CPACK_STRIP_FILES TRUE)
 set(CPACK_SOURCE_STRIP_FILES FALSE)
 
+if(NOT DEFINED CPACK_OPEN_JRE_VERSION)
+  set(CPACK_OPEN_JRE_VERSION 8)
+endif()
+
+if(NOT DEFINED CPACK_LIBPNG_VERSION)
+  set(CPACK_LIBPNG_VERSION 12-0)
+endif()
+if(PACKAGE_OPENGL)
+  set(CPACK_OPENGL libopengl0, )
+endif()
 # Debian specific
 set(CPACK_DEBIAN_PACKAGE_NAME ${CMAKE_PROJECT_NAME})
 set(CPACK_PACKAGE_VERSION ${PROJECT_VERSION})
 set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE ${MACHINE_ARCH})
 set(CPACK_DEBIAN_PACKAGE_RELEASE ${PACKAGE_RELEASE_VERSION})
-set(CPACK_DEBIAN_PACKAGE_DEPENDS "lcm (>=1.3.95), freeglut3, libc6, libgcc1, libglib2.0-0, libglu1-mesa, libgtk2.0-0, libice6, libjpeg8, libpng12-0, libsm6, libstdc++6, libx11-6, libxau6, libxcb1, libxdmcp6, libxext6, libxmu6, libxt6, openjdk-8-jre, python, python-gtk2, python-numpy, python-scipy, zlib1g")
+set(CPACK_DEBIAN_PACKAGE_DEPENDS "lcm (>=1.3.95), freeglut3, ${CPACK_OPENGL} libc6, libgcc1, libglib2.0-0, libglu1-mesa, libgtk2.0-0, libice6, libjpeg8, libpng${CPACK_LIBPNG_VERSION}, libsm6, libstdc++6, libx11-6, libxau6, libxcb1, libxdmcp6, libxext6, libxmu6, libxt6, openjdk-${CPACK_OPEN_JRE_VERSION}-jre, python, python-gtk2, python-numpy, python-scipy, zlib1g")
 set(CPACK_DEBIAN_PACKAGE_HOMEPAGE "https://github.com/RobotLocomotion/libbot2")
 set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Francois Budin <francois.budin@kitware.com>")