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Fix CMakeLists + package.xmls #548

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merged 3 commits into from
Jul 31, 2017
Merged

Fix CMakeLists + package.xmls #548

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517db77
Fix CMakeLists + package.xmls
mintar Dec 1, 2016
f9dcddb
Fix more CMakeLists.txt + package.xmls
mintar Jan 25, 2017
e3efc04
amcl: disambiguate include path
mintar Jan 25, 2017
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7 changes: 5 additions & 2 deletions amcl/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -3,8 +3,10 @@ project(amcl)

find_package(catkin REQUIRED
COMPONENTS
message_filters
rosbag
roscpp
std_srvs
tf
dynamic_reconfigure
nav_msgs
Expand All @@ -23,11 +25,12 @@ catkin_package(
roscpp
dynamic_reconfigure
tf
CATKIN_DEPENDS nav_msgs std_srvs
INCLUDE_DIRS include
LIBRARIES amcl_sensors amcl_map amcl_pf
)

include_directories(include/amcl include/amcl/map include/amcl/sensors include/amcl/pf)
include_directories(include)
include_directories(${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})

add_library(amcl_pf
Expand All @@ -54,7 +57,7 @@ target_link_libraries(amcl_sensors amcl_map amcl_pf)

add_executable(amcl
src/amcl_node.cpp)
add_dependencies(amcl amcl_gencfg)
add_dependencies(amcl ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

target_link_libraries(amcl
amcl_sensors amcl_map amcl_pf
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3 changes: 2 additions & 1 deletion amcl/package.xml
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Expand Up @@ -27,7 +27,6 @@
<build_depend>message_filters</build_depend>
<build_depend>nav_msgs</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rostest</build_depend>
<build_depend>std_srvs</build_depend>
<build_depend>tf</build_depend>

Expand All @@ -36,6 +35,8 @@
<run_depend>dynamic_reconfigure</run_depend>
<run_depend>tf</run_depend>
<run_depend>nav_msgs</run_depend>
<run_depend>std_srvs</run_depend>

<test_depend>rostest</test_depend>
<test_depend>map_server</test_depend>
</package>
2 changes: 1 addition & 1 deletion amcl/src/amcl/map/map.c
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Expand Up @@ -31,7 +31,7 @@
#include <string.h>
#include <stdio.h>

#include "map.h"
#include "amcl/map/map.h"


// Create a new map
Expand Down
2 changes: 1 addition & 1 deletion amcl/src/amcl/map/map_cspace.cpp
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Expand Up @@ -23,7 +23,7 @@
#include <math.h>
#include <stdlib.h>
#include <string.h>
#include "map.h"
#include "amcl/map/map.h"

class CellData
{
Expand Down
2 changes: 1 addition & 1 deletion amcl/src/amcl/map/map_draw.c
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Expand Up @@ -33,7 +33,7 @@
#include <string.h>

#include <rtk.h>
#include "map.h"
#include "amcl/map/map.h"


////////////////////////////////////////////////////////////////////////////
Expand Down
2 changes: 1 addition & 1 deletion amcl/src/amcl/map/map_range.c
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Expand Up @@ -30,7 +30,7 @@
#include <string.h>
#include <stdlib.h>

#include "map.h"
#include "amcl/map/map.h"

// Extract a single range reading from the map. Unknown cells and/or
// out-of-bound cells are treated as occupied, which makes it easy to
Expand Down
2 changes: 1 addition & 1 deletion amcl/src/amcl/map/map_store.c
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Expand Up @@ -31,7 +31,7 @@
#include <stdlib.h>
#include <string.h>

#include "map.h"
#include "amcl/map/map.h"


////////////////////////////////////////////////////////////////////////////
Expand Down
6 changes: 3 additions & 3 deletions amcl/src/amcl/pf/pf.c
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Expand Up @@ -30,9 +30,9 @@
#include <stdlib.h>
#include <time.h>

#include "pf.h"
#include "pf_pdf.h"
#include "pf_kdtree.h"
#include "amcl/pf/pf.h"
#include "amcl/pf/pf_pdf.h"
#include "amcl/pf/pf_kdtree.h"


// Compute the required number of samples, given that there are k bins
Expand Down
4 changes: 2 additions & 2 deletions amcl/src/amcl/pf/pf_kdtree.c
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Expand Up @@ -31,8 +31,8 @@
#include <string.h>


#include "pf_vector.h"
#include "pf_kdtree.h"
#include "amcl/pf/pf_vector.h"
#include "amcl/pf/pf_kdtree.h"


// Compare keys to see if they are equal
Expand Down
2 changes: 1 addition & 1 deletion amcl/src/amcl/pf/pf_pdf.c
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Expand Up @@ -32,7 +32,7 @@
//#include <gsl/gsl_rng.h>
//#include <gsl/gsl_randist.h>

#include "pf_pdf.h"
#include "amcl/pf/pf_pdf.h"

// Random number generator seed value
static unsigned int pf_pdf_seed;
Expand Down
4 changes: 2 additions & 2 deletions amcl/src/amcl/pf/pf_vector.c
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Expand Up @@ -30,8 +30,8 @@
//#include <gsl/gsl_eigen.h>
//#include <gsl/gsl_linalg.h>

#include "pf_vector.h"
#include "eig3.h"
#include "amcl/pf/pf_vector.h"
#include "amcl/pf/eig3.h"


// Return a zero vector
Expand Down
2 changes: 1 addition & 1 deletion amcl/src/amcl/sensors/amcl_laser.cpp
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Expand Up @@ -33,7 +33,7 @@
#include <assert.h>
#include <unistd.h>

#include "amcl_laser.h"
#include "amcl/sensors/amcl_laser.h"

using namespace amcl;

Expand Down
2 changes: 1 addition & 1 deletion amcl/src/amcl/sensors/amcl_odom.cpp
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Expand Up @@ -32,7 +32,7 @@
#include <sys/types.h> // required by Darwin
#include <math.h>

#include "amcl_odom.h"
#include "amcl/sensors/amcl_odom.h"

using namespace amcl;

Expand Down
2 changes: 1 addition & 1 deletion amcl/src/amcl/sensors/amcl_sensor.cpp
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Expand Up @@ -28,7 +28,7 @@
///////////////////////////////////////////////////////////////////////////


#include "amcl_sensor.h"
#include "amcl/sensors/amcl_sensor.h"

using namespace amcl;

Expand Down
8 changes: 4 additions & 4 deletions amcl/src/amcl_node.cpp
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Expand Up @@ -31,10 +31,10 @@
// Signal handling
#include <signal.h>

#include "map/map.h"
#include "pf/pf.h"
#include "sensors/amcl_odom.h"
#include "sensors/amcl_laser.h"
#include "amcl/map/map.h"
#include "amcl/pf/pf.h"
#include "amcl/sensors/amcl_odom.h"
#include "amcl/sensors/amcl_laser.h"

#include "ros/assert.h"

Expand Down
34 changes: 22 additions & 12 deletions base_local_planner/CMakeLists.txt
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Expand Up @@ -3,16 +3,22 @@ project(base_local_planner)

find_package(catkin REQUIRED
COMPONENTS
angles
cmake_modules
roscpp
tf
message_generation
costmap_2d
dynamic_reconfigure
geometry_msgs
message_generation
nav_core
nav_msgs
pcl_conversions
costmap_2d
pcl_ros
pluginlib
angles
roscpp
rospy
std_msgs
tf
voxel_grid
)

find_package(Boost REQUIRED
Expand Down Expand Up @@ -55,14 +61,17 @@ catkin_package(
base_local_planner
trajectory_planner_ros
CATKIN_DEPENDS
roscpp
dynamic_reconfigure
message_generation
tf
pluginlib
angles
costmap_2d
dynamic_reconfigure
geometry_msgs
message_runtime
nav_core
angles
nav_msgs
pluginlib
roscpp
std_msgs
tf
)

#uncomment for profiling
Expand Down Expand Up @@ -103,11 +112,12 @@ target_link_libraries(base_local_planner
add_library(trajectory_planner_ros
src/trajectory_planner.cpp
src/trajectory_planner_ros.cpp)
add_dependencies(trajectory_planner_ros nav_msgs_gencpp)
add_dependencies(trajectory_planner_ros ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(trajectory_planner_ros
base_local_planner)

add_executable(point_grid src/point_grid.cpp)
add_dependencies(point_grid ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(point_grid ${catkin_LIBRARIES})

install(TARGETS
Expand Down
8 changes: 3 additions & 5 deletions base_local_planner/package.xml
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Expand Up @@ -19,15 +19,13 @@
<build_depend>cmake_modules</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>nav_msgs</build_depend>
<build_depend>rosconsole</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>tf</build_depend>
<build_depend>rospy</build_depend>
<build_depend>pluginlib</build_depend>
<build_depend>costmap_2d</build_depend>
<build_depend>voxel_grid</build_depend>
<build_depend>angles</build_depend>
<build_depend>visualization_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>nav_core</build_depend>
<build_depend>pcl_conversions</build_depend>
Expand All @@ -38,21 +36,21 @@

<run_depend>std_msgs</run_depend>
<run_depend>nav_msgs</run_depend>
<run_depend>rosconsole</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>tf</run_depend>
<run_depend>rospy</run_depend>
<run_depend>pluginlib</run_depend>
<run_depend>costmap_2d</run_depend>
<run_depend>voxel_grid</run_depend>
<run_depend>angles</run_depend>
<run_depend>visualization_msgs</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>nav_core</run_depend>
<run_depend>pcl_ros</run_depend>
<run_depend>eigen</run_depend>
<run_depend>dynamic_reconfigure</run_depend>
<run_depend>message_generation</run_depend>
<run_depend>message_runtime</run_depend>

<test_depend>rosunit</test_depend>

<export>
<nav_core plugin="${prefix}/blp_plugin.xml" />
Expand Down
1 change: 1 addition & 0 deletions carrot_planner/CMakeLists.txt
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Expand Up @@ -29,6 +29,7 @@ catkin_package(
)

add_library(carrot_planner src/carrot_planner.cpp)
add_dependencies(carrot_planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(carrot_planner
${catkin_LIBRARIES}
)
Expand Down
4 changes: 1 addition & 3 deletions clear_costmap_recovery/CMakeLists.txt
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Expand Up @@ -33,6 +33,7 @@ catkin_package(
)

add_library(clear_costmap_recovery src/clear_costmap_recovery.cpp)
add_dependencies(clear_costmap_recovery ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(clear_costmap_recovery ${catkin_LIBRARIES})


Expand All @@ -44,9 +45,6 @@ if(CATKIN_ENABLE_TESTING)
# Add the test folder to the include directories
include_directories(test)

include_directories(${GTEST_INCLUDE_DIRS})
link_directories(${GTEST_LIBRARY_DIRS})

# Create targets for test executables
add_rostest_gtest(clear_tester test/clear_tests.launch test/clear_tester.cpp)
add_dependencies(tests clear_tester ${catkin_LIBRARIES})
Expand Down
2 changes: 2 additions & 0 deletions clear_costmap_recovery/package.xml
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Expand Up @@ -30,6 +30,8 @@
<run_depend>pluginlib</run_depend>
<run_depend>eigen</run_depend>

<test_depend>rostest</test_depend>

<export>
<nav_core plugin="${prefix}/ccr_plugin.xml" />
</export>
Expand Down
18 changes: 7 additions & 11 deletions costmap_2d/CMakeLists.txt
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Expand Up @@ -18,6 +18,7 @@ find_package(catkin REQUIRED
sensor_msgs
std_msgs
tf
visualization_msgs
voxel_grid
)

Expand Down Expand Up @@ -60,8 +61,6 @@ generate_dynamic_reconfigure_options(
catkin_package(
INCLUDE_DIRS
include
${EIGEN_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
LIBRARIES costmap_2d layers
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Why are these removed?

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Because there already is a catkin_package(DEPENDS PCL Eigen). This means that PCL + Eigen are already added as dependencies for any project that depends on costmap_2d, and it's Eigen's (resp. PCL's) job to export their own include dirs. The catkin_package(INCLUDE_DIRS) should only export our own include dirs.

Removing these two lines makes the following catkin_lint error go away:

costmap_2d: CMakeLists.txt(61): error: catkin_package() exports non-package include path
     * You listed one or more include paths in the INCLUDE_DIRS stanza
     * of your catkin_package() call which are not part of your
     * package. If you want to export include paths of other modules,
     * use find_package(), find_path(), and/or find_library() and add
     * the dependency to the DEPENDS stanza.

CATKIN_DEPENDS
dynamic_reconfigure
Expand All @@ -77,6 +76,7 @@ catkin_package(
sensor_msgs
std_msgs
tf
visualization_msgs
voxel_grid
DEPENDS
PCL
Expand All @@ -96,7 +96,7 @@ add_library(costmap_2d
src/footprint.cpp
src/costmap_layer.cpp
)
add_dependencies(costmap_2d geometry_msgs_gencpp)
add_dependencies(costmap_2d ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(costmap_2d
${PCL_LIBRARIES}
${Boost_LIBRARIES}
Expand All @@ -110,27 +110,26 @@ add_library(layers
plugins/voxel_layer.cpp
src/observation_buffer.cpp
)
add_dependencies(layers ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(layers
costmap_2d
)

add_dependencies(costmap_2d costmap_2d_gencfg)
add_dependencies(layers costmap_2d_gencfg)
add_dependencies(costmap_2d costmap_2d_gencpp)

add_executable(costmap_2d_markers src/costmap_2d_markers.cpp)
add_dependencies(costmap_2d_markers visualization_msgs_gencpp)
add_dependencies(costmap_2d_markers ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(costmap_2d_markers
costmap_2d
)

add_executable(costmap_2d_cloud src/costmap_2d_cloud.cpp)
add_dependencies(costmap_2d_cloud sensor_msgs_gencpp)
add_dependencies(costmap_2d_cloud ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(costmap_2d_cloud
costmap_2d
)

add_executable(costmap_2d_node src/costmap_2d_node.cpp)
add_dependencies(costmap_2d_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(costmap_2d_node
costmap_2d
)
Expand All @@ -143,9 +142,6 @@ if(CATKIN_ENABLE_TESTING)
# Add the test folder to the include directories
include_directories(test)

include_directories(${GTEST_INCLUDE_DIRS})
link_directories(${GTEST_LIBRARY_DIRS})

# Create targets for test executables
add_executable(costmap_tester EXCLUDE_FROM_ALL test/costmap_tester.cpp)
add_dependencies(tests costmap_tester)
Expand Down
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