Port #548 to kinetic

amcl/CMakeLists.txt

@@ -3,8 +3,10 @@ project(amcl)
 
 find_package(catkin REQUIRED
         COMPONENTS
+            message_filters
             rosbag
             roscpp
+            std_srvs
             tf
             dynamic_reconfigure
             nav_msgs
@@ -24,11 +26,12 @@ 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
@@ -55,7 +58,7 @@ 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

amcl/package.xml

@@ -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>
 
@@ -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>

amcl/src/amcl/map/map.c

@@ -31,7 +31,7 @@
 #include <string.h>
 #include <stdio.h>
 
-#include "map.h"
+#include "amcl/map/map.h"
 
 
 // Create a new map

amcl/src/amcl/map/map_cspace.cpp

@@ -23,7 +23,7 @@
 #include <math.h>
 #include <stdlib.h>
 #include <string.h>
-#include "map.h"
+#include "amcl/map/map.h"
 
 class CellData
 {

amcl/src/amcl/map/map_draw.c

@@ -33,7 +33,7 @@
 #include <string.h>
 
 #include <rtk.h>
-#include "map.h"
+#include "amcl/map/map.h"
 
 
 ////////////////////////////////////////////////////////////////////////////

amcl/src/amcl/map/map_range.c

@@ -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

amcl/src/amcl/map/map_store.c

@@ -31,7 +31,7 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include "map.h"
+#include "amcl/map/map.h"
 
 
 ////////////////////////////////////////////////////////////////////////////

amcl/src/amcl/pf/pf.c

@@ -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

amcl/src/amcl/pf/pf_kdtree.c

@@ -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

amcl/src/amcl/pf/pf_pdf.c

@@ -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;

amcl/src/amcl/pf/pf_vector.c

@@ -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

amcl/src/amcl/sensors/amcl_laser.cpp

@@ -33,7 +33,7 @@
 #include <assert.h>
 #include <unistd.h>
 
-#include "amcl_laser.h"
+#include "amcl/sensors/amcl_laser.h"
 
 using namespace amcl;
 

amcl/src/amcl/sensors/amcl_odom.cpp

@@ -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;
 

amcl/src/amcl/sensors/amcl_sensor.cpp

@@ -28,7 +28,7 @@
 ///////////////////////////////////////////////////////////////////////////
 
 
-#include "amcl_sensor.h"
+#include "amcl/sensors/amcl_sensor.h"
 
 using namespace amcl;
 

amcl/src/amcl_node.cpp

@@ -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"
 

base_local_planner/CMakeLists.txt

@@ -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
@@ -56,14 +62,17 @@ 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
@@ -104,11 +113,12 @@ 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_generate_messages_cpp)
+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
@@ -140,7 +150,6 @@ if(CATKIN_ENABLE_TESTING)
       base_local_planner trajectory_planner_ros
       )
 
-
   catkin_add_gtest(line_iterator
       test/line_iterator_test.cpp)
 endif()

base_local_planner/package.xml

@@ -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>
@@ -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" />

carrot_planner/CMakeLists.txt

@@ -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}
     )

clear_costmap_recovery/CMakeLists.txt

@@ -34,6 +34,7 @@ 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})
 
 
@@ -45,9 +46,6 @@ 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)
   target_link_libraries(clear_tester clear_costmap_recovery ${GTEST_LIBRARIES})

clear_costmap_recovery/package.xml

@@ -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>

costmap_2d/CMakeLists.txt

@@ -62,8 +62,6 @@ generate_dynamic_reconfigure_options(
 catkin_package(
     INCLUDE_DIRS
         include
-        ${EIGEN3_INCLUDE_DIRS}
-        ${PCL_INCLUDE_DIRS}
     LIBRARIES costmap_2d layers
     CATKIN_DEPENDS
         dynamic_reconfigure
@@ -99,7 +97,7 @@ add_library(costmap_2d
   src/footprint.cpp
   src/costmap_layer.cpp
 )
-add_dependencies(costmap_2d geometry_msgs_generate_messages_cpp)
+add_dependencies(costmap_2d ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(costmap_2d
   ${PCL_LIBRARIES}
   ${Boost_LIBRARIES}
@@ -113,27 +111,25 @@ 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_generate_messages_cpp)
-
 add_executable(costmap_2d_markers src/costmap_2d_markers.cpp)
-add_dependencies(costmap_2d_markers visualization_msgs_generate_messages_cpp)
+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_generate_messages_cpp)
+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
     )
@@ -146,9 +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)