Update to use RICB (#109)

* Updated to use RICB

* Updated CI

* Dropped Bionic build

.github/workflows/main.yml

@@ -3,22 +3,25 @@ name: CI
 on: [push, pull_request]
 
 jobs:
-  industrial_ci:
+  ci:
     strategy:
       fail-fast: false
       matrix:
-        distro: [melodic, noetic]
+        distro: [noetic]
 
     runs-on: ubuntu-latest
+    name: ${{ matrix.distro }}
     steps:
-      - uses: actions/checkout@v1
-      - uses: 'ros-industrial/industrial_ci@master'
+      - name: Checkout
+        uses: actions/checkout@v1
+      - name: Build
+        uses: 'ros-industrial/industrial_ci@master'
         env:
           BADGE: ${{ matrix.distro }}
           ROS_DISTRO: ${{ matrix.distro }}
           ROS_REPO: main
+          UPSTREAM_WORKSPACE: dependencies.repos
           VERBOSE_TESTS: true
-          ADDITIONAL_DEBS: "git"
-          TARGET_CMAKE_ARGS: "-DRCT_BUILD_TESTS=ON"
+          TARGET_CMAKE_ARGS: "-DRCT_BUILD_TESTS=ON -DRCT_ENABLE_RUN_TESTS=OFF"
           CTEST_OUTPUT_ON_FAILURE: true
           AFTER_SCRIPT: "cd $target_ws/build/rct_optimizations && ctest -V && cd $target_ws/build/rct_image_tools && ctest -V"

README.md

@@ -3,7 +3,7 @@
 
 Platform               | CI Status
 ---------------------- |:---------
-Linux (Focal & Bionic) | [![Build Status](https://github.com/Jmeyer1292/robot_cal_tools/workflows/CI/badge.svg)](https://github.com/Jmeyer1292/robot_cal_tools/actions)
+Ubuntu (Focal)         | [![Build Status](https://github.com/Jmeyer1292/robot_cal_tools/workflows/CI/badge.svg)](https://github.com/Jmeyer1292/robot_cal_tools/actions)
 Lint  (Clang-Format)   | [![Build Status](https://github.com/Jmeyer1292/robot_cal_tools/workflows/Clang-Format/badge.svg)](https://github.com/Jmeyer1292/robot_cal_tools/actions)
 Lint  (CMake-Format)   | [![Build Status](https://github.com/Jmeyer1292/robot_cal_tools/workflows/CMake-Format/badge.svg)](https://github.com/Jmeyer1292/robot_cal_tools/actions)
 

dependencies.repos

@@ -0,0 +1,5 @@
+repositories:
+  ros_industrial_cmake_boilerplate:
+    type: git
+    url: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
+    version: 0.5.4

rct_common/CMakeLists.txt

@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.5.0)
-project(rct_common VERSION 0.1.0)
 
-include(cmake/rct_macros.cmake)
+# Extract package name and version from package.xml
+find_package(ros_industrial_cmake_boilerplate REQUIRED)
+extract_package_metadata(pkg)
+project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES CXX)
 
 find_package(Eigen3 REQUIRED)
 if(NOT EIGEN3_INCLUDE_DIRS)
@@ -14,55 +16,14 @@ if(NOT TARGET Eigen3::Eigen)
   set_property(TARGET Eigen3::Eigen PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${EIGEN3_INCLUDE_DIRS})
 endif()
 
-if(RCT_BUILD_TESTS)
-  find_package(GTest QUIET)
-  if(NOT GTest_FOUND)
-
-    include(ExternalProject)
-
-    if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-      set(GTEST_CXX_FLAGS "-w -std=c++14")
-      set(GTEST_C_FLAGS "-w")
-
-      ExternalProject_Add(
-        GTest
-        GIT_REPOSITORY https://github.com/google/googletest.git
-        GIT_TAG release-1.8.1
-        SOURCE_DIR ${CMAKE_BINARY_DIR}/../rct_common/googletest-src
-        BINARY_DIR ${CMAKE_BINARY_DIR}/../rct_common/googletest-build
-        CMAKE_CACHE_ARGS
-          -DCMAKE_INSTALL_PREFIX:STRING=${CMAKE_INSTALL_PREFIX}
-          -DCMAKE_BUILD_TYPE:STRING=Release
-          -DCMAKE_CXX_FLAGS:STRING=${GTEST_CXX_FLAGS}
-          -DCMAKE_C_FLAGS:STRING=${GTEST_C_FLAGS}
-          -DBUILD_GMOCK:BOOL=OFF
-          -DBUILD_GTEST:BOOL=ON
-          -DBUILD_SHARED_LIBS:BOOL=ON)
-    elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-      ExternalProject_Add(
-        GTest
-        GIT_REPOSITORY https://github.com/google/googletest.git
-        GIT_TAG release-1.8.1
-        SOURCE_DIR ${CMAKE_BINARY_DIR}/../rct_common/googletest-src
-        BINARY_DIR ${CMAKE_BINARY_DIR}/../rct_common/googletest-build
-        CMAKE_CACHE_ARGS
-          -DCMAKE_INSTALL_PREFIX:STRING=${CMAKE_INSTALL_PREFIX}
-          -DCMAKE_BUILD_TYPE:STRING=Release
-          -DBUILD_GMOCK:BOOL=OFF
-          -DBUILD_GTEST:BOOL=ON
-          -DBUILD_SHARED_LIBS:BOOL=ON)
-    endif()
-  endif()
-endif()
+find_gtest()
 
 add_library(${PROJECT_NAME} INTERFACE)
 target_compile_options(${PROJECT_NAME} INTERFACE -std=c++11)
 target_include_directories(${PROJECT_NAME} INTERFACE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                      "$<INSTALL_INTERFACE:include>")
 target_link_libraries(${PROJECT_NAME} INTERFACE Eigen3::Eigen)
 
-rct_configure_package(${PROJECT_NAME})
+configure_package(TARGETS ${PROJECT_NAME} NAMESPACE rct DEPENDENCIES Eigen3)
 
 install(DIRECTORY include/${PROJECT_NAME} DESTINATION include)
-
-install(FILES "${CMAKE_CURRENT_LIST_DIR}/cmake/rct_macros.cmake" DESTINATION lib/cmake/${PROJECT_NAME})

rct_examples/CMakeLists.txt

@@ -1,5 +1,9 @@
 cmake_minimum_required(VERSION 3.5.0)
-project(rct_examples)
+
+# Extract package name and version from package.xml
+find_package(ros_industrial_cmake_boilerplate REQUIRED)
+extract_package_metadata(pkg)
+project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES CXX)
 
 add_compile_options(-std=c++11 -Wall -Wextra)
 

rct_image_tools/CMakeLists.txt

@@ -1,10 +1,13 @@
 cmake_minimum_required(VERSION 3.5.0)
-project(rct_image_tools VERSION 0.1.0 LANGUAGES CXX)
 
-find_package(Boost REQUIRED)
+# Extract package name and version from package.xml
+find_package(ros_industrial_cmake_boilerplate REQUIRED)
+extract_package_metadata(pkg)
+project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES CXX)
+
+find_package(Boost REQUIRED COMPONENTS filesystem)
 find_package(OpenCV REQUIRED)
 find_package(yaml-cpp REQUIRED)
-find_package(rct_common REQUIRED)
 find_package(rct_optimizations REQUIRED)
 
 find_package(Eigen3 REQUIRED)
@@ -31,10 +34,10 @@ target_compile_options(${PROJECT_NAME} PUBLIC -std=c++11)
 target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra)
 target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                   "$<INSTALL_INTERFACE:include>")
-target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${Boost_INCLUDE_DIRS})
 target_link_libraries(
   ${PROJECT_NAME}
-  PUBLIC ${Boost_LIBRARIES}
+  PUBLIC Boost::boost
+         Boost::filesystem
          opencv_core
          opencv_aruco
          opencv_features2d
@@ -54,10 +57,18 @@ target_link_libraries(${PROJECT_NAME}_test ${PROJECT_NAME} rct::rct_optimization
 
 if(RCT_BUILD_TESTS)
   enable_testing()
-  rct_add_run_tests_target()
+  add_run_tests_target(ENABLE ${RCT_ENABLE_RUN_TESTS})
   add_subdirectory(test)
 endif()
 
-rct_configure_package(${PROJECT_NAME})
+configure_package(
+  NAMESPACE rct
+  TARGETS ${PROJECT_NAME}
+          ${PROJECT_NAME}_test
+          DEPENDENCIES
+          "Boost REQUIRED COMPONENTS filesystem"
+          OpenCV
+          rct_optimizations
+          yaml-cpp)
 
 install(DIRECTORY include/${PROJECT_NAME} DESTINATION include)

rct_image_tools/package.xml

@@ -14,6 +14,7 @@
   <depend>yaml-cpp</depend>
   <depend>libopencv-dev</depend>
   <depend>eigen</depend>
+
   <export>
     <build_type>cmake</build_type>
   </export>

rct_image_tools/test/CMakeLists.txt

@@ -2,7 +2,7 @@ find_package(GTest REQUIRED)
 
 add_executable(${PROJECT_NAME}_target_finder_test target_finder_utest.cpp)
 target_link_libraries(${PROJECT_NAME}_target_finder_test PRIVATE ${PROJECT_NAME} GTest::GTest GTest::Main)
-rct_gtest_discover_tests(${PROJECT_NAME}_target_finder_test)
+add_gtest_discover_tests(${PROJECT_NAME}_target_finder_test)
 add_dependencies(${PROJECT_NAME}_target_finder_test ${PROJECT_NAME})
 add_dependencies(run_tests ${PROJECT_NAME}_target_finder_test)
 target_compile_definitions(${PROJECT_NAME}_target_finder_test

rct_optimizations/CMakeLists.txt

@@ -1,5 +1,9 @@
 cmake_minimum_required(VERSION 3.5.0)
-project(rct_optimizations VERSION 0.1.0 LANGUAGES CXX)
+
+# Extract package name and version from package.xml
+find_package(ros_industrial_cmake_boilerplate REQUIRED)
+extract_package_metadata(pkg)
+project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES CXX)
 
 find_package(rct_common REQUIRED)
 find_package(Boost REQUIRED)
@@ -38,15 +42,27 @@ target_compile_options(${PROJECT_NAME} PUBLIC -std=c++11)
 target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra)
 target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                   "$<INSTALL_INTERFACE:include>")
-target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${Boost_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS})
-target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES} ${CERES_LIBRARIES} yaml-cpp)
+target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${CERES_INCLUDE_DIRS})
+target_link_libraries(
+  ${PROJECT_NAME}
+  PUBLIC ${CERES_LIBRARIES}
+         rct::rct_common
+         Boost::boost
+         yaml-cpp)
 
 if(RCT_BUILD_TESTS)
   enable_testing()
-  rct_add_run_tests_target()
+  add_run_tests_target(ENABLE ${RCT_ENABLE_RUN_TESTS})
   add_subdirectory(test)
 endif()
 
-rct_configure_package(${PROJECT_NAME})
+configure_package(
+  NAMESPACE rct
+  TARGETS ${PROJECT_NAME}
+          DEPENDENCIES
+          Boost
+          rct_common
+          yaml-cpp
+          Ceres)
 
 install(DIRECTORY include/${PROJECT_NAME} DESTINATION include)