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* initial dashing port * fixing initialization declare * linting * bump dashing to 2.0.1 to release in dashing * bump test (#12) * bump test * adding build icon and test deps * include updated build icon * adding eloquent updates
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,91 +1,114 @@ | ||
| cmake_minimum_required(VERSION 2.8.3) | ||
| cmake_minimum_required(VERSION 3.5) | ||
| project(nonpersistent_voxel_layer) | ||
|
|
||
| find_package(catkin REQUIRED | ||
| COMPONENTS | ||
| cmake_modules | ||
| dynamic_reconfigure | ||
| geometry_msgs | ||
| laser_geometry | ||
| map_msgs | ||
| message_filters | ||
| message_generation | ||
| nav_msgs | ||
| pcl_conversions | ||
| pcl_ros | ||
| pluginlib | ||
| roscpp | ||
| sensor_msgs | ||
| std_msgs | ||
| tf | ||
| visualization_msgs | ||
| voxel_grid | ||
| costmap_2d | ||
| ) | ||
|
|
||
| find_package(PCL REQUIRED) | ||
| remove_definitions(-DDISABLE_LIBUSB-1.0) | ||
| if(NOT WIN32) | ||
| set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") | ||
| endif() | ||
|
|
||
| if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
| add_compile_options(-Wall -Wextra -Wpedantic) | ||
| endif() | ||
|
|
||
| find_package(ament_cmake REQUIRED) | ||
| find_package(geometry_msgs REQUIRED) | ||
| find_package(laser_geometry REQUIRED) | ||
| find_package(map_msgs REQUIRED) | ||
| find_package(message_filters REQUIRED) | ||
| find_package(nav_msgs REQUIRED) | ||
| find_package(nav2_msgs REQUIRED) | ||
| find_package(pcl_conversions REQUIRED) | ||
| find_package(pluginlib REQUIRED) | ||
| find_package(sensor_msgs REQUIRED) | ||
| find_package(rclcpp REQUIRED) | ||
| find_package(std_msgs REQUIRED) | ||
| find_package(tf2 REQUIRED) | ||
| find_package(tf2_ros REQUIRED) | ||
| find_package(visualization_msgs REQUIRED) | ||
| find_package(nav2_voxel_grid REQUIRED) | ||
| find_package(nav2_costmap_2d REQUIRED) | ||
| find_package(Eigen3 REQUIRED) | ||
| find_package(Boost REQUIRED COMPONENTS system thread) | ||
|
|
||
| find_package(PCL REQUIRED COMPONENTS filters common) | ||
| if(NOT "${PCL_LIBRARIES}" STREQUAL "") | ||
| # This package fails to build on Debian Stretch with a linking error against | ||
| # 'Qt5::Widgets'. This is a transitive dependency that comes in to PCL via | ||
| # the PCL dependency on VTK. However, we don't actually care about the Qt | ||
| # dependencies for this package, so just remove them. This is similar to the | ||
| # workaround in https://github.com/ros-perception/perception_pcl/pull/151, | ||
| # and can be removed when Stretch goes out of support. | ||
| list(REMOVE_ITEM PCL_LIBRARIES | ||
| "vtkGUISupportQt" | ||
| "vtkGUISupportQtOpenGL" | ||
| "vtkGUISupportQtSQL" | ||
| "vtkGUISupportQtWebkit" | ||
| "vtkViewsQt" | ||
| "vtkRenderingQt") | ||
| endif() | ||
|
|
||
| set(dependencies | ||
| geometry_msgs | ||
| laser_geometry | ||
| map_msgs | ||
| message_filters | ||
| nav_msgs | ||
| pcl_conversions | ||
| pluginlib | ||
| sensor_msgs | ||
| nav2_msgs | ||
| rclcpp | ||
| std_msgs | ||
| tf2 | ||
| tf2_ros | ||
| visualization_msgs | ||
| nav2_voxel_grid | ||
| nav2_costmap_2d) | ||
|
|
||
| set(library_name nonpersistent_voxel_layer_core) | ||
|
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||
| add_definitions(${EIGEN3_DEFINITIONS}) | ||
|
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||
| include_directories( | ||
| include | ||
| ${catkin_INCLUDE_DIRS} | ||
| ${EIGEN3_INCLUDE_DIRS} | ||
| ${PCL_INCLUDE_DIRS} | ||
| ${Boost_INCLUDE_DIRS} | ||
| ${EIGEN3_INCLUDE_DIRS} | ||
| ) | ||
|
|
||
| add_definitions(${EIGEN3_DEFINITIONS}) | ||
| add_library(${library_name} SHARED | ||
| plugins/nonpersistent_voxel_layer.cpp | ||
| ) | ||
|
|
||
| # dynamic reconfigure | ||
| generate_dynamic_reconfigure_options( | ||
| cfg/NonPersistentVoxelPlugin.cfg | ||
| target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS") | ||
|
|
||
| target_link_libraries(${library_name} | ||
| ${PCL_LIBRARIES} | ||
| ${EIGEN3_LIBRARIES} | ||
| ) | ||
|
|
||
| catkin_package( | ||
| INCLUDE_DIRS | ||
| include | ||
| LIBRARIES nonpersistent_voxel_layer | ||
| CATKIN_DEPENDS | ||
| dynamic_reconfigure | ||
| geometry_msgs | ||
| laser_geometry | ||
| map_msgs | ||
| costmap_2d | ||
| message_filters | ||
| message_runtime | ||
| nav_msgs | ||
| pcl_ros | ||
| pluginlib | ||
| roscpp | ||
| sensor_msgs | ||
| std_msgs | ||
| tf | ||
| visualization_msgs | ||
| voxel_grid | ||
| DEPENDS | ||
| PCL | ||
| EIGEN3 | ||
| Boost | ||
| ament_target_dependencies(${library_name} | ||
| ${dependencies} | ||
| ) | ||
|
|
||
| add_library(nonpersistent_voxel_layer | ||
| plugins/nonpersistent_voxel_layer.cpp | ||
| if(BUILD_TESTING) | ||
| find_package(ament_lint_auto REQUIRED) | ||
| ament_lint_auto_find_test_dependencies() | ||
| endif() | ||
|
|
||
| install(TARGETS ${library_name} | ||
| ARCHIVE DESTINATION lib | ||
| LIBRARY DESTINATION lib | ||
| RUNTIME DESTINATION lib | ||
| ) | ||
| add_dependencies(nonpersistent_voxel_layer ${PROJECT_NAME}_gencfg) | ||
| target_link_libraries(nonpersistent_voxel_layer ${catkin_LIBRARIES}) | ||
|
|
||
| install(TARGETS | ||
| nonpersistent_voxel_layer | ||
| ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| install(DIRECTORY example | ||
| DESTINATION share | ||
| ) | ||
|
|
||
| install(FILES costmap_plugins.xml | ||
| DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
| DESTINATION share | ||
| ) | ||
|
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||
| install(DIRECTORY include/nonpersistent_voxel_layer/ | ||
| DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} | ||
| PATTERN ".svn" EXCLUDE | ||
| ) | ||
| ament_export_include_directories(include) | ||
| ament_export_libraries(${library_name}) | ||
| ament_export_dependencies(${dependencies}) | ||
| pluginlib_export_plugin_description_file(nav2_costmap_2d costmap_plugins.xml) | ||
| ament_package() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,7 +1,5 @@ | ||
| <class_libraries> | ||
| <library path="lib/libnonpersistent_voxel_layer"> | ||
| <class type="costmap_2d::NonPersistentVoxelLayer" base_class_type="costmap_2d::Layer"> | ||
| <description>Similar to voxel costmap, but 3D stored data is not saved between iterations.</description> | ||
| </class> | ||
| </library> | ||
| </class_libraries> | ||
| <library path="nonpersistent_voxel_layer_core"> | ||
| <class name="nav2_costmap_2d/NonPersistentVoxelLayer" type="nav2_costmap_2d::NonPersistentVoxelLayer" base_class_type="nav2_costmap_2d::Layer"> | ||
| <description>Similar to voxel costmap, but 3D stored data is not saved between iterations.</description> | ||
| </class> | ||
| </library> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,24 +1,27 @@ | ||
| # in costmap commons | ||
| nonpersisting_obstacle_layer: | ||
| enabled: true | ||
| track_unknown_space: true | ||
| max_obstacle_height: 1.7 | ||
| unknown_threshold: 15 | ||
| mark_threshold: 0 | ||
| combination_method: 1 | ||
| obstacle_range: 3.0 | ||
| origin_z: 0.2 | ||
| z_resolution: 0.1 | ||
| z_voxels: 16 | ||
| publish_voxel_map: true | ||
| observation_sources: rgbd | ||
| rgbd: | ||
| data_type: PointCloud2 | ||
| topic: camera/depth/points | ||
| marking: true | ||
| min_obstacle_height: 0.7 | ||
| max_obstacle_height: 1.7 | ||
| global_costmap: | ||
| global_costmap: | ||
| ros__parameters: | ||
| # in costmap commons | ||
| nonpersisting_obstacle_layer: | ||
| enabled: true | ||
| track_unknown_space: true | ||
| max_obstacle_height: 1.7 | ||
| unknown_threshold: 15 | ||
| mark_threshold: 0 | ||
| combination_method: 1 | ||
| obstacle_range: 10.0 | ||
| origin_z: 0.0 | ||
| z_resolution: 0.05 | ||
| z_voxels: 16 | ||
| publish_voxel_map: true | ||
| observation_sources: rgbd | ||
| rgbd: | ||
| data_type: PointCloud2 | ||
| topic: camera/depth/points | ||
| marking: true | ||
| min_obstacle_height: 0.0 | ||
| max_obstacle_height: 1.7 | ||
|
|
||
| # in list of plugins for local/global | ||
| plugins: | ||
| - {name: nonpersisting_obstacle_layer, type: "costmap_2d::NonPersistentVoxelLayer"} | ||
| # in list of plugins for local/global | ||
| plugins: | ||
| - {name: nonpersisting_obstacle_layer, type: "nav2_costmap_2d/NonPersistentVoxelLayer"} |
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