Merge branch 'deb' into hw_api

ctu-mrs · Aug 18, 2023 · a6cefea · a6cefea
2 parents 57e3cd9 + 7fc4ddb
commit a6cefea
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diff --git a/.github/workflows/noetic.yml b/.github/workflows/noetic.yml
diff --git a/.github/workflows/ros_package_build.yml b/.github/workflows/ros_package_build.yml
@@ -0,0 +1,22 @@
+name: ros_package_build
+
+on:
+
+  push:
+    branches: [ hw_api ]
+
+  pull_request:
+    branches: [ hw_api ]
+
+  workflow_dispatch:
+
+concurrency:
+  group: ${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+
+  build:
+    uses: ctu-mrs/ci_scripts/.github/workflows/ros_package_build.yml@master
+    secrets:
+      PUSH_TOKEN: ${{ secrets.PUSH_TOKEN }}
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,10 +1,10 @@
-cmake_minimum_required(VERSION 3.1.2)
+cmake_minimum_required(VERSION 3.5)
 project(mrs_serial)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-find_package(catkin REQUIRED COMPONENTS
+set(CATKIN_DEPENDENCIES
   roscpp
   cmake_modules
   nodelet
@@ -15,18 +15,30 @@ find_package(catkin REQUIRED COMPONENTS
   dynamic_reconfigure
   )
 
+find_package(catkin REQUIRED COMPONENTS
+  ${CATKIN_DEPENDENCIES}
+  )
+
 generate_dynamic_reconfigure_options(
   config/gimbal.cfg
   )
 
 set(LIBRARIES
-  VioImu NmeaParser BacaProtocol Servo Led Estop Ultrasound TarotGimbal Gimbal
+  MrsSerial_VioImu
+  MrsSerial_NmeaParser
+  MrsSerial_BacaProtocol
+  MrsSerial_Servo
+  MrsSerial_Led
+  MrsSerial_Estop
+  MrsSerial_Ultrasound
+  MrsSerial_TarotGimbal
+  MrsSerial_Gimbal
   )
 
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES ${LIBRARIES}
-  CATKIN_DEPENDS roscpp sensor_msgs std_msgs mrs_msgs
+  CATKIN_DEPENDS ${CATKIN_DEPENDENCIES}
   )
 
 include_directories(
@@ -42,108 +54,108 @@ add_library(Eagle
   src/serial_port.cpp
   )
 
-# VioImu
+# MrsSerial_VioImu
 
-add_library(VioImu
+add_library(MrsSerial_VioImu
   src/vio_imu.cpp
   src/serial_port.cpp
   )
 
-target_link_libraries(VioImu
+target_link_libraries(MrsSerial_VioImu
   ${catkin_LIBRARIES}
   )
 
-# NmeaParser
+# MrsSerial_NmeaParser
 
-add_library(NmeaParser
+add_library(MrsSerial_NmeaParser
   src/nmea_parser.cpp
   src/serial_port.cpp
   )
 
-target_link_libraries(NmeaParser
+target_link_libraries(MrsSerial_NmeaParser
   ${catkin_LIBRARIES}
   )
 
-# BacaProtocol
+# MrsSerial_BacaProtocol
 
-add_library(BacaProtocol
+add_library(MrsSerial_BacaProtocol
   src/baca_protocol.cpp
   src/serial_port.cpp
   )
 
-target_link_libraries(BacaProtocol
+target_link_libraries(MrsSerial_BacaProtocol
   ${catkin_LIBRARIES}
   )
 
-# Servo
+# MrsSerial_Servo
 
-add_library(Servo
+add_library(MrsSerial_Servo
   src/servo.cpp
   src/serial_port.cpp
   )
 
-target_link_libraries(Servo
+target_link_libraries(MrsSerial_Servo
   ${catkin_LIBRARIES}
   )
 
-# Led
+# MrsSerial_Led
 
-add_library(Led
+add_library(MrsSerial_Led
   src/led.cpp
   src/serial_port.cpp
   )
 
-target_link_libraries(Led
+target_link_libraries(MrsSerial_Led
   ${catkin_LIBRARIES}
   )
 
-# Estop
+# MrsSerial_Estop
 
-add_library(Estop
+add_library(MrsSerial_Estop
   src/estop.cpp
   src/serial_port.cpp
   )
 
-target_link_libraries(Estop
+target_link_libraries(MrsSerial_Estop
   ${catkin_LIBRARIES}
   )
 
-# Ultrasound
+# MrsSerial_Ultrasound
 
-add_library(Ultrasound
+add_library(MrsSerial_Ultrasound
   src/ultrasound.cpp
   src/serial_port.cpp)
 
-target_link_libraries(Ultrasound
+target_link_libraries(MrsSerial_Ultrasound
   ${catkin_LIBRARIES}
   )
 
-# TarotGimbal
+# MrsSerial_TarotGimbal
 
-add_library(TarotGimbal
+add_library(MrsSerial_TarotGimbal
   src/tarot_gimbal.cpp
   src/serial_port.cpp)
 
-target_link_libraries(TarotGimbal
+target_link_libraries(MrsSerial_TarotGimbal
   ${catkin_LIBRARIES}
   )
 
-# Gimbal
+# MrsSerial_Gimbal
 
-add_library(Gimbal
+add_library(MrsSerial_Gimbal
   src/gimbal.cpp
   src/serial_port.cpp
   src/SBGC_lib/SBGC_cmd_helpers.cpp
   include/gimbal.hpp
   )
 
-add_dependencies(Gimbal
+add_dependencies(MrsSerial_Gimbal
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${catkin_EXPORTED_TARGETS}
   ${PROJECT_NAME}_gencfg
   )
 
-target_link_libraries(Gimbal
+target_link_libraries(MrsSerial_Gimbal
   ${catkin_LIBRARIES}
   )
 
@@ -166,11 +178,10 @@ install(DIRECTORY tmux_scripts
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   )
 
-install(DIRECTORY include/
+install(DIRECTORY include
   DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
 )
 
-install(DIRECTORY ./
+install(FILES nodelets.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  FILES_MATCHING PATTERN "*.xml"
   )
diff --git a/plugins.xml → nodelets.xml b/plugins.xml → nodelets.xml
@@ -1,58 +1,58 @@
-<library path="lib/libBacaProtocol">
+<library path="lib/libMrsSerial_BacaProtocol">
   <class name="baca_protocol/BacaProtocol" type="baca_protocol::BacaProtocol" base_class_type="nodelet::Nodelet">
     <description>BacaProtocol nodelet</description>
   </class>
 </library>
 
-<library path="lib/libNmeaParser">
+<library path="lib/libMrsSerial_NmeaParser">
   <class name="nmea_parser/NmeaParser" type="nmea_parser::NmeaParser" base_class_type="nodelet::Nodelet">
     <description>NmeaParser nodelet</description>
   </class>
 </library>
 
-<library path="lib/libEagle">
+<library path="lib/libMrsSerial_Eagle">
   <class name="eagle/Eagle" type="eagle::Eagle" base_class_type="nodelet::Nodelet">
     <description>Eagle nodelet</description>
   </class>
 </library>
 
-<library path="lib/libVioImu">
+<library path="lib/libMrsSerial_VioImu">
   <class name="vio_imu/VioImu" type="vio_imu::VioImu" base_class_type="nodelet::Nodelet">
     <description>VioImu nodelet</description>
   </class>
 </library>
 
-<library path="lib/libServo">
+<library path="lib/libMrsSerial_Servo">
   <class name="servo/Servo" type="servo::Servo" base_class_type="nodelet::Nodelet">
     <description>Servo nodelet</description>
   </class>
 </library>
 
-<library path="lib/libLed">
+<library path="lib/libMrsSerial_Led">
   <class name="led/Led" type="led::Led" base_class_type="nodelet::Nodelet">
     <description>Led nodelet</description>
   </class>
 </library>
 
-<library path="lib/libEstop">
+<library path="lib/libMrsSerial_Estop">
   <class name="estop/Estop" type="estop::Estop" base_class_type="nodelet::Nodelet">
     <description>Estop nodelet</description>
   </class>
 </library>
 
-<library path="lib/libUltrasound">
+<library path="lib/libMrsSerial_Ultrasound">
   <class name="ultrasound/Ultrasound" type="ultrasound::Ultrasound" base_class_type="nodelet::Nodelet">
     <description>Ultrasound nodelet</description>
   </class>
 </library>
 
-<library path="lib/libTarotGimbal">
+<library path="lib/libMrsSerial_TarotGimbal">
   <class name="tarot_gimbal/TarotGimbal" type="tarot_gimbal::TarotGimbal" base_class_type="nodelet::Nodelet">
     <description>TarotGimbal nodelet</description>
   </class>
 </library>
 
-<library path="lib/libGimbal">
+<library path="lib/libMrsSerial_Gimbal">
   <class name="gimbal/Gimbal" type="gimbal::Gimbal" base_class_type="nodelet::Nodelet">
     <description>A basic driver for a gimbal over the SBGC-API protocol</description>
   </class>

diff --git a/package.xml b/package.xml
@@ -2,16 +2,15 @@
 <package format="2">
 
   <name>mrs_serial</name>
-  <version>0.0.1</version>
+  <version>1.0.0</version>
   <description>driver for reading messages from serial line</description>
 
+  <author email="hertdani@fel.cvut.cz">Daniel Hert</author>
   <maintainer email="hertdani@fel.cvut.cz">Daniel Hert</maintainer>
   <maintainer email="Tomas.baca@fel.cvut.cz">Tomas Baca</maintainer>
 
   <license>BSD 3-Clause</license>
 
-  <author email="hertdani@fel.cvut.cz">Daniel Hert</author>
-
   <buildtool_depend>catkin</buildtool_depend>
 
   <depend>roscpp</depend>
@@ -24,10 +23,7 @@
   <depend>dynamic_reconfigure</depend>
 
   <export>
-
-    <!-- The plugins.xml file defines nodelet as a plugin -->
-    <nodelet plugin="${prefix}/plugins.xml" />
-
+    <nodelet plugin="${prefix}/nodelets.xml" />
   </export>
 
 </package>