Make Bosch api optional

.github/workflows/ubuntu20_04.yml

@@ -0,0 +1,67 @@
+name: mav_sensors
+on:
+ pull_request:
+ branches:
+ - "master"
+ push:
+ branches:
+ - "master"
+
+jobs:
+ build:
+ runs-on: [self-hosted, linux]
+ strategy:
+ fail-fast: false
+ matrix:
+ rosdistro: ['noetic']
+ gcc: ['8', '9', '10']
+ submodule: ['exclude', 'BMI08x-Sensor-API', 'BMP3-Sensor-API', 'all']
+ container: ros:${{ matrix.rosdistro }}-ros-base-focal
+ name: GCC ${{ matrix.gcc }} - Submodule ${{ matrix.submodule }} - ROS ${{ matrix.rosdistro }}
+ steps:
+ - uses: actions/checkout@v4
+ name: Checkout lpp
+ with:
+ repository: ethz-asl/lpp
+ token: ${{ secrets.PAT }}
+ path: catkin_ws/src/lpp
+
+ - name: Install newest git version
+ run: sudo apt update && sudo apt-get install -y software-properties-common && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+
+ - name: Install GCC version ${{ matrix.gcc }}
+ run: sudo add-apt-repository ppa:ubuntu-toolchain-r/test -y && sudo apt update && sudo apt install -y gcc-${{ matrix.gcc }} g++-${{ matrix.gcc }} && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-${{ matrix.gcc }} 100 --slave /usr/bin/g++ g++ /usr/bin/g++-${{ matrix.gcc }} && gcc --version && g++ --version
+
+ - name: Install catkin tools
+ run: sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools
+
+ - name: Install system dependencies
+ run: sudo apt install -y libgoogle-glog-dev
+
+ - uses: actions/checkout@v4
+ name: Checkout mav_sensors
+ with:
+ repository: ethz-asl/mav_sensors
+ submodules: recursive
+ token: ${{ secrets.PAT }}
+ path: catkin_ws/src/mav_sensors
+
+ - name: Exclude submodules
+ if: matrix.submodule == 'exclude'
+ run: rm -rf mav_sensors_drivers/lib/*
+ shell: bash
+ working-directory: catkin_ws/src/mav_sensors
+
+ - name: Exclude submodules except ${{ matrix.submodule }}
+ if: matrix.submodule != 'exclude' && matrix.submodule != 'all'
+ run: find . -mindepth 1 -type d ! -name ${{ matrix.submodule }} -exec rm -rf {} +
+ working-directory: catkin_ws/src/mav_sensors/mav_sensors_drivers/lib
+ shell: bash
+
+ - name: Build mav_sensors
+ run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && catkin build -v mav_sensors_demo --no-status && source ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash
+ shell: bash
+ working-directory: catkin_ws
+
+
+

mav_sensors_demo/CMakeLists.txt

@@ -29,8 +29,12 @@ include_directories(
 add_executable(${PROJECT_NAME}_xwr18xx_mmw_demo src/xwr18xx_mmw_demo_node.cpp)
 target_link_libraries(${PROJECT_NAME}_xwr18xx_mmw_demo ${catkin_LIBRARIES})
 
+if (MAV_SENSORS_BMI08X_SUPPORT)
 add_executable(${PROJECT_NAME}_bmi088_demo src/bmi088_demo.cpp)
 target_link_libraries(${PROJECT_NAME}_bmi088_demo ${catkin_LIBRARIES})
+endif ()
 
+if (MAV_SENSORS_BMP3_SUPPORT)
 add_executable(${PROJECT_NAME}_bmp390_demo src/bmp390_demo.cpp)
-target_link_libraries(${PROJECT_NAME}_bmp390_demo ${catkin_LIBRARIES})
+target_link_libraries(${PROJECT_NAME}_bmp390_demo ${catkin_LIBRARIES})
+endif ()

mav_sensors_drivers/CMakeLists.txt

@@ -3,12 +3,10 @@ project(mav_sensors_drivers)
 
 add_compile_options(-std=c++17)
 
-find_package(catkin REQUIRED roscpp lpp mav_sensors_core)
-
-catkin_package(
- INCLUDE_DIRS include lib/BMP3-Sensor-API lib/BMI08x-Sensor-API
- LIBRARIES ${PROJECT_NAME} ${PROJECT_NAME}_BMP3 ${PROJECT_NAME}_BMI08x
- CATKIN_DEPENDS roscpp lpp mav_sensors_core
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ lpp
+ mav_sensors_core
 )
 
 add_compile_definitions(MODE_LPP)
@@ -17,28 +15,57 @@ add_compile_definitions(MODE_LPP)
 ## Build ##
 ###########
 
+if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/lib/BMP3-Sensor-API/)
+ set(MAV_SENSORS_BMP3_SUPPORT ON)
+ set(MAV_SENSORS_OPTIONAL_SRC_FILES ${MAV_SENSORS_OPTIONAL_SRC_FILES} src/barometer/bmp390.cpp)
+ set(MAV_SENSORS_OPTIONAL_INCLUDE_DIRS ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS} lib/BMP3-Sensor-API)
+ set(MAV_SENSORS_OPTIONAL_LIBRARIES ${MAV_SENSORS_OPTIONAL_LIBRARIES} ${PROJECT_NAME}_BMP3)
+ message(STATUS "Found BMP3-Sensor-API")
+else()
+ message(WARNING "BMP3-Sensor-API not found. BMP3 sensor will not be supported.")
+endif()
+
+if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/lib/BMI08x-Sensor-API/)
+ set(MAV_SENSORS_BMI08X_SUPPORT ON)
+ set(MAV_SENSORS_OPTIONAL_SRC_FILES ${MAV_SENSORS_OPTIONAL_SRC_FILES} src/imu/bmi088.cpp)
+ set(MAV_SENSORS_OPTIONAL_INCLUDE_DIRS ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS} lib/BMI08x-Sensor-API)
+ set(MAV_SENSORS_OPTIONAL_LIBRARIES ${MAV_SENSORS_OPTIONAL_LIBRARIES} ${PROJECT_NAME}_BMI08x)
+ message(STATUS "Found BMI08x-Sensor-API")
+else()
+ message(WARNING "BMI08x-Sensor-API not found. BMI08x sensor will not be supported.")
+endif()
+
+catkin_package(
+ INCLUDE_DIRS include ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS}
+ LIBRARIES ${PROJECT_NAME} ${MAV_SENSORS_OPTIONAL_LIBRARIES}
+ CATKIN_DEPENDS roscpp lpp mav_sensors_core
+)
+
 include_directories(
- include 
- lib/BMP3-Sensor-API
- lib/BMI08x-Sensor-API
+ include
+ ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
 )
 
 add_library(${PROJECT_NAME}
  src/imu/adis16448.cpp
- src/barometer/bmp390.cpp
- src/imu/bmi088.cpp
- src/radar/xwr18xx_mmw_demo.cpp)
+ src/radar/xwr18xx_mmw_demo.cpp
+ ${MAV_SENSORS_OPTIONAL_SRC_FILES})
 
+if (MAV_SENSORS_BMP3_SUPPORT)
 add_library(${PROJECT_NAME}_BMP3
  lib/BMP3-Sensor-API/bmp3.c)
+set(MAV_SENSOR_LIBRARIES ${MAV_SENSOR_LIBRARIES} ${PROJECT_NAME}_BMP3)
+endif()
 
+if (MAV_SENSORS_BMI08X_SUPPORT)
 add_library(${PROJECT_NAME}_BMI08x
  lib/BMI08x-Sensor-API/bmi08a.c
  lib/BMI08x-Sensor-API/bmi08g.c
  lib/BMI08x-Sensor-API/bmi08xa.c)
+endif()
 
-target_link_libraries(${PROJECT_NAME} PUBLIC ${PROJECT_NAME}_BMP3 ${catkin_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} PUBLIC ${MAV_SENSOR_LIBRARIES} ${catkin_LIBRARIES})
 
 install(TARGETS ${PROJECT_NAME}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}