8000 Fix gtsam_catkin build chain by jurichterrsl · Pull Request #1 · leggedrobotics/field_local_planner · GitHub
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Fix gtsam_catkin build chain #1

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Fix gtsam_catkin build chain #1

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8 changes: 1 addition & 7 deletions field_local_planner_base/field_local_planner_base/CMakeLists.txt
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10000
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@ endif()

set(CATKIN_PACKAGE_LIST
grid_map_core
gtsam_catkin
)

find_package(catkin REQUIRED COMPONENTS
Expand All @@ -28,11 +29,6 @@ find_package(yaml-cpp REQUIRED)
# OpenCV
find_package(OpenCV REQUIRED)

# GTSAM
# find_package(GTSAMCMakeTools REQUIRED)
# set(GTSAM_BUILD_WITH_MARCH_NATIVE OFF CACHE BOOL "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" FORCE)
find_package(GTSAM REQUIRED)

# PCL
set(PCL_FIND_QUIETLY ON)
find_package(PCL REQUIRED
Expand Down Expand Up @@ -64,7 +60,6 @@ include_directories(
include
SYSTEM
${catkin_INCLUDE_DIRS}
${GTSAM_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)

Expand All @@ -79,7 +74,6 @@ target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
${OpenCV_LIBS}
${PCL_LIBRARIES}
gtsam
${YAML_CPP_LIBRARIES}
)

Expand Down
4 changes: 1 addition & 3 deletions field_local_planner_base/field_local_planner_base/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,8 +13,6 @@

<!-- Catkin packages -->
<depend>grid_map_core</depend>

<!-- Non-catkin packages -->
<depend>gtsam</depend>
<depend>gtsam_catkin</depend>

</package>
8 changes: 0 additions & 8 deletions field_local_planner_base/field_local_planner_base_plugin/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -43,11 +43,6 @@ find_package(yaml-cpp REQUIRED)
# OpenCV
find_package(OpenCV REQUIRED)

# GTSAM
# find_package(GTSAMCMakeTools REQUIRED)
set(GTSAM_BUILD_WITH_MARCH_NATIVE OFF CACHE BOOL "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" FORCE)
find_package(GTSAM REQUIRED)

# PCL
set(PCL_FIND_QUIETLY ON)
find_package(PCL REQUIRED
Expand Down Expand Up @@ -81,7 +76,6 @@ catkin_package(
include_directories(
include
SYSTEM
${GTSAM_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
Expand All @@ -93,14 +87,12 @@ add_library(${PROJECT_NAME}

target_include_directories(${PROJECT_NAME}
SYSTEM PUBLIC
${GTSAM_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)

target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
gtsam
${OpenCV_LIBRARIES}
)

Expand Down
5 changes: 0 additions & 5 deletions field_local_planner_ros/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -24,9 +24,6 @@ find_package(catkin REQUIRED
${CATKIN_PACKAGE_LIST}
)

set(GTSAM_BUILD_WITH_MARCH_NATIVE OFF CACHE BOOL "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" FORCE)
find_package(GTSAM REQUIRED)

# Libraries dependencies
# configure catkin package
catkin_package(
Expand All @@ -40,7 +37,6 @@ catkin_package(
include_directories(
SYSTEM
${catkin_INCLUDE_DIRS}
${GTSAM_INCLUDE_DIRS}
)

# Declare node
Expand All @@ -49,7 +45,6 @@ add_executable(field_local_planner_node

target_link_libraries(field_local_planner_node
${catkin_LIBRARIES}
gtsam
)

#############
Expand Down
7 changes: 0 additions & 7 deletions field_local_planners/field_local_planner_falco/field_local_planner_falco/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -22,11 +22,6 @@ find_package(catkin REQUIRED COMPONENTS
${CATKIN_PACKAGE_LIST}
)

# GTSAM
# find_package(GTSAMCMakeTools REQUIRED)
set(GTSAM_BUILD_WITH_MARCH_NATIVE OFF CACHE BOOL "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" FORCE)
find_package(GTSAM REQUIRED)

# Libraries dependencies
# PCL
set(PCL_FIND_QUIETLY ON)
Expand Down Expand Up @@ -56,7 +51,6 @@ catkin_package(
include_directories(
include
SYSTEM
${GTSAM_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
Expand All @@ -69,7 +63,6 @@ add_library(${PROJECT_NAME}
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
${PCL_LIBRARIES}
gtsam
)

#############
Expand Down
3 changes: 0 additions & 3 deletions field_local_planners/field_local_planner_falco/field_local_planner_falco/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,4 @@
<depend>field_local_planner_base</depend>
<depend>grid_map_core</depend>

<!-- Non-catkin packages -->
<depend>gtsam</depend>

</package>
8 changes: 0 additions & 8 deletions ..._local_planners/field_local_planner_falco/field_local_planner_falco_plugin/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -29,11 +29,6 @@ find_package(catkin REQUIRED COMPONENTS
)

# Libraries dependencies
# GTSAM
# find_package(GTSAMCMakeTools REQUIRED)
set(GTSAM_BUILD_WITH_MARCH_NATIVE OFF CACHE BOOL "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" FORCE)
find_package(GTSAM REQUIRED)

# PCL
set(PCL_FIND_QUIETLY ON)
find_package(PCL REQUIRED
Expand Down Expand Up @@ -65,7 +60,6 @@ catkin_package(
include_directories(
include
SYSTEM
${GTSAM_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
Expand All @@ -77,14 +71,12 @@ add_library(${PROJECT_NAME}

target_include_directories(${PROJECT_NAME}
SYSTEM PUBLIC
${GTSAM_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)

target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
gtsam
)

add_dependencies(${PROJECT_NAME}
Expand Down
7 changes: 0 additions & 7 deletions field_local_planners/field_local_planner_rmp/field_local_planner_rmp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -30,11 +30,6 @@ find_package(yaml-cpp REQUIRED)
# OpenCV
find_package(OpenCV REQUIRED)

# GTSAM
# find_package(GTSAMCMakeTools REQUIRED)
set(GTSAM_BUILD_WITH_MARCH_NATIVE OFF CACHE BOOL "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" FORCE)
find_package(GTSAM REQUIRED)

# PCL
set(PCL_FIND_QUIETLY ON)
find_package(PCL REQUIRED
Expand Down Expand Up @@ -65,7 +60,6 @@ catkin_package(
include_directories(
include
SYSTEM
${GTSAM_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
Expand All @@ -79,7 +73,6 @@ target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
${OpenCV_LIBS}
${PCL_LIBRARIES}
gtsam
${YAML_CPP_LIBRARIES}
)

Expand Down
3 changes: 0 additions & 3 deletions field_local_planners/field_local_planner_rmp/field_local_planner_rmp/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,4 @@
<depend>grid_map_core</depend>
<depend>rmp</depend>

<!-- Non-catkin packages -->
<depend>gtsam</depend>

</package>
8 changes: 0 additions & 8 deletions field_local_planners/field_local_planner_rmp/field_local_planner_rmp_plugin/CMakeLists.txt
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4662
Original file line number Diff line number Diff line change
Expand Up @@ -30,11 +30,6 @@ find_package(catkin REQUIRED COMPONENTS
)

# Libraries dependencies
# GTSAM
# find_package(GTSAMCMakeTools REQUIRED)
set(GTSAM_BUILD_WITH_MARCH_NATIVE OFF CACHE BOOL "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" FORCE)
find_package(GTSAM REQUIRED)

# Dynamic reconfigure
generate_dynamic_reconfigure_options(dynamic_reconfigure/Rmp.cfg)

Expand All @@ -51,7 +46,6 @@ catkin_package(
include_directories(
include
SYSTEM
${GTSAM_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
)

Expand All @@ -62,13 +56,11 @@ add_library(${PROJECT_NAME}

target_include_directories(${PROJECT_NAME}
SYSTEM PUBLIC
${GTSAM_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
)

target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
gtsam
)

add_dependencies(${PROJECT_NAME}
Expand Down
22 changes: 12 additions & 10 deletions field_local_planners/field_local_planner_rmp/rmp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,14 +2,13 @@ cmake_minimum_required(VERSION 2.8.3)
project(rmp)
set (CMAKE_CXX_STANDARD 14)

find_package(catkin REQUIRED COMPONENTS
set(CATKIN_PACKAGE_DEPENDENCIES
gtsam_catkin
)

# GTSAM
# NB: The issue with including all GTSAM plugins is that it changes the names of libraries and breaks catkin packages.
# E.g. "librmp" becomes "librmpRelWithDebInfo"
set(GTSAM_BUILD_WITH_MARCH_NATIVE OFF CACHE BOOL "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" FORCE)
find_package(GTSAM REQUIRED)
find_package(catkin REQUIRED COMPONENTS
${CATKIN_PACKAGE_DEPENDENCIES}
)

if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE RelWitDebInfo)
Expand All @@ -24,6 +23,9 @@ find_package(Eigen3 REQUIRED)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS
${CATKIN_PACKAGE_DEPENDENCIES}
DEPENDS
)

###########
Expand All @@ -34,7 +36,6 @@ include_directories(
test
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${GTSAM_INCLUDE_DIRS}
)

######################################################
Expand All @@ -47,8 +48,7 @@ add_library(${PROJECT_NAME} SHARED

add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
gtsam)
${catkin_LIBRARIES})


##########
Expand All @@ -58,7 +58,9 @@ if(CATKIN_ENABLE_TESTING)
catkin_add_gtest(${PROJECT_NAME}_test test/main.cpp
test/unitTests.cpp
)
target_link_libraries(${PROJECT_NAME}_test ${PROJECT_NAME})
target_link_libraries(${PROJECT_NAME}_test ${PROJECT_NAME}
${catkin_LIBRARIES}
)
endif()

#############
Expand Down
2 changes: 1 addition & 1 deletion field_local_planners/field_local_planner_rmp/rmp/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,5 +10,5 @@

<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>gtsam</depend>
<depend>gtsam_catkin</depend>
</package>
7 changes: 0 additions & 7 deletions ...local_planners/field_local_planner_trackline/field_local_planner_trackline/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -29,11 +29,6 @@ find_package(yaml-cpp REQUIRED)
# OpenCV
find_package(OpenCV REQUIRED)

# GTSAM
# find_package(GTSAMCMakeTools REQUIRED)
set(GTSAM_BUILD_WITH_MARCH_NATIVE OFF CACHE BOOL "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" FORCE)
find_package(GTSAM REQUIRED)

# PCL
set(PCL_FIND_QUIETLY ON)
find_package(PCL REQUIRED
Expand Down Expand Up @@ -64,7 +59,6 @@ catkin_package(
include_directories(
include
SYSTEM
${GTSAM_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
Expand All @@ -78,7 +72,6 @@ target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
${OpenCV_LIBS}
${PCL_LIBRARIES}
gtsam
${YAML_CPP_LIBRARIES}
)

Expand Down
3 changes: 0 additions & 3 deletions field_local_planners/field_local_planner_trackline/field_local_planner_trackline/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,4 @@
<depend>field_local_planner_base</depend>
<depend>grid_map_core</depend>

<!-- Non-catkin packages -->
<depend>gtsam</depend>

</package>
8 changes: 0 additions & 8 deletions ...lanners/field_local_planner_trackline/field_local_planner_trackline_plugin/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -35,11 +35,6 @@ find_package(yaml-cpp REQUIRED)
# OpenCV
find_package(OpenCV REQUIRED)

# GTSAM
# find_package(GTSAMCMakeTools REQUIRED)
set(GTSAM_BUILD_WITH_MARCH_NATIVE OFF CACHE BOOL "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" FORCE)
find_package(GTSAM REQUIRED)

# PCL
set(PCL_FIND_QUIETLY ON)
find_package(PCL REQUIRED
Expand Down Expand Up @@ -73,7 +68,6 @@ catkin_package(
include_directories(
include
SYSTEM
${GTSAM_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
Expand All @@ -85,14 +79,12 @@ add_library(${PROJECT_NAME}

target_include_directories(${PROJECT_NAME}
SYSTEM PUBLIC
${GTSAM_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)

target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
gtsam
${OpenCV_LIBRARIES}
)

Expand Down
0