From 8f8557f7ecc1b7252a93df5c81ee9ac4cb386574 Mon Sep 17 00:00:00 2001 From: jurichter Date: Fri, 14 Mar 2025 12:20:37 +0100 Subject: [PATCH] building correctly --- .../field_local_planner_base/CMakeLists.txt | 8 +------ .../field_local_planner_base/package.xml | 4 +--- .../CMakeLists.txt | 8 ------- field_local_planner_ros/CMakeLists.txt | 5 ----- .../field_local_planner_falco/CMakeLists.txt | 7 ------ .../field_local_planner_falco/package.xml | 3 --- .../CMakeLists.txt | 8 ------- .../field_local_planner_rmp/CMakeLists.txt | 7 ------ .../field_local_planner_rmp/package.xml | 3 --- .../CMakeLists.txt | 8 ------- .../rmp/CMakeLists.txt | 22 ++++++++++--------- .../field_local_planner_rmp/rmp/package.xml | 2 +- .../CMakeLists.txt | 7 ------ .../field_local_planner_trackline/package.xml | 3 --- .../CMakeLists.txt | 8 ------- 15 files changed, 15 insertions(+), 88 deletions(-) diff --git a/field_local_planner_base/field_local_planner_base/CMakeLists.txt b/field_local_planner_base/field_local_planner_base/CMakeLists.txt index 3785736..a79ba42 100644 --- a/field_local_planner_base/field_local_planner_base/CMakeLists.txt +++ b/field_local_planner_base/field_local_planner_base/CMakeLists.txt @@ -15,6 +15,7 @@ endif() set(CATKIN_PACKAGE_LIST grid_map_core + gtsam_catkin ) find_package(catkin REQUIRED COMPONENTS @@ -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 @@ -64,7 +60,6 @@ include_directories( include SYSTEM ${catkin_INCLUDE_DIRS} - ${GTSAM_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ) @@ -79,7 +74,6 @@ target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBS} ${PCL_LIBRARIES} - gtsam ${YAML_CPP_LIBRARIES} ) diff --git a/field_local_planner_base/field_local_planner_base/package.xml b/field_local_planner_base/field_local_planner_base/package.xml index d626d74..53e6d44 100644 --- a/field_local_planner_base/field_local_planner_base/package.xml +++ b/field_local_planner_base/field_local_planner_base/package.xml @@ -13,8 +13,6 @@ grid_map_core - - - gtsam + gtsam_catkin diff --git a/field_local_planner_base/field_local_planner_base_plugin/CMakeLists.txt b/field_local_planner_base/field_local_planner_base_plugin/CMakeLists.txt index 4394cdb..3026c9f 100644 --- a/field_local_planner_base/field_local_planner_base_plugin/CMakeLists.txt +++ b/field_local_planner_base/field_local_planner_base_plugin/CMakeLists.txt @@ -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 @@ -81,7 +76,6 @@ catkin_package( include_directories( include SYSTEM - ${GTSAM_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ) @@ -93,14 +87,12 @@ add_library(${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} ) diff --git a/field_local_planner_ros/CMakeLists.txt b/field_local_planner_ros/CMakeLists.txt index 27b94ef..0ce7405 100644 --- a/field_local_planner_ros/CMakeLists.txt +++ b/field_local_planner_ros/CMakeLists.txt @@ -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( @@ -40,7 +37,6 @@ catkin_package( include_directories( SYSTEM ${catkin_INCLUDE_DIRS} - ${GTSAM_INCLUDE_DIRS} ) # Declare node @@ -49,7 +45,6 @@ add_executable(field_local_planner_node target_link_libraries(field_local_planner_node ${catkin_LIBRARIES} - gtsam ) ############# diff --git a/field_local_planners/field_local_planner_falco/field_local_planner_falco/CMakeLists.txt b/field_local_planners/field_local_planner_falco/field_local_planner_falco/CMakeLists.txt index ff51765..1050bfd 100644 --- a/field_local_planners/field_local_planner_falco/field_local_planner_falco/CMakeLists.txt +++ b/field_local_planners/field_local_planner_falco/field_local_planner_falco/CMakeLists.txt @@ -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) @@ -56,7 +51,6 @@ catkin_package( include_directories( include SYSTEM - ${GTSAM_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ) @@ -69,7 +63,6 @@ add_library(${PROJECT_NAME} target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${PCL_LIBRARIES} - gtsam ) ############# diff --git a/field_local_planners/field_local_planner_falco/field_local_planner_falco/package.xml b/field_local_planners/field_local_planner_falco/field_local_planner_falco/package.xml index c8ff873..64b261a 100644 --- a/field_local_planners/field_local_planner_falco/field_local_planner_falco/package.xml +++ b/field_local_planners/field_local_planner_falco/field_local_planner_falco/package.xml @@ -15,7 +15,4 @@ field_local_planner_base grid_map_core - - gtsam - diff --git a/field_local_planners/field_local_planner_falco/field_local_planner_falco_plugin/CMakeLists.txt b/field_local_planners/field_local_planner_falco/field_local_planner_falco_plugin/CMakeLists.txt index 999a6f8..e4a56aa 100644 --- a/field_local_planners/field_local_planner_falco/field_local_planner_falco_plugin/CMakeLists.txt +++ b/field_local_planners/field_local_planner_falco/field_local_planner_falco_plugin/CMakeLists.txt @@ -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 @@ -65,7 +60,6 @@ catkin_package( include_directories( include SYSTEM - ${GTSAM_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ) @@ -77,14 +71,12 @@ add_library(${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} diff --git a/field_local_planners/field_local_planner_rmp/field_local_planner_rmp/CMakeLists.txt b/field_local_planners/field_local_planner_rmp/field_local_planner_rmp/CMakeLists.txt index c160dc6..4adc614 100644 --- a/field_local_planners/field_local_planner_rmp/field_local_planner_rmp/CMakeLists.txt +++ b/field_local_planners/field_local_planner_rmp/field_local_planner_rmp/CMakeLists.txt @@ -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 @@ -65,7 +60,6 @@ catkin_package( include_directories( include SYSTEM - ${GTSAM_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ) @@ -79,7 +73,6 @@ target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBS} ${PCL_LIBRARIES} - gtsam ${YAML_CPP_LIBRARIES} ) diff --git a/field_local_planners/field_local_planner_rmp/field_local_planner_rmp/package.xml b/field_local_planners/field_local_planner_rmp/field_local_planner_rmp/package.xml index 636aa65..0051fd9 100644 --- a/field_local_planners/field_local_planner_rmp/field_local_planner_rmp/package.xml +++ b/field_local_planners/field_local_planner_rmp/field_local_planner_rmp/package.xml @@ -16,7 +16,4 @@ grid_map_core rmp - - gtsam - diff --git a/field_local_planners/field_local_planner_rmp/field_local_planner_rmp_plugin/CMakeLists.txt b/field_local_planners/field_local_planner_rmp/field_local_planner_rmp_plugin/CMakeLists.txt index d3202b0..eb614f8 100644 --- a/field_local_planners/field_local_planner_rmp/field_local_planner_rmp_plugin/CMakeLists.txt +++ b/field_local_planners/field_local_planner_rmp/field_local_planner_rmp_plugin/CMakeLists.txt @@ -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) @@ -51,7 +46,6 @@ catkin_package( include_directories( include SYSTEM - ${GTSAM_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ) @@ -62,13 +56,11 @@ add_library(${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} diff --git a/field_local_planners/field_local_planner_rmp/rmp/CMakeLists.txt b/field_local_planners/field_local_planner_rmp/rmp/CMakeLists.txt index fb38bb6..a9d1632 100644 --- a/field_local_planners/field_local_planner_rmp/rmp/CMakeLists.txt +++ b/field_local_planners/field_local_planner_rmp/rmp/CMakeLists.txt @@ -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) @@ -24,6 +23,9 @@ find_package(Eigen3 REQUIRED) catkin_package( INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS + ${CATKIN_PACKAGE_DEPENDENCIES} + DEPENDS ) ########### @@ -34,7 +36,6 @@ include_directories( test ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} - ${GTSAM_INCLUDE_DIRS} ) ###################################################### @@ -47,8 +48,7 @@ add_library(${PROJECT_NAME} SHARED add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) target_link_libraries(${PROJECT_NAME} - ${catkin_LIBRARIES} - gtsam) + ${catkin_LIBRARIES}) ########## @@ -58,7 +58,9 @@ if(CATKIN_ENABLE_TESTING) catkin_add_gtest(${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() ############# diff --git a/field_local_planners/field_local_planner_rmp/rmp/package.xml b/field_local_planners/field_local_planner_rmp/rmp/package.xml index 21cd8a1..2186d28 100644 --- a/field_local_planners/field_local_planner_rmp/rmp/package.xml +++ b/field_local_planners/field_local_planner_rmp/rmp/package.xml @@ -10,5 +10,5 @@ TODO catkin - gtsam + gtsam_catkin diff --git a/field_local_planners/field_local_planner_trackline/field_local_planner_trackline/CMakeLists.txt b/field_local_planners/field_local_planner_trackline/field_local_planner_trackline/CMakeLists.txt index 6724a70..c511be2 100644 --- a/field_local_planners/field_local_planner_trackline/field_local_planner_trackline/CMakeLists.txt +++ b/field_local_planners/field_local_planner_trackline/field_local_planner_trackline/CMakeLists.txt @@ -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 @@ -64,7 +59,6 @@ catkin_package( include_directories( include SYSTEM - ${GTSAM_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ) @@ -78,7 +72,6 @@ target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBS} ${PCL_LIBRARIES} - gtsam ${YAML_CPP_LIBRARIES} ) diff --git a/field_local_planners/field_local_planner_trackline/field_local_planner_trackline/package.xml b/field_local_planners/field_local_planner_trackline/field_local_planner_trackline/package.xml index a4eacca..638ba5b 100644 --- a/field_local_planners/field_local_planner_trackline/field_local_planner_trackline/package.xml +++ b/field_local_planners/field_local_planner_trackline/field_local_planner_trackline/package.xml @@ -16,7 +16,4 @@ field_local_planner_base grid_map_core - - gtsam - diff --git a/field_local_planners/field_local_planner_trackline/field_local_planner_trackline_plugin/CMakeLists.txt b/field_local_planners/field_local_planner_trackline/field_local_planner_trackline_plugin/CMakeLists.txt index 5b64782..d754c77 100644 --- a/field_local_planners/field_local_planner_trackline/field_local_planner_trackline_plugin/CMakeLists.txt +++ b/field_local_planners/field_local_planner_trackline/field_local_planner_trackline_plugin/CMakeLists.txt @@ -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 @@ -73,7 +68,6 @@ catkin_package( include_directories( include SYSTEM - ${GTSAM_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ) @@ -85,14 +79,12 @@ add_library(${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} )