Squashed Commit:

* change cmakelist to support cmake, ros1 and ros2
fixposition · Jan 31, 2023 · 43a0f87 · 43a0f87
1 parent 2f6911b
commit 43a0f87
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Showing 7 changed files with 209 additions and 37 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,43 +1,79 @@
 # GENERAL ========================================================================================================
 cmake_minimum_required(VERSION 3.5)
-project(fixposition_gnss_tf LANGUAGES CXX)
+project(fixposition_gnss_tf VERSION 3.0.0 LANGUAGES CXX)
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_BUILD_TYPE "Release")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fdiagnostics-color=always -Wall -Wextra -Wpedantic -Wno-unused-parameter")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3")
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 add_definitions(-DEIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)
 
 # DEPENDENCIES =========================================================================================================
 find_package(Eigen3 REQUIRED)
-find_package(catkin REQUIRED)
 
-# define catkin package for this project
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}
-  CATKIN_DEPENDS
-)
-
-include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR})
+include_directories(include ${EIGEN3_INCLUDE_DIR})
 
 # BUILD SHARED LIBRARY =================================================================================================
 add_library(${PROJECT_NAME} SHARED
   src/gnss_tf.cpp
 )
 
-target_include_directories(${PROJECT_NAME} INTERFACE ${catkin_LIBRARIES})
 # link library against dependencies
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${EIGEN3_LIBRARIES})
 
-# TEST =================================================================================================================
-if (CATKIN_ENABLE_TESTING)
-  find_package(yaml-cpp  REQUIRED)
+list(APPEND PACKAGE_LIBRARIES ${PROJECT_NAME})
+
+# INSTALL ==============================================================================================================
+# define ament package for this project
+install(
+  DIRECTORY include
+  DESTINATION .
+)
+
+# Mark executables and/or libraries for installation
+install(TARGETS ${PACKAGE_LIBRARIES} EXPORT ${PROJECT_NAME}-targets DESTINATION lib)
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(EXPORT ${PROJECT_NAME}-targets DESTINATION lib/cmake/${PROJECT_NAME})
 
-  catkin_add_gtest(gnss_test test/gnss_test.cpp)
-  target_compile_definitions(gnss_test PRIVATE TEST_DIR="${CMAKE_CURRENT_LIST_DIR}/test/")
-  target_link_libraries(gnss_test ${PROJECT_NAME} ${catkin_LIBRARIES} yaml-cpp)
+# Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}
+  DESTINATION include
+  FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp" PATTERN "*.hxx"
+)
+
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+
+# Create cmake config files
+# See doc: https://cmake.org/cmake/help/latest/module/CMakePackageConfigHelpers.html#example-generating-package-files
+include(CMakePackageConfigHelpers)
+configure_package_config_file(${CMAKE_CURRENT_LIST_DIR}/cmake/${PROJECT_NAME}-config.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config.cmake
+  INSTALL_DESTINATION lib/cmake/${PROJECT_NAME}
+  NO_CHECK_REQUIRED_COMPONENTS_MACRO)
+
+write_basic_package_version_file(${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake
+  VERSION ${PROJECT_VERSION} COMPATIBILITY ExactVersion)
+
+install(FILES
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config.cmake"
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake"
+  DESTINATION lib/cmake/${PROJECT_NAME})
 
-  include(GoogleTest)
-  gtest_discover_tests(gnss_test)
-endif()
-
+export(EXPORT ${PROJECT_NAME}-targets FILE ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-targets.cmake)
+
+# TEST =================================================================================================================
+include(${PROJECT_SOURCE_DIR}/cmake/testing.cmake)
+find_package(yaml-cpp REQUIRED)
+
+add_gtest(
+  TARGET gnss_test
+  SOURCES test/gnss_test.cpp
+  LINK_LIBS ${PROJECT_NAME} yaml-cpp
+  WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/test
+)
diff --git a/README.md b/README.md
@@ -12,40 +12,86 @@ This is a simple C++ library for geodetic coordinate transformations. This shoul
 
 -  [Eigen3](https://eigen.tuxfamily.org/index.php?title=Main_Page), tested with version [3.3.7](https://gitlab.com/libeigen/eigen/-/releases/3.3.7)
 -  [CMake](https://cmake.org/)
--  [Catkin](http://wiki.ros.org/catkin)
+-  [Yaml-Cpp](https://yaml-cpp.docsforge.com/)
 
 For the tests:
 
 -  [Googletest](https://github.com/google/googletest)
 
-## Build
+Build system:
+- Plain CMake
+- catkin (for ROS1)
+- colcon (for ROS2)
+## Installing dependencies on Ubuntu system
 
-### Using [catkin_tools](https://catkin-tools.readthedocs.io/en/latest/) (_recommended_):
+```
+ sudo apt update
+ sudo apt install -y wget
+ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+ sudo apt-get update
+ sudo apt install -y build-essential cmake
+ sudo apt install -y libeigen3-dev
+ sudo apt install -y libyaml-cpp-dev
+```
 
--  Create a catkin workspace with the structure:
+## Build
+
+### Using catkin (ROS1):
+-  Create a ament workspace with the structure:
 
 ```
 catkin_ws
 └── src
-    └── gnsstransformationlib
-    └── <Other Catkin Pacakges>
+    └── fixposition_gnss_tf
+    └── <Other Pacakges>
 ```
 
 -  in the workspace do:
 
 ```bash
 catkin build fixposition_gnss_tf
 ```
+- and to build and run unit tests
 
-### Using CMake:
+```bash
+catkin run_tests fixposition_gnss_tf
+```
+
+### Using colcon (ROS2):
+-  Create a ament workspace with the structure:
+
+```
+ament_ws
+└── src
+    └── fixposition_gnss_tf
+    └── <Other Pacakges>
+```
 
+-  in the workspace do:
+
+```bash
+colcon build --packages-select fixposition_gnss_tf
+```
+- and to build and run unit tests
+
+```bash
+colcon test --packages-select fixposition_gnss_tf
+```
+
+### Using CMake:
+- build
 ```bash
 mkdir build
 cd build
 cmake ..
 make
 ```
 
+- run tests
+```bash
+make test
+```
+
 ## Example Usage
 
 See `test/gnss_test.cpp` for examples of how to use these functions

diff --git a/cmake/fixposition_gnss_tf-config.cmake.in b/cmake/fixposition_gnss_tf-config.cmake.in
@@ -0,0 +1,8 @@
+@PACKAGE_INIT@
+
+set(@PROJECT_NAME@_FOUND ON)
+set_and_check(@PROJECT_NAME@_INCLUDE_DIRS "${PACKAGE_PREFIX_DIR}/include")
+set_and_check(@PROJECT_NAME@_LIBRARY_DIRS "${PACKAGE_PREFIX_DIR}/lib")
+set(@PROJECT_NAME@_LIBRARIES "@PACKAGE_LIBRARIES@")
+
+include("${CMAKE_CURRENT_LIST_DIR}/@[email protected]")
diff --git a/cmake/testing.cmake b/cmake/testing.cmake
@@ -0,0 +1,78 @@
+# Global vars ----------------------------------------------------------------------------------------------------------
+set(GTEST_PREFIX "gtest")
+set(BUILD_TEST_TARGET "build_test")
+
+enable_testing()
+
+if(NOT CATKIN_DEVEL_PREFIX) # not using ROS1
+    # Deps -------------------------------------------------------------------------------------------------------------
+    find_package(GTest REQUIRED)
+    include_directories(${GTEST_INCLUDE_DIRS})
+
+    # CMake modules ----------------------------------------------------------------------------------------------------
+    include(GoogleTest)
+
+    add_custom_target(${BUILD_TEST_TARGET})
+endif()
+
+# Macros ---------------------------------------------------------------------------------------------------------------
+macro(add_gtest)
+    # Arg parse
+    set(options)
+    set(one_value_args TARGET WORKING_DIRECTORY)
+    set(multi_value_args SOURCES INCLUDE_DIRS LINK_DIRS LINK_LIBS)
+    cmake_parse_arguments(ADD_GTEST "${options}" "${one_value_args}" "${multi_value_args}" ${ARGN})
+
+    if(CATKIN_DEVEL_PREFIX AND CATKIN_ENABLE_TESTING) # using ROS1 with catkin
+        # Call catkin macro instead
+        catkin_add_gtest(
+            ${GTEST_PREFIX}_${ADD_GTEST_TARGET}
+            ${ADD_GTEST_SOURCES}
+            WORKING_DIRECTORY ${ADD_GTEST_WORKING_DIRECTORY}
+        )
+        target_link_libraries(${GTEST_PREFIX}_${ADD_GTEST_TARGET}
+            ${catkin_LIBRARIES}
+            ${ADD_GTEST_LINK_LIBS}
+        )
+    elseif((DEFINED ENV{COLCON}) AND BUILD_TESTING) # ROS2 / build with colcon
+        # Call ament_add_gtest macro
+        find_package(ament_cmake_gtest REQUIRED)
+
+        ament_add_gtest(
+            ${GTEST_PREFIX}_${ADD_GTEST_TARGET}
+            ${ADD_GTEST_SOURCES}
+            WORKING_DIRECTORY ${ADD_GTEST_WORKING_DIRECTORY})
+
+        target_link_libraries(
+            ${GTEST_PREFIX}_${ADD_GTEST_TARGET}
+            ${ADD_GTEST_LINK_LIBS}
+        )
+    elseif(NOT CATKIN_DEVEL_PREFIX AND NOT(DEFINED ENV{COLCON})) # plain CMake
+        # Make targets
+        add_executable(${GTEST_PREFIX}_${ADD_GTEST_TARGET}
+            ${ADD_GTEST_SOURCES}
+        )
+
+        target_include_directories(${GTEST_PREFIX}_${ADD_GTEST_TARGET}
+            PRIVATE ${ADD_GTEST_INCLUDE_DIRS}
+        )
+        target_link_directories(${GTEST_PREFIX}_${ADD_GTEST_TARGET}
+            PRIVATE ${ADD_GTEST_LINK_DIRS}
+        )
+        target_link_libraries(${GTEST_PREFIX}_${ADD_GTEST_TARGET}
+            PRIVATE
+            GTest::gtest_main
+            ${ADD_GTEST_LINK_LIBS}
+        )
+
+        # Discover tests
+        gtest_add_tests(
+            TARGET ${GTEST_PREFIX}_${ADD_GTEST_TARGET}
+            SOURCES ${ADD_GTEST_SOURCES}
+            WORKING_DIRECTORY ${ADD_GTEST_WORKING_DIRECTORY}
+        )
+
+        # Add to global custom target
+        add_dependencies(${BUILD_TEST_TARGET} ${GTEST_PREFIX}_${ADD_GTEST_TARGET})
+    endif()
+endmacro()
diff --git a/include/fixposition_gnss_tf/gnss_tf.hpp b/include/fixposition_gnss_tf/gnss_tf.hpp
@@ -85,7 +85,6 @@ Eigen::Vector3d TfEnuEcef(const Eigen::Vector3d &ecef, const Eigen::Vector3d &wg
  */
 Eigen::Vector3d TfEcefEnu(const Eigen::Vector3d &enu, const Eigen::Vector3d &wgs84llh_ref);
 
-
 Eigen::Vector3d TfNedEcef(const Eigen::Vector3d &ecef, const Eigen::Vector3d &wgs84llh_ref);
 Eigen::Vector3d TfEcefNed(const Eigen::Vector3d &ned, const Eigen::Vector3d &wgs84llh_ref);
 
@@ -162,4 +161,4 @@ inline Eigen::Vector3d RotToEul(const Eigen::Matrix3d &rot) {
 
 }  // namespace gnss_tf
 
-#endif
+#endif
diff --git a/package.xml b/package.xml
@@ -1,13 +1,18 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
     <name>fixposition_gnss_tf</name>
-    <version>2.0.0</version>
+    <version>3.0.0</version>
     <description>Fixposition GNSS coordinates transformation</description>
 
     <maintainer email="[email protected]">Fixposition AG</maintainer>
 
     <license>MIT</license>
 
-    <buildtool_depend>catkin</buildtool_depend>
-    <depend>roscpp</depend>
+    <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+    <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+    <test_depend condition="$ROS_VERSION == 2">ament_cmake_gtest</test_depend>
+
+    <export>
+        <build_type>cmake</build_type>
+    </export>
 </package>
diff --git a/test/gnss_test.cpp b/test/gnss_test.cpp
@@ -28,8 +28,8 @@ namespace {
 
 static const double ecef_err = 5e-4;
 static const double rad_err = 1e-8;
-static const std::string gnss_test_config_path = TEST_DIR + std::string("gnss_test.yaml");
-static const std::string geometry_test_config_path = TEST_DIR + std::string("geometry_test.yaml");
+static const std::string gnss_test_config_path = std::string("gnss_test.yaml");
+static const std::string geometry_test_config_path = std::string("geometry_test.yaml");
 
 /**
  * @brief Convert degrees to radians