As TX1 dont support gazebo, change CMakeLists to build the package in… #87

cretaceous-creature · 2016-06-16T12:04:15Z

Refer to Issue #86
[jsk_mbzirc_${files changed}] fix: TX1 problem.

Description

[jsk_mbzirc_common/CMakeLists.txt] fix: TX1
- check if gazebo is available, if not, ignore then.
[jsk_mbzirc_tasks/CMakeLists.txt]
- check if gazebo is available, if not, ignore then().

… TX1

k-okada · 2016-06-16T12:10:08Z

Please paste result of
git diff --ignore-space-change

2016年6月16日木曜日、[email protected]さんは書きました:

Refer to Issue #86 #86
[jsk_mbzirc__${files changed}_] fix: TX1 problem.
Description

[jsk_mbzirc_common/CMakeLists.txt] fix:

check if gazebo is available, if not, ignore then.

[jsk_mbzirc_tasks/CMakeLists.txt] Add feature XXXXXX

check if gazebo is available, if not, ignore then().

… TX1

You can view, comment on, or merge this pull request online at:

#87
Commit Summary

As TX1 dont support gazebo, change CMakeLists to build the package
in TX1

File Changes

M jsk_mbzirc_common/CMakeLists.txt
https://github.com/start-jsk/jsk_mbzirc/pull/87/files#diff-0 (101)

M jsk_mbzirc_tasks/CMakeLists.txt
https://github.com/start-jsk/jsk_mbzirc/pull/87/files#diff-1 (7)

Patch Links:

https://github.com/start-jsk/jsk_mbzirc/pull/87.patch

https://github.com/start-jsk/jsk_mbzirc/pull/87.diff

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◉ Kei Okada

cretaceous-creature · 2016-06-16T12:20:17Z

diff --git a/jsk_mbzirc_common/CMakeLists.txt b/jsk_mbzirc_common/CMakeLists.txt
index 74b8d1c..0653a81 100644
--- a/jsk_mbzirc_common/CMakeLists.txt
+++ b/jsk_mbzirc_common/CMakeLists.txt
@@ -4,54 +4,62 @@ project(jsk_mbzirc_common)

Find catkin macros and libraries

if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)

is used, also find other catkin packages

-find_package(catkin REQUIRED COMPONENTS gazebo_ros std_msgs geometry_msgs)

+find_package(gazebo_ros QUIET)

-# Depend on system install of Gazebo and SDFormat
-find_package(gazebo REQUIRED)
-find_package(Boost REQUIRED COMPONENTS thread random)
+if(NOT gazebo_ros_FOUND)

message(WARNING "gazebo_ros IS NOT FOUND, so copmile ${PROJECT_NAME}
+without gazebo")
+endif()

+if(gazebo_ros_FOUND)

-###################################
-## catkin specific configuration ##
-###################################
-catkin_package(

find_package(catkin REQUIRED COMPONENTS std_msgs geometry_msgs)
Depend on system install of Gazebo and SDFormat
find_package(gazebo REQUIRED)
find_package(Boost REQUIRED COMPONENTS thread random)

###################################
catkin specific configuration
###################################
catkin_package(
CATKIN_DEPENDS
-)
)

-# build plugins
-include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${GAZE

build plugins
include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${GA

-add_library(mbzirc_gazebo_truck_plugin src/mbzirc_gazebo_truck_plugin.cpp)
-target_link_libraries(mbzirc_gazebo_truck_plugin ${GAZEBO_LIBRARIES} ${catkin_L

add_library(mbzirc_gazebo_truck_plugin src/mbzirc_gazebo_truck_plugin.cpp)
target_link_libraries(mbzirc_gazebo_truck_plugin ${GAZEBO_LIBRARIES} ${catkin

-add_library(mbzirc_gazebo_panel_plugin src/mbzirc_gazebo_panel_plugin.cpp)
-target_link_libraries(mbzirc_gazebo_panel_plugin ${GAZEBO_LIBRARIES} ${catkin_L

add_library(mbzirc_gazebo_panel_plugin src/mbzirc_gazebo_panel_plugin.cpp)
target_link_libraries(mbzirc_gazebo_panel_plugin ${GAZEBO_LIBRARIES} ${catkin

-add_library(mbzirc_gazebo_treasure_plugin src/mbzirc_gazebo_treasure_plugin.cpp
-target_link_libraries(mbzirc_gazebo_treasure_plugin ${GAZEBO_LIBRARIES} ${catki

add_library(mbzirc_gazebo_treasure_plugin src/mbzirc_gazebo_treasure_plugin.c
target_link_libraries(mbzirc_gazebo_treasure_plugin ${GAZEBO_LIBRARIES} ${cat

-add_library(mbzirc_gazebo_uav_collision_rule_plugin src/mbzirc_gazebo_uav_colli
-target_link_libraries(mbzirc_gazebo_uav_collision_rule_plugin ${GAZEBO_LIBRARIE

add_library(mbzirc_gazebo_uav_collision_rule_plugin src/mbzirc_gazebo_uav_col
target_link_libraries(mbzirc_gazebo_uav_collision_rule_plugin ${GAZEBO_LIBRAR

-#############
-## Install ##
-#############
-install(TARGETS

#############
Install
#############
install(TARGETS
mbzirc_gazebo_truck_plugin mbzirc_gazebo_panel_plugin mbzirc_gazebo_treasur
mbzirc_gazebo_uav_collision_rule_plugin
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)

-install(DIRECTORY launch gazebo_model

install(DIRECTORY launch gazebo_model
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
USE_SOURCE_PERMISSIONS)

-#############
-## Testing ##
-#############
-if(CATKIN_ENABLE_TESTING)

#############
Testing
#############
if(CATKIN_ENABLE_TESTING)
find_package(rostest REQUIRED)
find_package(roslaunch REQUIRED)
find_package(roslint REQUIRED)
@@ -62,4 +70,5 @@ if(CATKIN_ENABLE_TESTING)
roslaunch_add_file_check(launch/mbzirc_arena_1.launch)
roslaunch_add_file_check(launch/mbzirc_arena_2.launch)
roslaunch_add_file_check(launch/mbzirc_arena_3.launch)
endif()
endif()
\ No newline at end of file
diff --git a/jsk_mbzirc_tasks/CMakeLists.txt b/jsk_mbzirc_tasks/CMakeLists.txt
index 8228503..beabf08 100644
--- a/jsk_mbzirc_tasks/CMakeLists.txt
+++ b/jsk_mbzirc_tasks/CMakeLists.txt
@@ -4,10 +4,13 @@ project(jsk_mbzirc_tasks)

-find_package(catkin REQUIRED COMPONENTS roscpp gazebo_ros)
+find_package(catkin REQUIRED COMPONENTS roscpp)

-find_package(gazebo REQUIRED)
+find_package(gazebo_ros QUIET)
+if(gazebo_ros_FOUND)

find_package(gazebo REQUIRED)
+endif()

cretaceous-creature · 2016-06-16T13:30:53Z

Please merge if no problem.

k-okada · 2016-06-16T13:35:01Z

Please use three backquote for better formatting
http://qiita.com/Qiita/items/c686397e4a0f4f11683d

k-okada · 2016-06-16T13:43:16Z

You have to use web interface to get better style layout

cretaceous-creature · 2016-06-16T13:46:34Z

'''which part? the git diff output?'''

diff --git a/jsk_mbzirc_common/CMakeLists.txt b/jsk_mbzirc_common/CMakeLists.txt
index 74b8d1c..0653a81 100644
--- a/jsk_mbzirc_common/CMakeLists.txt
+++ b/jsk_mbzirc_common/CMakeLists.txt
@@ -4,54 +4,62 @@ project(jsk_mbzirc_common)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS gazebo_ros std_msgs geometry_msgs)

+find_package(gazebo_ros QUIET)

-# Depend on system install of Gazebo and SDFormat
-find_package(gazebo REQUIRED)
-find_package(Boost REQUIRED COMPONENTS thread random)
+if(NOT gazebo_ros_FOUND)
+message(WARNING "gazebo_ros IS NOT FOUND, so copmile ${PROJECT_NAME}
+without gazebo")
+endif()
+
+if(gazebo_ros_FOUND)

-###################################
-## catkin specific configuration ##
-###################################
-catkin_package(
+find_package(catkin REQUIRED COMPONENTS std_msgs geometry_msgs)
+# Depend on system install of Gazebo and SDFormat
+find_package(gazebo REQUIRED)
+find_package(Boost REQUIRED COMPONENTS thread random)
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package(
     CATKIN_DEPENDS
-)
+)

-# build plugins
-include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${GAZE
+# build plugins
+include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${GA

-add_library(mbzirc_gazebo_truck_plugin src/mbzirc_gazebo_truck_plugin.cpp)
-target_link_libraries(mbzirc_gazebo_truck_plugin ${GAZEBO_LIBRARIES} ${catkin_L
+add_library(mbzirc_gazebo_truck_plugin src/mbzirc_gazebo_truck_plugin.cpp)
+target_link_libraries(mbzirc_gazebo_truck_plugin ${GAZEBO_LIBRARIES} ${catkin

-add_library(mbzirc_gazebo_panel_plugin src/mbzirc_gazebo_panel_plugin.cpp)
-target_link_libraries(mbzirc_gazebo_panel_plugin ${GAZEBO_LIBRARIES} ${catkin_L
+add_library(mbzirc_gazebo_panel_plugin src/mbzirc_gazebo_panel_plugin.cpp)
+target_link_libraries(mbzirc_gazebo_panel_plugin ${GAZEBO_LIBRARIES} ${catkin

-add_library(mbzirc_gazebo_treasure_plugin src/mbzirc_gazebo_treasure_plugin.cpp
-target_link_libraries(mbzirc_gazebo_treasure_plugin ${GAZEBO_LIBRARIES} ${catki
+add_library(mbzirc_gazebo_treasure_plugin src/mbzirc_gazebo_treasure_plugin.c
+target_link_libraries(mbzirc_gazebo_treasure_plugin ${GAZEBO_LIBRARIES} ${cat

-add_library(mbzirc_gazebo_uav_collision_rule_plugin src/mbzirc_gazebo_uav_colli
-target_link_libraries(mbzirc_gazebo_uav_collision_rule_plugin ${GAZEBO_LIBRARIE
+add_library(mbzirc_gazebo_uav_collision_rule_plugin src/mbzirc_gazebo_uav_col
+target_link_libraries(mbzirc_gazebo_uav_collision_rule_plugin ${GAZEBO_LIBRAR

-#############
-## Install ##
-#############
-install(TARGETS
+#############
+## Install ##
+#############
+install(TARGETS
     mbzirc_gazebo_truck_plugin mbzirc_gazebo_panel_plugin mbzirc_gazebo_treasur
     mbzirc_gazebo_uav_collision_rule_plugin
     DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
     LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     )

-install(DIRECTORY launch gazebo_model
+install(DIRECTORY launch gazebo_model
     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
     USE_SOURCE_PERMISSIONS)


-#############
-## Testing ##
-#############
-if(CATKIN_ENABLE_TESTING)
+#############
+## Testing ##
+#############
+if(CATKIN_ENABLE_TESTING)
     find_package(rostest REQUIRED)
     find_package(roslaunch REQUIRED)
     find_package(roslint REQUIRED)
@@ -62,4 +70,5 @@ if(CATKIN_ENABLE_TESTING)
     roslaunch_add_file_check(launch/mbzirc_arena_1.launch)
     roslaunch_add_file_check(launch/mbzirc_arena_2.launch)
     roslaunch_add_file_check(launch/mbzirc_arena_3.launch)
+endif()
 endif()
\ No newline at end of file
diff --git a/jsk_mbzirc_tasks/CMakeLists.txt b/jsk_mbzirc_tasks/CMakeLists.txt
index 8228503..beabf08 100644
--- a/jsk_mbzirc_tasks/CMakeLists.txt
+++b/jsk_mbzirc_tasks/CMakeLists.txt
@@ -4,10 +4,13 @@ project(jsk_mbzirc_tasks)

''' also the CMakeLists in jsk_mbzirc_tasks..'''
''' like this?'''

-find_package(catkin REQUIRED COMPONENTS roscpp gazebo_ros)
+find_package(catkin REQUIRED COMPONENTS roscpp)

-find_package(gazebo REQUIRED)
+find_package(gazebo_ros QUIET)
+if(gazebo_ros_FOUND)
+find_package(gazebo REQUIRED)
+endif()

cretaceous-creature · 2016-06-16T14:34:26Z

You fail to compile?
Try update the jsk_mbzirc_common CMakeLists in this PR

tongtybj · 2016-06-16T14:36:32Z

Finally, I confirmed the correct result in another TX1 board as follows:

ubuntu@tegra-ubuntu:~/ros/jsk_mbzirc$ catkin build
--------------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /home/ubuntu/ros/uav_ws/devel:/opt/ros/indigo
Workspace:                   /home/ubuntu/ros/jsk_mbzirc
--------------------------------------------------------------------------
Source Space:       [exists] /home/ubuntu/ros/jsk_mbzirc/src
Log Space:          [exists] /home/ubuntu/ros/jsk_mbzirc/logs
Build Space:        [exists] /home/ubuntu/ros/jsk_mbzirc/build
Devel Space:        [exists] /home/ubuntu/ros/jsk_mbzirc/devel
Install Space:      [unused] /home/ubuntu/ros/jsk_mbzirc/install
DESTDIR:            [unused] None
--------------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
--------------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
--------------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
--------------------------------------------------------------------------
Workspace configuration appears valid.
--------------------------------------------------------------------------
[build] Found '5' packages in 0.0 seconds.                                                                                                                               
[build] Package table is up to date.                                                                                                                                     
Starting  >>> husky_gazebo                                                                                                                                               
Starting  >>> jsk_mbzirc_common                                                                                                                                          
_________________________________________________________________________________________________________________________________________________________________________
Warnings   << jsk_mbzirc_common:cmake /home/ubuntu/ros/jsk_mbzirc/logs/jsk_mbzirc_common/build.cmake.002.log                                                             
CMake Warning at /home/ubuntu/ros/jsk_mbzirc/src/jsk_mbzirc/jsk_mbzirc_common/CMakeLists.txt:11 (message):
  gazebo_ros IS NOT FOUND, so copmile jsk_mbzirc_common

  without gazebo


cd /home/ubuntu/ros/jsk_mbzirc/build/jsk_mbzirc_common; catkin build --get-env jsk_mbzirc_common | catkin env -si  /usr/bin/cmake /home/ubuntu/ros/jsk_mbzirc/src/jsk_mbzirc/jsk_mbzirc_common --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/ubuntu/ros/jsk_mbzirc/devel/.private/jsk_mbzirc_common -DCMAKE_INSTALL_PREFIX=/home/ubuntu/ros/jsk_mbzirc/install; cd -
.........................................................................................................................................................................
Finished  <<< husky_gazebo                     [ 0.1 seconds ]                                                                                                           
Finished  <<< jsk_mbzirc_common                [ 0.5 seconds ]                                                                                                           
Starting  >>> jsk_mbzirc_tasks                                                                                                                                           
Finished  <<< jsk_mbzirc_tasks                 [ 9.2 seconds ]                                                                                                           
[build] Summary: All 3 packages succeeded!                                                                                                                               
[build]   Ignored:   2 packages were skipped or are blacklisted.                                                                                                         
[build]   Warnings:  1 packages succeeded with warnings.                                                                                                                 
[build]   Abandoned: None.                                                                                                                                               
[build]   Failed:    None.                                                                                                                                               
[build] Runtime: 10.8 seconds total.                                                                                                                                     
[build] Note: Workspace packages have changed, please re-source setup files to use them.

cretaceous-creature · 2016-06-16T14:40:00Z

🤔🤔🤔

2016-06-16 22:36 GMT+08:00 趙漠居 [email protected]:

Finally, I confirmed the correct result in another TX1 board as follows:

ubuntu@tegra-ubuntu:~/ros/jsk_mbzirc$ catkin build

Profile: default
Extending: [cached] /home/ubuntu/ros/uav_ws/devel:/opt/ros/indigo

Workspace: /home/ubuntu/ros/jsk_mbzirc

Source Space: [exists] /home/ubuntu/ros/jsk_mbzirc/src
Log Space: [exists] /home/ubuntu/ros/jsk_mbzirc/logs
Build Space: [exists] /home/ubuntu/ros/jsk_mbzirc/build
Devel Space: [exists] /home/ubuntu/ros/jsk_mbzirc/devel
Install Space: [unused] /home/ubuntu/ros/jsk_mbzirc/install

DESTDIR: [unused] None

Devel Space Layout: linked

Install Space Layout: None

Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True

Cache Job Environments: False

Whitelisted Packages: None

Blacklisted Packages: None

Workspace configuration appears valid.

[build] Found '5' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> husky_gazebo
Starting >>> jsk_mbzirc_common

Warnings << jsk_mbzirc_common:cmake /home/ubuntu/ros/jsk_mbzirc/logs/jsk_mbzirc_common/build.cmake.002.log
CMake Warning at /home/ubuntu/ros/jsk_mbzirc/src/jsk_mbzirc/jsk_mbzirc_common/CMakeLists.txt:11 (message):
gazebo_ros IS NOT FOUND, so copmile jsk_mbzirc_common

without gazebo

cd /home/ubuntu/ros/jsk_mbzirc/build/jsk_mbzirc_common; catkin build --get-env jsk_mbzirc_common | catkin env -si /usr/bin/cmake /home/ubuntu/ros/jsk_mbzirc/src/jsk_mbzirc/jsk_mbzirc_common --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/ubuntu/ros/jsk_mbzirc/devel/.private/jsk_mbzirc_common -DCMAKE_INSTALL_PREFIX=/home/ubuntu/ros/jsk_mbzirc/install; cd -
.........................................................................................................................................................................
Finished <<< husky_gazebo [ 0.1 seconds ]
Finished <<< jsk_mbzirc_common [ 0.5 seconds ]
Starting >>> jsk_mbzirc_tasks
Finished <<< jsk_mbzirc_tasks [ 9.2 seconds ]
[build] Summary: All 3 packages succeeded!
[build] Ignored: 2 packages were skipped or are blacklisted.
[build] Warnings: 1 packages succeeded with warnings.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 10.8 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.

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k-okada · 2016-06-16T14:43:31Z

gazebo_ros depens gazebo, so you do not need this, please check other parts too

-find_package(gazebo REQUIRED)
+find_package(gazebo_ros QUIET)
+if(gazebo_ros_FOUND)
+find_package(gazebo REQUIRED)
+endif()

…nstead of furushchev's fork (ros-simulation/gazebo_ros_pkgs#460)

cretaceous-creature · 2016-06-20T05:31:20Z

sorry in order to let travis pass, I merged #88 PR,
Should I revert...

As TX1 dont support gazebo, change CMakeLists to build the package in…

f7d14cc

… TX1

furushchev and others added 4 commits June 17, 2016 09:16

[mbzirc.rosinstall] use ros-simulation/gazebo_ros_pkgs indigo-devel i…

5c817ea

…nstead of furushchev's fork (ros-simulation/gazebo_ros_pkgs#460)

remove unecessary find_package in CMakeLists

78a2005

merge pull 88 to TX1

cfe46a0

jsk_mbzirc_common may need gazebo

f059b3c

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As TX1 dont support gazebo, change CMakeLists to build the package in… #87

As TX1 dont support gazebo, change CMakeLists to build the package in… #87

cretaceous-creature commented Jun 16, 2016 •

edited

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k-okada commented Jun 16, 2016

… TX1

cretaceous-creature commented Jun 16, 2016 •

edited

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Depend on system install of Gazebo and SDFormat

catkin specific configuration

build plugins

Install

Testing

cretaceous-creature commented Jun 16, 2016

k-okada commented Jun 16, 2016

k-okada commented Jun 16, 2016

cretaceous-creature commented Jun 16, 2016 •

edited

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cretaceous-creature commented Jun 16, 2016

tongtybj commented Jun 16, 2016

cretaceous-creature commented Jun 16, 2016

ubuntu@tegra-ubuntu:~/ros/jsk_mbzirc$ catkin build

Workspace: /home/ubuntu/ros/jsk_mbzirc

DESTDIR: [unused] None

Install Space Layout: None

Cache Job Environments: False

Blacklisted Packages: None

Workspace configuration appears valid.

k-okada commented Jun 16, 2016

cretaceous-creature commented Jun 20, 2016

As TX1 dont support gazebo, change CMakeLists to build the package in… #87

Are you sure you want to change the base?

As TX1 dont support gazebo, change CMakeLists to build the package in… #87

Conversation

cretaceous-creature commented Jun 16, 2016 • edited Loading

Description

k-okada commented Jun 16, 2016

… TX1

cretaceous-creature commented Jun 16, 2016 • edited Loading

Find catkin macros and libraries

if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)

is used, also find other catkin packages

Depend on system install of Gazebo and SDFormat

catkin specific configuration

build plugins

Install

Testing

cretaceous-creature commented Jun 16, 2016

k-okada commented Jun 16, 2016

k-okada commented Jun 16, 2016

cretaceous-creature commented Jun 16, 2016 • edited Loading

cretaceous-creature commented Jun 16, 2016

tongtybj commented Jun 16, 2016

cretaceous-creature commented Jun 16, 2016

ubuntu@tegra-ubuntu:~/ros/jsk_mbzirc$ catkin build

Workspace: /home/ubuntu/ros/jsk_mbzirc

DESTDIR: [unused] None

Install Space Layout: None

Cache Job Environments: False

Blacklisted Packages: None

Workspace configuration appears valid.

k-okada commented Jun 16, 2016

cretaceous-creature commented Jun 20, 2016

cretaceous-creature commented Jun 16, 2016 •

edited

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cretaceous-creature commented Jun 16, 2016 •

edited

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cretaceous-creature commented Jun 16, 2016 •

edited

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