Rework lrauv_ignition_plugins package (#194)

* Rework lrauv_ignition_plugins package - Export CMake targets for downstream usage - Add colcon hook equivalent for sh-like shells - Remove all tests Signed-off-by: Michel Hidalgo <[email protected]> * get tests compiling Signed-off-by: Arjo Chakravarty <[email protected]> * update cmake deps to catch up with recent Ign garden cmake version bump (2 -> 3) Co-authored-by: Arjo Chakravarty <[email protected]> Co-authored-by: Ben Yair Raanan <[email protected]>
osrf · Apr 25, 2022 · 51e6dbd · 51e6dbd
1 parent 13f8b7e
commit 51e6dbd
Show file tree

Hide file tree

Showing 42 changed files with 107 additions and 2,213 deletions.
diff --git a/docker/tests/Dockerfile b/docker/tests/Dockerfile
@@ -48,7 +48,7 @@ RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable
 
 # Install and upgrade the latest Ignition binaries
 RUN apt-get -qq update && apt-get -q -y install \
-  ignition-garden && apt-get dist-upgrade -y
+  ignition-garden python3-ignition-gazebo7 python3-ignition-math7 && apt-get dist-upgrade -y
 
 # Install PCL
 RUN apt-get update \

diff --git a/lrauv_ignition_plugins/CMakeLists.txt b/lrauv_ignition_plugins/CMakeLists.txt
@@ -7,6 +7,8 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 
 project(lrauv_ignition_plugins)
 
+include(CTest)
+
 # Option to enable profiler
 option(ENABLE_PROFILER "Enable Ignition Profiler" FALSE)
 
@@ -18,7 +20,7 @@ endif()
 
 #============================================================================
 # Find dependencies
-find_package(ignition-cmake2 REQUIRED)
+find_package(ignition-cmake3 REQUIRED)
 
 find_package(ignition-gazebo7 REQUIRED COMPONENTS gui)
 set(IGN_GAZEBO_VER ${ignition-gazebo7_VERSION_MAJOR})
@@ -34,12 +36,13 @@ set(IGN_SENSORS_VER ${ignition-sensors7_VERSION_MAJOR})
 
 find_package(ignition-msgs9 REQUIRED)
 set(IGN_MSGS_VER ${ignition-msgs9_VERSION_MAJOR})
+set(IGNITION_MSGS ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER})
 
-find_package(ignition-plugin1 REQUIRED COMPONENTS register)
-set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
+find_package(ignition-plugin2 REQUIRED COMPONENTS register)
+set(IGN_PLUGIN_VER ${ignition-plugin2_VERSION_MAJOR})
 
-find_package(ignition-utils1 REQUIRED)
-set(IGN_UTILS_VER ${ignition-utils1_VERSION_MAJOR})
+find_package(ignition-utils2 REQUIRED)
+set(IGN_UTILS_VER ${ignition-utils2_VERSION_MAJOR})
 
 find_package(ignition-common5 REQUIRED COMPONENTS profiler)
 set(IGN_COMMON_VER ${ignition-common5_VERSION_MAJOR})
@@ -71,8 +74,6 @@ add_subdirectory(proto)
 # [RENDERING]: Optional. Include to link against Ignition Rendering.
 #
 # [PRIVATE_LINK_LIBS]: Specify a list of libraries to be privately linked.
-#
-# [INCLUDE_COMMS]: Optional. Include comms header files.
 function(add_lrauv_plugin PLUGIN)
   set(options PCL GUI RENDERING INCLUDE_COMMS)
   set(oneValueArgs)
@@ -97,8 +98,7 @@ function(add_lrauv_plugin PLUGIN)
   endif()
 
   # All plugins
-  add_library(${PLUGIN}
-    SHARED ${PLUGIN_SOURCES})
+  add_library(${PLUGIN} SHARED ${PLUGIN_SOURCES})
   set_property(TARGET ${PLUGIN} PROPERTY CXX_STANDARD 17)
   target_link_libraries(${PLUGIN}
     PUBLIC
@@ -111,17 +111,8 @@ function(add_lrauv_plugin PLUGIN)
 
   # Link against proto libraries
   if (add_lrauv_plugin_PROTO)
-    target_include_directories(${PLUGIN}
-      PUBLIC ${CMAKE_BINARY_DIR}/proto)
     target_link_libraries(${PLUGIN}
       PUBLIC ${add_lrauv_plugin_PROTO})
-    add_dependencies(${PLUGIN} ${add_lrauv_plugin_PROTO})
-  endif()
-
-  # Include comms
-  if (add_lrauv_plugin_INCLUDE_COMMS)
-    target_include_directories(${PLUGIN}
-      PUBLIC include)
   endif()
 
   # Include PCL
@@ -159,23 +150,23 @@ endfunction()
 add_subdirectory(src/comms/)
 
 add_lrauv_plugin(AcousticCommsPlugin
-  INCLUDE_COMMS
   PROTO
     lrauv_acoustic_message
     lrauv_internal_comms
   PRIVATE_LINK_LIBS
-    CommsSupport)
+    acoustic_comms_support)
 add_lrauv_plugin(ControlPanelPlugin GUI
   PROTO
     lrauv_command
     lrauv_state)
 add_lrauv_plugin(HydrodynamicsPlugin)
 add_lrauv_plugin(RangeBearingPlugin
-  INCLUDE_COMMS
   PROTO
     lrauv_range_bearing_request
     lrauv_range_bearing_response
-    lrauv_acoustic_message)
+    lrauv_acoustic_message
+  PRIVATE_LINK_LIBS
+    acoustic_comms_support)
 add_lrauv_plugin(ReferenceAxis GUI RENDERING)
 add_lrauv_plugin(ScienceSensorsSystem
   PCL
@@ -216,25 +207,45 @@ foreach(EXAMPLE
 
   add_executable(${EXAMPLE_EXEC} example/${EXAMPLE}.cc)
   set_property(TARGET ${EXAMPLE_EXEC} PROPERTY CXX_STANDARD 17)
-  target_include_directories(${EXAMPLE_EXEC}
-    PUBLIC ${CMAKE_BINARY_DIR}/proto)
-  target_link_libraries(${EXAMPLE_EXEC}
-    PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER}
-    PUBLIC lrauv_command
-           lrauv_init)
+  target_link_libraries(${EXAMPLE_EXEC} PRIVATE
+    ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER}
+    lrauv_acoustic_message lrauv_command lrauv_init lrauv_internal_comms
+    lrauv_range_bearing_request lrauv_range_bearing_response lrauv_state)
 
   install(
     TARGETS ${EXAMPLE_EXEC}
     DESTINATION bin)
 
 endforeach()
 
+#============================================================================
+# Exports
+install(
+  EXPORT ${PROJECT_NAME}
+  FILE ${PROJECT_NAME}-targets.cmake
+  NAMESPACE ${PROJECT_NAME}::
+  DESTINATION share/${PROJECT_NAME}/cmake)
+
+include(CMakePackageConfigHelpers)
+configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/cmake/Config.cmake.in
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+  INSTALL_DESTINATION "share/${PROJECT_NAME}/cmake"
+  NO_SET_AND_CHECK_MACRO
+  NO_CHECK_REQUIRED_COMPONENTS_MACRO)
+install(FILES
+  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
+  DESTINATION share/${PROJECT_NAME}/cmake)
+
 #============================================================================
 # Hooks
 configure_file(
   "hooks/hook.dsv.in"
   "${CMAKE_CURRENT_BINARY_DIR}/hooks/hook.dsv" @ONLY
 )
+configure_file(
+  "hooks/hook.sh.in"
+  "${CMAKE_CURRENT_BINARY_DIR}/hooks/hook.sh" @ONLY
+)
 
 #============================================================================
 # World generation
@@ -250,80 +261,6 @@ add_custom_target(world_gen_target ALL
   DEPENDS world_gen_cmd
 )
 
-#============================================================================
-# Tests
-if(BUILD_TESTING)
-
-  # Fetch and configure GTest
-  include(FetchContent)
-  FetchContent_Declare(
-    googletest
-    URL https://github.com/google/googletest/archive/609281088cfefc76f9d0ce82e1ff6c30cc3591e5.zip
-  )
-  set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
-  FetchContent_MakeAvailable(googletest)
-
-  enable_testing()
-  include(Dart)
-
-  # Build-time constants
-  set("PROJECT_BINARY_PATH" ${CMAKE_CURRENT_BINARY_DIR})
-  set("PROJECT_SOURCE_PATH" ${CMAKE_CURRENT_SOURCE_DIR})
-  configure_file(test/helper/TestConstants.hh.in TestConstants.hh @ONLY)
-
-  include(GoogleTest)
-
-  # Tests
-  foreach(TEST_TARGET
-    test_acoustic_comms_orientation
-    test_ahrs
-    test_buoyancy_action
-    test_controller
-    test_drop_weight
-    test_elevator
-    test_hydrodynamics_equilibrium_velocity
-    test_mass_shifter
-    test_mission_depth_vbs
-    test_mission_pitch_and_depth_mass_vbs
-    test_mission_pitch_mass
-    test_mission_yoyo_circle
-    test_rudder
-    test_spawn
-    test_state_msg)
-
-    add_executable(
-      ${TEST_TARGET}
-      test/${TEST_TARGET}.cc
-    )
-    target_include_directories(${TEST_TARGET}
-      PUBLIC ${CMAKE_BINARY_DIR}/proto)
-    target_link_libraries(${TEST_TARGET}
-      PUBLIC gtest_main
-      PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER}
-      lrauv_command
-      lrauv_init
-      lrauv_state
-      lrauv_range_bearing_request
-      lrauv_range_bearing_response
-    )
-    include_directories(${CMAKE_CURRENT_BINARY_DIR})
-    gtest_discover_tests(${TEST_TARGET})
-  endforeach()
-
-  add_executable(test_comms test/test_comms.cc)
-  target_include_directories(test_comms
-    PUBLIC
-    ${CMAKE_BINARY_DIR}/proto
-    include/)
-  target_link_libraries(test_comms
-    PUBLIC gtest_main
-    PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER}
-    lrauv_acoustic_message
-    lrauv_internal_comms
-    CommsSupport)
-  gtest_discover_tests(test_comms)
-endif()
-
 #============================================================================
 # Resources
 

diff --git a/lrauv_ignition_plugins/cmake/Config.cmake.in b/lrauv_ignition_plugins/cmake/Config.cmake.in
@@ -0,0 +1,3 @@
+@PACKAGE_INIT@
+
+include ( "${CMAKE_CURRENT_LIST_DIR}/@[email protected]" )
diff --git a/lrauv_ignition_plugins/colcon.pkg b/lrauv_ignition_plugins/colcon.pkg
@@ -1,3 +1,6 @@
 {
-    "hooks": ["share/lrauv_ignition_plugins/hooks/hook.dsv"]
+    "hooks": [
+        "share/lrauv_ignition_plugins/hooks/hook.dsv",
+        "share/lrauv_ignition_plugins/hooks/hook.sh"
+    ]
 }
diff --git a/lrauv_ignition_plugins/example/example_buoyancy.cc b/lrauv_ignition_plugins/example/example_buoyancy.cc
@@ -35,7 +35,7 @@
 
 #include <ignition/msgs.hh>
 #include <ignition/transport.hh>
-#include "lrauv_command.pb.h"
+#include "lrauv_ignition_plugins/lrauv_command.pb.h"
 
 int main(int _argc, char **_argv)
 {

diff --git a/lrauv_ignition_plugins/example/example_controller.cc b/lrauv_ignition_plugins/example/example_controller.cc
@@ -34,7 +34,7 @@
 
 #include <ignition/msgs.hh>
 #include <ignition/transport.hh>
-#include "lrauv_command.pb.h"
+#include "lrauv_ignition_plugins/lrauv_command.pb.h"
 
 int main(int _argc, char **_argv)
 {

diff --git a/lrauv_ignition_plugins/example/example_elevator.cc b/lrauv_ignition_plugins/example/example_elevator.cc
@@ -30,7 +30,7 @@
 
 #include <ignition/msgs.hh>
 #include <ignition/transport.hh>
-#include "lrauv_command.pb.h"
+#include "lrauv_ignition_plugins/lrauv_command.pb.h"
 
 int main(int _argc, char **_argv)
 {

diff --git a/lrauv_ignition_plugins/example/example_mass_shifter.cc b/lrauv_ignition_plugins/example/example_mass_shifter.cc
@@ -36,7 +36,7 @@
 
 #include <ignition/msgs.hh>
 #include <ignition/transport.hh>
-#include "lrauv_command.pb.h"
+#include "lrauv_ignition_plugins/lrauv_command.pb.h"
 
 int main(int _argc, char **_argv)
 {

diff --git a/lrauv_ignition_plugins/example/example_rudder.cc b/lrauv_ignition_plugins/example/example_rudder.cc
@@ -36,7 +36,7 @@
 
 #include <ignition/msgs.hh>
 #include <ignition/transport.hh>
-#include "lrauv_command.pb.h"
+#include "lrauv_ignition_plugins/lrauv_command.pb.h"
 
 int main(int _argc, char **_argv)
 {

diff --git a/lrauv_ignition_plugins/example/example_spawn.cc b/lrauv_ignition_plugins/example/example_spawn.cc
@@ -32,7 +32,7 @@
 #include <thread>
 
 #include <ignition/transport/Node.hh>
-#include "lrauv_init.pb.h"
+#include "lrauv_ignition_plugins/lrauv_init.pb.h"
 
 int main(int _argc, char **_argv)
 {

diff --git a/lrauv_ignition_plugins/example/example_thruster.cc b/lrauv_ignition_plugins/example/example_thruster.cc
@@ -35,7 +35,7 @@
 
 #include <ignition/msgs.hh>
 #include <ignition/transport.hh>
-#include "lrauv_command.pb.h"
+#include "lrauv_ignition_plugins/lrauv_command.pb.h"
 
 int main(int _argc, char **_argv)
 {

diff --git a/lrauv_ignition_plugins/example/keyboard_teleop.cc b/lrauv_ignition_plugins/example/keyboard_teleop.cc
@@ -35,7 +35,7 @@
 #include <thread>
 
 #include <ignition/transport.hh>
-#include "lrauv_command.pb.h"
+#include "lrauv_ignition_plugins/lrauv_command.pb.h"
 
 char getch()
 {

diff --git a/lrauv_ignition_plugins/example/multi_lrauv_race.cc b/lrauv_ignition_plugins/example/multi_lrauv_race.cc
@@ -33,7 +33,7 @@
 
 #include <ignition/msgs.hh>
 #include <ignition/transport.hh>
-#include "lrauv_command.pb.h"
+#include "lrauv_ignition_plugins/lrauv_command.pb.h"
 
 // Fin joint limits from tethys model.sdf
 double random_angle_within_limits(double min=-0.261799, double max=0.261799)

diff --git a/lrauv_ignition_plugins/hooks/hook.sh.in b/lrauv_ignition_plugins/hooks/hook.sh.in
@@ -0,0 +1,10 @@
+_colcon_prepend_unique_value IGN_GAZEBO_RESOURCE_PATH @CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/worlds
+_colcon_prepend_unique_value IGN_GAZEBO_RESOURCE_PATH @CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/models
+_colcon_prepend_unique_value IGN_GAZEBO_RESOURCE_PATH @CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/data
+_colcon_prepend_unique_value IGN_GAZEBO_SYSTEM_PLUGIN_PATH @CMAKE_INSTALL_PREFIX@/lib
+
+_colcon_prepend_unique_value IGN_GUI_PLUGIN_PATH @CMAKE_INSTALL_PREFIX@/lib/gui
+
+_colcon_prepend_unique_value TETHYS_COMMS_MODEL @CMAKE_INSTALL_PREFIX@/lib
+
+_colcon_prepend_unique_value LD_LIBRARY_PATH @CMAKE_INSTALL_PREFIX@/lib
diff --git a/lrauv_ignition_plugins/include/lrauv_ignition_plugins/comms/CommsClient.hh b/lrauv_ignition_plugins/include/lrauv_ignition_plugins/comms/CommsClient.hh
@@ -30,7 +30,7 @@
 #include "CommsPacket.hh"
 #include "TopicDefinitions.hh"
 
-#include "lrauv_acoustic_message.pb.h"
+#include "lrauv_ignition_plugins/lrauv_acoustic_message.pb.h"
 
 namespace tethys
 {

diff --git a/lrauv_ignition_plugins/include/lrauv_ignition_plugins/comms/CommsPacket.hh b/lrauv_ignition_plugins/include/lrauv_ignition_plugins/comms/CommsPacket.hh
@@ -28,8 +28,8 @@
 
 #include <ignition/math/Vector3.hh>
 
-#include "lrauv_acoustic_message.pb.h"
-#include "lrauv_internal_comms.pb.h"
+#include "lrauv_ignition_plugins/lrauv_acoustic_message.pb.h"
+#include "lrauv_ignition_plugins/lrauv_internal_comms.pb.h"
 
 namespace tethys
 {
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,3 @@
		@PACKAGE_INIT@

		include ( "${CMAKE_CURRENT_LIST_DIR}/@[email protected]" )