CogRob · ruffsl · Apr 8, 2020 · Apr 8, 2020 · Apr 8, 2020 · Apr 8, 2020
diff --git a/LICENSE b/LICENSE
@@ -0,0 +1,30 @@
+BSD 3-Clause License
+
+Copyright (c) 2019, The Regents of the University of California
+Copyright (c) 2014, Georgia Tech Research Corporation
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/omnimapper_common/CMakeLists.txt b/omnimapper_common/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.5)
+project(omnimapper_common NONE)
+
+find_package(ament_cmake_core REQUIRED)
+
+ament_package(
+    CONFIG_EXTRAS "omnimapper_common-extras.cmake"
+)
+
+install(
+    DIRECTORY cmake
+    DESTINATION share/${PROJECT_NAME}
+)
diff --git a/omnimapper_common/cmake/omnimapper_package.cmake b/omnimapper_common/cmake/omnimapper_package.cmake
@@ -0,0 +1,27 @@
+#
+# Standard Omnimapper project setup
+#
+# @public
+#
+macro(omnimapper_package)
+
+  # Default to C99
+  if(NOT CMAKE_C_STANDARD)
+    set(CMAKE_C_STANDARD 99)
+  endif()
+
+  # Default to C++14
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(
+      -Wall
+      -Wextra
+      -Wpedantic
+      -Werror
+      -Wdeprecated
+    )
+  endif()
+endmacro()
diff --git a/omnimapper_common/omnimapper_common-extras.cmake b/omnimapper_common/omnimapper_common-extras.cmake
@@ -0,0 +1,3 @@
+set(AMENT_BUILD_CONFIGURATION_KEYWORD_SEPARATOR ":")
+
+include("${omnimapper_common_DIR}/omnimapper_package.cmake")
diff --git a/omnimapper_common/package.xml b/omnimapper_common/package.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>omnimapper_common</name>
+  <version>0.0.0</version>
+  <description>Common support functionality used throughout the Omnimapper stack</description>
+  <maintainer email="[email protected]">Ruffin White</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake_core</buildtool_depend>
+
+  <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/omnimapper_gazebo/CMakeLists.txt b/omnimapper_gazebo/CMakeLists.txt
@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.5)
+project(omnimapper_ros)
+
+# find dependencies
+find_package(omnimapper_common REQUIRED)
+
+omnimapper_package()
+
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME})
+
+ament_package()
diff --git a/omnimapper_gazebo/package.xml b/omnimapper_gazebo/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>omnimapper_ros</name>
+  <version>0.0.0</version>
+  <description>Includes gazebo launch file for Omnimapper</description>
+  <maintainer email="[email protected]">Ruffin White</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>omnimapper</depend>
+  <depend>omnimapper_common</depend>
+
+  <exec_depend>launch_xml</exec_depend>
+  <exec_depend>turtlebot3_simulations</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/omnimapper_ros/CMakeLists.txt b/omnimapper_ros/CMakeLists.txt
@@ -1,15 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 project(omnimapper_ros)
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
 # find dependencies
 find_package(Boost REQUIRED COMPONENTS timer)
 find_package(GTSAM REQUIRED)
@@ -18,6 +9,7 @@ find_package(ament_cmake REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(laser_geometry REQUIRED)
 find_package(omnimapper REQUIRED)
+find_package(omnimapper_common REQUIRED)
 find_package(omnimapper_ros_msgs REQUIRED)
 find_package(pcl_conversions REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -33,6 +25,8 @@ find_package(PkgConfig REQUIRED)
 pkg_check_modules(csm REQUIRED csm)
 link_directories(${csm_LIBRARY_DIRS})
 
+omnimapper_package()
+
 include_directories(
   include
 )

diff --git a/omnimapper_ros/LICENSE b/omnimapper_ros/LICENSE
diff --git a/omnimapper_ros/NOTES.md b/omnimapper_ros/NOTES.md
diff --git a/omnimapper_ros/package.xml b/omnimapper_ros/package.xml
@@ -5,11 +5,12 @@
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="[email protected]">shengye</maintainer>
-  <license>TODO: License declaration</license>
+  <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>omnimapper</depend>
+  <depend>omnimapper_common</depend>
   <depend>omnimapper_ros_msgs</depend>
 
   <depend>rclcpp</depend>

diff --git a/omnimapper_ros_msgs/CMakeLists.txt b/omnimapper_ros_msgs/CMakeLists.txt
@@ -1,23 +1,12 @@
 cmake_minimum_required(VERSION 3.5)
 project(omnimapper_ros_msgs)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
 find_package(ament_cmake REQUIRED)
+find_package(omnimapper_common REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
+omnimapper_package()
+
 set(srv_files
   "srv/OutputMapTSDF.srv"
   "srv/PublishModel.srv"

diff --git a/omnimapper_ros_msgs/package.xml b/omnimapper_ros_msgs/package.xml
@@ -10,6 +10,8 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <depend>omnimapper_common</depend>
+
   <exec_depend>rosidl_default_runtime</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,3 @@
		set(AMENT_BUILD_CONFIGURATION_KEYWORD_SEPARATOR ":")

		include("${omnimapper_common_DIR}/omnimapper_package.cmake")