Refactor package.xml and CMakeLits.txt for all pakcages to satisfy ca…

…tkinlint
sugihara-16 · Jun 9, 2022 · f2822a3 · f2822a3
1 parent 3a44850
commit f2822a3
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Showing 22 changed files with 259 additions and 293 deletions.
diff --git a/.github/workflows/catkin_lint.yml b/.github/workflows/catkin_lint.yml
@@ -0,0 +1,28 @@
+on: [push, pull_request]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    name: catkin_lint
+
+    steps:
+      - name: Setup OS
+        run: |
+          sudo apt-get update -y
+          sudo apt-get upgrade -y
+      - name: Setup Git
+        run: |
+          sudo apt-get install -y git
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+      - name: catkin lint setup
+        run: |
+          sudo apt-get install -y -q python3-pip
+          sudo pip3 install catkin_lint rosdep
+          sudo rosdep init
+          rosdep update
+      - name: catkin lint test
+        run: |
+          ROS_DISTRO=noetic catkin_lint --resolve-env --strict $PWD
diff --git a/aerial_robot/CMakeLists.txt b/aerial_robot/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(aerial_robot)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/aerial_robot/package.xml b/aerial_robot/package.xml
@@ -16,12 +16,12 @@
   <exec_depend>aerial_robot_control</exec_depend>
   <exec_depend>aerial_robot_model</exec_depend>
   <exec_depend>aerial_robot_msgs</exec_depend>
-  <exec_depend>motor_test</exec_depend>
-  <exec_depend>spinal</exec_depend>
   <exec_depend>aerial_robot_simulation</exec_depend>
+  <exec_depend>dragon</exec_depend>
   <exec_depend>hydrus</exec_depend>
   <exec_depend>hydrus_xi</exec_depend>
-  <exec_depend>dragon</exec_depend>
+  <exec_depend>motor_test</exec_depend>
+  <exec_depend>spinal</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python-is-python3</exec_depend>
 
   <export>

diff --git a/aerial_robot_base/CMakeLists.txt b/aerial_robot_base/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(aerial_robot_base)
 
 
@@ -14,11 +14,12 @@ find_package(catkin REQUIRED COMPONENTS
 
 catkin_python_setup()
 
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+add_compile_options(-std=c++14)
 
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS aerial_robot_control aerial_robot_estimation aerial_robot_model roscpp rospy
 )
 
 include_directories(
@@ -31,3 +32,25 @@ target_link_libraries (aerial_robot_base ${catkin_LIBRARIES})
 
 add_executable(aerial_robot_base_node src/aerial_robot_base_node.cpp)
 target_link_libraries (aerial_robot_base_node ${catkin_LIBRARIES} aerial_robot_base)
+
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+install(TARGETS aerial_robot_base
+  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
+
+install(TARGETS aerial_robot_base_node
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY bin
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)
+
+install(DIRECTORY launch scripts
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)
diff --git a/aerial_robot_base/package.xml b/aerial_robot_base/package.xml
@@ -25,5 +25,7 @@
   <run_depend>roscpp</run_depend>
   <run_depend>rospy</run_depend>
   <run_depend>rostest</run_depend>
+  <run_depend>ublox_gps</run_depend>
+  <run_depend>ntrip_ros</run_depend>
 
 </package>
diff --git a/aerial_robot_control/CMakeLists.txt b/aerial_robot_control/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(aerial_robot_control)
 
 add_compile_options(-std=c++11)
@@ -38,7 +38,7 @@ set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -DNDEBUG")
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES control_utils flight_control_pluginlib flight_navigation
-  CATKIN_DEPENDS aerial_robot_estimation aerial_robot_model aerial_robot_msgs roscpp spinal
+  CATKIN_DEPENDS aerial_robot_estimation aerial_robot_model aerial_robot_msgs dynamic_reconfigure pluginlib roscpp spinal tf
   DEPENDS EIGEN3
 )
 
@@ -66,3 +66,15 @@ add_dependencies(flight_control_pluginlib  ${PROJECT_NAME}_gencfg)
 ### flight navigation
 add_library (flight_navigation src/flight_navigation.cpp)
 target_link_libraries (flight_navigation ${catkin_LIBRARIES})
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+install(TARGETS control_utils flight_control_pluginlib flight_navigation
+  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
+
+install(DIRECTORY scripts plugins
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)
diff --git a/aerial_robot_estimation/CMakeLists.txt b/aerial_robot_estimation/CMakeLists.txt
@@ -1,7 +1,7 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(aerial_robot_estimation)
 
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+add_compile_options(-std=c++14)
 
 find_package(catkin REQUIRED COMPONENTS
   aerial_robot_model
@@ -14,11 +14,9 @@ find_package(catkin REQUIRED COMPONENTS
   kalman_filter
   nav_msgs
   nodelet
-  roscpp
-  rospy
+  pluginlib
   sensor_msgs
   spinal
-  std_msgs
   tf
   tf_conversions
   jsk_recognition_msgs
@@ -33,7 +31,7 @@ generate_dynamic_reconfigure_options(
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES ${PROJECT_NAME} sensor_pluginlib
-  CATKIN_DEPENDS geodesy kalman_filter nodelet spinal tf tf_conversions
+  CATKIN_DEPENDS aerial_robot_model aerial_robot_msgs cv_bridge dynamic_reconfigure geodesy geographic_msgs geometry_msgs kalman_filter nav_msgs nodelet pluginlib sensor_msgs spinal tf tf_conversions jsk_recognition_msgs
 )
 
 include_directories(
@@ -43,7 +41,7 @@ include_directories(
 
 ### state estimation
 add_library(aerial_robot_estimation
-  src/state_estimation)
+  src/state_estimation.cpp)
 target_link_libraries(aerial_robot_estimation ${catkin_LIBRARIES})
 
 ### sensor plugins
@@ -66,11 +64,22 @@ target_link_libraries(kf_baro_bias_pluginlib ${catkin_LIBRARIES})
 add_dependencies(kf_baro_bias_pluginlib ${PROJECT_NAME}_gencfg)
 
 set(USE_GPU OFF)
-set(CMAKE_BUILD_TYPE Release)
 
 if(USE_GPU)
   add_definitions(-DUSE_GPU)
 endif()
 
 add_library(optical_flow src/vision/optical_flow.cpp)
 target_link_libraries(optical_flow ${catkin_LIBRARIES})
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+install(TARGETS aerial_robot_estimation sensor_pluginlib kf_baro_bias_pluginlib optical_flow
+  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
+
+install(DIRECTORY launch plugins config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)
diff --git a/aerial_robot_estimation/package.xml b/aerial_robot_estimation/package.xml
@@ -21,11 +21,8 @@
   <build_depend>nav_msgs</build_depend>
   <build_depend>nodelet</build_depend>
   <build_depend>pluginlib</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>spinal</build_depend>
-  <build_depend>std_msgs</build_depend>
   <build_depend>tf</build_depend>
   <build_depend>tf_conversions</build_depend>
   <build_depend>jsk_recognition_msgs</build_depend>
@@ -41,11 +38,8 @@
   <run_depend>nav_msgs</run_depend>
   <run_depend>nodelet</run_depend>
   <run_depend>pluginlib</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospy</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>spinal</run_depend>
-  <run_depend>std_msgs</run_depend>
   <run_depend>std_srvs</run_depend>
   <run_depend>tf</run_depend>
   <run_depend>tf_conversions</run_depend>

diff --git a/aerial_robot_model/CMakeLists.txt b/aerial_robot_model/CMakeLists.txt
@@ -1,6 +1,8 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(aerial_robot_model)
 
+add_compile_options(-std=c++14)
+
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
@@ -12,7 +14,6 @@ find_package(catkin REQUIRED COMPONENTS
   kdl_parser
   message_generation
   pluginlib
-  roscpp
   sensor_msgs
   spinal
   std_msgs
@@ -32,9 +33,6 @@ find_package(urdfdom_headers REQUIRED)
 find_package(Eigen3 REQUIRED)
 
 include_directories(${orocos_kdl_INCLUDE_DIRS} ${urdfdom_headers_INCLUDE_DIRS})
-link_directories(${orocos_kdl_LIBRARY_DIRS})
-
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
 
 if(NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE RelWithDebInfo)
@@ -55,7 +53,8 @@ generate_messages(
 catkin_package(
   INCLUDE_DIRS include test
   LIBRARIES transformable_aerial_robot_model transformable_aerial_robot_model_ros numerical_jacobians
-  CATKIN_DEPENDS eigen_conversions interactive_markers spinal tf tf_conversions
+  CATKIN_DEPENDS eigen_conversions geometry_msgs interactive_markers kalman_filter kdl_parser message_runtime pluginlib sensor_msgs spinal std_msgs tf tf_conversions tf2_eigen tf2_geometry_msgs tf2_kdl tf2_ros tf_conversions urdf visualization_msgs
+  DEPENDS Eigen3 orocos_kdl urdfdom_headers
 )
 
 ###########
@@ -102,5 +101,18 @@ add_library(numerical_jacobians test/aerial_robot_model/numerical_jacobians.cpp)
 target_link_libraries(numerical_jacobians transformable_aerial_robot_model ${catkin_LIBRARIES})
 
 
-install(DIRECTORY launch
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY include/${PROJECT_NAME}/ test/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+install(TARGETS transformable_aerial_robot_model transformable_aerial_robot_model_ros servo_bridge numerical_jacobians
+  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
+
+install(TARGETS rotor_tf_publisher interactive_marker_tf_broadcaster servo_bridge_node
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch script
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)
diff --git a/aerial_robot_model/package.xml b/aerial_robot_model/package.xml
@@ -19,7 +19,6 @@
   <build_depend>liburdfdom-headers-dev</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>pluginlib</build_depend>
-  <build_depend>roscpp</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>spinal</build_depend>
   <build_depend>std_msgs</build_depend>
@@ -42,7 +41,7 @@
   <run_depend>message_runtime</run_depend>
   <run_depend>pluginlib</run_depend>
   <run_depend>robot_state_publisher</run_depend>
-  <run_depend>roscpp</run_depend>
+  <run_depend>rviz</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>spinal</run_depend>
   <run_depend>std_msgs</run_depend>

diff --git a/aerial_robot_msgs/CMakeLists.txt b/aerial_robot_msgs/CMakeLists.txt
@@ -1,8 +1,12 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(aerial_robot_msgs)
 
 ## Find catkin and any catkin packages
-find_package(catkin REQUIRED COMPONENTS roscpp std_msgs geometry_msgs message_generation)
+find_package(catkin REQUIRED COMPONENTS
+  std_msgs
+  geometry_msgs
+  message_generation
+  )
 
 ## Declare ROS messages and services
 add_message_files(FILES
@@ -19,11 +23,11 @@ add_message_files(FILES
 )
 
 ## Generate added messages and services
-generate_messages(DEPENDENCIES std_msgs std_msgs geometry_msgs)
+generate_messages(DEPENDENCIES std_msgs geometry_msgs)
 
 ## Declare a catkin package
 catkin_package(
-  CATKIN_DEPENDS message_runtime
+  CATKIN_DEPENDS std_msgs geometry_msgs message_runtime
 )
 
 

diff --git a/aerial_robot_msgs/package.xml b/aerial_robot_msgs/package.xml
@@ -11,14 +11,10 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>roscpp</build_depend>
-<!--  <build_depend>rospy</build_depend> -->
   <build_depend>std_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>message_generation</build_depend>
 
-  <run_depend>roscpp</run_depend>
-<!--  <run_depend>rospy</run_depend> -->
   <run_depend>std_msgs</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>message_runtime</run_depend>