Build with release (#649)

bit-bots · Jan 20, 2025 · 007f923 · 007f923
2 parents 508fc5c + 0e9dd2b
commit 007f923
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Showing 34 changed files with 332 additions and 643 deletions.
diff --git a/bitbots_behavior/bitbots_blackboard/CMakeLists.txt b/bitbots_behavior/bitbots_blackboard/CMakeLists.txt
@@ -1,81 +1,12 @@
 cmake_minimum_required(VERSION 3.5)
 project(bitbots_blackboard)
 
-# Add support for C++17
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-endif()
-
-find_package(ament_cmake REQUIRED)
-find_package(bio_ik_msgs REQUIRED)
 find_package(bitbots_docs REQUIRED)
-find_package(bitbots_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(rclpy REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(std_srvs REQUIRED)
-find_package(tf2 REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
-
-set(INCLUDE_DIRS
-    ${bio_ik_msgs_INCLUDE_DIRS}
-    ${ament_cmake_INCLUDE_DIRS}
-    ${sensor_msgs_INCLUDE_DIRS}
-    ${rclpy_INCLUDE_DIRS}
-    ${tf2_INCLUDE_DIRS}
-    ${bitbots_msgs_INCLUDE_DIRS}
-    ${std_msgs_INCLUDE_DIRS}
-    ${tf2_geometry_msgs_INCLUDE_DIRS}
-    ${std_srvs_INCLUDE_DIRS}
-    ${geometry_msgs_INCLUDE_DIRS}
-    ${bitbots_docs_INCLUDE_DIRS})
-include_directories(${INCLUDE_DIRS})
-
-set(LIBRARY_DIRS
-    ${bio_ik_msgs_LIBRARY_DIRS}
-    ${ament_cmake_LIBRARY_DIRS}
-    ${sensor_msgs_LIBRARY_DIRS}
-    ${rclpy_LIBRARY_DIRS}
-    ${tf2_LIBRARY_DIRS}
-    ${bitbots_msgs_LIBRARY_DIRS}
-    ${std_msgs_LIBRARY_DIRS}
-    ${tf2_geometry_msgs_LIBRARY_DIRS}
-    ${std_srvs_LIBRARY_DIRS}
-    ${geometry_msgs_LIBRARY_DIRS}
-    ${bitbots_docs_LIBRARY_DIRS})
-
-link_directories(${LIBRARY_DIRS})
-
-set(LIBS
-    ${bio_ik_msgs_LIBRARIES}
-    ${ament_cmake_LIBRARIES}
-    ${sensor_msgs_LIBRARIES}
-    ${rclpy_LIBRARIES}
-    ${tf2_LIBRARIES}
-    ${bitbots_msgs_LIBRARIES}
-    ${std_msgs_LIBRARIES}
-    ${tf2_geometry_msgs_LIBRARIES}
-    ${std_srvs_LIBRARIES}
-    ${geometry_msgs_LIBRARIES}
-    ${bitbots_docs_LIBRARIES})
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
 
-include(${CMAKE_BINARY_DIR}/../bitbots_docs/enable_bitbots_docs.cmake)
 enable_bitbots_docs()
 
-ament_export_dependencies(bio_ik_msgs)
-ament_export_dependencies(ament_cmake)
-ament_export_dependencies(sensor_msgs)
-ament_export_dependencies(rclpy)
-ament_export_dependencies(tf2)
-ament_export_dependencies(bitbots_msgs)
-ament_export_dependencies(std_msgs)
-ament_export_dependencies(tf2_geometry_msgs)
-ament_export_dependencies(std_srvs)
-ament_export_dependencies(geometry_msgs)
-ament_export_dependencies(bitbots_docs)
-ament_export_include_directories(${INCLUDE_DIRS})
-
 if(BUILD_TESTING)
   find_package(ament_cmake_mypy REQUIRED)
   ament_mypy(CONFIG_FILE "${CMAKE_CURRENT_LIST_DIR}/mypy.ini")

diff --git a/bitbots_lowlevel/bitbots_buttons/CMakeLists.txt b/bitbots_lowlevel/bitbots_buttons/CMakeLists.txt
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(backward_ros REQUIRED)
 find_package(bitbots_docs REQUIRED)

diff --git a/bitbots_lowlevel/bitbots_ros_control/CMakeLists.txt b/bitbots_lowlevel/bitbots_ros_control/CMakeLists.txt
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(backward_ros REQUIRED)
 find_package(bitbots_buttons REQUIRED)

diff --git a/bitbots_misc/bitbots_basler_camera/CMakeLists.txt b/bitbots_misc/bitbots_basler_camera/CMakeLists.txt
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(backward_ros REQUIRED)

diff --git a/bitbots_misc/bitbots_basler_camera/package.xml b/bitbots_misc/bitbots_basler_camera/package.xml
@@ -12,6 +12,7 @@
 
   <author email="[email protected]">Hamburg Bit-Bots</author>
 
+  <depend>backward_ros</depend>
   <depend>bitbots_docs</depend>
   <depend>camera_info_manager</depend>
   <depend>cv_bridge</depend>

diff --git a/bitbots_misc/bitbots_extrinsic_calibration/CMakeLists.txt b/bitbots_misc/bitbots_extrinsic_calibration/CMakeLists.txt
@@ -6,16 +6,21 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(backward_ros REQUIRED)
+find_package(bitbots_docs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(ament_cmake REQUIRED)
-find_package(tf2_ros REQUIRED)
+find_package(rot_conv REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
-find_package(bitbots_docs REQUIRED)
 find_package(tf2 REQUIRED)
-find_package(rot_conv REQUIRED)
-find_package(backward_ros REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
 
 add_compile_options(-Wall -Werror -Wno-unused)
 

diff --git a/bitbots_misc/bitbots_extrinsic_calibration/package.xml b/bitbots_misc/bitbots_extrinsic_calibration/package.xml
@@ -9,17 +9,17 @@
     <maintainer email="[email protected]">Hamburg Bit-Bots</maintainer>
 
     <license>MIT</license>
-    
+
     <author email="[email protected]">Florian Vahl</author>
 
     <buildtool_depend>ament_cmake</buildtool_depend>
 
+    <depend>backward_ros</depend>
     <depend>bitbots_docs</depend>
+    <depend>rot_conv</depend>
     <depend>std_msgs</depend>
-    <depend>tf2</depend>
     <depend>tf2_ros</depend>
-    <depend>rot_conv</depend>
-    <depend>backward_ros</depend>
+    <depend>tf2</depend>
 
     <export>
         <bitbots_documentation>

diff --git a/bitbots_misc/bitbots_robot_description/CMakeLists.txt b/bitbots_misc/bitbots_robot_description/CMakeLists.txt
@@ -4,12 +4,6 @@ project(bitbots_robot_description)
 find_package(bitbots_docs REQUIRED)
 find_package(ament_cmake REQUIRED)
 
-set(INCLUDE_DIRS include)
-include_directories(${INCLUDE_DIRS})
-
-set(CMAKE_CXX_STANDARD 17)
-add_compile_options(-Wall -Werror -Wno-unused -pedantic -Wextra)
-
 enable_bitbots_docs()
 
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})

diff --git a/bitbots_misc/bitbots_utils/CMakeLists.txt b/bitbots_misc/bitbots_utils/CMakeLists.txt
@@ -6,7 +6,13 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(bitbots_docs REQUIRED)
+find_package(backward_ros REQUIRED)
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -26,7 +32,7 @@ add_compile_options(-Wall -Werror -Wno-unused -pedantic -Wextra -fPIC)
 add_library(${PROJECT_NAME} src/utils.cpp)
 
 # Add dependencies to cpp library
-ament_target_dependencies(${PROJECT_NAME} rclcpp tf2_ros)
+ament_target_dependencies(${PROJECT_NAME} rclcpp tf2_ros backward_ros)
 
 ament_export_dependencies(rclcpp)
 ament_export_include_directories(${INCLUDE_DIRS})

diff --git a/bitbots_misc/bitbots_utils/package.xml b/bitbots_misc/bitbots_utils/package.xml
@@ -11,11 +11,12 @@
     <maintainer email="[email protected]">Hamburg Bit-Bots</maintainer>
 
     <license>MIT</license>
-    
+
     <author email="[email protected]">Hamburg Bit-Bots</author>
 
     <buildtool_depend>ament_cmake</buildtool_depend>
 
+    <depend>backward_ros</depend>
     <depend>bitbots_docs</depend>
     <depend>python3-yaml</depend>
     <depend>python3-transforms3d</depend>

diff --git a/bitbots_motion/bitbots_dynamic_kick/CMakeLists.txt b/bitbots_motion/bitbots_dynamic_kick/CMakeLists.txt
@@ -6,9 +6,15 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(ament_cmake REQUIRED)
-find_package(bitbots_docs REQUIRED)
+find_package(backward_ros REQUIRED)
 find_package(biped_interfaces REQUIRED)
+find_package(bitbots_docs REQUIRED)
 find_package(bitbots_msgs REQUIRED)
 find_package(bitbots_splines REQUIRED)
 find_package(control_msgs REQUIRED)
@@ -25,7 +31,6 @@ find_package(tf2 REQUIRED)
 find_package(tf2_eigen REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
-find_package(backward_ros REQUIRED)
 
 find_package(PythonLibs COMPONENTS Interpreter Development)
 

diff --git a/bitbots_motion/bitbots_dynup/CMakeLists.txt b/bitbots_motion/bitbots_dynup/CMakeLists.txt
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 20)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 set(PYBIND11_PYTHON_VERSION 3)
 set(PYBIND11_FINDPYTHON ON)
 

diff --git a/bitbots_motion/bitbots_hcm/CMakeLists.txt b/bitbots_motion/bitbots_hcm/CMakeLists.txt
@@ -1,6 +1,11 @@
 cmake_minimum_required(VERSION 3.5)
 project(bitbots_hcm)
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 set(PYBIND11_PYTHON_VERSION 3)
 set(PYBIND11_FINDPYTHON ON)
 find_package(ament_cmake REQUIRED)
@@ -19,7 +24,7 @@ find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-fvisibility=hidden)
+  add_compile_options(-fvisibility=hidden -Wall -Wextra -Wpedantic)
 endif()
 
 include_directories(${PYTHON_INCLUDE_DIRS})

diff --git a/bitbots_motion/bitbots_head_mover/CMakeLists.txt b/bitbots_motion/bitbots_head_mover/CMakeLists.txt
@@ -1,6 +1,11 @@
 cmake_minimum_required(VERSION 3.8)
 project(bitbots_head_mover)
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
@@ -12,7 +17,6 @@ find_package(bio_ik REQUIRED)
 find_package(bio_ik_msgs REQUIRED)
 find_package(bitbots_msgs REQUIRED)
 find_package(generate_parameter_library REQUIRED)
-find_package(bitbots_msgs REQUIRED)
 find_package(moveit_core REQUIRED)
 find_package(moveit_msgs REQUIRED)
 find_package(moveit_ros_planning REQUIRED)
@@ -23,8 +27,6 @@ find_package(std_msgs REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
 
-set(CMAKE_BUILD_TYPE Debug)
-
 # uncomment the following section in order to fill in further dependencies
 # manually. find_package(<dependency> REQUIRED)
 generate_parameter_library(

diff --git a/bitbots_motion/bitbots_moveit_bindings/CMakeLists.txt b/bitbots_motion/bitbots_moveit_bindings/CMakeLists.txt
@@ -6,24 +6,29 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 set(PYBIND11_PYTHON_VERSION 3)
 set(PYBIND11_FINDPYTHON ON)
-find_package(bitbots_docs REQUIRED)
 find_package(ament_cmake REQUIRED)
 find_package(backward_ros REQUIRED)
 find_package(bio_ik REQUIRED)
 find_package(bio_ik_msgs REQUIRED)
+find_package(bitbots_docs REQUIRED)
 find_package(moveit_core REQUIRED)
 find_package(moveit_msgs REQUIRED)
-find_package(moveit_ros_planning_interface REQUIRED)
 find_package(moveit_ros_planning REQUIRED)
+find_package(moveit_ros_planning_interface REQUIRED)
 find_package(pybind11 REQUIRED)
 find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
+find_package(rclcpp REQUIRED)
 find_package(ros2_python_extension)
 find_package(tf2 REQUIRED)
-find_package(tf2_ros REQUIRED)
 find_package(tf2_kdl REQUIRED)
-find_package(rclcpp REQUIRED)
+find_package(tf2_ros REQUIRED)
 
 add_compile_options(-Wall -Wno-unused)
 

diff --git a/bitbots_motion/bitbots_moveit_bindings/package.xml b/bitbots_motion/bitbots_moveit_bindings/package.xml
@@ -10,16 +10,16 @@
   <license>MIT</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <depend>bitbots_docs</depend>
-  <depend>bio_ik</depend>
+  <depend>backward_ros</depend>
   <depend>bio_ik_msgs</depend>
+  <depend>bio_ik</depend>
+  <depend>bitbots_docs</depend>
   <depend>moveit_core</depend>
-  <depend>moveit_ros_planning</depend>
   <depend>moveit_ros_planning_interface</depend>
+  <depend>moveit_ros_planning</depend>
   <depend>pybind11_vendor</depend>
   <depend>ros2_python_extension</depend>
   <export>
-
-  <build_type>ament_cmake</build_type>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>
diff --git a/bitbots_motion/bitbots_quintic_walk/CMakeLists.txt b/bitbots_motion/bitbots_quintic_walk/CMakeLists.txt
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 20)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 set(PYBIND11_PYTHON_VERSION 3)
 set(PYBIND11_FINDPYTHON ON)
 find_package(ament_cmake REQUIRED)