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Build with release #649

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merged 4 commits into from
Jan 20, 2025
Merged

Build with release #649

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926c663
Build with release and refactor some CMakeLists.txt files
Flova Jan 5, 2025
43327ab
Cleanup cmakelists and build with release and debug symbols by default
Flova Jan 6, 2025
c272c7e
Fix head mover debug build
Flova Jan 6, 2025
0e9dd2b
Merge branch 'main' into fix/build_with_release
Flova Jan 20, 2025
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73 changes: 2 additions & 71 deletions bitbots_behavior/bitbots_blackboard/CMakeLists.txt
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@@ -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")
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5 changes: 5 additions & 0 deletions bitbots_lowlevel/bitbots_buttons/CMakeLists.txt
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Expand Up @@ -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)
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5 changes: 5 additions & 0 deletions bitbots_lowlevel/bitbots_ros_control/CMakeLists.txt
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Expand Up @@ -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)
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5 changes: 5 additions & 0 deletions bitbots_misc/bitbots_basler_camera/CMakeLists.txt
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Expand Up @@ -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)
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1 change: 1 addition & 0 deletions bitbots_misc/bitbots_basler_camera/package.xml
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Expand Up @@ -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>
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17 changes: 11 additions & 6 deletions bitbots_misc/bitbots_extrinsic_calibration/CMakeLists.txt
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Expand Up @@ -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)

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8 changes: 4 additions & 4 deletions bitbots_misc/bitbots_extrinsic_calibration/package.xml
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Expand Up @@ -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>
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6 changes: 0 additions & 6 deletions bitbots_misc/bitbots_robot_description/CMakeLists.txt
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Expand Up @@ -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})
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8 changes: 7 additions & 1 deletion bitbots_misc/bitbots_utils/CMakeLists.txt
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Expand Up @@ -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)
Expand All @@ -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})
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3 changes: 2 additions & 1 deletion bitbots_misc/bitbots_utils/package.xml
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Expand Up @@ -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>
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9 changes: 7 additions & 2 deletions bitbots_motion/bitbots_dynamic_kick/CMakeLists.txt
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Expand Up @@ -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)
Expand All @@ -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)

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5 changes: 5 additions & 0 deletions bitbots_motion/bitbots_dynup/CMakeLists.txt
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Expand Up @@ -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)

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7 changes: 6 additions & 1 deletion bitbots_motion/bitbots_hcm/CMakeLists.txt
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@@ -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)
Expand All @@ -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})
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8 changes: 5 additions & 3 deletions bitbots_motion/bitbots_head_mover/CMakeLists.txt
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@@ -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()
Expand All @@ -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)
Expand All @@ -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(
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13 changes: 9 additions & 4 deletions bitbots_motion/bitbots_moveit_bindings/CMakeLists.txt
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Expand Up @@ -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)

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10 changes: 5 additions & 5 deletions bitbots_motion/bitbots_moveit_bindings/package.xml
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Expand Up @@ -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>
5 changes: 5 additions & 0 deletions bitbots_motion/bitbots_quintic_walk/CMakeLists.txt
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Expand Up @@ -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)
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