Noetic devel

.travis.yml

@@ -1,37 +1,22 @@
-sudo: required
-dist: trusty
 language: generic
-
-compiler:
-  - gcc
+services:
+  - docker
 
 notifications:
   email:
+    on_success: change
     on_failure: always
-    recipients:
-      - [email protected]
 env:
   global:
-    - ROS_PARALLEL_JOBS=-j4
+    - CATKIN_LINT=pedantic
+    - CATKIN_LINT_ARGS='--ignore description_boilerplate'
+    - CMAKE_ARGS=-DCMAKE_BUILD_TYPE=Release
+    - PYLINT_ARGS='--output-format=parseable --errors-only'
+    - PYLINT_CHECK=true
+    - ROS_REPO=main
   matrix:
-    - ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu USE_DEB=true NOT_TEST_INSTALL=true ABICHECK_URL='github:ros-perception/ar_track_alvar/#kinetic-devel'
-    - ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu USE_DEB=true NOT_TEST_INSTALL=true VERBOSE_OUTPUT='true'
-    - ROS_DISTRO="kinetic" PRERELEASE=true
-    - ROS_DISTRO="lunar" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu USE_DEB=true NOT_TEST_INSTALL=true
-    - ROS_DISTRO="lunar" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu USE_DEB=true NOT_TEST_INSTALL=true VERBOSE_OUTPUT='true'
-    - ROS_DISTRO="lunar" PRERELEASE=true
-    - ROS_DISTRO="melodic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu USE_DEB=true NOT_TEST_INSTALL=true ABICHECK_URL='github:ros-perception/ar_track_alvar/#kinetic-devel'
-    - ROS_DISTRO="melodic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu USE_DEB=true NOT_TEST_INSTALL=true VERBOSE_OUTPUT='true'
-    - ROS_DISTRO="melodic" PRERELEASE=true
-matrix:
-  allow_failures:
-    - env: ROS_DISTRO="kinetic" PRERELEASE=true
-    - env: ROS_DISTRO="lunar" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu USE_DEB=true NOT_TEST_INSTALL=true
-    - env: ROS_DISTRO="lunar" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu USE_DEB=true NOT_TEST_INSTALL=true VERBOSE_OUTPUT='true'
-    - env: ROS_DISTRO="lunar" PRERELEASE=true
-    - env: ROS_DISTRO="melodic" PRERELEASE=true
+    - ROS_DISTRO=noetic
 install:
-  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
-
+  - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci -b master
 script:
-  - .ci_config/travis.sh
+  - .industrial_ci/travis.sh

ar_track_alvar/CMakeLists.txt

@@ -1,151 +1,127 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(ar_track_alvar)
 
-set(MSG_DEPS
-    ar_track_alvar_msgs
-    std_msgs
-    sensor_msgs
-    geometry_msgs
-    visualization_msgs)
-
-find_package(catkin COMPONENTS
-        genmsg
+find_package(catkin REQUIRED COMPONENTS
+        ${PROJECT_NAME}_msgs
+        cmake_modules
+        cv_bridge
+        dynamic_reconfigure
+        geometry_msgs
+        image_transport
+        message_generation
+        pcl_conversions
+        pcl_ros
+        resource_retriever
         roscpp
+        sensor_msgs
+        std_msgs
         tf
         tf2
-        image_transport
-        resource_retriever
-        cv_bridge
-        pcl_ros
-        pcl_conversions
-        message_generation
-        ${MSG_DEPS}
-        dynamic_reconfigure
-        cmake_modules
-        REQUIRED)
+        visualization_msgs)
 
 find_package(Eigen3 REQUIRED)
 find_package(OpenCV REQUIRED)
 find_package(TinyXML REQUIRED)
 
-include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-if(COMPILER_SUPPORTS_CXX11)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-elseif(COMPILER_SUPPORTS_CXX0X)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
-else()
-        message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
-endif()
-
-cmake_policy(SET CMP0046 OLD)
-
 # dynamic reconfigure support
 generate_dynamic_reconfigure_options(cfg/Params.cfg)
 
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES ar_track_alvar
+  LIBRARIES ${PROJECT_NAME}
   CATKIN_DEPENDS
-        ar_track_alvar_msgs
-        std_msgs
+        ${PROJECT_NAME}_msgs
+        cv_bridge
+        dynamic_reconfigure
+        geometry_msgs
+        image_transport
+        message_runtime
+        pcl_conversions
+        pcl_ros
+        resource_retriever
         roscpp
+        sensor_msgs
+        std_msgs
         tf
         tf2
-        message_runtime
-        image_transport
-        sensor_msgs
-        geometry_msgs
         visualization_msgs
-        resource_retriever
-        cv_bridge
-        pcl_ros
-        pcl_conversions
-        dynamic_reconfigure
 )
 
-include_directories(include 
+include_directories(include
                     ${catkin_INCLUDE_DIRS}
                     ${OpenCV_INCLUDE_DIRS}
                     ${TinyXML_INCLUDE_DIRS}
 
 )
 
-set(GENCPP_DEPS ar_track_alvar_msgs_gencpp std_msgs_gencpp sensor_msgs_gencpp geometry_msgs_gencpp visualization_msgs_gencpp)
-
-add_library(ar_track_alvar
-    src/Camera.cpp
-    src/CaptureDevice.cpp
-    src/Pose.cpp
-    src/Marker.cpp
-    src/MarkerDetector.cpp
+add_library(${PROJECT_NAME}
     src/Bitset.cpp
-    src/Rotation.cpp
-    src/CvTestbed.cpp
+    src/Camera.cpp
     src/CaptureDevice.cpp
     src/CaptureFactory.cpp
     src/CaptureFactory_unix.cpp
-    src/FileFormatUtils.cpp
-    src/Threads.cpp
-    src/Threads_unix.cpp
-    src/Mutex.cpp
-    src/Mutex_unix.cpp
     src/ConnectedComponents.cpp
-    src/Line.cpp src/Plugin.cpp
-    src/Plugin_unix.cpp
+    src/CvTestbed.cpp
     src/DirectoryIterator.cpp
     src/DirectoryIterator_unix.cpp
     src/Draw.cpp
-    src/Util.cpp
+    src/FileFormatUtils.cpp
     src/Filter.cpp
     src/Kalman.cpp
-    src/kinect_filtering.cpp
-    src/Optimization.cpp
+    src/Line.cpp
+    src/Marker.cpp
+    src/MarkerDetector.cpp
     src/MultiMarker.cpp
     src/MultiMarkerBundle.cpp
-    src/MultiMarkerInitializer.cpp)
-target_link_libraries(ar_track_alvar ${OpenCV_LIBS} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES})
-add_dependencies(ar_track_alvar ${GENCPP_DEPS})
+    src/MultiMarkerInitializer.cpp
+    src/Mutex.cpp
+    src/Mutex_unix.cpp
+    src/Optimization.cpp
+    src/Plugin.cpp
+    src/Plugin_unix.cpp
+    src/Pose.cpp
+    src/Rotation.cpp
+    src/Threads.cpp
+    src/Threads_unix.cpp
+    src/Util.cpp
+)
+target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES})
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 # Kinect filtering code
-set(KINECT_FILTERING_TARGETS kinect_filtering medianFilter)
-
 add_library(kinect_filtering src/kinect_filtering.cpp)
 target_link_libraries(kinect_filtering ${catkin_LIBRARIES})
-add_dependencies(kinect_filtering ${GENCPP_DEPS})
+add_dependencies(kinect_filtering ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 add_library(medianFilter src/medianFilter.cpp)
-target_link_libraries(medianFilter ar_track_alvar ${catkin_LIBRARIES})
-add_dependencies(medianFilter ${GENCPP_DEPS})
-
-set(ALVAR_TARGETS ar_track_alvar individualMarkers individualMarkersNoKinect trainMarkerBundle findMarkerBundles findMarkerBundlesNoKinect createMarker ar_track_alvar)
+target_link_libraries(medianFilter ${PROJECT_NAME} ${catkin_LIBRARIES})
+add_dependencies(medianFilter ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 add_executable(individualMarkers nodes/IndividualMarkers.cpp)
-target_link_libraries(individualMarkers ar_track_alvar kinect_filtering ${catkin_LIBRARIES})
-add_dependencies(individualMarkers ${PROJECT_NAME}_gencpp ${GENCPP_DEPS} ${PROJECT_NAME}_gencfg)
+target_link_libraries(individualMarkers ${PROJECT_NAME} kinect_filtering ${catkin_LIBRARIES})
+add_dependencies(individualMarkers ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 add_executable(individualMarkersNoKinect nodes/IndividualMarkersNoKinect.cpp)
-target_link_libraries(individualMarkersNoKinect ar_track_alvar ${catkin_LIBRARIES})
-add_dependencies(individualMarkersNoKinect ${PROJECT_NAME}_gencpp  ${GENCPP_DEPS} ${PROJECT_NAME}_gencfg)
+target_link_libraries(individualMarkersNoKinect ${PROJECT_NAME} ${catkin_LIBRARIES})
+add_dependencies(individualMarkersNoKinect ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 add_executable(trainMarkerBundle nodes/TrainMarkerBundle.cpp)
-target_link_libraries(trainMarkerBundle ar_track_alvar ${catkin_LIBRARIES})
-add_dependencies(trainMarkerBundle ${PROJECT_NAME}_gencpp ${GENCPP_DEPS})
+target_link_libraries(trainMarkerBundle ${PROJECT_NAME} ${catkin_LIBRARIES})
+add_dependencies(trainMarkerBundle ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 add_executable(findMarkerBundles nodes/FindMarkerBundles.cpp)
-target_link_libraries(findMarkerBundles ar_track_alvar kinect_filtering medianFilter ${catkin_LIBRARIES})
-add_dependencies(findMarkerBundles ${PROJECT_NAME}_gencpp ${GENCPP_DEPS})
+target_link_libraries(findMarkerBundles ${PROJECT_NAME} kinect_filtering medianFilter ${catkin_LIBRARIES})
+add_dependencies(findMarkerBundles ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 add_executable(findMarkerBundlesNoKinect nodes/FindMarkerBundlesNoKinect.cpp)
-target_link_libraries(findMarkerBundlesNoKinect ar_track_alvar ${catkin_LIBRARIES})
-add_dependencies(findMarkerBundlesNoKinect ${PROJECT_NAME}_gencpp ${GENCPP_DEPS})
+target_link_libraries(findMarkerBundlesNoKinect ${PROJECT_NAME} ${catkin_LIBRARIES})
+add_dependencies(findMarkerBundlesNoKinect ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 add_executable(createMarker src/SampleMarkerCreator.cpp)
-target_link_libraries(createMarker ar_track_alvar ${catkin_LIBRARIES})
-add_dependencies(createMarker ${PROJECT_NAME}_gencpp ${GENCPP_DEPS})
+target_link_libraries(createMarker ${PROJECT_NAME} ${catkin_LIBRARIES})
+add_dependencies(createMarker ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
-install(TARGETS ${ALVAR_TARGETS} ${KINECT_FILTERING_TARGETS}
+install(TARGETS ${PROJECT_NAME} createMarker findMarkerBundles findMarkerBundlesNoKinect individualMarkers individualMarkersNoKinect kinect_filtering medianFilter trainMarkerBundle
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
@@ -155,29 +131,16 @@ install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
 
-install(DIRECTORY launch bundles
+install(DIRECTORY bundles launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/
 )
 
-if (CATKIN_ENABLE_TESTING)
-  find_package(catkin REQUIRED COMPONENTS roslaunch rostest)
-
+if(CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  find_package(rostest REQUIRED)
+
   file(GLOB LAUNCH_FILES launch/*.launch test/*.test)
   foreach(LAUNCH_FILE ${LAUNCH_FILES})
     roslaunch_add_file_check(${LAUNCH_FILE} USE_TEST_DEPENDENCIES)
   endforeach()
-
-  catkin_download_test_data(
-    ${PROJECT_NAME}_4markers_tork.bag
-    http://download.ros.org/data/ar_track_alvar/ar_track_alvar_4markers_tork_2017-02-08-11-21-14.bag
-    # Workaround the issue http://answers.ros.org/question/253787/accessing-data-downloaded-via-catkin_download_test_data/
-    # by downloading into source folder.
-    #DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
-    DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
-    MD5 627aa0316bbfe4334e06023d7c2b4087
-   )
-  add_rostest(test/marker_arg_config-basic.test DEPENDENCIES ${PROJECT_NAME}_4markers_tork.bag)
-  add_rostest(test/marker_arg_config-full.test DEPENDENCIES ${PROJECT_NAME}_4markers_tork.bag)
-  add_rostest(test/marker_param_config-basic.test DEPENDENCIES ${PROJECT_NAME}_4markers_tork.bag)
-  add_rostest(test/marker_param_config-full.test DEPENDENCIES ${PROJECT_NAME}_4markers_tork.bag)
 endif()