catkinize package CMakeLists.txt package.xml

CMakeLists.txt

@@ -0,0 +1,179 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(openslam_gmapping)
+
+## Find catkin macros and libraries
+find_package(catkin REQUIRED)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES utils sensor_base sensor_odometry sensor_range log configfile scanmatcher gridfastslam
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+
+#SUBDIRS=utils sensor log configfile scanmatcher gridfastslam gui
+
+# utils/
+# OBJS= stat.o  movement.o
+# APPS= autoptr_test #stat_test
+# CPPFLAGS+= -DFSLINE
+add_library(utils
+  utils/stat.cpp
+  utils/movement.cpp)
+add_executable(autoptr_test
+  utils/autoptr_test.cpp)
+
+# sensor/
+# SUBDIRS=sensor_base sensor_odometry sensor_range
+
+# sensor/sensor_base/
+# OBJS= sensor.o sensorreading.o
+add_library(sensor_base
+  sensor/sensor_base/sensor.cpp
+  sensor/sensor_base/sensorreading.cpp)
+
+# sensor/sensor_odometry/
+# LDFLAGS+= -lsensor_base
+# OBJS= odometrysensor.o odometryreading.o
+add_library(sensor_odometry
+  sensor/sensor_odometry/odometrysensor.cpp
+  sensor/sensor_odometry/odometryreading.cpp)
+target_link_libraries(sensor_odometry
+  sensor_base)
+
+# sensor/sensor_range/
+# CPPFLAGS+= -I../
+# LDFLAGS+= -lsensor_base
+# OBJS= rangesensor.o rangereading.o 
+add_library(sensor_range
+  sensor/sensor_range/rangesensor.cpp
+  sensor/sensor_range/rangereading.cpp)
+target_link_libraries(sensor_range
+  sensor_base)
+
+# log/
+# CPPFLAGS+= -I../sensor
+# OBJS= configuration.o carmenconfiguration.o sensorlog.o sensorstream.o
+# APPS= log_test log_plot scanstudio2carmen rdk2carmen
+# LDFLAGS+=  -lsensor_range -lsensor_odometry -lsensor_base 
+add_library(log
+  log/configuration.cpp
+  log/carmenconfiguration.cpp
+  log/sensorlog.cpp
+  log/sensorstream.cpp)
+add_executable(log_test
+  log/log_test.cpp)
+add_executable(log_plot
+  log/log_plot.cpp)
+add_executable(scanstudio2carmen
+  log/scanstudio2carmen.cpp)
+add_executable(rdk2carmen
+  log/rdk2carmen.cpp)
+target_link_libraries(log_test log)
+target_link_libraries(log_plot log)
+target_link_libraries(scanstudio2carmen log)
+target_link_libraries(rdk2carmen log)
+target_link_libraries(log
+  sensor_range sensor_odometry sensor_base)
+
+# configfile/
+# OBJS= configfile.o 
+# APPS= configfile_test 
+add_library(configfile
+  configfile/configfile.cpp)
+add_executable(configfile_test
+  configfile/configfile_test.cpp)
+target_link_libraries(configfile_test configfile)
+
+# scanmatcher/
+# CPPFLAGS+=-I../sensor
+# OBJS= smmap.o scanmatcher.o scanmatcherprocessor.o eig3.o
+# APPS= scanmatch_test icptest
+# LDFLAGS+= -llog -lsensor_range -lsensor_odometry -lsensor_base -lutils
+add_library(scanmatcher
+  scanmatcher/smmap.cpp
+  scanmatcher/scanmatcher.cpp
+  scanmatcher/scanmatcherprocessor.cpp
+  scanmatcher/eig3.cpp)
+add_executable(scanmatch_test
+  scanmatcher/scanmatch_test.cpp)
+add_executable(icptest
+  scanmatcher/icptest.cpp)
+target_link_libraries(scanmatch_test scanmatcher)
+target_link_libraries(icptest scanmatcher)
+target_link_libraries(scanmatcher
+  log sensor_range sensor_odometry sensor_base utils)
+
+# gridfastslam/
+# CPPFLAGS+=-I../sensor
+# OBJS= gridslamprocessor_tree.o motionmodel.o gridslamprocessor.o gfsreader.o
+# APPS= gfs2log gfs2rec gfs2neff #gfs2stat
+# LDFLAGS+=  -lscanmatcher -llog -lsensor_range -lsensor_odometry -lsensor_base -lutils
+add_library(gridfastslam
+  gridfastslam/gridslamprocessor_tree.cpp
+  gridfastslam/motionmodel.cpp
+  gridfastslam/gridslamprocessor.cpp
+  gridfastslam/gfsreader.cpp)
+add_executable(gfs2log
+  gridfastslam/gfs2log.cpp)
+add_executable(gfs2rec
+  gridfastslam/gfs2rec.cpp)
+add_executable(gfs2neff
+  gridfastslam/gfs2neff.cpp)
+target_link_libraries(gfs2log gridfastslam)
+target_link_libraries(gfs2rec gridfastslam)
+target_link_libraries(gfs2neff gridfastslam)
+target_link_libraries(gridfastslam
+  scanmatcher log sensor_range sensor_odometry sensor_base utils)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_openslam_gmapping.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

package.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>openslam_gmapping</name>
+  <version>0.1.1</version>
+  <description>The catkinized verseion of openslam_gmapping package (https://github.com/OpenSLAM-org/openslam_gmapping/tree/79ef0b0e6d9a12d6390ae64c4c00d37d776abefb)</description>
+
+  <maintainer email="[email protected]">Vincent Rabaud</maintainer>
+  <license>BSD</license>
+
+  <author>Cyrill Stachniss</author>
+  <author>Udo Frese</author>
+  <author>Giorgio Grisetti</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+</package>