swri-robotics · drchrislewis · Nov 17, 2020 · Nov 16, 2020 · Nov 16, 2020 · Nov 17, 2020
diff --git a/dependencies.rosinstall b/dependencies.rosinstall
@@ -21,3 +21,9 @@
     local-name: cmake_common_scripts
     uri: 'https://github.com/ros-industrial/cmake_common_scripts.git'
     version: 15450c289e1a92c51e9b6d953f4d07d7e7ccaa18
+
+# Message serialization
+- git:
+    local-name: message_serialization
+    uri: 'https://github.com/swri-robotics/message_serialization.git'
+    version: 0.1.0
diff --git a/opp_area_selection/src/selection_artist.cpp b/opp_area_selection/src/selection_artist.cpp
@@ -23,7 +23,7 @@
 
 #include <eigen_conversions/eigen_msg.h>
 #include <geometry_msgs/PointStamped.h>
-#include <opp_msgs_serialization/serialize.h>
+#include <message_serialization/serialize.h>
 #include <ros/package.h>
 #include <shape_msgs/Mesh.h>
 #include <tf/tf.h>
@@ -291,7 +291,7 @@ bool SelectionArtist::collectROIPointsCb(opp_msgs::GetROISelectionRequest& req,
   pcl::fromROSMsg(req.input_cloud, *cloud);
 
   AreaSelectorParameters params;
-  bool success = opp_msgs_serialization::deserialize(area_selection_config_file, params);
+  bool success = message_serialization::deserialize(area_selection_config_file, params);
   if (!success)
   {
     ROS_ERROR_STREAM("Could not load area selection config from: " << area_selection_config_file);

diff --git a/opp_database/CMakeLists.txt b/opp_database/CMakeLists.txt
@@ -13,9 +13,6 @@ find_package(catkin REQUIRED COMPONENTS
 find_package(Qt5 REQUIRED COMPONENTS Sql)
 find_package(Boost REQUIRED)
 
-# Prevents certain runtime errors in Ubuntu 18.04
-add_definitions(${PCL_DEFINITIONS})
-
 catkin_package(
   INCLUDE_DIRS
     include
@@ -27,8 +24,9 @@ catkin_package(
     opp_msgs
     opp_msgs_serialization
   DEPENDS
-    Qt5
     Boost
+  CFG_EXTRAS
+    ${PROJECT_NAME}-extras.cmake
 )
 
 include_directories(
@@ -46,7 +44,6 @@ target_link_libraries(${PROJECT_NAME}_cpp
   Qt5::Sql
 )
 
-
 #############
 ## Install ##
 #############

diff --git a/opp_database/cmake/opp_database-extras.cmake b/opp_database/cmake/opp_database-extras.cmake
@@ -0,0 +1 @@
+find_package(Qt5 REQUIRED COMPONENTS Sql)
diff --git a/opp_database/src/opp_database_interface_cpp.cpp b/opp_database/src/opp_database_interface_cpp.cpp
@@ -26,7 +26,7 @@
 
 #include <ros/console.h>
 
-#include <opp_msgs_serialization/serialize.h>
+#include <message_serialization/serialize.h>
 #include <opp_msgs_serialization/opp_msgs_yaml.h>
 
 namespace opp_db
@@ -66,7 +66,7 @@ long int ROSDatabaseInterface::addJobToDatabase(const opp_msgs::Job& job, std::s
 
   std::string filepath =
       save_dir_ + "/job_" + job.name + "_" + boost::posix_time::to_iso_string(ros::Time::now().toBoost()) + ".yaml";
-  bool success = opp_msgs_serialization::serialize(filepath, job.paths);
+  bool success = message_serialization::serialize(filepath, job.paths);
   if (!success)
   {
     message = "Failed to save tool paths to file at '" + filepath + "'";
@@ -92,7 +92,7 @@ long int ROSDatabaseInterface::addPartToDatabase(const opp_msgs::Part& part, std
 
   // touchoff_points
   std::string filepath = save_dir_ + "/touch_pts_" + part.name + "_" + time + ".yaml";
-  bool success = opp_msgs_serialization::serialize(filepath, part.touch_points);
+  bool success = message_serialization::serialize(filepath, part.touch_points);
   if (!success)
   {
     message = "Failed to save touchoff points to file '" + filepath + "'";
@@ -103,7 +103,7 @@ long int ROSDatabaseInterface::addPartToDatabase(const opp_msgs::Part& part, std
 
   // verification_points
   filepath = save_dir_ + "/verification_points_" + part.name + "_" + time + ".yaml";
-  success = opp_msgs_serialization::serialize(filepath, part.verification_points);
+  success = message_serialization::serialize(filepath, part.verification_points);
   if (!success)
   {
     message = "Failed to save verification points to file '" + filepath + "'";
@@ -147,7 +147,7 @@ bool ROSDatabaseInterface::getJobFromDatabase(const unsigned int job_id, std::st
   job.part_id = result.value("part_id").toUInt();
 
   const std::string file_path = result.value("paths").toString().toStdString();
-  bool success = opp_msgs_serialization::deserialize(file_path, job.paths);
+  bool success = message_serialization::deserialize(file_path, job.paths);
   if (!success)
   {
     message = "Failed to load tool paths file from '" + file_path + "'";
@@ -191,7 +191,7 @@ bool ROSDatabaseInterface::getAllJobsFromDatabase(const unsigned int part_id,
     j.part_id = result.value("part_id").toUInt();
 
     const std::string filepath = result.value("paths").toString().toStdString();
-    bool success = opp_msgs_serialization::deserialize(filepath, j.paths);
+    bool success = message_serialization::deserialize(filepath, j.paths);
     if (!success)
     {
       message = "Failed to load tool path file from '" + filepath + "'";
@@ -237,15 +237,15 @@ bool ROSDatabaseInterface::getPartFromDatabase(const unsigned int part_id, std::
   part.mesh_resource = result.value("mesh_resource").toString().toStdString();
 
   const std::string touchoff_pts_filename = result.value("touchoff_points").toString().toStdString();
-  bool success = opp_msgs_serialization::deserialize(touchoff_pts_filename, part.touch_points);
+  bool success = message_serialization::deserialize(touchoff_pts_filename, part.touch_points);
   if (!success)
   {
     message = "Failed to load touchoff points from '" + touchoff_pts_filename + "'";
     return false;
   }
 
   const std::string verification_pts_filename = result.value("verification_points").toString().toStdString();
-  success = opp_msgs_serialization::deserialize(verification_pts_filename, part.verification_points);
+  success = message_serialization::deserialize(verification_pts_filename, part.verification_points);
   if (!success)
   {
     message = "Failed to load verification points from '" + verification_pts_filename + "'";
@@ -285,15 +285,15 @@ bool ROSDatabaseInterface::getAllPartsFromDatabase(std::string& message, std::ma
     p.mesh_resource = result.value("mesh_resource").toString().toStdString();
 
     const std::string touch_pts_filename = result.value("touchoff_points").toString().toStdString();
-    bool success = opp_msgs_serialization::deserialize(touch_pts_filename, p.touch_points);
+    bool success = message_serialization::deserialize(touch_pts_filename, p.touch_points);
     if (!success)
     {
       message = "Failed to load touchoff points from '" + touch_pts_filename + "'";
       return false;
     }
 
     const std::string verification_pts_filename = result.value("verification_points").toString().toStdString();
-    success = opp_msgs_serialization::deserialize(verification_pts_filename, p.verification_points);
+    success = message_serialization::deserialize(verification_pts_filename, p.verification_points);
     if (!success)
     {
       message = "Failed to load verification points from '" + verification_pts_filename + "'";

diff --git a/opp_gui/CMakeLists.txt b/opp_gui/CMakeLists.txt
@@ -15,6 +15,7 @@ find_package(catkin REQUIRED COMPONENTS
   opp_area_selection
   opp_msgs
   opp_database
+  pcl_ros
   rviz
   shape_msgs
   std_srvs
@@ -27,9 +28,6 @@ find_package(Qt5 REQUIRED COMPONENTS
   Sql
 )
 
-find_package(PCL 1.9 REQUIRED)
-add_definitions(${PCL_DEFINITIONS})
-
 catkin_package(
   INCLUDE_DIRS
     include
@@ -49,13 +47,13 @@ catkin_package(
     opp_area_selection
     opp_msgs
     opp_database
+    pcl_ros
     rviz
     shape_msgs
     std_srvs
     visualization_msgs
-  DEPENDS
-    Qt5
-    PCL
+  CFG_EXTRAS
+    ${PROJECT_NAME}-extras.cmake
 )
 
 ###########
@@ -66,7 +64,6 @@ include_directories(
   include
   ${catkin_INCLUDE_DIRS}
   ${CMAKE_CURRENT_BINARY_DIR}
-  ${PCL_INCLUDE_DIRS}
 )
 
 set(opp_gui_UIS
@@ -129,7 +126,6 @@ target_link_libraries(${PROJECT_NAME}_utils
   ${catkin_LIBRARIES}
   ${PCL_LIBRARIES}
   Qt5::Core
-  Qt5::Sql
 )
 
 # Qt Widgets
@@ -143,6 +139,7 @@ target_link_libraries(${PROJECT_NAME}_widgets
   ${PCL_LIBRARIES}
   ${PROJECT_NAME}_utils
   Qt5::Widgets
+  Qt5::Sql
 )
 
 # Rviz Panel
@@ -194,7 +191,6 @@ target_link_libraries(touch_point_editor_demo_app
 ## Install ##
 #############
 
-# Mark executables and/or libraries for installation
 install(
   TARGETS
     ${PROJECT_NAME}_panels
@@ -209,15 +205,14 @@ install(
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-# Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
 
-# Mark other files for installation (e.g. launch and bag files, etc.)
 install(DIRECTORY ui/
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ui
 )
+
 install(
   FILES
     plugin_description.xml

diff --git a/opp_gui/cmake/opp_gui-extras.cmake b/opp_gui/cmake/opp_gui-extras.cmake
@@ -0,0 +1 @@
+find_package(Qt5 REQUIRED COMPONENTS Core Widgets Sql)
diff --git a/opp_gui/package.xml b/opp_gui/package.xml
@@ -31,6 +31,7 @@
   <depend>opp_area_selection</depend>
   <depend>opp_msgs</depend>
   <depend>opp_database</depend>
+  <depend>pcl_ros</depend>
   <depend>rviz</depend>
   <depend>shape_msgs</depend>
   <depend>std_srvs</depend>

diff --git a/opp_msgs_serialization/CMakeLists.txt b/opp_msgs_serialization/CMakeLists.txt
@@ -11,14 +11,9 @@ find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
   sensor_msgs
   std_msgs
-  roscpp_serialization
+  message_serialization
 )
 
-find_package(yaml-cpp REQUIRED)
-
-# Prevents certain runtime errors in Ubuntu 18.04
-add_definitions(${PCL_DEFINITIONS})
-
 catkin_package(
   INCLUDE_DIRS
     include
@@ -31,8 +26,7 @@ catkin_package(
     noether_msgs
     roscpp
     opp_msgs
-  DEPENDS
-    YAML_CPP
+    message_serialization
 )
 
 ###########
@@ -42,7 +36,6 @@ catkin_package(
 include_directories(
   include
   ${catkin_INCLUDE_DIRS}
-  ${YAML_CPP_INCLUDE_DIRS}
 )
 
 #############
@@ -64,6 +57,5 @@ if(CATKIN_ENABLE_TESTING)
   )
   target_link_libraries(${PROJECT_NAME}_test
     ${catkin_LIBRARIES}
-    yaml-cpp
   )
 endif()
diff --git a/opp_msgs_serialization/include/opp_msgs_serialization/binary_serialization.h b/opp_msgs_serialization/include/opp_msgs_serialization/binary_serialization.h
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		find_package(Qt5 REQUIRED COMPONENTS Core Widgets Sql)