Merge pull request #17 from FraunhoferIOSB/feat/small_gicp_vendor

Feat/small gicp vendor

Author: migranram

.gitignore

@@ -145,4 +145,10 @@ multisensor_calibration/launch/*
 !multisensor_calibration/launch/example
 !multisensor_calibration/launch/multi_sensor_calib_example.launch
 
-# End of https://www.toptal.com/developers/gitignore/api/visualstudiocode,ros,c++
+# End of https://www.toptal.com/developers/gitignore/api/visualstudiocode,ros,c++
+
+# Debian packaging
+*.deb
+*.ddeb
+debian/
+.obj*/

.gitmodules

@@ -66,7 +66,7 @@ Further requirements:
 - [**PCL**](https://pointclouds.org/)
 - [**OpenCV**](https://opencv.org/)
 - [**Qt**](https://www.qt.io/)
-- [**small_gicp**](https://github.com/koide3/small_gicp): This is included as git-submodule and will be cloned and built on the first build. It is licensed under the MIT-License.
+- [**small_gicp**](https://github.com/koide3/small_gicp): TThe package `small_gicp_vendor` wraps this library to make it available for other ROS components. This is a common practice for third-party libraries without available deb sources. It is licensed under the MIT-License.
 - [**OpenMP**](https://www.openmp.org/) (optional): This is used to parallelize and speed up the processing of each point in the point cloud. If not found by CMake the processing will be done sequentially.
 - [**Doxygen**](https://www.doxygen.nl/) (optional): If available, this Doxygen documentation will be build automatically.
 
@@ -78,21 +78,15 @@ Further requirements:
     git clone https://github.com/FraunhoferIOSB/multisensor_calibration.git
     ```
 
-2. (OPTIONAL) Clone and build 'small_gicp'.<br>If this step is omitted, it will be executed as part of the first build.
-
-    ```bash
-    cd multisensor_calibration && ./thirdparty/clone_small_gicp.sh && ./thirdparty/build_and_install_small_gicp.sh
-    ```
-
-3. Initialize `rosdep` and install dependencies:
+2. Initialize `rosdep` and install dependencies:
 
     ```bash
     sudo rosdep init
     rosdep update
     rosdep install --from-paths src -y --ignore-src
     ```
 
-4. Run `colcon` to build from source:<br>
+3. Run `colcon` to build from source:<br>
 To build in 'Debug' mode add `-DCMAKE_BUILD_TYPE=Debug` to catkin command.
 If 'CMAKE_BUILD_TYPE' omitted, multisensor_calibration will be build in 'Release' mode.
 

README.md

@@ -37,14 +37,6 @@ cd ../../
 ```
 </li>
 
-<li>
-(OPTIONAL) Clone and build 'small_gicp'.<br>If this step is omitted, it will be executed as part of the first build.
-
-```bash
-src/multisensor_calibration/thirdparty/clone_small_gicp.sh && src/multisensor_calibration/thirdparty/build_and_install_small_gicp.sh
-```
-</li>
-
 <li>
 Initialize `rosdep` and install dependencies:
 
@@ -103,14 +95,6 @@ git clone https://github.com/FraunhoferIOSB/multisensor_calibration.git
 ```
 </li>
 
-<li>
-(OPTIONAL) Clone and build 'small_gicp'.<br>If this step is omitted, it will be executed as part of the first build.
-
-```bash
-src/multisensor_calibration/thirdparty/clone_small_gicp.sh && src/multisensor_calibration/thirdparty/build_and_install_small_gicp.sh
-```
-</li>
-
 <li>
 Initialize `rosdep` and install dependencies:
 
@@ -156,6 +140,6 @@ Apart from the basic catkin requirements, `multisensor_calibration` depends on t
 - [**PCL**](https://pointclouds.org/)
 - [**OpenCV**](https://opencv.org/)
 - [**Qt**](https://www.qt.io/)
-- [**small_gicp**](https://github.com/koide3/small_gicp): This is included as git-submodule and will be cloned and built on the first build. It is licensed under the MIT-License.
+- [**small_gicp**](https://github.com/koide3/small_gicp): The package `small_gicp_vendor` wraps this library to make it available for other ROS components. This is a common practice for third-party libraries without available deb sources. It is licensed under the MIT-License.
 - [**OpenMP**](https://www.openmp.org/) (optional): This is used to parallelize and speed up the processing of each point in the point cloud. If not found by CMake the processing will be done sequentially.
 - [**Doxygen**](https://www.doxygen.nl/) (optional): If available, this Doxygen documentation will be build automatically.

doc/user_docs/installation.md

@@ -101,18 +101,8 @@ find_package(OpenCV REQUIRED COMPONENTS
     core
     calib3d
 )
-
-# if small gicp does not exist clone and build
-if(NOT EXISTS "${CMAKE_CURRENT_LIST_DIR}/../thirdparty/install/small_gicp/lib/cmake/small_gicp")
-    execute_process(COMMAND bash ${CMAKE_CURRENT_LIST_DIR}/../thirdparty/clone_small_gicp.sh)
-    execute_process(COMMAND bash ${CMAKE_CURRENT_LIST_DIR}/../thirdparty/build_and_install_small_gicp.sh)
-endif()
-
-find_package(small_gicp REQUIRED
-             PATHS "${CMAKE_CURRENT_LIST_DIR}/../thirdparty/install/small_gicp/lib/cmake/small_gicp")
-file(STRINGS "${CMAKE_CURRENT_LIST_DIR}/../.git/modules/thirdparty/small_gicp/HEAD" 
-             SMALL_GICP_HEAD_COMMIT_HASH
-         )
+find_package(small_gicp_vendor REQUIRED)
+find_package(small_gicp REQUIRED)
 
 
 find_package(OpenMP)
@@ -144,7 +134,7 @@ set(COMMON_COMPILE_DEFINITIONS
     -DEXTRINSIC_LIDAR_REFERENCE_CALIBRATION_TARGET=4
     -DEXTRINSIC_LIDAR_VEHICLE_CALIBRATION_TARGET=5
     -DMULTI_THREADED
-    -DSMALL_GICP_HEAD_COMMIT_HASH="${SMALL_GICP_HEAD_COMMIT_HASH}"
+    -DSMALL_GICP_HEAD_COMMIT_HASH="${small_gicp_VERSION}"
 )
 if("${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
     set(COMMON_COMPILE_DEFINITIONS ${COMMON_COMPILE_DEFINITIONS}
@@ -168,6 +158,8 @@ set(DEPENDENCIES
   geometry_msgs
   visualization_msgs
   multisensor_calibration_interface
+  small_gicp
+  small_gicp_vendor
 )
 
 
@@ -251,9 +243,9 @@ target_compile_definitions(${LIBRARY_TARGET_NAME} PRIVATE
 )
 ament_target_dependencies(${LIBRARY_TARGET_NAME} 
     ${DEPENDENCIES}
-    small_gicp
 )
 ament_export_targets(export_${LIBRARY_TARGET_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(${DEPENDENCIES})
 
 rclcpp_components_register_nodes(${LIBRARY_TARGET_NAME} "multisensor_calibration::visualizers::PointCloud2PointCloudDistanceNode")
 rclcpp_components_register_nodes(${LIBRARY_TARGET_NAME} "multisensor_calibration::visualizers::PointCloud2ImageNode")

multisensor_calibration/CMakeLists.txt

@@ -34,13 +34,15 @@
   <depend>tinyxml2</depend>
   <depend>urdf</depend>
   <depend>rviz_common</depend>
+  <depend>multisensor_calibration_interface</depend>
+
+  <depend>small_gicp_vendor</depend>
 
   <depend>std_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>visualization_msgs</depend>
 
-  <depend>multisensor_calibration_interface</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

multisensor_calibration/package.xml

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.8)
+project(small_gicp_vendor)
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_vendor_package REQUIRED)
+
+find_package(small_gicp QUIET)
+
+# Define the URL and branch
+set(GITREPO "https://github.com/koide3/small_gicp.git")
+set(GITVERSION "master")
+
+ament_vendor(small_gicp_vendor
+  SATISFIED ${small_gicp_FOUND}
+  VCS_URL ${GITREPO}
+  VCS_VERSION ${GITVERSION}
+  CMAKE_ARGS
+    "-DCMAKE_CXX_FLAGS=${CMAKE_CXX_FLAGS}"
+)
+
+
+ament_package()

small_gicp_vendor/CMakeLists.txt

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>small_gicp_vendor</name>
+  <version>2.0.1</version>
+  <description>Vendor package for small_gicp. This is just a wrapper to provide ExternalProject build</description>
+  <maintainer email="[email protected]">miguel</maintainer>
+  <license>MIT</license> <!-- small_gicp -->
+  <license>BSD3</license> <!-- small_gicp_vendor -->
+
+  <url type="website">https://github.com/koide3/small_gicp</url>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>