diff --git a/examples/dave_demo_launch/CMakeLists.txt b/examples/dave_demo_launch/CMakeLists.txt index 030bc4ab..f4fd25e5 100644 --- a/examples/dave_demo_launch/CMakeLists.txt +++ b/examples/dave_demo_launch/CMakeLists.txt @@ -1,42 +1,11 @@ cmake_minimum_required(VERSION 3.1.1) project(dave_demo_launch) -find_package(catkin REQUIRED) - -if(NOT "${CMAKE_VERSION}" VERSION_LESS "3.16") - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) -else() - add_compile_options(-std=c++11) -endif() find_package(catkin REQUIRED COMPONENTS) -find_package(gazebo REQUIRED) -find_package(roscpp REQUIRED) -find_package(std_msgs REQUIRED) - -include_directories(${roscpp_INCLUDE_DIRS}) -include_directories(${std_msgs_INCLUDE_DIRS}) -include_directories( - include - ${catkin_INCLUDE_DIRS} - ${GAZEBO_INCLUDE_DIRS} -) -link_directories(${GAZEBO_LIBRARY_DIRS}) -set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") -set(SENSOR_ROS_PLUGINS_LIST "") - -catkin_package( - INCLUDE_DIRS - LIBRARIES - CATKIN_DEPENDS - ) +catkin_package() # for launch install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} PATTERN "*~" EXCLUDE) - -# for Python scripts -catkin_install_python(PROGRAMS - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) diff --git a/examples/dave_demo_launch/package.xml b/examples/dave_demo_launch/package.xml index a9654a23..1baa4f77 100644 --- a/examples/dave_demo_launch/package.xml +++ b/examples/dave_demo_launch/package.xml @@ -5,7 +5,7 @@ The dave_demo_launch package contains launch files for DAVE project demos dtd Apache2 - dtd --> + dtd catkin diff --git a/gazebo/dave_gazebo_world_plugins/CMakeLists.txt b/gazebo/dave_gazebo_world_plugins/CMakeLists.txt index 001a5088..2073a8e5 100644 --- a/gazebo/dave_gazebo_world_plugins/CMakeLists.txt +++ b/gazebo/dave_gazebo_world_plugins/CMakeLists.txt @@ -44,15 +44,19 @@ message(STATUS "GAZEBO_MSG_INCLUDE_DIRS = " ${GAZEBO_MSG_INCLUDE_DIRS}) file(GLOB msgs msgs/*.proto) catkin_package( - INCLUDE_DIRS + INCLUDE_DIRS include - ${CMAKE_CURRENT_BINARY_DIR} # for generated messages + # for generated Protobuf messages. Export parent dir (build/), so that + # the #include <*.pb.h> line has the package name, consistent between + # catkin config --install and --no-install. + ${CMAKE_CURRENT_BINARY_DIR}/.. ${GAZEBO_MSG_INCLUDE_DIRS} - LIBRARIES + LIBRARIES + dave_gazebo_world_plugins_msgs dave_ocean_current_world_plugin - CATKIN_DEPENDS - gazebo_dev - gazebo_msgs + CATKIN_DEPENDS + gazebo_dev + gazebo_msgs gazebo_ros roscpp ) diff --git a/gazebo/dave_gazebo_world_plugins/src/bathymetry_world_plugin.cc b/gazebo/dave_gazebo_world_plugins/src/bathymetry_world_plugin.cc index 0b8a4a5b..d06d6ee0 100644 --- a/gazebo/dave_gazebo_world_plugins/src/bathymetry_world_plugin.cc +++ b/gazebo/dave_gazebo_world_plugins/src/bathymetry_world_plugin.cc @@ -43,6 +43,7 @@ struct bathy_grid_t { std::string prefix; int priority; + int tiles_to_keep; // lower-left-hand-corner. double anchor_lat; @@ -91,6 +92,7 @@ namespace gazebo bg->prefix = gridSDF->Get("prefix"); bg->priority = gridSDF->Get("priority"); + bg->tiles_to_keep = gridSDF->Get("tiles_to_keep"); bg->anchor_lat = gridSDF->Get("anchor_lat"); bg->anchor_lon = gridSDF->Get("anchor_lon"); bg->spacing_lat = gridSDF->Get("spacing_lat"); @@ -434,7 +436,7 @@ namespace gazebo } // Perform delayed removal - if (delayRemoveList.size() >= 1) + if (delayRemoveList.size() >= this->bathy_grids[nn]->tiles_to_keep) { std::string modelnamestr = delayRemoveList.front(); delayRemoveList.erase(delayRemoveList.begin()); diff --git a/gazebo/dave_gazebo_world_plugins/src/ocean_current_world_plugin.cc b/gazebo/dave_gazebo_world_plugins/src/ocean_current_world_plugin.cc index 8fa228bf..cedf1234 100644 --- a/gazebo/dave_gazebo_world_plugins/src/ocean_current_world_plugin.cc +++ b/gazebo/dave_gazebo_world_plugins/src/ocean_current_world_plugin.cc @@ -319,18 +319,7 @@ void UnderwaterCurrentPlugin::LoadStratifiedCurrentDatabase() transientCurrentParams->Get("databasefilePath"); else { - // Using boost: - // boost::filesystem::path - // concatPath(boost::filesystem::initial_path().parent_path()); - // concatPath += - // ("/uuv_ws/src/dave/models/dave_worlds/" + - // "worlds/transientOceanCurrentDatabase.csv"); - // this->databaseFilePath = concatPath.generic_string(); - // - // Use ros package path: - - this->databaseFilePath = ros::package::getPath("dave_worlds") + - "/worlds/transientOceanCurrentDatabase.csv"; + this->databaseFilePath = "transientOceanCurrentDatabase.csv"; } GZ_ASSERT(!this->databaseFilePath.empty(), @@ -350,8 +339,9 @@ void UnderwaterCurrentPlugin::LoadStratifiedCurrentDatabase() csvFile.open(this->databaseFilePath); if (!csvFile) { - this->databaseFilePath = ros::package::getPath("dave_worlds") + - "/worlds/" + this->databaseFilePath; + common::SystemPaths *paths = common::SystemPaths::Instance(); + this->databaseFilePath = + paths->FindFile(this->databaseFilePath, true); csvFile.open(this->databaseFilePath); } GZ_ASSERT(csvFile, "Stratified Ocean database file does not exist"); @@ -539,8 +529,9 @@ void UnderwaterCurrentPlugin::LoadTidalOscillationDatabase() csvFile.open(this->tidalFilePath); if (!csvFile) { - this->tidalFilePath = ros::package::getPath("dave_worlds") + - "/worlds/" + this->tidalFilePath; + common::SystemPaths *paths = common::SystemPaths::Instance(); + this->tidalFilePath = + paths->FindFile(this->tidalFilePath, true); csvFile.open(this->tidalFilePath); } GZ_ASSERT(csvFile, "Tidal Oscillation database file does not exist"); diff --git a/models/dave_object_models/CMakeLists.txt b/models/dave_object_models/CMakeLists.txt index 86520d74..019f17a3 100644 --- a/models/dave_object_models/CMakeLists.txt +++ b/models/dave_object_models/CMakeLists.txt @@ -10,3 +10,8 @@ endif() find_package(catkin REQUIRED COMPONENTS) +catkin_package() + +install(DIRECTORY models + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "*~" EXCLUDE) diff --git a/models/dave_robot_models/CMakeLists.txt b/models/dave_robot_models/CMakeLists.txt index 4cae1e4a..67e1ed8a 100644 --- a/models/dave_robot_models/CMakeLists.txt +++ b/models/dave_robot_models/CMakeLists.txt @@ -13,3 +13,8 @@ find_package(catkin REQUIRED COMPONENTS uuv_sensor_ros_plugins ds_sim) +catkin_package() + +install(DIRECTORY models + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "*~" EXCLUDE) diff --git a/models/dave_sensor_models/CMakeLists.txt b/models/dave_sensor_models/CMakeLists.txt index 12edb113..2df1f73e 100644 --- a/models/dave_sensor_models/CMakeLists.txt +++ b/models/dave_sensor_models/CMakeLists.txt @@ -13,3 +13,8 @@ find_package(catkin REQUIRED COMPONENTS uuv_sensor_ros_plugins ds_sim) +catkin_package() + +install(DIRECTORY models + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "*~" EXCLUDE) diff --git a/models/dave_sensor_models/package.xml b/models/dave_sensor_models/package.xml index f7237ddc..662b8396 100644 --- a/models/dave_sensor_models/package.xml +++ b/models/dave_sensor_models/package.xml @@ -9,7 +9,7 @@ catkin - gazebo_ross + gazebo_ros uuv_sensor_ros_plugins ds_sim diff --git a/models/dave_worlds/package.xml b/models/dave_worlds/package.xml index f4a89b26..8eb7f465 100644 --- a/models/dave_worlds/package.xml +++ b/models/dave_worlds/package.xml @@ -14,6 +14,7 @@ ds_sim +