Field-Robotics-Lab · woensug-choi · Mar 23, 2022 · Jan 18, 2022 · Jan 18, 2022 · Jan 26, 2022
diff --git 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
@@ -5,7 +5,7 @@
   <description>The dave_demo_launch package contains launch files for DAVE project demos</description>
   <maintainer email="dtdavi1@nps.edu">dtd</maintainer>
   <license>Apache2</license>
-  <author email="dtdavi1@nps.edu">dtd</author> -->
+  <author email="dtdavi1@nps.edu">dtd</author>
   <buildtool_depend>catkin</buildtool_depend>
   <export>
     <!-- Other tools can request additional information be placed here -->

diff --git 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
@@ -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<std::string>("prefix");
           bg->priority = gridSDF->Get<int>("priority");
+          bg->tiles_to_keep = gridSDF->Get<int>("tiles_to_keep");
           bg->anchor_lat = gridSDF->Get<double>("anchor_lat");
           bg->anchor_lon = gridSDF->Get<double>("anchor_lon");
           bg->spacing_lat = gridSDF->Get<double>("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
@@ -319,18 +319,7 @@ void UnderwaterCurrentPlugin::LoadStratifiedCurrentDatabase()
       transientCurrentParams->Get<std::string>("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
@@ -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
@@ -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
@@ -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
@@ -9,7 +9,7 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <depend>gazebo_ros</depend>s
+  <depend>gazebo_ros</depend>
   <depend>uuv_sensor_ros_plugins</depend>
   <depend>ds_sim</depend>
   <export>

diff --git a/models/dave_worlds/package.xml b/models/dave_worlds/package.xml
@@ -14,6 +14,7 @@
   <depend>ds_sim</depend>
 
   <export>
+    <gazebo_ros gazebo_media_path="${prefix}/worlds"/>
     <gazebo_ros gazebo_media_path="${prefix}/media"/>
   </export>