[Add] Enable CI & Add vendors & Remove vision pkgs (#27)

1. Enable CI for common building in Ubuntu 20.04 2. Add behaviortreecppv3_vendor 3. Combine sdl2main_vendor and sdl2mixer_vendor into sdl2_vendor 4. Remove opencv_vendor & vision pkgs Signed-off-by: Homalozoa <[email protected]>
MiRoboticsLab · Oct 14, 2021 · b35dc14 · b35dc14
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diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
@@ -1,6 +1,6 @@
 ## Checklist for the Merge Request Author
 
-- [ ] Follow [CONTRIBUTING.MD](https://partner-gitlab.mioffice.cn/cyberdog/cyberdog_cyberdog/-/blob/master/CONTRIBUTING.md)
+- [ ] Follow [CONTRIBUTING.MD](https://github.com/MiRoboticsLab/cyberdog_ros2/blob/main/CONTRIBUTING.md)
   - [ ] Commit messages are signed(`git commit -s`)
   - [ ] Commit author matches [Individual Contributor License Agreement](https://cdn.cnbj2m.fds.api.mi-img.com/cyberdog-package/packages/doc_materials/cla_zh_en.pdf)
 - [ ] Commits messages are according to this [guideline](https://tbaggery.com/2008/04/19/a-note-about-git-commit-messages.html)

diff --git a/.github/workflows/build_common.yaml b/.github/workflows/build_common.yaml
@@ -0,0 +1,33 @@
+on:
+  pull_request:
+  push:
+
+jobs:
+  build-and-test:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-20.04]
+      fail-fast: false
+    steps:
+      - name: Setup ROS 2
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: galactic
+      - name: build and test
+        uses: ros-tooling/[email protected]
+        with:
+          target-ros2-distro: galactic
+          colcon-defaults: |
+            {
+              "build": {
+                "merge-install": [true]
+              }
+            }
+      - name: Codecov
+        uses: codecov/[email protected]
+        with:
+          file: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          fail_ci_if_error: false
diff --git a/.gitignore b/.gitignore
@@ -1,3 +1,4 @@
+src/
 build/
 install/
 log/

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -11,3 +11,7 @@ Move the repositories to GitHub and replace the athena keyword with cyberdog in
 ## 1.0.2 (2021-09-27)
 
 Add grpc_vendor, lcm_vendor, mpg123_vendor, sdl2main_vendor, sdl2mixer_vendor and opencv_vendor to constrain the building environment.
+
+## 1.0.3 (2021-10-14)
+
+Remove opencv_vendor, combine sdl2main_vendor & sdl2mixer_vendor into sdl2_vendor. Remove vision pkgs.
diff --git a/NOTICE.md b/NOTICE.md
@@ -34,12 +34,6 @@ alsa-lib (v1.1.3)
 - Source: https://github.com/alsa-project/alsa-lib/releases/tag/v1.1.3
 - Usage: as-is, dynamic-linking
 
-angles (1.12.4)
-- License: BSD-3-Clause
-- Project: https://github.com/ros/angles
-- Source: https://github.com/ros/angles/releases/tag/1.12.4
-- Usage: as-is, dynamic-linking
-
 bluepy (v1.3.0)
 - License: public-domain
 - Project: https://github.com/IanHarvey/bluepy

diff --git a/README.md b/README.md
@@ -21,7 +21,7 @@
 
 由于NVIDIA对Jetson系列截至目前(202109)只提供了Ubuntu 18.04的支持, 故我们对Ubuntu 18.04进行了ROS 2的适配和修改. 具体的修改内容可以通过[mini.repos](tools/ros2_fork/mini.repos)进行拉取, 我们去除了部分没必要的仓, 并添加了一些需要使用的仓库. 
 
-本项目的详细文档都在各个子模块的根目录里, 如有需要可以直接[点击进行了解](https://github.com/MiRoboticsLab/cyberdog_ros2/wiki/CyberDog-2021---ROS-2-%E8%BD%AF%E4%BB%B6%E6%9E%B6%E6%9E%84-ROS-2-Software-Architecture)
+本项目的详细文档都在各个子模块的根目录里, 如有需要可以直接[点击进行了解](https://github.com/MiRoboticsLab/cyberdog_ros2/wiki)
 
 ## 前置条件
 
@@ -34,15 +34,15 @@ $ apt-get update
 $ apt-get install nvidia-l4t-jetson-multimedia-api cuda-compiler-10-2
 ```
 
-如是后者, 可以考虑[使用aarch64的Docker](https://github.com/MiRoboticsLab/cyberdog_ros2/wiki/%E4%BD%BF%E7%94%A8Docker%E6%9E%84%E5%BB%BA%E9%93%81%E8%9B%8B%E9%A1%B9%E7%9B%AE-%7C-Building-CyberDog-Projects-with-Docker). 我们在未来会支持交叉编译。
+如是后者, 可以考虑使用arm64的Docker. 我们在未来会支持交叉编译。
 
 ## 大陆地区加速
 
 如果您在中华人民共和国大陆地区, 可以使用我们提供的Docker的构建加速和colcon的编译加速
 
 > 构建Docker时, 可使用`docker build -t arm_docker:1.0 . --build-arg gfw=1`进行构建镜像, 以提高速度.
 
-> 使用colcon编译包时, 可在colcon编译的语句最后添加`--cmake-args -DBUILD_INSIDE_GFW=ON`以获取加速, 如`colcon build --merge-install --packages-select sdl2main_vendor sdl2mixer_vendor lcm_vendor mpg123_vendor toml11_vendor --cmake-args -DBUILD_INSIDE_GFW=ON`.
+> 使用colcon编译包时, 可在colcon编译的语句最后添加`--cmake-args -DBUILD_INSIDE_GFW=ON`以获取加速, 如`colcon build --merge-install --packages-select sdl2_vendor lcm_vendor mpg123_vendor toml11_vendor --cmake-args -DBUILD_INSIDE_GFW=ON`.
 
 ## 构建 & 部署
 
@@ -64,7 +64,7 @@ $ git clone https://github.com/MiRoboticsLab/cyberdog_ros2.git
 $ cd ..
 ```
 
-- 使用`--packages-up-to`编译([确保source过ROS 2的环境变量](https://github.com/MiRoboticsLab/cyberdog_ros2/wiki/%E4%BB%8E%E6%BA%90%E7%A0%81%E5%AE%89%E8%A3%85ROS-2#7-%E4%BD%BF%E7%94%A8%E6%96%B9%E6%B3%95))
+- 使用`--packages-up-to`编译(确保source过ROS 2的环境变量)
 
 ```
 $ colcon build --merge-install --packages-up-to cyberdog_bringup
@@ -91,7 +91,7 @@ $ git clone https://github.com/MiRoboticsLab/cyberdog_ros2.git
 $ cd ..
 ```
 
-- 直接编译所有的包([确保source过ROS 2的环境变量](https://github.com/MiRoboticsLab/cyberdog_ros2/wiki/%E4%BB%8E%E6%BA%90%E7%A0%81%E5%AE%89%E8%A3%85ROS-2#7-%E4%BD%BF%E7%94%A8%E6%96%B9%E6%B3%95))
+- 直接编译所有的包(确保source过ROS 2的环境变量)
 
 ```
 $ colcon build --merge-install
@@ -104,7 +104,7 @@ $ export OUTPUT_DIR=/opt/ros2/cyberdog
 $ colcon build --merge-install --install-base $OUTPUT_DIR
 ```
 
-此外，小米提供的部分闭源功能包：视觉识别和小爱同学支持默认`不打开`，需要通过在`--cmake-args`后添加`-DXIAOMI_VISION=ON`和`-DXIAOMI_XIAOAI=ON`分别打开两个功能的编译。
+此外，小米提供的部分闭源功能包：小爱同学支持默认`不打开`，需要通过在`--cmake-args`后添加`-DXIAOMI_XIAOAI=ON`分别打开两个功能的编译。
 
 ### 通用的部署方式
 

diff --git a/README_EN.md b/README_EN.md
@@ -21,7 +21,7 @@ Most of the robot applications are implemented based on ROS -As shown in the [ar
 
 Due to NVIDIA only provides support for Ubuntu 18.04 for the Jetson series (202109) as yet, we have adapted and modified ROS 2 for Ubuntu 18.04. The specific modification content can be pulled through [mini.repos](tools/ros2_fork/mini.repos). We have removed some unnecessary repositories, and added some repositories that need to be used.
 
-The documentation of this project is in the root directory of each submodule. If necessary, read [this page](https://github.com/MiRoboticsLab/cyberdog_ros2/wiki/CyberDog-2021---ROS-2-%E8%BD%AF%E4%BB%B6%E6%9E%B6%E6%9E%84-ROS-2-Software-Architecture).
+The documentation of this project is in the root directory of each submodule. If necessary, read [this page](https://github.com/MiRoboticsLab/cyberdog_ros2/wiki).
 
 ## Precondition
 
@@ -34,7 +34,7 @@ $ apt-get update
 $ apt-get install nvidia-l4t-jetson-multimedia-api cuda-compiler-10-2
 ```
 
-If the latter, you can consider [using aarch64's Docker](https://github.com/MiRoboticsLab/cyberdog_ros2/wiki/%E4%BD%BF%E7%94%A8Docker%E6%9E%84%E5%BB%BA%E9%93%81%E8%9B%8B%E9%A1%B9%E7%9B%AE-%7C-Building-CyberDog-Projects-with-Docker). We will support cross compilation in the future.
+If the latter, you can consider using arm64's Docker. We will support cross compilation in the future.
 
 ## Build & Deploy
 
@@ -56,7 +56,7 @@ $ git clone https://github.com/MiRoboticsLab/cyberdog_ros2.git
 $ cd ..
 ```
 
-- Use `--packages-up-to` to compile([Ensure the ROS 2 environment is sourced](https://github.com/MiRoboticsLab/cyberdog_ros2/wiki/%E4%BB%8E%E6%BA%90%E7%A0%81%E5%AE%89%E8%A3%85ROS-2---Building-ROS-2-from-source))
+- Use `--packages-up-to` to compile(Ensure the ROS 2 environment is sourced)
 
 ```
 $ colcon build --merge-install --packages-up-to cyberdog_bringup
@@ -82,7 +82,7 @@ $ git clone https://github.com/MiRoboticsLab/cyberdog_ros2.git
 $ cd ..
 ```
 
-- Compile all packages ([Ensure the ROS 2 environment is sourced](https://github.com/MiRoboticsLab/cyberdog_ros2/wiki/Building-ROS-2-from-source#7-instructions))
+- Compile all packages (Ensure the ROS 2 environment is sourced)
 
 ```
 $ colcon build --merge-install
@@ -95,7 +95,7 @@ $ export OUTPUT_DIR=/opt/ros2/cyberdog
 $ colcon build --merge-install --install-base $OUTPUT_DIR
 ```
 
-In addition, some closed-source function packages provided by Xiaomi: visual recognition and Xiaoai support default `not open`, you need to add `-DXIAOMI_VISION=ON` and `-DXIAOMI_XIAOAI=ON` after `--cmake-args` respectively turn on the building of the two functions.
+In addition, some closed-source function packages provided by Xiaomi: Xiaoai support default `not open`, you need to add `-DXIAOMI_XIAOAI=ON` after `--cmake-args` respectively turn on the building of the two functions.
 
 ### General deployment method
 

diff --git a/cyberdog_bringup/package.xml b/cyberdog_bringup/package.xml
@@ -4,7 +4,7 @@
   <name>cyberdog_bringup</name>
   <version>1.0.0</version>
   <description>CyberDog Launch Scripts</description>
-  <maintainer email="[email protected]">Homalozoa</maintainer>
+  <maintainer email="[email protected]">homalozoa</maintainer>
   <license>Apache License, Version 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

diff --git a/cyberdog_ception/cyberdog_bms/CMakeLists.txt b/cyberdog_ception/cyberdog_bms/CMakeLists.txt
@@ -31,11 +31,13 @@ ${catkin_INCLUDE_DIRS}
 )
 
 add_executable(bms_recv src/bms_logger.cpp src/bms_recv.cpp)
-ament_target_dependencies(bms_recv rclcpp std_msgs ception_msgs lcm_vendor rclcpp_action interaction_msgs)
+ament_target_dependencies(bms_recv rclcpp std_msgs ception_msgs lcm_vendor rclcpp_action interaction_msgs
+  lcm_translate_msgs)
 target_link_libraries(bms_recv)
 
 add_executable(bms_ctrl src/bms_ctrl.cpp)
-ament_target_dependencies(bms_ctrl rclcpp std_msgs ception_msgs lcm_vendor)
+ament_target_dependencies(bms_ctrl rclcpp std_msgs ception_msgs lcm_vendor
+  lcm_translate_msgs)
 target_link_libraries(bms_ctrl)
 
 ## Install headers

diff --git a/cyberdog_ception/cyberdog_body_state/src/body_state_server.cpp b/cyberdog_ception/cyberdog_body_state/src/body_state_server.cpp
@@ -148,7 +148,8 @@ cyberdog_utils::CallbackReturn BodyStatePubNode::on_activate(const rclcpp_lifecy
   return cyberdog_utils::CallbackReturn::SUCCESS;
 }
 
-cyberdog_utils::CallbackReturn BodyStatePubNode::on_deactivate(const rclcpp_lifecycle::State & state)
+cyberdog_utils::CallbackReturn BodyStatePubNode::on_deactivate(
+  const rclcpp_lifecycle::State & state)
 {
   UNUSED_VAR(state);
   RCLCPP_INFO(get_logger(), "Deactiving");

diff --git a/cyberdog_ception/cyberdog_scenedetection/CMakeLists.txt b/cyberdog_ception/cyberdog_scenedetection/CMakeLists.txt
@@ -20,6 +20,9 @@ include(ExternalProject)
 set(EXTPRJ_NAME bream)
 set(PREFIX_DIR "${CMAKE_CURRENT_BINARY_DIR}/${EXTPRJ_NAME}")
 
+message(WARNING "Not support yet.")
+return()
+
 externalproject_add(
   ${EXTPRJ_NAME}
   PREFIX ${EXTPRJ_NAME}

diff --git a/cyberdog_common/behaviortreecppv3_vendor/CMakeLists.txt b/cyberdog_common/behaviortreecppv3_vendor/CMakeLists.txt
@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.8)
+project(behaviortreecppv3_vendor)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+set(GITHUB_URL "github.com")
+option(BUILD_INSIDE_GFW "Build this package in PRC" OFF)
+
+if(BUILD_INSIDE_GFW)
+  message(">>> Replace github.com into hub.fastgit.org for PRC users!")
+  set(GITHUB_URL "hub.fastgit.org")
+endif()
+
+set(EXTPRJ_NAME behaviortreecppv3)
+set(OUT_DIR "${CMAKE_BINARY_DIR}/install")
+set(GIT_URL "https://${GITHUB_URL}/BehaviorTree/BehaviorTree.CPP.git")
+set(PKG_VER "3.5.6")
+
+include(ExternalProject)
+
+externalproject_add(
+  ${EXTPRJ_NAME}
+  PREFIX ${EXTPRJ_NAME}
+  GIT_REPOSITORY ${GIT_URL}
+  GIT_TAG ${PKG_VER}
+  CMAKE_ARGS
+      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+      -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+      -DBUILD_EXAMPLES=OFF
+      -DBUILD_UNIT_TESTS=OFF
+  INSTALL_DIR ${CMAKE_INSTALL_PREFIX}
+  TIMEOUT 1200
+)
+
+ament_package()
diff --git a/cyberdog_common/opencv_vendor/package.xml → ...mmon/behaviortreecppv3_vendor/package.xml b/cyberdog_common/opencv_vendor/package.xml → ...mmon/behaviortreecppv3_vendor/package.xml
@@ -1,9 +1,9 @@
 <?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>opencv_vendor</name>
+  <name>behaviortreecppv3_vendor</name>
   <version>1.0.0</version>
-  <description>Vendor library for OpenCV of CyberDog.</description>
+  <description>Vendor library for behaviortree_cpp_v3.</description>
   <maintainer email="[email protected]">homalozoa</maintainer>
   <license>Apache License 2.0</license>
 

diff --git a/cyberdog_common/cyberdog_grpc/CMakeLists.txt b/cyberdog_common/cyberdog_grpc/CMakeLists.txt
@@ -27,7 +27,6 @@ find_package(interaction_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(automation_msgs REQUIRED)
 find_package(cyberdog_utils REQUIRED)
-find_package(behaviortree_cpp_v3 REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(lcm_vendor REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -60,7 +59,7 @@ set(dependencies
   nav_msgs
   automation_msgs
   cyberdog_utils
-  behaviortree_cpp_v3
+  lcm_translate_msgs
   builtin_interfaces
   rclcpp
   rclcpp_action

diff --git a/cyberdog_common/grpc_vendor/CMakeLists.txt b/cyberdog_common/grpc_vendor/CMakeLists.txt
@@ -23,7 +23,6 @@ if(BUILD_INSIDE_GFW)
 endif()
 
 set(EXTPRJ_NAME grpc)
-set(PREFIX_DIR "${CMAKE_CURRENT_BINARY_DIR}/${EXTPRJ_NAME}/src/${EXTPRJ_NAME}")
 set(OUT_DIR "${CMAKE_BINARY_DIR}/install")
 set(GIT_URL "https://${GITHUB_URL}/grpc/grpc.git")
 set(PKG_VER "v1.36.3")

diff --git a/cyberdog_common/grpc_vendor/package.xml b/cyberdog_common/grpc_vendor/package.xml
@@ -9,6 +9,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>grpc</depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

diff --git a/cyberdog_common/lcm_vendor/CMakeLists.txt b/cyberdog_common/lcm_vendor/CMakeLists.txt
@@ -16,7 +16,6 @@ if(BUILD_INSIDE_GFW)
 endif()
 
 set(EXTPRJ_NAME mpg123)
-set(PREFIX_DIR "${CMAKE_CURRENT_BINARY_DIR}/${EXTPRJ_NAME}/src/${EXTPRJ_NAME}")
 set(OUT_DIR "${CMAKE_BINARY_DIR}/install")
 set(PKG_VER "v1.4.0")
 
@@ -30,8 +29,12 @@ externalproject_add(
   CMAKE_ARGS
       -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
       -DCMAKE_INSTALL_PREFIX=${OUT_DIR}
+      -DLCM_ENABLE_JAVA=OFF
+      -DLCM_ENABLE_PYTHON=OFF
+      -DLCM_ENABLE_LUA=OFF
+      -DLCM_ENABLE_TESTS=OFF
   INSTALL_DIR ${OUT_DIR}
-  TIMEOUT 300
+  TIMEOUT 1200
 )
 
 set(lcm_libs

diff --git a/cyberdog_common/mpg123_vendor/CMakeLists.txt b/cyberdog_common/mpg123_vendor/CMakeLists.txt
@@ -21,7 +21,7 @@ externalproject_add(
   CONFIGURE_COMMAND eval ${PREFIX_DIR}/configure --prefix=${OUT_DIR}
   BUILD_COMMAND "make"
   INSTALL_DIR ${OUT_DIR}
-  TIMEOUT 60
+  TIMEOUT 1200
 )
 
 set(mpg123_libs
-Original file line number
+Diff line change
@@ -1,3 +1,4 @@
+    src/
     build/
     install/
     log/
@@ Expand Down @@