Eloquent dev

.gitignore

@@ -5,4 +5,4 @@ build
 *~
 \#*#
 .\#*
-
+.vscode/

.gitmodules

@@ -1,6 +1,8 @@
-[submodule "2ndparty/spencer_messages"]
-	path = 2ndparty/spencer_messages
-	url = https://github.com/spencer-project/spencer_messages.git
-[submodule "2ndparty/spencer_tracking_rviz_plugin"]
-	path = 2ndparty/spencer_tracking_rviz_plugin
-	url = https://github.com/srl-freiburg/spencer_tracking_rviz_plugin.git
+[submodule "2dparty/spencer_messages"]
+	path = 2dparty/spencer_messages
+	url = https://github.com/jginesclavero/spencer_messages.git
+        branch = eloquent-dev
+[submodule "2dparty/spencer_tracking_rviz_plugin"]
+	path = 2dparty/spencer_tracking_rviz_plugin
+	url = https://github.com/jginesclavero/spencer_tracking_rviz_plugin.git
+        branch = eloquent-dev

3rdparty/libpedsim/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(pedsim)
 
 #------------------ Configuration ------------------#
@@ -15,27 +15,21 @@ if(SHALL_DEBUG)
   message("Debugging activated")
   add_definitions(-O0 -DDEBUG -ggdb -g3 -rdynamic)
 else(SHALL_DEBUG)
-  message("Debugging deactivated")
+  # message("Debugging deactivated")
   add_definitions(-Os)
 endif(SHALL_DEBUG)
 
 
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-)
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+
 find_package(Boost REQUIRED)
 
-catkin_package(
-  CATKIN_DEPENDS  roscpp
-  INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/include/
-  LIBRARIES pedsim
+set(dependencies
+  rclcpp
 )
 
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-  ${PROJECT_SOURCE_DIR}/include/pedsim/
-  ${roscpp_INCLUDE_DIRS}
-)
+include_directories(include)
 
 set(SOURCES
   src/ped_agent.cpp
@@ -52,3 +46,20 @@ add_library(pedsim ${SOURCES})
 target_link_libraries(pedsim
   ${BOOST_LIBRARIES}
 )
+
+install(DIRECTORY include/
+  DESTINATION include/
+)
+
+install(TARGETS
+  pedsim
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_export_include_directories(include)
+ament_export_libraries(pedsim)
+ament_export_dependencies(${dependencies})
+ament_package()
+

3rdparty/libpedsim/include/pedsim/ped_agent.h

@@ -12,7 +12,7 @@
 #define LIBEXPORT
 #endif
 
-#include "ped_vector.h"
+#include "pedsim/ped_vector.h"
 
 #include <deque>
 #include <set>

3rdparty/libpedsim/include/pedsim/ped_includes.h

@@ -1,10 +1,10 @@
 #ifndef _ped_includes_h_
 #define _ped_includes_h_ 1
 
-#include "ped_agent.h"
-#include "ped_obstacle.h"
-#include "ped_scene.h"
-#include "ped_waypoint.h"
+#include "pedsim/ped_agent.h"
+#include "pedsim/ped_obstacle.h"
+#include "pedsim/ped_scene.h"
+#include "pedsim/ped_waypoint.h"
 
 namespace Ped {
 const double LIBEXPORT LIBPEDSIM_VERSION = 2.2;

3rdparty/libpedsim/include/pedsim/ped_obstacle.h

@@ -12,7 +12,7 @@
 #define LIBEXPORT
 #endif
 
-#include "ped_vector.h"
+#include "pedsim/ped_vector.h"
 
 namespace Ped {
 

3rdparty/libpedsim/include/pedsim/ped_vector.h

@@ -13,7 +13,7 @@
 #endif
 
 #include <cmath>
-#include "ped_angle.h"
+#include "pedsim/ped_angle.h"
 
 namespace Ped {
 /// Vector helper class. This is basically a struct with some related functions

3rdparty/libpedsim/include/pedsim/ped_waypoint.h

@@ -13,7 +13,7 @@
 #endif
 
 #include <cstddef>
-#include "ped_vector.h"
+#include "pedsim/ped_vector.h"
 
 using namespace std;
 

3rdparty/libpedsim/package.xml

@@ -1,14 +1,16 @@
 <?xml version="1.0"?>
-<package>
+<package format ="3">
   <name>pedsim</name>
   <version>0.2.0</version>
   <description>The pedsim package</description>
   <maintainer email="[email protected]">Billy Okal</maintainer>
   <maintainer email="[email protected]">Luigi Palmieri</maintainer>
   <license>BSD</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
 
-  <run_depend>roscpp</run_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>

3rdparty/libpedsim/src/ped_agent.cpp

@@ -3,10 +3,10 @@
 // Copyright (c) 2003 - 20012 by Christian Gloor
 //
 
-#include "ped_agent.h"
-#include "ped_obstacle.h"
-#include "ped_scene.h"
-#include "ped_waypoint.h"
+#include "pedsim/ped_agent.h"
+#include "pedsim/ped_obstacle.h"
+#include "pedsim/ped_scene.h"
+#include "pedsim/ped_waypoint.h"
 
 #include <algorithm>
 #include <cmath>

3rdparty/libpedsim/src/ped_angle.cpp

@@ -3,7 +3,7 @@
 // Copyright (c) 2003 - 2012 by Christian Gloor
 //
 
-#include "ped_angle.h"
+#include "pedsim/ped_angle.h"
 
 bool Ped::Tangle::operator==(const Ped::Tangle& otherIn) const {
   return value == otherIn.value;

3rdparty/libpedsim/src/ped_obstacle.cpp

@@ -3,7 +3,7 @@
 // Copyright (c) 2003 - 2012 by Christian Gloor
 //
 
-#include "ped_obstacle.h"
+#include "pedsim/ped_obstacle.h"
 
 #include <cmath>
 #include <vector>

3rdparty/libpedsim/src/ped_scene.cpp

@@ -3,11 +3,11 @@
 // Copyright (c) 2003 - 2012 by Christian Gloor
 //
 
-#include "ped_scene.h"
-#include "ped_agent.h"
-#include "ped_obstacle.h"
-#include "ped_tree.h"
-#include "ped_waypoint.h"
+#include "pedsim/ped_scene.h"
+#include "pedsim/ped_agent.h"
+#include "pedsim/ped_obstacle.h"
+#include "pedsim/ped_tree.h"
+#include "pedsim/ped_waypoint.h"
 
 #include <algorithm>
 #include <cstddef>

3rdparty/libpedsim/src/ped_tree.cpp

@@ -3,9 +3,9 @@
 // Copyright (c) 2003 - 2004 by Christian Gloor
 //
 
-#include "ped_tree.h"
-#include "ped_agent.h"
-#include "ped_scene.h"
+#include "pedsim/ped_tree.h"
+#include "pedsim/ped_agent.h"
+#include "pedsim/ped_scene.h"
 
 #include <cassert>
 #include <cstddef>

3rdparty/libpedsim/src/ped_vector.cpp

@@ -3,7 +3,7 @@
 // Copyright (c) 2003 - 2012 by Christian Gloor
 //
 
-#include "ped_vector.h"
+#include "pedsim/ped_vector.h"
 
 /// Default constructor, which makes sure that all the values are set to 0.
 Ped::Tvector::Tvector() : x(0), y(0), z(0) {}

3rdparty/libpedsim/src/ped_waypoint.cpp

@@ -3,8 +3,8 @@
 // Copyright (c) 2003 - 2012 by Christian Gloor
 //
 
-#include "ped_waypoint.h"
-#include "ped_agent.h"
+#include "pedsim/ped_waypoint.h"
+#include "pedsim/ped_agent.h"
 
 // initialize static variables
 int Ped::Twaypoint::staticid = 0;

pedsim_gazebo_plugin/CMakeLists.txt

@@ -1,67 +1,94 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(pedsim_gazebo_plugin)
 
-## Compile as C++11, supported in ROS Kinetic and newer
- add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  gazebo_ros
-  geometry_msgs
-  roscpp
-  rospy
-  gazebo_msgs
-  pedsim_msgs
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  # we dont use add_compile_options with pedantic in message packages
+  # because the Python C extensions dont comply with it
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(gazebo_dev REQUIRED)
+find_package(gazebo_ros REQUIRED)
+find_package(gazebo_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(pedsim_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(rcl REQUIRED)
+find_package(rclcpp REQUIRED)
+
+include_directories(include
+  ${gazebo_dev_INCLUDE_DIRS}
+  ${gazebo_ros_INCLUDE_DIRS}
+  ${geometry_msgs_INCLUDE_DIRS}
+  ${pedsim_msgs_INCLUDE_DIRS}
+  ${tf2_INCLUDE_DIRS}
 )
 
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
- find_package(gazebo REQUIRED )
- link_directories(${GAZEBO_LIBRARY_DIRS})
+link_directories(${gazebo_dev_LIBRARY_DIRS})
 
 
-################################################
-## Declare ROS messages, services and actions ##
-################################################
+ament_python_install_package(scripts/)
 
-
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-
-###################################
-## catkin specific configuration ##
-###################################
-
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES gzb_vel_plugin
-  CATKIN_DEPENDS gazebo_ros roscpp  geometry_msgs pedsim_msgs
-#  DEPENDS system_lib
+# ActorPosesPlugin
+add_library(gazebo_ros_actor_poses SHARED
+  src/actor_poses_plugin.cpp
 )
 
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-  ${GAZEBO_INCLUDE_DIRS}
+ament_target_dependencies(gazebo_ros_actor_poses
+  "gazebo_dev"
+  "gazebo_ros"
+  "rclcpp"
+  "pedsim_msgs"
+  "tf2"
+  "tf2_geometry_msgs"
+)
+ament_export_libraries(gazebo_ros_actor_poses)
+
+ament_export_dependencies(rclcpp)
+ament_export_dependencies(gazebo_dev)
+ament_export_dependencies(gazebo_msgs)
+ament_export_dependencies(gazebo_ros)
+ament_export_dependencies(pedsim_msgs)
+
+if(NOT WIN32)
+  if(NOT APPLE)
+    set(
+      AMENT_CMAKE_ENVIRONMENT_HOOKS_DESC_gazebo_plugins
+      "prepend-non-duplicate;LD_LIBRARY_PATH;${GAZEBO_PLUGIN_PATH}")
+  else()
+    set(
+      AMENT_CMAKE_ENVIRONMENT_HOOKS_DESC_gazebo_plugins
+      "prepend-non-duplicate;DYLD_LIBRARY_PATH;${GAZEBO_PLUGIN_PATH}")
+  endif()
+endif()
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/gazebo_plugins.sh.in")
+
+ament_package()
+
+
+install(
+  PROGRAMS
+    scripts/pedsim_to_gazebo_world.py
+    scripts/spawn_pedsim_agents.py
+    scripts/spawn_single_agent.py
+    DESTINATION lib/${PROJECT_NAME}/
 )
 
+install(
+  TARGETS
+  gazebo_ros_actor_poses
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
 
-add_library(ActorPosesPlugin src/actor_poses_plugin.cpp)
-target_link_libraries(ActorPosesPlugin ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
-
-
-#############
-## Install ##
-#############
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
+install(DIRECTORY worlds DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY models DESTINATION share/${PROJECT_NAME})