OctoMap · ruffsl · May 30, 2019 · Jun 21, 2019 · Aug 15, 2019 · Nov 23, 2019
diff --git a/.travis.yml b/.travis.yml
@@ -1,12 +1,12 @@
 language: cpp
 sudo: required
-dist: trusty
+dist: bionic
 compiler:
   - gcc
   - clang
 before_install:
   - sudo apt-get update -qq
-  - sudo apt-get install -qq libqt4-dev libqt4-opengl-dev libqglviewer-dev  
+  - sudo apt-get install -qq libqglviewer-dev-qt5
 before_script:
 script: ./scripts/travis_build_jobs.sh $VARIANT
 env:

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -6,7 +6,7 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)  # enables -fPIC in applicable compilers
 
 option(BUILD_OCTOVIS_SUBPROJECT "Build targets from subproject octovis" ON)
 option(BUILD_DYNAMICETD3D_SUBPROJECT  "Build targets from subproject dynamicEDT3D" ON)
-option(OCTOVIS_QT5 "Link Octovis against Qt5?" NO)
+option(OCTOVIS_QT5 "Link Octovis against Qt5?" ON)
 
 if(OCTOVIS_QT5)
 	# Compiling against QT5 requires C++11.

diff --git a/dynamicEDT3D/CMakeLists.txt b/dynamicEDT3D/CMakeLists.txt
@@ -2,11 +2,12 @@ CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 PROJECT(dynamicEDT3D)
 
 include(CTest)
+include(GNUInstallDirs)
 
 # version (e.g. for packaging)
 set(DYNAMICEDT3D_MAJOR_VERSION 1)
 set(DYNAMICEDT3D_MINOR_VERSION 9)
-set(DYNAMICEDT3D_PATCH_VERSION 0)
+set(DYNAMICEDT3D_PATCH_VERSION 5)
 set(DYNAMICEDT3D_VERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION}.${DYNAMICEDT3D_PATCH_VERSION})
 set(DYNAMICEDT3D_SOVERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION})
 
@@ -63,10 +64,10 @@ ADD_SUBDIRECTORY(src)
 
 
 file(GLOB dynamicEDT3D_HDRS ${PROJECT_SOURCE_DIR}/include/dynamicEDT3D/*.h ${PROJECT_SOURCE_DIR}/include/dynamicEDT3D/*.hxx)
-install(FILES ${dynamicEDT3D_HDRS}	DESTINATION include/dynamicEDT3D)
+install(FILES ${dynamicEDT3D_HDRS} DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/dynamicEDT3D")
 
 # Install catkin package.xml, attention package.xml names the catkin package "dynamic_edt_3d", so this is also the location where it needs to be installed to (and not "dynamicEDT3D")
-install(FILES package.xml DESTINATION share/dynamic_edt_3d)
+install(FILES package.xml DESTINATION "${CMAKE_INSTALL_DATADIR}/dynamic_edt_3d")
 
 #TODO: this conflicts with the octomap uninstall
 #it is not only a target name problem, also both will use the same manifest file
@@ -106,7 +107,7 @@ CONFIGURE_PACKAGE_CONFIG_FILE(
   dynamicEDT3DConfig.cmake.in
   "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3DConfig.cmake"
   PATH_VARS DYNAMICEDT3D_INCLUDE_DIRS DYNAMICEDT3D_LIB_DIR
-  INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/dynamicEDT3D)
+  INSTALL_DESTINATION "${CMAKE_INSTALL_FULL_DATADIR}/dynamicEDT3D")
 
 WRITE_BASIC_PACKAGE_VERSION_FILE(
   "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3DConfig-version.cmake"
@@ -120,8 +121,8 @@ WRITE_BASIC_PACKAGE_VERSION_FILE(
 
 # Create a dynamicEDT3DConfig.cmake file for the use from the install tree
 # and install it
-set(DYNAMICEDT3D_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
-set(DYNAMICEDT3D_LIB_DIR "${CMAKE_INSTALL_PREFIX}/lib")
+set(DYNAMICEDT3D_INCLUDE_DIRS "${CMAKE_INSTALL_FULL_INCLUDEDIR}")
+set(DYNAMICEDT3D_LIB_DIR "${CMAKE_INSTALL_FULL_LIBDIR}")
 #set(DYNAMICEDT3D_CMAKE_DIR "${INSTALL_DATA_DIR}/FooBar/CMake")
 
 set(DYNAMICEDT3D_INCLUDE_TARGETS
@@ -131,7 +132,7 @@ CONFIGURE_PACKAGE_CONFIG_FILE(
   dynamicEDT3DConfig.cmake.in
   "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig.cmake"
   PATH_VARS DYNAMICEDT3D_INCLUDE_DIRS DYNAMICEDT3D_LIB_DIR
-  INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/dynamicEDT3D)
+  INSTALL_DESTINATION "${CMAKE_INSTALL_FULL_DATADIR}/dynamicEDT3D")
 
 WRITE_BASIC_PACKAGE_VERSION_FILE(
   "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake"
@@ -141,7 +142,7 @@ WRITE_BASIC_PACKAGE_VERSION_FILE(
 install(FILES
   "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig.cmake"
   "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake" 
-  DESTINATION share/dynamicEDT3D/)
+  DESTINATION "${CMAKE_INSTALL_DATADIR}/dynamicEDT3D")
 
 # Write pkgconfig-file:
 include(InstallPkgConfigFile)

diff --git a/dynamicEDT3D/CMakeModules/InstallPkgConfigFile.cmake b/dynamicEDT3D/CMakeModules/InstallPkgConfigFile.cmake
@@ -7,10 +7,10 @@
 #                              [LIBS <lflag> ...]
 #                              [REQUIRES <required-package-name> ...])
 # 
-# Create and install a pkg-config .pc file to CMAKE_INSTALL_PREFIX/lib/pkgconfig
+# Create and install a pkg-config .pc file to CMAKE_INSTALL_LIBDIR/pkgconfig
 #	assuming the following install layout:
-#	       libraries:   CMAKE_INSTALL_PREFIX/lib
-#	       headers  :   CMAKE_INSTALL_PREFIX/include
+#	       libraries:   CMAKE_INSTALL_LIBDIR
+#	       headers  :   CMAKE_INSTALL_INCLUDEDIR
 #
 # example:
 #    add_library(mylib mylib.c)
@@ -63,8 +63,8 @@ function(install_pkg_config_file)
     # write the .pc file out
     file(WRITE ${pc_fname}
         "prefix=${CMAKE_INSTALL_PREFIX}\n"
-        "libdir=\${prefix}/lib\n"
-        "includedir=\${prefix}/include\n"
+        "libdir=${CMAKE_INSTALL_FULL_LIBDIR}\n"
+        "includedir=${CMAKE_INSTALL_FULL_INCLUDEDIR}\n"
         "\n"
         "Name: ${pc_name}\n"
         "Description: ${pc_description}\n"
@@ -74,5 +74,5 @@ function(install_pkg_config_file)
         "Cflags: -I\${includedir} ${pc_cflags}\n")
 
     # mark the .pc file for installation to the lib/pkgconfig directory
-    install(FILES ${pc_fname} DESTINATION lib/pkgconfig)    
+    install(FILES ${pc_fname} DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig")
 endfunction(install_pkg_config_file)
diff --git a/dynamicEDT3D/package.xml b/dynamicEDT3D/package.xml
@@ -1,10 +1,11 @@
 <package format="3">
   <name>dynamic_edt_3d</name>
-  <version>1.9.0</version>
+  <version>1.9.5</version>
   <description> The dynamicEDT3D library implements an inrementally updatable Euclidean distance transform (EDT) in 3D. It comes with a wrapper to use the OctoMap 3D representation and hooks into the change detection of the OctoMap library to propagate changes to the EDT.</description>
 
   <author email="sprunkc@informatik.uni-freiburg.de">Christoph Sprunk</author>
   <maintainer email="sprunkc@informatik.uni-freiburg.de">Christoph Sprunk</maintainer>
+  <maintainer email="w.merkt+oss@gmail.com">Wolfgang Merkt</maintainer>
   <license>BSD</license>
 
   <url type="website">http://octomap.github.io</url>

diff --git a/dynamicEDT3D/src/CMakeLists.txt b/dynamicEDT3D/src/CMakeLists.txt
@@ -32,7 +32,7 @@ ADD_SUBDIRECTORY(examples)
 
 install(TARGETS dynamicedt3d dynamicedt3d-static
   EXPORT dynamicEDT3DTargets
-  INCLUDES DESTINATION include
+  INCLUDES DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}"
   ${INSTALL_TARGETS_DEFAULT_ARGS}
 )
-install(EXPORT dynamicEDT3DTargets DESTINATION share/dynamicEDT3D/)
+install(EXPORT dynamicEDT3DTargets DESTINATION "${CMAKE_INSTALL_DATADIR}/dynamicEDT3D")
diff --git a/octomap/CHANGELOG.txt b/octomap/CHANGELOG.txt
@@ -1,3 +1,26 @@
+v1.9.5: 2020-03-25
+==================
+- octovis: Update ROS dependencies to Qt5
+
+v1.9.4: 2020-03-15
+==================
+- octovis: Enable Qt5 by default
+- Support added for configurable libdir for packaging
+- Increased minimum CMake version to 3.0.2
+
+v1.9.3: 2019-12-26
+==================
+- Fixed Wpedantic warnings
+- Removed problematic INSTALL_NAME_DIR (maxOS workaround)
+
+v1.9.2: 2019-11-28
+==================
+- Fixed ROS buildfarm failures for octovis
+
+v1.9.1: 2019-11-23
+==================
+- Improved compatibility with modern compilers and ROS2
+
 v1.9.0: 2017-04-28
 ==================
 - Fixed getUnknownLeafCenters to return true leaf centers (thx to A. Ecins)

diff --git a/octomap/CMakeLists.txt b/octomap/CMakeLists.txt
@@ -2,11 +2,12 @@ CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 PROJECT( octomap )
 
 include(CTest)
+include(GNUInstallDirs)
 
 # version (e.g. for packaging)
 set(OCTOMAP_MAJOR_VERSION 1)
 set(OCTOMAP_MINOR_VERSION 9)
-set(OCTOMAP_PATCH_VERSION 0)
+set(OCTOMAP_PATCH_VERSION 5)
 set(OCTOMAP_VERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION}.${OCTOMAP_PATCH_VERSION})
 set(OCTOMAP_SOVERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION})
 if(COMMAND cmake_policy)
@@ -55,21 +56,21 @@ LINK_DIRECTORIES(${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
 # Installation
 
 set(INSTALL_TARGETS_DEFAULT_ARGS
-	RUNTIME DESTINATION bin
-	LIBRARY DESTINATION lib
-	ARCHIVE DESTINATION lib
+	RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}"
+	LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}"
+	ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}"
 )
 
 ADD_SUBDIRECTORY( src/math )
 ADD_SUBDIRECTORY( src )
 
 file(GLOB octomap_HDRS ${PROJECT_SOURCE_DIR}/include/octomap/*.h ${PROJECT_SOURCE_DIR}/include/octomap/*.hxx)
-install(FILES ${octomap_HDRS}	DESTINATION include/octomap)
+install(FILES ${octomap_HDRS} DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/octomap")
 file(GLOB octomap_math_HDRS ${PROJECT_SOURCE_DIR}/include/octomap/math/*.h)
-install(FILES ${octomap_math_HDRS}	DESTINATION include/octomap/math)
+install(FILES ${octomap_math_HDRS} DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/octomap/math")
 
 # Install catkin package.xml
-install(FILES package.xml DESTINATION share/octomap)
+install(FILES package.xml DESTINATION "${CMAKE_INSTALL_DATADIR}/octomap")
 
 # uninstall target
 configure_file(
@@ -113,7 +114,7 @@ CONFIGURE_PACKAGE_CONFIG_FILE(
   octomap-config.cmake.in
   "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-config.cmake"
   PATH_VARS OCTOMAP_INCLUDE_DIRS OCTOMAP_LIB_DIR
-  INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/octomap)
+  INSTALL_DESTINATION "${CMAKE_INSTALL_FULL_DATADIR}/octomap")
 
 WRITE_BASIC_PACKAGE_VERSION_FILE(
   "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-config-version.cmake"
@@ -122,8 +123,8 @@ WRITE_BASIC_PACKAGE_VERSION_FILE(
 
 # Create a octomap-config.cmake file for the use from the install tree
 # and install it
-set(OCTOMAP_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
-set(OCTOMAP_LIB_DIR "${CMAKE_INSTALL_PREFIX}/lib")
+set(OCTOMAP_INCLUDE_DIRS "${CMAKE_INSTALL_FULL_INCLUDEDIR}")
+set(OCTOMAP_LIB_DIR "${CMAKE_INSTALL_FULL_LIBDIR}")
 #set(OCTOMAP_CMAKE_DIR "${INSTALL_DATA_DIR}/FooBar/CMake")
 
 set(OCTOMAP_INCLUDE_TARGETS
@@ -133,7 +134,7 @@ CONFIGURE_PACKAGE_CONFIG_FILE(
   octomap-config.cmake.in
   "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config.cmake"
   PATH_VARS OCTOMAP_INCLUDE_DIRS OCTOMAP_LIB_DIR
-  INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/octomap)
+  INSTALL_DESTINATION "${CMAKE_INSTALL_FULL_DATADIR}/octomap")
 
 WRITE_BASIC_PACKAGE_VERSION_FILE(
   ${PROJECT_BINARY_DIR}/InstallFiles/octomap-config-version.cmake
@@ -143,7 +144,7 @@ WRITE_BASIC_PACKAGE_VERSION_FILE(
 install(FILES
   "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config.cmake"
   "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config-version.cmake" 
-  DESTINATION share/octomap/)
+  DESTINATION "${CMAKE_INSTALL_DATADIR}/octomap")
 
 # Write pkgconfig-file:
 include(InstallPkgConfigFile)

diff --git a/octomap/CMakeModules/InstallPkgConfigFile.cmake b/octomap/CMakeModules/InstallPkgConfigFile.cmake
@@ -7,10 +7,10 @@
 #                              [LIBS <lflag> ...]
 #                              [REQUIRES <required-package-name> ...])
 # 
-# Create and install a pkg-config .pc file to CMAKE_INSTALL_PREFIX/lib/pkgconfig
+# Create and install a pkg-config .pc file to CMAKE_INSTALL_LIBDIR/pkgconfig
 #	assuming the following install layout:
-#	       libraries:   CMAKE_INSTALL_PREFIX/lib
-#	       headers  :   CMAKE_INSTALL_PREFIX/include
+#	       libraries:   CMAKE_INSTALL_LIBDIR
+#	       headers  :   CMAKE_INSTALL_INCLUDEDIR
 #
 # example:
 #    add_library(mylib mylib.c)
@@ -63,8 +63,8 @@ function(install_pkg_config_file)
     # write the .pc file out
     file(WRITE ${pc_fname}
         "prefix=${CMAKE_INSTALL_PREFIX}\n"
-        "libdir=\${prefix}/lib\n"
-        "includedir=\${prefix}/include\n"
+        "libdir=${CMAKE_INSTALL_FULL_LIBDIR}\n"
+        "includedir=${CMAKE_INSTALL_FULL_INCLUDEDIR}\n"
         "\n"
         "Name: ${pc_name}\n"
         "Description: ${pc_description}\n"
@@ -74,5 +74,5 @@ function(install_pkg_config_file)
         "Cflags: -I\${includedir} ${pc_cflags}\n")
 
     # mark the .pc file for installation to the lib/pkgconfig directory
-    install(FILES ${pc_fname} DESTINATION lib/pkgconfig)    
+    install(FILES ${pc_fname} DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig")
 endfunction(install_pkg_config_file)
diff --git a/octomap/include/octomap/AbstractOccupancyOcTree.h b/octomap/include/octomap/AbstractOccupancyOcTree.h
@@ -235,7 +235,7 @@ namespace octomap {
     static const std::string binaryFileHeader;
   };
 
-}; // end namespace
+} // end namespace
 
 
 #endif
diff --git a/octomap/include/octomap/OcTreeKey.h b/octomap/include/octomap/OcTreeKey.h
@@ -49,7 +49,7 @@
   #include <tr1/unordered_map>
   namespace octomap {
     namespace unordered_ns = std::tr1;
-  };
+  }
 #else
   #include <unordered_set>
   #include <unordered_map>

diff --git a/octomap/include/octomap/OccupancyOcTreeBase.hxx b/octomap/include/octomap/OccupancyOcTreeBase.hxx
@@ -113,7 +113,7 @@ namespace octomap {
 
 
   template <class NODE>
-  void OccupancyOcTreeBase<NODE>::insertPointCloudRays(const Pointcloud& pc, const point3d& origin, double maxrange, bool lazy_eval) {
+  void OccupancyOcTreeBase<NODE>::insertPointCloudRays(const Pointcloud& pc, const point3d& origin, double /* maxrange */, bool lazy_eval) {
     if (pc.size() < 1)
       return;
 

diff --git a/octomap/package.xml b/octomap/package.xml
@@ -1,12 +1,13 @@
 <package format="3">
   <name>octomap</name>
-  <version>1.9.0</version>
+  <version>1.9.5</version>
   <description>The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
   http://octomap.github.io for details.</description>
 
   <author email="wurm@informatik.uni-freiburg.de">Kai M. Wurm</author>
   <author email="armin@hornung.io">Armin Hornung</author>
   <maintainer email="armin@hornung.io">Armin Hornung</maintainer>
+  <maintainer email="w.merkt+oss@gmail.com">Wolfgang Merkt</maintainer>
   <license>BSD</license>
 
   <url type="website">http://octomap.github.io</url>

diff --git a/octomap/src/CMakeLists.txt b/octomap/src/CMakeLists.txt
@@ -69,10 +69,10 @@ TARGET_LINK_LIBRARIES(octree2pointcloud octomap)
 
 install(TARGETS octomap octomap-static
   EXPORT octomap-targets
-  INCLUDES DESTINATION include
+  INCLUDES DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}"
   ${INSTALL_TARGETS_DEFAULT_ARGS}
 )
-install(EXPORT octomap-targets DESTINATION share/octomap/)
+install(EXPORT octomap-targets DESTINATION "${CMAKE_INSTALL_DATADIR}/octomap")
 
 install(TARGETS
 	graph2tree

diff --git a/octomap/src/Pointcloud.cpp b/octomap/src/Pointcloud.cpp
@@ -38,6 +38,9 @@
 
 #if defined(_MSC_VER) || defined(_LIBCPP_VERSION)
   #include <algorithm>
+  #if __cplusplus > 199711L
+    #include <random>
+  #endif
 #else
   #include <ext/algorithm>
 #endif
@@ -210,7 +213,13 @@ namespace octomap {
   #if defined(_MSC_VER) || defined(_LIBCPP_VERSION)
     samples.reserve(this->size());
     samples.insert(samples.end(), this->begin(), this->end());
-    std::random_shuffle(samples.begin(), samples.end());
+    #if __cplusplus > 199711L
+      std::random_device r;
+      std::mt19937 urbg(r());
+      std::shuffle(samples.begin(), samples.end(), urbg);
+    #else
+      std::random_shuffle(samples.begin(), samples.end());
+    #endif
     samples.resize(num_samples);
   #else
     random_sample_n(begin(), end(), std::back_insert_iterator<point3d_collection>(samples), num_samples);

diff --git a/octomap/src/binvox2bt.cpp b/octomap/src/binvox2bt.cpp
@@ -56,7 +56,9 @@
 using namespace std;
 using namespace octomap;
 
-typedef unsigned char byte;
+namespace octomap {
+ typedef unsigned char byte;
+}
 
 int main(int argc, char **argv)
 {
@@ -227,8 +229,8 @@ int main(int argc, char **argv)
         cout.flush();
 
         // read voxel data
-        byte value;
-        byte count;
+        octomap::byte value;
+        octomap::byte count;
         int index = 0;
         int end_index = 0;
         unsigned nr_voxels = 0;

diff --git a/octomap/src/edit_octree.cpp b/octomap/src/edit_octree.cpp
@@ -41,7 +41,6 @@
 using namespace std;
 using namespace octomap;
 
-typedef unsigned char byte;
 
 int main(int argc, char **argv)
 {