Simplify CMakelists of ca_gazebo

.travis.yml

@@ -49,7 +49,7 @@ script:
   - catkin_make run_tests -j1 && catkin_test_results
   # Lint package files ONLY for create_autonomy
   - sudo apt-get install -y python-catkin-lint
-  - catkin lint -W2 --strict --explain $CREATE_AUTONOMY_SRC --ignore plugin_missing_install --ignore target_name_collision
+  - catkin lint -W2 --strict --explain $CREATE_AUTONOMY_SRC
   # Tips
   #
   # C++:

ca_bumper2pc/CMakeLists.txt

@@ -1,3 +1,4 @@
+#catkin_lint: ignore plugin_missing_install
 cmake_minimum_required(VERSION 2.8.3)
 project(ca_bumper2pc)
 find_package(catkin REQUIRED COMPONENTS

ca_gazebo/CMakeLists.txt

@@ -1,3 +1,5 @@
+#catkin_lint: ignore duplicate_cmd
+#catkin_lint: ignore uninstalled_export_lib
 cmake_minimum_required(VERSION 2.8.3)
 project(ca_gazebo)
 
@@ -17,22 +19,23 @@ find_package(catkin REQUIRED
     tf2_ros
 )
 
-set(trajectory_actor_plugin_name TrajectoryActorPlugin)
-
-###################################
-## catkin specific configuration ##
-###################################
+set(SERVICESIM_PLUGIN_LIST
+  AttachModelPlugin
+  CollisionActorPlugin
+  FollowActorPlugin
+  TrajectoryActorPlugin
+  VicinityPlugin
+)
 
-catkin_package(
-	INCLUDE_DIRS include
-	LIBRARIES
-		create_bumper_plugin
-		model_pose_publisher_plugin
-		traffic_light_plugin
-		${trajectory_actor_plugin_name}
-		world_time_publisher
-  CATKIN_DEPENDS
-    ca_msgs
+set(PLUGIN_LIST
+  cliff_msg_publisher
+  create_bumper_plugin
+  create_cliff_plugin
+  create_virtual_wall_plugin
+  model_pose_publisher_plugin
+  traffic_light_plugin
+  virtual_wall_detector
+  world_time_publisher
 )
 
 ###########
@@ -45,150 +48,55 @@ include_directories(
 	${GAZEBO_INCLUDE_DIRS}
 )
 
-#############################
-## Trajectory Actor plugin ##
-#############################
+########################
+## ServiceSim plugins ##
+########################
 
-# Create the libTrajectoryActorPlugin.so library.
-add_library(${trajectory_actor_plugin_name} SHARED
-  src/servicesim/TrajectoryActorPlugin.cc
-)
-target_link_libraries(${trajectory_actor_plugin_name}
-  ${GAZEBO_LIBRARIES}
-  ${catkin_LIBRARIES}
-)
-install(TARGETS ${trajectory_actor_plugin_name}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-)
+foreach(PLUGIN ${SERVICESIM_PLUGIN_LIST})
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES ${PLUGIN}
+    CATKIN_DEPENDS ca_msgs
+  )
 
-#############################
-## Follow Actor plugin ##
-#############################
+  add_library(${PLUGIN} SHARED src/servicesim/${PLUGIN}.cc)
 
-# Create the libFollowActorPlugin.so library.
-set(follow_actor_plugin_name FollowActorPlugin)
-add_library(${follow_actor_plugin_name} SHARED
-  src/servicesim/FollowActorPlugin.cc
-)
-add_dependencies(${follow_actor_plugin_name}
-  ${catkin_EXPORTED_TARGETS}
-)
-target_link_libraries(${follow_actor_plugin_name}
-  ${GAZEBO_LIBRARIES}
-  ${roscpp_LIBRARIES}
-  ${catkin_LIBRARIES}
-)
-install(TARGETS ${follow_actor_plugin_name}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-)
+  add_dependencies(${PLUGIN} ${catkin_EXPORTED_TARGETS})
 
-#############################
-## Collision Actor plugin ##
-#############################
+  target_link_libraries(${PLUGIN}
+    ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
 
-# Create the libCollisionActorPlugin.so library.
-set(collision_actor_plugin_name CollisionActorPlugin)
-add_library(${collision_actor_plugin_name} SHARED
-  src/servicesim/CollisionActorPlugin.cc
-)
-target_link_libraries(${collision_actor_plugin_name}
-  ${GAZEBO_LIBRARIES}
-  ${roscpp_LIBRARIES}
-)
-install(TARGETS ${collision_actor_plugin_name}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-)
+  install(TARGETS ${PLUGIN}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  )
+endforeach()
 
-#############################
-## Attach Model plugin ##
-#############################
+###################################
+###### iRobot Create plugins ######
+###################################
 
-# Create the libAttachModelPlugin.so library.
-set(attach_model_plugin_name AttachModelPlugin)
-add_library(${attach_model_plugin_name} SHARED
-  src/servicesim/AttachModelPlugin.cc
-)
-target_link_libraries(${attach_model_plugin_name}
-  ${GAZEBO_LIBRARIES}
-  ${roscpp_LIBRARIES}
-)
-install(TARGETS ${attach_model_plugin_name}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-)
+foreach(PLUGIN ${PLUGIN_LIST})
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES ${PLUGIN}
+    CATKIN_DEPENDS ca_msgs
+  )
 
-#############################
-###### Vicinity plugin ######
-#############################
+  add_library(${PLUGIN} src/${PLUGIN}.cpp)
 
-# Create the libVicinityPlugin.so library.
-set(vicinity_plugin_name VicinityPlugin)
-add_library(${vicinity_plugin_name} SHARED
-  src/servicesim/VicinityPlugin.cc
-)
-add_dependencies(${vicinity_plugin_name}
-  ${catkin_EXPORTED_TARGETS}
-)
-target_link_libraries(${vicinity_plugin_name}
-  ${GAZEBO_LIBRARIES}
-  ${catkin_LIBRARIES}
-)
-install(TARGETS ${vicinity_plugin_name}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-)
+  add_dependencies(${PLUGIN} ${catkin_EXPORTED_TARGETS})
 
-###################################
-###### iRobot Create plugins ######
-###################################
+  target_link_libraries(${PLUGIN}
+    ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
 
-add_library(cliff_msg_publisher src/cliff_msg_publisher.cpp)
-add_dependencies(cliff_msg_publisher ${catkin_EXPORTED_TARGETS})
-target_link_libraries(cliff_msg_publisher
-	${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
-
-add_library(create_bumper_plugin src/create_bumper_plugin.cpp)
-add_dependencies(create_bumper_plugin ${catkin_EXPORTED_TARGETS})
-target_link_libraries(create_bumper_plugin
-	${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
-
-add_library(create_cliff_plugin src/create_cliff_plugin.cpp)
-add_dependencies(create_cliff_plugin ${catkin_EXPORTED_TARGETS})
-target_link_libraries(create_cliff_plugin
-	${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
-
-add_library(create_virtual_wall_plugin src/create_virtual_wall_plugin.cpp)
-add_dependencies(create_virtual_wall_plugin ${catkin_EXPORTED_TARGETS})
-target_link_libraries(create_virtual_wall_plugin
-	${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
-
-add_library(model_pose_publisher_plugin src/model_pose_publisher_plugin.cpp)
-add_dependencies(model_pose_publisher_plugin ${catkin_EXPORTED_TARGETS})
-target_link_libraries(model_pose_publisher_plugin
-	${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
-
-add_library(traffic_light_plugin src/traffic_light_plugin.cpp)
-add_dependencies(traffic_light_plugin ${catkin_EXPORTED_TARGETS})
-target_link_libraries(traffic_light_plugin
-	${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
-
-add_library(virtual_wall_detector src/virtual_wall_detector.cpp)
-add_dependencies(virtual_wall_detector ${catkin_EXPORTED_TARGETS})
-target_link_libraries(virtual_wall_detector
-	${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
-
-add_library(world_time_publisher src/world_time_publisher.cpp)
-add_dependencies(world_time_publisher ${catkin_EXPORTED_TARGETS})
-target_link_libraries(world_time_publisher
-	${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
+  install(TARGETS ${TARGET}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+endforeach()
 
 #############
 ## Install ##
@@ -206,20 +114,6 @@ install(DIRECTORY include/${PROJECT_NAME}/
         DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
 
-install(TARGETS
-		cliff_msg_publisher
-		create_bumper_plugin
-		create_cliff_plugin
-		create_virtual_wall_plugin
-		model_pose_publisher_plugin
-		traffic_light_plugin
-		virtual_wall_detector
-		world_time_publisher
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
 install(DIRECTORY scripts
         DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
         USE_SOURCE_PERMISSIONS

ca_node/CMakeLists.txt

@@ -1,3 +1,4 @@
+#catkin_lint: ignore plugin_missing_install
 cmake_minimum_required(VERSION 2.8.3)
 project(ca_node)
 
@@ -14,7 +15,7 @@ find_package(Boost REQUIRED system thread)
 
 catkin_package(
   LIBRARIES ${PROJECT_NAME}let ca_driver
-  CATKIN_DEPENDS 
+  CATKIN_DEPENDS
     ca_description
     ca_msgs
     ecl_threads

navigation/ca_move_base/CMakeLists.txt

@@ -20,14 +20,14 @@ catkin_package(
 
 include_directories(${catkin_INCLUDE_DIRS})
 
-add_executable(send_goal src/send_robot_goal.cpp)
+add_executable(send_move_base_goal src/send_robot_goal.cpp)
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(send_goal
+target_link_libraries(send_move_base_goal
   ${catkin_LIBRARIES}
 )
 
-install(TARGETS send_goal
+install(TARGETS send_move_base_goal
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

navigation/ca_move_base/launch/send_goal.launch

@@ -6,7 +6,7 @@
   <arg name="robot_id" default="$(optenv ID 1)"      doc="Unique identifier of the robot [1-Inf.)"/>
   <arg name="ns"       value="create$(arg robot_id)" doc="Namespace of the robot. By default: create1."/>
 
-  <node pkg="ca_move_base" type="send_goal" name="navigation_goals"
+  <node pkg="ca_move_base" type="send_move_base_goal" name="navigation_goals"
         ns="$(arg ns)" output="screen"
         args="$(arg x) $(arg y) $(arg Y)"/>
 </launch>

navigation/ca_safety_controller/CMakeLists.txt

@@ -1,3 +1,4 @@
+#catkin_lint: ignore plugin_missing_install
 cmake_minimum_required(VERSION 2.8.3)
 project(ca_safety_controller)