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[Windows][melodic] map_server Windows build bring up #850

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mikeferguson merged 1 commit into from
Apr 28, 2019
Merged

[Windows][melodic] map_server Windows build bring up #850

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14 changes: 9 additions & 5 deletions map_server/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -11,12 +11,14 @@ find_package(catkin REQUIRED
find_package(Bullet REQUIRED)
find_package(SDL REQUIRED)
find_package(SDL_image REQUIRED)
find_package(Boost REQUIRED COMPONENTS filesystem)

find_package(PkgConfig REQUIRED)
pkg_check_modules(YAMLCPP yaml-cpp REQUIRED)
if(YAMLCPP_VERSION VERSION_GREATER "0.5.0")
add_definitions(-DHAVE_YAMLCPP_GT_0_5_0)
endif()
link_directories(${YAMLCPP_LIBRARY_DIRS})

catkin_package(
INCLUDE_DIRS
Expand All @@ -36,6 +38,7 @@ include_directories(
${SDL_INCLUDE_DIR}
${SDL_IMAGE_INCLUDE_DIRS}
${YAMLCPP_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)

add_library(map_server_image_loader src/image_loader.cpp)
Expand Down Expand Up @@ -85,7 +88,7 @@ if(CATKIN_ENABLE_TESTING)
add_executable(rtest test/rtest.cpp test/test_constants.cpp)
add_dependencies(rtest ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries( rtest
gtest
${GTEST_LIBRARIES}
${catkin_LIBRARIES}
)

Expand All @@ -95,10 +98,11 @@ if(CATKIN_ENABLE_TESTING)
endif()

## Install executables and/or libraries
install(TARGETS map_server-map_saver map_server map_server_image_loader
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(TARGETS map_server-map_saver map_server
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(TARGETS map_server_image_loader
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

## Install project namespaced headers
install(DIRECTORY include/${PROJECT_NAME}/
Expand Down
14 changes: 8 additions & 6 deletions map_server/src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,8 +37,8 @@

#include <stdio.h>
#include <stdlib.h>
#include <libgen.h>
#include <fstream>
#include <boost/filesystem.hpp>

#include "ros/ros.h"
#include "ros/console.h"
Expand Down Expand Up @@ -145,12 +145,14 @@ class MapServer
ROS_ERROR("The image tag cannot be an empty string.");
exit(-1);
}
if(mapfname[0] != '/')

boost::filesystem::path mapfpath(mapfname);
if (!mapfpath.is_absolute())
{
// dirname can modify what you pass it
char* fname_copy = strdup(fname.c_str());
mapfname = std::string(dirname(fname_copy)) + '/' + mapfname;
free(fname_copy);
boost::filesystem::path dir(fname);
dir = dir.parent_path();
mapfpath = dir / mapfpath;
mapfname = mapfpath.string();
}
} catch (YAML::InvalidScalar &) {
ROS_ERROR("The map does not contain an image tag or it is invalid.");
Expand Down