ROS2 packaging (#48)

* comply ROS2 * install to lib * fix for non-ros environments
koide3 · Jul 26, 2024 · a7e91e7 · a7e91e7
1 parent 59251e1
commit a7e91e7
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Showing 3 changed files with 36 additions and 13 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -86,7 +86,7 @@ add_library(glim SHARED
 target_include_directories(glim PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/json/include>
-  $<INSTALL_INTERFACE:include>
+  $<INSTALL_INTERFACE:include/glim>
   ${OpenCV_INCLUDE_DIRS}
 )
 target_link_libraries(glim
@@ -166,18 +166,38 @@ endif()
 ## Install ##
 #############
 
-include(GNUInstallDirs)
+if(DEFINED ENV{ROS_VERSION})
+  if($ENV{ROS_VERSION} EQUAL 1)
+    # No idea
+    set(CMAKE_INSTALL_INCLUDEDIR "include/glim")
+    set(CMAKE_INSTALL_LIBDIR "lib")
+    set(CMAKE_INSTALL_BINDIR "bin/glim")
+    set(CMAKE_INSTALL_DATADIR "share/glim")
+    set(CMAKE_CONFIG_INSTALL_DIR "share/glim")
+  elseif($ENV{ROS_VERSION} EQUAL 2)
+    set(CMAKE_INSTALL_INCLUDEDIR "include/glim")
+    set(CMAKE_INSTALL_LIBDIR "lib")
+    set(CMAKE_INSTALL_BINDIR "bin/glim")
+    set(CMAKE_INSTALL_DATADIR "share/glim")
+    set(CMAKE_CONFIG_INSTALL_DIR "share/glim")
+  else()
+    message(FATAL_ERROR "Unsupported ROS version")
+  endif()
+else()
+  include(GNUInstallDirs)
+  set(CMAKE_CONFIG_INSTALL_DIR
+    "${CMAKE_INSTALL_LIBDIR}/cmake/glim"
+    CACHE PATH "Install directory for CMake config files"
+  )
+endif()
+
 install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
 install(TARGETS ${glim_LIBRARIES}
   EXPORT glim-targets
   LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
   ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
   RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
 )
-set(CMAKE_CONFIG_INSTALL_DIR
-  "${CMAKE_INSTALL_LIBDIR}/cmake/glim"
-  CACHE PATH "Install directory for CMake config files"
-)
 include(CMakePackageConfigHelpers)
 install(EXPORT glim-targets
   FILE glim-targets.cmake
@@ -210,7 +230,8 @@ if(DEFINED ENV{ROS_VERSION})
     install(DIRECTORY config DESTINATION share/glim)
     ament_export_include_directories(include ${EIGEN3_INCLUDE_DIR} ${OpenCV_INCLUDE_DIRS})
     ament_export_libraries(${glim_LIBRARIES} ${GTSAM_LIBRARIES} fmt spdlog::spdlog)
-    ament_package()
+    ament_export_interfaces(glim-targets HAS_LIBRARY_TARGET)
+    ament_package(CONFIG_EXTRAS "cmake/glim-config.cmake.in")
   elseif($ENV{ROS_VERSION} EQUAL 1)
     # ROS1
     find_package(catkin REQUIRED)

diff --git a/include/glim/util/config_impl.hpp b/include/glim/util/config_impl.hpp
@@ -234,11 +234,13 @@ T Config::param_cast_nested(const std::vector<std::string>& nested_module_names,
   return *found;
 }
 
-#define DEFINE_CONFIG_IO_SPECIALIZATION(TYPE)                                                                 \
-  template TYPE Config::param(const std::string&, const std::string&, const TYPE&) const;                     \
-  template TYPE Config::param_cast(const std::string&, const std::string&) const;                             \
-  template TYPE Config::param_nested(const std::vector<std::string>&, const std::string&, const TYPE&) const; \
-  template TYPE Config::param_cast_nested(const std::vector<std::string>&, const std::string&) const;         \
+#define DEFINE_CONFIG_IO_SPECIALIZATION(TYPE)                                                                                                  \
+  template std::optional<TYPE> Config::param(const std::string& module_name, const std::string& param_name) const;                             \
+  template TYPE Config::param(const std::string&, const std::string&, const TYPE&) const;                                                      \
+  template TYPE Config::param_cast(const std::string&, const std::string&) const;                                                              \
+  template std::optional<TYPE> Config::param_nested(const std::vector<std::string>& nested_module_names, const std::string& param_name) const; \
+  template TYPE Config::param_nested(const std::vector<std::string>&, const std::string&, const TYPE&) const;                                  \
+  template TYPE Config::param_cast_nested(const std::vector<std::string>&, const std::string&) const;                                          \
   template bool Config::override_param(const std::string&, const std::string&, const TYPE&);
 
 }  // namespace glim
diff --git a/package.xml b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>glim</name>
-  <version>0.0.0</version>
+  <version>1.0.1</version>
   <description>3D LiDAR-IMU mapping framework</description>
   <maintainer email="[email protected]">k.koide</maintainer>
   <license>MIT</license>