rename libs as modules

Author: jlblancoc

.gitmodules

@@ -22,3 +22,6 @@
 [submodule "3rdparty/libfyaml"]
 	path = 3rdparty/libfyaml
 	url = https://github.com/pantoniou/libfyaml.git
+[submodule "3rdparty/mola_common"]
+	path = 3rdparty/mola_common
+	url = https://github.com/MOLAorg/mola_common.git

3rdparty/mola_common

@@ -0,0 +1 @@
+.vscode

CATKIN_IGNORE

@@ -0,0 +1,44 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package mola_common
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.4.0 (2024-08-20)
+------------------
+* Reorganize cmake scripts to make them compatible with both ROS1 catkin and ROS2 ament
+* Contributors: Jose Luis Blanco-Claraco
+
+0.3.3 (2024-08-14)
+------------------
+* make the package to build on ROS 1 too
+* Contributors: Jose Luis Blanco-Claraco
+
+0.3.2 (2024-08-09)
+------------------
+* Fix ament_xmllint warnings
+* Contributors: Jose Luis Blanco-Claraco
+
+0.3.1 (2024-04-30)
+------------------
+* Bump cmake_minimum_required to 3.5
+* Fix clang warning
+* Contributors: Jose Luis Blanco-Claraco
+
+0.3.0 (2024-01-07)
+------------------
+* Fix usage of mola:: cmake prefix
+* add package file attribute
+* Contributors: Jose Luis Blanco-Claraco
+
+0.2.2 (2023-09-08)
+------------------
+* Fix package name in docs
+* Generate ament-correct package for ROS2 builds
+* fix lib name in cmake warning message
+* Contributors: Jose Luis Blanco-Claraco
+
+0.2.1 (2023-09-02)
+------------------
+
+0.2.0 (2023-08-24)
+------------------
+* First public release as ROS 2 package.

COLCON_IGNORE

@@ -0,0 +1,130 @@
+# ------------------------------------------------------------------------------
+#        A Modular Optimization framework for Localization and mApping
+#                               (MOLA)
+#
+# Copyright (C) 2018-2025, Jose Luis Blanco-Claraco, contributors (AUTHORS.md)
+# All rights reserved.
+# Released under BSD-3. See LICENSE file
+# ------------------------------------------------------------------------------
+
+# Minimum CMake version: deprecated if <3.5 (as of Apr 2024)
+cmake_minimum_required(VERSION 3.5)
+
+if("$ENV{ROS_VERSION}" STREQUAL "2")
+	set(DETECTED_ROS2 TRUE)
+	set(PACKAGE_ROS_VERSION 2)
+elseif("$ENV{ROS_VERSION}" STREQUAL "1")
+	set(DETECTED_ROS1 TRUE)
+	set(PACKAGE_ROS_VERSION 1)
+	set(CMAKE_CXX_STANDARD 14)
+endif()
+
+project(mola_common)
+
+include(GNUInstallDirs) # for install dirs in multilib
+include(CMakePackageConfigHelpers)
+
+# Instrumental lib:
+add_library(${PROJECT_NAME} INTERFACE)
+
+# Project version:
+include(mola-version.cmake)
+
+# Allow build-time finding of this package:
+set(mola_common_DIR ${CMAKE_CURRENT_SOURCE_DIR} CACHE PATH "Path to mola_common")
+
+# not ament-based builds (standalone, w/o ROS):
+if ((NOT DETECTED_ROS2) AND (NOT DETECTED_ROS1))
+	# Generate: mola_common-version.cmake
+	include(CMakePackageConfigHelpers)
+
+	if(NOT ${CMAKE_VERSION} VERSION_LESS "3.14.0")
+		set(ARCH_INDEP_FLAG "ARCH_INDEPENDENT")
+	endif()
+
+	write_basic_package_version_file(
+		# generate to the topmost root binary dir:
+		${CMAKE_BINARY_DIR}/mola_common-config-version.cmake
+		VERSION ${MOLA_VERSION_NUMBER_MAJOR}.${MOLA_VERSION_NUMBER_MINOR}.${MOLA_VERSION_NUMBER_PATCH}
+		COMPATIBILITY AnyNewerVersion
+		${ARCH_INDEP_FLAG}
+	)
+
+	# Generate: mola_common.cmake
+	configure_file(
+		# Input:
+		mola_common-config.cmake.in
+		# Output: generate to the topmost root binary dir:
+		${CMAKE_BINARY_DIR}/mola_common-config.cmake
+		# Parse: "@var_names@" only
+		@ONLY
+	)
+
+	# Install files:
+	install(
+		FILES
+			${CMAKE_BINARY_DIR}/${PROJECT_NAME}-config.cmake
+			${CMAKE_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake
+			${CMAKE_SOURCE_DIR}/mola-version.cmake
+			DESTINATION
+				share/${PROJECT_NAME}/cmake
+	)
+
+	# Provide make uninstall:
+	if (NOT TARGET uninstall)
+	configure_file(
+		"${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in"
+		"${CMAKE_BINARY_DIR}/cmake_uninstall.cmake"
+		IMMEDIATE @ONLY)
+	add_custom_target(uninstall
+		COMMAND ${CMAKE_COMMAND} -P ${CMAKE_BINARY_DIR}/cmake_uninstall.cmake)
+	endif()
+endif()
+
+
+# -----------------------------------------------------------------------------
+#  common
+# -----------------------------------------------------------------------------
+set(CUSTOM_CMAKE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
+
+# Install files common to both, ROS and non-ROS builds:
+install(
+	FILES
+		${CUSTOM_CMAKE_DIR}/mola_cmake_functions.cmake
+		${CUSTOM_CMAKE_DIR}/mola-xxx-config.cmake.in
+		DESTINATION
+			share/${PROJECT_NAME}/cmake
+)
+
+
+# -----------------------------------------------------------------------------
+#  ROS1
+# -----------------------------------------------------------------------------
+if (DETECTED_ROS1)
+	# Find the required catkin packages
+	find_package(catkin REQUIRED)
+
+	# Declare this project as a catkin package
+	catkin_package(
+		CFG_EXTRAS mola_cmake_functions.cmake
+	)
+endif()
+
+# -----------------------------------------------------------------------------
+#  ROS2
+# -----------------------------------------------------------------------------
+if (DETECTED_ROS2)
+	# find dependencies
+	find_package(ament_cmake REQUIRED)
+
+	#ament_target_dependencies(MY_TARGET
+	#  rclcpp...
+	#)
+
+	# Add custom mola cmake macros, as in our non-ament (ROS2) config.cmake file:
+	# See: mola_common-config.cmake.in
+
+	ament_package(
+		CONFIG_EXTRAS cmake/mola_cmake_functions.cmake
+	)
+endif()