Julian/feature/less ament (#10)

nubertj · deepanaishtaweera · web-flow · commit 9dc931ac2cf9 · 2025-06-11T02:41:31.000+02:00
* add ros2 pkgs

* temporaliy edit cmakelist and package xml

* noetic docker setup

* first non running version of graph_msf_catkin

* Add initial implementation of smb_estimator_graph_ros2 package

* Update CMakeLists.txt to reference the correct constants header for smb_estimator_graph_ros2

* Refactor includes to use smb_estimator_graph_ros2 namespace for consistency across files

* Refactor SmbEstimator and SmbStaticTransforms classes to use ROS 2 conventions, including updated includes, parameter handling, and subscription methods. Transition from ros::NodeHandle to rclcpp::Node and adjust message types accordingly for improved compatibility with ROS 2 architecture.

* Update CMakeLists.txt to include GTSAM package and clean up dependencies.

* Fix CMakeLists.txt to use project name variable in target_link_libraries for improved maintainability.

* Refactor SmbStaticTransforms constructor to remove dependency on StaticTransforms and simplify initialization with only the node pointer.

* Replace XML launch files with Python launch files for smb_estimator_graph and smb_estimator_graph_replay, enhancing maintainability and aligning with ROS 2 conventions.

* Refactor remove_map_and_odom_from_bag.py to utilize rosbag2 API for reading and writing bags, improving performance and compatibility with ROS 2 conventions.

* Enhance error handling and logging in remove_tf_from_bag.py

* Enhance plotting functionality and logging in plot_latest_quantitites_in_folder.py, adding support for covariance data and improving error handling.

* Add new parameters for marginals computation and alignment in readParams function

* Refactor setup.py to use setuptools, adding package metadata and entry points for console scripts. Introduce new resource file for graph_msf_ros2.

* Refactor manual_pose_files_to_tf_and_odom_bag.py to improve file processing and logging.

* Update package name in smb_estimator_graph.launch.py to smb_estimator_graph_ros2

* Enhance CMakeLists.txt by adding GTSAM_UNSTABLE package

* Add export section to package.xml for launch file configuration

* Add export for include directories in CMakeLists.txt to improve package integration

* Update parameter declarations in GraphMsfRos2.cpp to include new settings for Cholesky factorization and marginals computation, while commenting out the center reference frames parameter.

* Update parameter names and add new logging options in GraphMsfRos2 setup and readParams functions

* Refactor YAML configuration files for smb_estimator_node to include parameters under ros__parameters section

* Add launch file for smb_estimator_graph_ros2 to configure simulation parameters and node execution

* Update IMU frame parameter in core_extrinsic_params.yaml from 'imu' to 'imu_link'

* first almost compiling version, just issue with one symbol and libmetis

* running version, full separation of graph msf and build system

* moving of examples inside ros and ros2 folders

* fix two more examples, now full graph_msf_ros_examples meta package is building

* make sure the gtsam libaries can be found

* update to holistic_fusion

* building with colcon without any ament specific package in graph_msf using modern cmake

* remove unnecessary ament dependency messing up catkin build

* remove ros2 code

---------

Co-authored-by: dishtaweera &lt;dishtaweera@theaiinstitute.com&gt;
diff --git a/graph_msf/CMakeLists.txt b/graph_msf/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.16)
 project(graph_msf)
 
-message("Building graph_msf library -----------------------------")
+message("Building ${PROJECT_NAME} library -----------------------------")
 
 ## Compile as C++17, supported in ROS Noetic and newer
 add_compile_options(-std=c++17)
@@ -22,11 +22,19 @@ message("CMAKE_BUILD_INCLUDE_DIR: ${CMAKE_BUILD_INCLUDE_DIR}")
 
 # Find dependencies ----------------------------------------------------------------------------------------------------
 find_package(Eigen3 REQUIRED)
-message("Eigen Version::" ${EIGEN3_VERSION_STRING})
-message("Eigen Path::" ${Eigen3_DIR})
+find_package(GTSAM REQUIRED)
+find_package(GTSAM_UNSTABLE REQUIRED)
+find_package(Python3 REQUIRED COMPONENTS Development)
+find_package(tf2_eigen REQUIRED)
+
+message("Eigen Version:: ${EIGEN3_VERSION_STRING}")
+message("Eigen Path:: ${EIGEN3_DIR}")
+message("GTSAM Include Path:: ${GTSAM_INCLUDE_DIRS}")
 
-# Color
-if (NOT WIN32)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+# Color settings for terminal output
+if(NOT WIN32)
     string(ASCII 27 Esc)
     set(ColourReset "${Esc}[m")
     set(BoldMagenta "${Esc}[1;35m")
@@ -76,45 +84,69 @@ target_link_libraries(${PROJECT_NAME}
         metis-gtsam
 )
 
+# Include directories for the library
+target_include_directories(${PROJECT_NAME}
+        PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>
+)
+
 # Add clang tooling
 find_package(cmake_clang_tools QUIET)
 if (cmake_clang_tools_FOUND AND NOT DEFINED NO_CLANG_TOOLING)
     add_clang_tooling(
-            TARGET ${PROJECT_NAME}
-            SOURCE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/src ${CMAKE_CURRENT_SOURCE_DIR}/include
-            CT_HEADER_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include
-            CF_FIX
+        TARGET ${PROJECT_NAME}
+        SOURCE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/src ${CMAKE_CURRENT_SOURCE_DIR}/include
+        CT_HEADER_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include
+        CF_FIX
     )
-endif (cmake_clang_tools_FOUND AND NOT DEFINED NO_CLANG_TOOLING)
+endif()
 
 #############
 ## Install ##
 #############
 
 # Export the include directories and linked libraries
-install(TARGETS ${PROJECT_NAME}
-        EXPORT ${PROJECT_NAME}-targets  # Export the target for downstream usage
-        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
-        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+install(
+    TARGETS ${PROJECT_NAME}
+    EXPORT ${PROJECT_NAME}Targets  # Export the target for downstream usage
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+)
+
+# Install the include directory
+install(DIRECTORY include/
+        DESTINATION include
 )
 
 # Install the export file for downstream projects
-install(EXPORT ${PROJECT_NAME}-targets
-        FILE ${PROJECT_NAME}Config.cmake
-        DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
+install(EXPORT ${PROJECT_NAME}Targets
+    FILE ${PROJECT_NAME}Targets.cmake
+    NAMESPACE ${PROJECT_NAME}::
+    DESTINATION share/${PROJECT_NAME}/cmake
 )
 
-# Install the include directory
-install(DIRECTORY include/${PROJECT_NAME}/
-        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}
+# Version
+include(CMakePackageConfigHelpers)
+write_basic_package_version_file(
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
+  VERSION 1.0.0
+  COMPATIBILITY SameMajorVersion
+)
+
+# Configure
+configure_package_config_file(
+  "${PROJECT_NAME}Config.cmake.in"
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+  INSTALL_DESTINATION share/${PROJECT_NAME}/cmake
 )
 
-# Add GTSAM include directories to the exported interface
-target_include_directories(${PROJECT_NAME} PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}>
-    ${EIGEN3_INCLUDE_DIR}
+# Files
+install(FILES
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
+  DESTINATION share/${PROJECT_NAME}/cmake
 )
 
-message("Finished building graph_msf library -----------------------------")
+message("Finished building ${PROJECT_NAME} library -----------------------------")
diff --git a/graph_msf/graph_msfConfig.cmake.in b/graph_msf/graph_msfConfig.cmake.in
@@ -0,0 +1,9 @@
+@PACKAGE_INIT@
+
+include("${CMAKE_CURRENT_LIST_DIR}/graph_msfTargets.cmake")
+
+# Optionally set legacy-style variables (only if needed)
+# set(graph_msf_INCLUDE_DIRS "@CMAKE_INSTALL_INCLUDEDIR@")
+
+# Set up version compatibility (optional if you use a version file)
+# include("${CMAKE_CURRENT_LIST_DIR}/graph_msfConfigVersion.cmake")
diff --git a/graph_msf/package.xml b/graph_msf/package.xml
@@ -19,4 +19,4 @@
     <exec_depend>Eigen3</exec_depend>
     <exec_depend>GTSAM</exec_depend>
 
-</package>
+</package>
diff --git a/ros/graph_msf_catkin/package.xml b/ros/graph_msf_catkin/package.xml
@@ -8,5 +8,10 @@
   <license>BSD</license>
   <author email="nubertj@ethz.ch">Julian Nubert</author>
 
+  <!-- Required for any ROS 1 catkin-cmake package -->
   <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Optional: list native dependencies here if you want ROS 2 to manage them -->
+  <depend>gtsam</depend>
+  <depend>eigen</depend>
 </package>
