From b17a8de89b0634d1541320bbdc2c8537aff652e3 Mon Sep 17 00:00:00 2001
From: Ramiro Serra <serraramiro@ekumenlabs.com>
Date: Tue, 12 Mar 2024 09:57:26 -0300
Subject: [PATCH 1/3] Add HDF5 dependency to beluga core

Signed-off-by: Ramiro Serra <serraramiro@ekumenlabs.com>
---
 beluga/CMakeLists.txt        | 6 +++++-
 beluga/cmake/Config.cmake.in | 1 +
 beluga/package.xml           | 1 +
 3 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/beluga/CMakeLists.txt b/beluga/CMakeLists.txt
index 9949806e6..3e591e745 100644
--- a/beluga/CMakeLists.txt
+++ b/beluga/CMakeLists.txt
@@ -38,6 +38,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(Eigen3 REQUIRED NO_MODULE)
+find_package(HDF5 COMPONENTS CXX HL)
+
 find_package(range-v3 REQUIRED)
 find_package(Sophus REQUIRED)
 find_package(TBB REQUIRED)
@@ -46,10 +48,12 @@ add_library(${PROJECT_NAME} INTERFACE)
 target_include_directories(
   ${PROJECT_NAME}
   INTERFACE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-            "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+            "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+            "${HDF5_INCLUDE_DIRS}")
 target_link_libraries(
   ${PROJECT_NAME}
   INTERFACE Eigen3::Eigen
+            hdf5::hdf5_hl_cpp
             Sophus::Sophus
             TBB::tbb
             range-v3::range-v3)
diff --git a/beluga/cmake/Config.cmake.in b/beluga/cmake/Config.cmake.in
index dcfb5f50f..4bc89f176 100644
--- a/beluga/cmake/Config.cmake.in
+++ b/beluga/cmake/Config.cmake.in
@@ -3,6 +3,7 @@
 include(CMakeFindDependencyMacro)
 find_dependency(Eigen3 REQUIRED NO_MODULE)
 find_dependency(range-v3 REQUIRED)
+find_dependency(HDF5 COMPONENTS CXX HL)
 find_dependency(Sophus REQUIRED)
 find_dependency(TBB REQUIRED)
 
diff --git a/beluga/package.xml b/beluga/package.xml
index 2cdcbf0f4..0c6e33fa2 100644
--- a/beluga/package.xml
+++ b/beluga/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend>cmake</buildtool_depend>
 
   <depend>eigen</depend>
+  <depend>libhdf5-dev</depend>
   <depend>range-v3</depend>
   <depend>sophus</depend>
   <depend>tbb</depend>

From 289f33f14d89ecb17bd6c827a3261dc963b36ac3 Mon Sep 17 00:00:00 2001
From: Ramiro Serra <serraramiro@ekumenlabs.com>
Date: Tue, 12 Mar 2024 09:59:02 -0300
Subject: [PATCH 2/3] Remove blank line

Signed-off-by: Ramiro Serra <serraramiro@ekumenlabs.com>
---
 beluga/CMakeLists.txt | 1 -
 1 file changed, 1 deletion(-)

diff --git a/beluga/CMakeLists.txt b/beluga/CMakeLists.txt
index 3e591e745..eae64b110 100644
--- a/beluga/CMakeLists.txt
+++ b/beluga/CMakeLists.txt
@@ -39,7 +39,6 @@ endif()
 
 find_package(Eigen3 REQUIRED NO_MODULE)
 find_package(HDF5 COMPONENTS CXX HL)
-
 find_package(range-v3 REQUIRED)
 find_package(Sophus REQUIRED)
 find_package(TBB REQUIRED)

From 222b45c42c3f4cccb5dc3da03c58d9806fa3c62f Mon Sep 17 00:00:00 2001
From: Ramiro Serra <serraramiro@ekumenlabs.com>
Date: Tue, 12 Mar 2024 16:29:13 -0300
Subject: [PATCH 3/3] Fix build for noetic

Signed-off-by: Ramiro Serra <serraramiro@ekumenlabs.com>
---
 beluga/CMakeLists.txt        |  7 +++++--
 beluga/cmake/Config.cmake.in |  2 +-
 docker/run.sh                | 20 ++++++++++++++------
 3 files changed, 20 insertions(+), 9 deletions(-)

diff --git a/beluga/CMakeLists.txt b/beluga/CMakeLists.txt
index eae64b110..ba1217061 100644
--- a/beluga/CMakeLists.txt
+++ b/beluga/CMakeLists.txt
@@ -38,7 +38,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(Eigen3 REQUIRED NO_MODULE)
-find_package(HDF5 COMPONENTS CXX HL)
+find_package(
+  HDF5
+  COMPONENTS CXX
+  REQUIRED)
 find_package(range-v3 REQUIRED)
 find_package(Sophus REQUIRED)
 find_package(TBB REQUIRED)
@@ -52,7 +55,7 @@ target_include_directories(
 target_link_libraries(
   ${PROJECT_NAME}
   INTERFACE Eigen3::Eigen
-            hdf5::hdf5_hl_cpp
+            ${HDF5_CXX_LIBRARIES}
             Sophus::Sophus
             TBB::tbb
             range-v3::range-v3)
diff --git a/beluga/cmake/Config.cmake.in b/beluga/cmake/Config.cmake.in
index 4bc89f176..8d7b0e44f 100644
--- a/beluga/cmake/Config.cmake.in
+++ b/beluga/cmake/Config.cmake.in
@@ -3,7 +3,7 @@
 include(CMakeFindDependencyMacro)
 find_dependency(Eigen3 REQUIRED NO_MODULE)
 find_dependency(range-v3 REQUIRED)
-find_dependency(HDF5 COMPONENTS CXX HL)
+find_dependency(HDF5 COMPONENTS CXX REQUIRED)
 find_dependency(Sophus REQUIRED)
 find_dependency(TBB REQUIRED)
 
diff --git a/docker/run.sh b/docker/run.sh
index de627538e..769ad4716 100755
--- a/docker/run.sh
+++ b/docker/run.sh
@@ -66,10 +66,18 @@ while [[ "$1" != "" ]]; do
     esac
 done
 
-# Note: The `--build` flag was added to docker compose run after
-# https://github.com/docker/compose/releases/tag/v2.13.0.
-# We have this for convenience and compatibility with previous versions.
-# Otherwise, we could just forward the script arguments to the run verb.
-[[ "$BUILD" = true ]] && docker compose build dev
+DEV_CONTAINER_NAME=beluga_dev
 
-PRIVILEGED_CONTAINER=$PRIVILEGED_CONTAINER USERID=$(id -u) GROUPID=$(id -g) docker compose run --rm dev
+# Kill the container JIC it already exists, if building, to ensure we don't attach to an old container.
+[[ "$BUILD" = true ]] && docker compose build dev && docker rm -f $DEV_CONTAINER_NAME  2>/dev/null
+
+# Check if the container exists
+if docker ps -a --format '{{.Names}}' | grep -q $DEV_CONTAINER_NAME; then
+    # Attach to the container if it is running
+    echo "Found dev container running, attaching to it..."
+else
+    echo "Container '$DEV_CONTAINER_NAME' does not exist or is not running, proceeding to run it."
+    PRIVILEGED_CONTAINER=$PRIVILEGED_CONTAINER USERID=$(id -u) GROUPID=$(id -g) docker compose run --rm --detach --name $DEV_CONTAINER_NAME  dev
+fi
+
+docker exec -it $DEV_CONTAINER_NAME /ros_entrypoint.sh /bin/bash