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Add HDF5 dependency to beluga core #335

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merged 3 commits into from
Mar 12, 2024
Merged

Add HDF5 dependency to beluga core #335

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b17a8de
Add HDF5 dependency to beluga core
serraramiro1 Mar 12, 2024
289f33f
Remove blank line
serraramiro1 Mar 12, 2024
222b45c
Fix build for noetic
serraramiro1 Mar 12, 2024
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8 changes: 7 additions & 1 deletion beluga/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +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
REQUIRED)
find_package(range-v3 REQUIRED)
find_package(Sophus REQUIRED)
find_package(TBB REQUIRED)
Expand All @@ -46,10 +50,12 @@ 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_CXX_LIBRARIES}
Sophus::Sophus
TBB::tbb
range-v3::range-v3)
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1 change: 1 addition & 0 deletions beluga/cmake/Config.cmake.in
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Expand Up @@ -3,6 +3,7 @@
include(CMakeFindDependencyMacro)
find_dependency(Eigen3 REQUIRED NO_MODULE)
find_dependency(range-v3 REQUIRED)
find_dependency(HDF5 COMPONENTS CXX REQUIRED)
find_dependency(Sophus REQUIRED)
find_dependency(TBB REQUIRED)

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1 change: 1 addition & 0 deletions beluga/package.xml
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Expand Up @@ -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>
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20 changes: 14 additions & 6 deletions docker/run.sh
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Expand Up @@ -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
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