Merge pull request #47 from ethz-asl/fix/gui_cmakelist

Fix/gui cmakelist

ethz_piksi_ros/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>ethz_piksi_ros</name>
-  <version>1.6.1</version>
+  <version>1.6.2</version>
   <description>Meta-package for the ethz_piksi_ros repository.</description>
 
   <maintainer email="[email protected]">Marco Tranzatto</maintainer>

jenkins-pipeline

@@ -1,2 +1,2 @@
 library 'continuous_integration_pipeline'
-ciPipeline("--ignore ethz_piksi_ros piksi_v2_rtk_ros rqt_gps_rtk_plugin utils")
+ciPipeline("--ignore ethz_piksi_ros piksi_v2_rtk_ros utils")

piksi_multi_rtk_ros/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>piksi_multi_rtk_ros</name>
-  <version>1.6.1</version>
+  <version>1.6.2</version>
   <description>
     ROS driver for Piksi Multi RTK GPS Receiver.
   </description>

piksi_rtk_kml/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>piksi_rtk_kml</name>
-  <version>1.6.1</version>
+  <version>1.6.2</version>
   <description>
     ROS node to write KML file from Piksi messages.
   </description>

piksi_rtk_msgs/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>piksi_rtk_msgs</name>
-  <version>1.6.1</version>
+  <version>1.6.2</version>
   <description>
     Package containing messages for Piksi RTK GPS ROS Driver.
   </description>

rqt_gps_rtk_plugin/CMakeLists.txt

@@ -1,119 +1,146 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(rqt_gps_rtk_plugin)
 
-# Set compiler flags
-set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
+## Use C++11
+## By adding -Wall and -Werror, the compiler does not ignore warnings anymore,
+## enforcing cleaner code.
+add_definitions(-std=c++11 -Wall -Werror)
 
+# Load catkin and all dependencies required for this package
 find_package(catkin REQUIRED COMPONENTS
-   any_worker
-   rqt_gui
-   rqt_gui_cpp
-   piksi_rtk_msgs
-   sensor_msgs
+  rqt_gui
+  rqt_gui_cpp
+  any_worker
+  piksi_rtk_msgs
+  sensor_msgs
+
 )
 
-if("${qt_gui_cpp_USE_QT_MAJOR_VERSION} " STREQUAL "5 ")
+if ("${qt_gui_cpp_USE_QT_MAJOR_VERSION} " STREQUAL "5 ")
   find_package(Qt5Widgets REQUIRED)
 else()
-  find_package(Qt4 COMPONENTS QtCore QtGui REQUIRED)
+  find_package(Qt4 COMPONENTS QtCore QtGui QtOpenGL REQUIRED)
   include(${QT_USE_FILE})
 endif()
 
-catkin_python_setup()
+# Flags
+SET(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
 
-###########
-# sources #
-###########
-set(rqt_gps_rtk_plugin_SRCS
-  src/rqt_gps_rtk_plugin/GpsRtkPlugin.cpp
+set(${PROJECT_NAME}_SRCS
+  src/${PROJECT_NAME}/GpsRtkPlugin.cpp
 )
-###########
-
-
 
-###########
-# headers #
-###########
-set(rqt_gps_rtk_plugin_HDRS
-    include/rqt_gps_rtk_plugin/GpsRtkPlugin.hpp
+set(${PROJECT_NAME}_HDRS
+  include/${PROJECT_NAME}/GpsRtkPlugin.hpp
 )
-###########
-
 
+set(${PROJECT_NAME}_UIS
+  resource/gps_rtk_plugin.ui
+)
 
-############
-# ui files #
-############
-set(rqt_gps_rtk_plugin_UIS
-    resource/gps_rtk_plugin.ui
+set(ui_INCLUDE_DIR
+  "${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/${PROJECT_NAME}"
 )
-############
 
-set(rqt_gps_rtk_plugin_INCLUDE_DIRECTORIES
-    include
-    ${CMAKE_CURRENT_BINARY_DIR}
+set(${PROJECT_NAME}_INCLUDE_DIRECTORIES
+  include
+  ${ui_INCLUDE_DIR}/..
 )
 
+if(NOT EXISTS ${ui_INCLUDE_DIR})
+  file(MAKE_DIRECTORY ${ui_INCLUDE_DIR})
+endif()
+
 catkin_package(
+  INCLUDE_DIRS
+    ${${PROJECT_NAME}_INCLUDE_DIRECTORIES}
   LIBRARIES ${PROJECT_NAME}
   CATKIN_DEPENDS
-    any_worker
     rqt_gui
     rqt_gui_cpp
+    any_worker
     piksi_rtk_msgs
     sensor_msgs
-    DEPENDS
+
 )
 
-if("${qt_gui_cpp_USE_QT_MAJOR_VERSION} " STREQUAL "5 ")
-  qt5_wrap_cpp(rqt_gps_rtk_plugin_MOCS ${rqt_gps_rtk_plugin_HDRS})
-  qt5_wrap_ui(rqt_gps_rtk_plugin_UIS_H ${rqt_gps_rtk_plugin_UIS})
+# include directories before wrap cpp
+include_directories(${${PROJECT_NAME}_INCLUDE_DIRECTORIES}
+  ${${PROJECT_NAME}_INCLUDE_DIRECTORIES}
+  ${catkin_INCLUDE_DIRS}
+)
+
+if ("${qt_gui_cpp_USE_QT_MAJOR_VERSION} " STREQUAL "5 ")
+  include_directories(${Qt5Widgets_INCLUDE_DIRS})
+  add_definitions(${Qt5Widgets_DEFINITIONS})
+  qt5_wrap_cpp(${PROJECT_NAME}_MOCS ${${PROJECT_NAME}_HDRS})
+  #qt5_add_resources(${PROJECT_NAME}_RCC ${${PROJECT_NAME}_QRC})
 else()
-  qt4_wrap_cpp(rqt_gps_rtk_plugin_MOCS ${rqt_gps_rtk_plugin_HDRS})
-  qt4_wrap_ui(rqt_gps_rtk_plugin_UIS_H ${rqt_gps_rtk_plugin_UIS})
+  qt4_wrap_cpp(${PROJECT_NAME}_MOCS ${${PROJECT_NAME}_HDRS})
+  #qt4_add_resources(${PROJECT_NAME}_RCC ${${PROJECT_NAME}_QRC})
 endif()
 
-include_directories(
-    ${rqt_gps_rtk_plugin_INCLUDE_DIRECTORIES}
-    ${catkin_INCLUDE_DIRS}
-)
-
+# ensure generated header files are being created in the devel space
+set(_cmake_current_binary_dir "${CMAKE_CURRENT_BINARY_DIR}")
+set(CMAKE_CURRENT_BINARY_DIR ${ui_INCLUDE_DIR})
+if("${qt_gui_cpp_USE_QT_MAJOR_VERSION} " STREQUAL "5 ")
+  qt5_wrap_ui(${PROJECT_NAME}_UIS_H ${${PROJECT_NAME}_UIS})
+else()
+  qt4_wrap_ui(${PROJECT_NAME}_UIS_H ${${PROJECT_NAME}_UIS})
+endif()
+set(CMAKE_CURRENT_BINARY_DIR "${_cmake_current_binary_dir}")
 
-add_library(rqt_gps_rtk_plugin
-    ${rqt_gps_rtk_plugin_SRCS}
-    ${rqt_gps_rtk_plugin_MOCS}
-    ${rqt_gps_rtk_plugin_UIS_H}
+add_library(${PROJECT_NAME}
+  ${${PROJECT_NAME}_SRCS}
+  ${${PROJECT_NAME}_HDRS}
+  ${${PROJECT_NAME}_MOCS}
+  ${${PROJECT_NAME}_UIS_H}
 )
 
-target_link_libraries(rqt_gps_rtk_plugin
-    ${catkin_LIBRARIES}
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
 )
 
-if("${qt_gui_cpp_USE_QT_MAJOR_VERSION} " STREQUAL "5 ")
+if ("${qt_gui_cpp_USE_QT_MAJOR_VERSION} " STREQUAL "5 ")
   target_link_libraries(${PROJECT_NAME} Qt5::Widgets)
 else()
   target_link_libraries(${PROJECT_NAME} ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY})
 endif()
 
+add_dependencies(${PROJECT_NAME}
+  ${catkin_EXPORTED_TARGETS}
+)
 
 find_package(class_loader)
-class_loader_hide_library_symbols(rqt_gps_rtk_plugin)
-
+class_loader_hide_library_symbols(${PROJECT_NAME})
 
 install(FILES plugin.xml
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
-install(TARGETS rqt_gps_rtk_plugin
-    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-install(PROGRAMS scripts/rqt_gps_rtk_plugin
-    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+install(PROGRAMS scripts/${PROJECT_NAME}
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
 install(DIRECTORY include/${PROJECT_NAME}/
-    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+# uncomment, if this widget will be used by any other QObject (e.g., a widget)
+install(DIRECTORY ${ui_INCLUDE_DIR}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+install(
+  DIRECTORY resource
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+#  FILES_MATCHING
+#  PATTERN "*.png"
+#  PATTERN "*.svg"
 )

rqt_gps_rtk_plugin/README.md

@@ -7,6 +7,7 @@ Dependencies
 ------
 [piksi_rtk_msgs](https://github.com/ethz-asl/mav_rtk_gps/tree/master/piksi_rtk_msgs)
 [Qt](https://wiki.qt.io/Install_Qt_5_on_Ubuntu)
+[any_node](https://bitbucket.org/leggedrobotics/any_common/src/master/any_node/)
 
 General Usage
 ------

rqt_gps_rtk_plugin/include/rqt_gps_rtk_plugin/GpsRtkPlugin.hpp

@@ -2,21 +2,31 @@
 #define GPSRTKPLUGIN_H
 
 #include <rqt_gui_cpp/plugin.h>
-#include <ui_gps_rtk_plugin.h>
+
+// Qt
 #include <QWidget>
+#include <QString>
+
+// ui
+#include <rqt_gps_rtk_plugin/ui_gps_rtk_plugin.h>
 
+// std
 #include <algorithm>
 #include <unistd.h>
 #include <memory>
 
+// ros
 #include <ros/ros.h>
+
+// messages
 #include <piksi_rtk_msgs/ReceiverState_V2_3_15.h>
 #include <piksi_rtk_msgs/BaselineNed.h>
 #include <piksi_rtk_msgs/InfoWifiCorrections.h>
 #include <piksi_rtk_msgs/UtcTimeMulti.h>
 #include <piksi_rtk_msgs/AgeOfCorrections.h>
 #include <sensor_msgs/NavSatFix.h>
 
+// worker
 #include <any_worker/Worker.hpp>
 
 constexpr double kSignalStrengthScalingFactor = 4.0;

rqt_gps_rtk_plugin/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>rqt_gps_rtk_plugin</name>
-  <version>1.6.1</version>
+  <version>1.6.2</version>
   <description>The rqt_gps_rtk_plugin package</description>
 
   <maintainer email="[email protected]">Kai Holtmann</maintainer>
@@ -15,7 +15,6 @@
   <depend>piksi_rtk_msgs</depend>
   <depend>sensor_msgs</depend>
 
-
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <architecture_independent/>

rqt_gps_rtk_plugin/resource/gps_rtk_plugin.ui

@@ -11,7 +11,7 @@
    </rect>
   </property>
   <property name="windowTitle">
-   <string>GpsRtkInfo</string>
+   <string>GpsRtkPlugin</string>
   </property>
   <layout class="QHBoxLayout" name="horizontalLayout_17">
    <item>

rqt_gps_rtk_plugin/src/rqt_gps_rtk_plugin/GpsRtkPlugin.cpp

@@ -1,8 +1,8 @@
-#include "../include/rqt_gps_rtk_plugin/GpsRtkPlugin.hpp"
 
-#include <pluginlib/class_list_macros.h>
+#include <rqt_gps_rtk_plugin/GpsRtkPlugin.hpp>
+
+// Qt
 #include <QStringList>
-#include <QGridLayout>
 
 // std
 #include <math.h>
@@ -43,7 +43,7 @@ void GpsRtkPlugin::initPlugin(qt_gui_cpp::PluginContext& context) {
   altitudes_.erase(altitudes_.begin(), altitudes_.end());
 
   // initialize update worker
-  updateWorker_.reset(std::make_unique(any_worker::Worker("GpsRtkPlugin::updateWorker", 1, std::bind(&GpsRtkPlugin::updateWorkerCb, this, std::placeholders::_1))));
+  updateWorker_.reset(new any_worker::Worker("GpsRtkPlugin::updateWorker", 1, std::bind(&GpsRtkPlugin::updateWorkerCb, this, std::placeholders::_1)));
   if (!updateWorker_->start()) {
     ROS_WARN_STREAM("[GpsRtkPlugin] Update worker could not be started. GUI information not properly updated.");
   }
@@ -312,4 +312,5 @@ void GpsRtkPlugin::piksiAgeOfCorrectionsCb(const piksi_rtk_msgs::AgeOfCorrection
  // Usually used to open a dialog to offer the user a set of configuration
  }*/
 
+#include <pluginlib/class_list_macros.h>
 PLUGINLIB_DECLARE_CLASS(rqt_gps_rtk_plugin, GpsRtkPlugin, GpsRtkPlugin, rqt_gui_cpp::Plugin)