Merge remote-tracking branch 'koide3/master' into map-loading

koide3 · Jan 18, 2023 · ab13431 · ab13431
2 parents c514939 + 2a75b97
commit ab13431
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Showing 6 changed files with 52 additions and 35 deletions.
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -20,6 +20,7 @@ jobs:
       - uses: actions/checkout@v2
 
       - name: Docker login
+        continue-on-error: true
         uses: docker/login-action@v1
         with:
           username: ${{ secrets.DOCKER_USERNAME }}

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,25 +3,33 @@ cmake_minimum_required(VERSION 2.8.3)
 project(hdl_graph_slam)
 
 # Can we use C++17 in indigo?
-add_definitions(-msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2)
-set(CMAKE_CXX_FLAGS "-msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2")
+if(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
+  add_definitions(-std=c++11)
+  set(CMAKE_CXX_FLAGS "-std=c++11")
+else()
+  add_definitions(-std=c++14 -msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2)
+  set(CMAKE_CXX_FLAGS "-std=c++14 -msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2")
+endif()
+
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
 # pcl 1.7 causes a segfault when it is built with debug mode
 set(CMAKE_BUILD_TYPE "RELEASE")
 
 find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  rospy
-  pcl_ros
+  fast_gicp
   geodesy
-  nmea_msgs
-  sensor_msgs
   geometry_msgs
-  message_generation
   interactive_markers
+  message_generation
   ndt_omp
-  fast_gicp
+  nmea_msgs
+  pcl_ros
+  roscpp
+  rospy
+  sensor_msgs
+  std_msgs
+  tf_conversions
 )
 catkin_python_setup()
 
@@ -73,7 +81,14 @@ generate_messages(DEPENDENCIES std_msgs geometry_msgs)
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES hdl_graph_slam_nodelet
-#  CATKIN_DEPENDS pcl_ros roscpp sensor_msgs
+  CATKIN_DEPENDS
+    geometry_msgs
+    message_runtime
+    nmea_msgs
+    roscpp
+    sensor_msgs
+    std_msgs
+    tf_conversions
 #  DEPENDS system_lib
 )
 
@@ -149,8 +164,12 @@ install(FILES nodelet_plugins.xml
 )
 
 install(TARGETS
-  prefiltering_nodelet 
+  prefiltering_nodelet
   floor_detection_nodelet
-  scan_matching_odometry_nodelet 
+  scan_matching_odometry_nodelet
   hdl_graph_slam_nodelet
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+
+install(DIRECTORY include/
+   DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+)
diff --git a/README.md b/README.md
@@ -3,8 +3,6 @@
 
 <img src="imgs/hdl_graph_slam.png" width="712pix" />
 
-[video](https://drive.google.com/open?id=0B9f5zFkpn4soSG96Tkt4SFFTbms)
-
 [![Build](https://github.com/koide3/hdl_graph_slam/actions/workflows/build.yml/badge.svg)](https://github.com/koide3/hdl_graph_slam/actions/workflows/build.yml) on melodic & noetic
 
 ## Nodelets

diff --git a/apps/floor_detection_nodelet.cpp b/apps/floor_detection_nodelet.cpp
@@ -3,6 +3,8 @@
 #include <memory>
 #include <iostream>
 
+#include <boost/optional.hpp>
+
 #include <ros/ros.h>
 #include <ros/time.h>
 #include <pcl_ros/point_cloud.h>

diff --git a/include/hdl_graph_slam/graph_slam.hpp b/include/hdl_graph_slam/graph_slam.hpp
@@ -7,6 +7,7 @@
 #include <ros/time.h>
 
 #include <g2o/core/hyper_graph.h>
+#include <Eigen/Dense>
 
 namespace g2o {
 class VertexSE3;

diff --git a/package.xml b/package.xml
@@ -9,29 +9,25 @@
   <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>ndt_omp</build_depend>
-  <build_depend>fast_gicp</build_depend>
-  <build_depend>pcl_ros</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>nodelet</build_depend>
-  <build_depend>geodesy</build_depend>
-  <build_depend>nmea_msgs</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
   <build_depend>libg2o</build_depend>
-
-  <exec_depend>ndt_omp</exec_depend>
-  <exec_depend>fast_gicp</exec_depend>
-  <exec_depend>pcl_ros</exec_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>rospy</exec_depend>
-  <exec_depend>geodesy</exec_depend>
+  <build_depend>message_generation</build_depend>
+  <depend>eigen</depend>
+  <depend>fast_gicp</depend>
+  <depend>geodesy</depend>
+  <depend>geometry_msgs</depend>
+  <depend>interactive_markers</depend>
+  <depend>ndt_omp</depend>
+  <depend>nmea_msgs</depend>
+  <depend>pcl_ros</depend>
+  <depend>roscpp</depend>
+  <depend>rospy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>tf_conversions</depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>msf_updates</exec_depend>
   <exec_depend>nodelet</exec_depend>
-  <exec_depend>nmea_msgs</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>message_generation</exec_depend>
+  <exec_depend>tf</exec_depend>
 
   <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-scipy</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-scipy</exec_depend>