From 2e8d9b9daf28b9a44b5d8d26fcbfd4bebd550450 Mon Sep 17 00:00:00 2001 From: Yadu Date: Mon, 11 Sep 2023 10:11:21 +0530 Subject: [PATCH 1/3] Improve linking times (#61) (#63) * Improve linking times (#61) Signed-off-by: Luca Della Vedova Signed-off-by: Michael X. Grey Co-authored-by: Luca Della Vedova * Make CI run with Iron images Signed-off-by: Yadunund --------- Signed-off-by: Luca Della Vedova Signed-off-by: Michael X. Grey Signed-off-by: Yadunund Co-authored-by: Grey Co-authored-by: Luca Della Vedova Signed-off-by: Luca Della Vedova --- .github/workflows/build.yaml | 2 +- .github/workflows/style.yaml | 2 +- rmf_visualization_fleet_states/CMakeLists.txt | 22 ++++------ rmf_visualization_floorplans/CMakeLists.txt | 31 +++++--------- rmf_visualization_navgraphs/CMakeLists.txt | 31 +++++--------- rmf_visualization_obstacles/CMakeLists.txt | 27 ++++-------- .../CMakeLists.txt | 27 ++++++------ rmf_visualization_schedule/CMakeLists.txt | 41 +++++++------------ 8 files changed, 66 insertions(+), 117 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 5b24577..bd924eb 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -20,5 +20,5 @@ jobs: rmf_visualization_obstacles rmf_visualization_rviz2_plugins rmf_visualization_schedule - dist-matrix: '[{"ros_distribution": "humble", "ubuntu_distribution": "jammy"}, {"ros_distribution": "rolling", "ubuntu_distribution": "jammy"}]' + dist-matrix: '[{"ros_distribution": "iron", "ubuntu_distribution": "jammy"}]' diff --git a/.github/workflows/style.yaml b/.github/workflows/style.yaml index 62533c6..9d530ca 100644 --- a/.github/workflows/style.yaml +++ b/.github/workflows/style.yaml @@ -9,7 +9,7 @@ jobs: runs-on: ubuntu-latest strategy: matrix: - docker_image: ['ros:humble-ros-base'] + docker_image: ['ros:iron-ros-base'] container: image: ${{ matrix.docker_image }} steps: diff --git a/rmf_visualization_fleet_states/CMakeLists.txt b/rmf_visualization_fleet_states/CMakeLists.txt index 401e5cf..99c758a 100644 --- a/rmf_visualization_fleet_states/CMakeLists.txt +++ b/rmf_visualization_fleet_states/CMakeLists.txt @@ -22,26 +22,20 @@ endforeach() #=============================================================================== add_library(fleetstates_visualizer SHARED src/FleetStatesVisualizer.cpp) -target_link_libraries(fleetstates_visualizer - PRIVATE - rclcpp::rclcpp - ${rclcpp_components_LIBRARIES} - ${rmf_fleet_msgs_LIBRARIES} - ${rmf_visualization_msgs_LIBRARIES} - ${visualization_msgs_LIBRARIES} - ${geometry_msgs_LIBRARIES} +ament_target_dependencies(fleetstates_visualizer + PUBLIC + rclcpp + rclcpp_components + rmf_fleet_msgs + rmf_visualization_msgs + visualization_msgs + geometry_msgs ) target_include_directories(fleetstates_visualizer PRIVATE $ $ - ${rclcpp_INCLUDE_DIRS} - ${rclcpp_components_INCLUDE_DIRS} - ${rmf_fleet_msgs_INCLUDE_DIRS} - ${rmf_visualization_msgs_INCLUDE_DIRS} - ${visualization_msgs_INCLUDE_DIRS} - ${geometry_msgs_INCLUDE_DIRS} ) target_compile_features(fleetstates_visualizer INTERFACE cxx_std_17) diff --git a/rmf_visualization_floorplans/CMakeLists.txt b/rmf_visualization_floorplans/CMakeLists.txt index 6aed5c0..a4a50fa 100644 --- a/rmf_visualization_floorplans/CMakeLists.txt +++ b/rmf_visualization_floorplans/CMakeLists.txt @@ -25,32 +25,23 @@ endforeach() #=============================================================================== add_library(floorplan_visualizer SHARED src/FloorplanVisualizer.cpp) -target_link_libraries(floorplan_visualizer - PRIVATE - rclcpp::rclcpp - Eigen3::Eigen - ${rclcpp_components_LIBRARIES} - ${OpenCV_LIBRARIES} - ${rmf_building_map_msgs_LIBRARIES} - ${rmf_visualization_msgs_LIBRARIES} - ${nav_msgs_LIBRARIES} - ${geometry_msgs_LIBRARIES} - +ament_target_dependencies(floorplan_visualizer + PUBLIC + rclcpp + Eigen3 + rclcpp_components + OpenCV + rmf_building_map_msgs + rmf_visualization_msgs + nav_msgs + geometry_msgs ) + target_include_directories(floorplan_visualizer PRIVATE $ $ - ${rclcpp_INCLUDE_DIRS} - ${rclcpp_components_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} - ${Eigen3_INCLUDE_DIRS} - ${rmf_fleet_msgs_INCLUDE_DIRS} - ${rmf_building_map_msgs_INCLUDE_DIRS} - ${rmf_visualization_msgs_INCLUDE_DIRS} - ${nav_msgs_INCLUDE_DIRS} - ${geometry_msgs_INCLUDE_DIRS} ) target_compile_features(floorplan_visualizer INTERFACE cxx_std_17) diff --git a/rmf_visualization_navgraphs/CMakeLists.txt b/rmf_visualization_navgraphs/CMakeLists.txt index 8148d67..2c95643 100644 --- a/rmf_visualization_navgraphs/CMakeLists.txt +++ b/rmf_visualization_navgraphs/CMakeLists.txt @@ -26,33 +26,22 @@ endforeach() #=============================================================================== add_library(navgraph_visualizer SHARED src/NavGraphVisualizer.cpp) -target_link_libraries(navgraph_visualizer - PRIVATE - rclcpp::rclcpp - ${rclcpp_components_LIBRARIES} - ${rmf_fleet_msgs_LIBRARIES} - ${rmf_building_map_msgs_LIBRARIES} - ${rmf_visualization_msgs_LIBRARIES} - ${visualization_msgs_LIBRARIES} - ${geometry_msgs_LIBRARIES} - rmf_traffic::rmf_traffic - rmf_traffic_ros2::rmf_traffic_ros2 - +ament_target_dependencies(navgraph_visualizer + PUBLIC + rclcpp + rclcpp_components + rmf_fleet_msgs + rmf_building_map_msgs + rmf_visualization_msgs + visualization_msgs + geometry_msgs + rmf_traffic_ros2 ) target_include_directories(navgraph_visualizer PRIVATE $ $ - ${rclcpp_INCLUDE_DIRS} - ${rclcpp_components_INCLUDE_DIRS} - ${rmf_fleet_msgs_INCLUDE_DIRS} - ${rmf_building_map_msgs_INCLUDE_DIRS} - ${rmf_visualization_msgs_INCLUDE_DIRS} - ${visualization_msgs_INCLUDE_DIRS} - ${geometry_msgs_INCLUDE_DIRS} - ${rmf_traffic_INCLUDE_DIRS} - ${rmf_traffic_ros2_INCLUDE_DIRS} ) target_compile_features(navgraph_visualizer INTERFACE cxx_std_17) diff --git a/rmf_visualization_obstacles/CMakeLists.txt b/rmf_visualization_obstacles/CMakeLists.txt index b6d7815..9eebc3b 100644 --- a/rmf_visualization_obstacles/CMakeLists.txt +++ b/rmf_visualization_obstacles/CMakeLists.txt @@ -18,26 +18,15 @@ find_package(rmf_visualization_msgs REQUIRED) #=============================================================================== add_library(obstacle_visualizer SHARED src/ObstacleVisualizer.cpp) -target_link_libraries(obstacle_visualizer - PRIVATE - rclcpp::rclcpp - ${rclcpp_components_LIBRARIES} - ${visualization_msgs_LIBRARIES} - ${geometry_msgs_LIBRARIES} - ${vision_msgs_LIBRARIES} - ${rmf_obstacle_msgs_LIBRARIES} - ${rmf_visualization_msgs_LIBRARIES} -) - -target_include_directories(obstacle_visualizer +ament_target_dependencies(obstacle_visualizer PUBLIC - ${rclcpp_INCLUDE_DIRS} - ${rclcpp_components_INCLUDE_DIRS} - ${visualization_msgs_INCLUDE_DIRS} - ${geometry_msgs_INCLUDE_DIRS} - ${vision_msgs_INCLUDE_DIRS} - ${rmf_obstacle_msgs_INCLUDE_DIRS} - ${rmf_visualization_msgs_INCLUDE_DIRS} + rclcpp + rclcpp_components + visualization_msgs + geometry_msgs + vision_msgs + rmf_obstacle_msgs + rmf_visualization_msgs ) target_compile_features(obstacle_visualizer INTERFACE cxx_std_17) diff --git a/rmf_visualization_rviz2_plugins/CMakeLists.txt b/rmf_visualization_rviz2_plugins/CMakeLists.txt index f0e2890..bb8952b 100644 --- a/rmf_visualization_rviz2_plugins/CMakeLists.txt +++ b/rmf_visualization_rviz2_plugins/CMakeLists.txt @@ -56,31 +56,28 @@ add_library(${PROJECT_NAME} SHARED src/NegotiationModel.cpp ) +ament_target_dependencies(${PROJECT_NAME} + PUBLIC + rclcpp + rmf_door_msgs + rmf_lift_msgs + rmf_visualization_msgs + rmf_traffic_ros2 + rviz_common + rviz_rendering + rviz_default_plugins +) + target_link_libraries(${PROJECT_NAME} PUBLIC ${QT5_LIBRARIES} - ${rclcpp_LIBRARIES} - ${rmf_door_msgs_LIBRARIES} - ${rmf_lift_msgs_LIBRARIES} - ${rmf_visualization_msgs_LIBRARIES} - rviz_common::rviz_common - ${rviz_rendering_LIBRARIES} - ${rviz_default_plugins_LIBRARIES} ${Qt5Widgets_LIBRARIES} - rmf_traffic_ros2::rmf_traffic_ros2 ) target_include_directories(${PROJECT_NAME} PUBLIC $ $ - ${rclcpp_INCLUDE_DIRS} - ${rmf_door_msgs_INCLUDE_DIRS} - ${rmf_lift_msgs_INCLUDE_DIRS} - ${rmf_visualization_msgs_INCLUDE_DIRS} - ${rviz_common_INCLUDE_DIRS} - ${rviz_rendering_INCLUDE_DIRS} - ${rviz_default_plugins_INCLUDE_DIRS} ${Qt5Widgets_INCLUDE_DIRS} ${QT5_INCLUDE_DIRS} ) diff --git a/rmf_visualization_schedule/CMakeLists.txt b/rmf_visualization_schedule/CMakeLists.txt index 5595472..036ae74 100644 --- a/rmf_visualization_schedule/CMakeLists.txt +++ b/rmf_visualization_schedule/CMakeLists.txt @@ -48,25 +48,20 @@ endif() file(GLOB_RECURSE core_lib_srcs "src/rmf_visualization_schedule/*.cpp") add_library(rmf_visualization_schedule SHARED ${core_lib_srcs}) -target_link_libraries(rmf_visualization_schedule +ament_target_dependencies(rmf_visualization_schedule PUBLIC - rmf_traffic_ros2::rmf_traffic_ros2 - rmf_traffic::rmf_traffic - ${rclcpp_LIBRARIES} - ${websocketpp_LIBRARIES} - OpenSSL::SSL - OpenSSL::Crypto - Threads::Threads - ${rmf_traffic_msgs_LIBRARIES} + rmf_traffic + rmf_traffic_ros2 + rclcpp + websocketpp + OpenSSL + Threads + rmf_traffic_msgs ) target_include_directories(rmf_visualization_schedule PUBLIC $ - $ - ${rclcpp_INCLUDE_DIRS} - ${WEBSOCKETPP_INCLUDE_DIR} - ${OpenSSL_INCLUDE_DIR} ) ament_export_dependencies( @@ -81,23 +76,17 @@ ament_export_targets(rmf_visualization_schedule HAS_LIBRARY_TARGET) #=============================================================================== add_library(schedule_visualizer SHARED src/ScheduleVisualizer.cpp) +ament_target_dependencies(schedule_visualizer + PUBLIC + rclcpp_components + visualization_msgs + geometry_msgs + rmf_visualization_msgs +) target_link_libraries(schedule_visualizer PRIVATE rmf_visualization_schedule - ${rclcpp_components_LIBRARIES} - ${visualization_msgs_LIBRARIES} - ${geometry_msgs_LIBRARIES} - ${rmf_visualization_msgs_LIBRARIES} -) - -target_include_directories(schedule_visualizer - PRIVATE - ${rclcpp_INCLUDE_DIRS} - ${rclcpp_components_INCLUDE_DIRS} - ${visualization_msgs_INCLUDE_DIRS} - ${geometry_msgs_INCLUDE_DIRS} - ${rmf_visualization_msgs_INCLUDE_DIRS} ) target_compile_features(schedule_visualizer INTERFACE cxx_std_17) From 34a72738125f35b80bf8d1fbd522994ec9ad167c Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Fri, 24 May 2024 15:24:12 +0200 Subject: [PATCH 2/3] Revert CI changes from cherry-picked commit Signed-off-by: Luca Della Vedova --- .github/workflows/build.yaml | 2 +- .github/workflows/style.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index bd924eb..5b24577 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -20,5 +20,5 @@ jobs: rmf_visualization_obstacles rmf_visualization_rviz2_plugins rmf_visualization_schedule - dist-matrix: '[{"ros_distribution": "iron", "ubuntu_distribution": "jammy"}]' + dist-matrix: '[{"ros_distribution": "humble", "ubuntu_distribution": "jammy"}, {"ros_distribution": "rolling", "ubuntu_distribution": "jammy"}]' diff --git a/.github/workflows/style.yaml b/.github/workflows/style.yaml index 9d530ca..62533c6 100644 --- a/.github/workflows/style.yaml +++ b/.github/workflows/style.yaml @@ -9,7 +9,7 @@ jobs: runs-on: ubuntu-latest strategy: matrix: - docker_image: ['ros:iron-ros-base'] + docker_image: ['ros:humble-ros-base'] container: image: ${{ matrix.docker_image }} steps: From 9f2ab18303f04e2f6e308b3a63c4461ed9f5a486 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Fri, 24 May 2024 15:57:31 +0200 Subject: [PATCH 3/3] Remove rolling from humble branch Signed-off-by: Luca Della Vedova --- .github/workflows/build.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 5b24577..941b36d 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -20,5 +20,5 @@ jobs: rmf_visualization_obstacles rmf_visualization_rviz2_plugins rmf_visualization_schedule - dist-matrix: '[{"ros_distribution": "humble", "ubuntu_distribution": "jammy"}, {"ros_distribution": "rolling", "ubuntu_distribution": "jammy"}]' + dist-matrix: '[{"ros_distribution": "humble", "ubuntu_distribution": "jammy"}]'