fixes for ament

CMakeLists.txt

@@ -25,12 +25,21 @@ if( CATKIN_DEVEL_PREFIX OR catkin_FOUND OR CATKIN_BUILD_BINARY_PACKAGE)
         LIBRARIES  plotjuggler_plugin_base
     )
 
+    add_definitions(-DCOMPILED_WITH_CATKIN)
+
+
 elseif( DEFINED ENV{AMENT_PREFIX_PATH})
     set(COMPILING_WITH_AMENT 1)
 
+    find_package(ament_index_cpp REQUIRED)
+    include_directories(${ament_index_cpp_INCLUDE_DIRS})
+
     message(STATUS "---------------------------------------------------------------------")
     message(STATUS "PlotJuggler is being built using AMENT. ROS2 plugins will be compiled")
     message(STATUS "---------------------------------------------------------------------")
+
+    add_definitions(-DCOMPILED_WITH_AMENT)
+
 else()
     message(STATUS "---------------------------------------------------------------------")
     message(STATUS "PlotJuggler is being WITHOUT any ROS support")
@@ -137,17 +146,12 @@ if(COMPILING_WITH_CATKIN)
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION})
     install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} )
 
-    add_definitions(-DCOMPILED_FOR_ROS)
-
 elseif(COMPILING_WITH_AMENT)
     find_package(ament_cmake REQUIRED)
     set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
 
-    add_definitions(-DCOMPILED_FOR_ROS)
-
     ament_export_targets(export_plotjuggler_plugin_base HAS_LIBRARY_TARGET)
-
     ament_package()
 
 else()

PlotJuggler.desktop

@@ -1,7 +1,7 @@
 [Desktop Entry]
 Type=Application
 Name=PlotJuggler
-Exec=PlotJuggler
+Exec=plotjuggler
 Icon=plotjuggler
 Comment=Visualize timeseries like a pro
 Terminal=false

package.xml

@@ -14,6 +14,8 @@
     <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
     <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
+    <depend  condition="$ROS_VERSION == 2">ament_index_cpp</depend>
+
     <!-- common dependancies -->
     <depend>qtbase5-dev</depend>
     <depend>libqt5-svg-dev</depend>
@@ -23,6 +25,7 @@
     <depend>boost</depend>
     <depend>libzmqpp-dev</depend>
 
+
     <!-- The export tag contains other, unspecified, tags -->
     <export>
         <build_type condition="$ROS_VERSION == 1">catkin</build_type>

src/CMakeLists.txt

@@ -86,28 +86,36 @@ SET( PLOTTER_SRC
     nlohmann_parsers.cpp
     )
 
-add_executable(PlotJuggler ${PLOTTER_SRC} ${RES_SRC} ${UI_SRC} ${BACKWARD_ENABLE})
+
+add_executable(plotjuggler ${PLOTTER_SRC} ${RES_SRC} ${UI_SRC} ${BACKWARD_ENABLE})
 
 if (NOT WIN32)
-    add_backward(PlotJuggler)
+    add_backward(plotjuggler)
 endif()
 
-target_link_libraries(PlotJuggler PUBLIC
+target_link_libraries(plotjuggler
     ${QT_LINK_LIBRARIES}
     colorwidgets
     qwt_static
-    lua_static )
-
-target_link_libraries(PlotJuggler PRIVATE qt_advanced_docking)
+    lua_static
+    qt_advanced_docking
+    )
 
 if(COMPILING_WITH_CATKIN)
-    install(TARGETS PlotJuggler
+
+    target_link_libraries(plotjuggler ${catkin_LIBRARIES} )
+
+    install(TARGETS plotjuggler
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
         )
+
 elseif(COMPILING_WITH_AMENT)
-    install(TARGETS PlotJuggler
+
+    target_link_libraries(plotjuggler ${ament_index_cpp_LIBRARIES} )
+
+    install(TARGETS plotjuggler
         DESTINATION lib/${PROJECT_NAME} )
 else()
     install(TARGETS PlotJuggler

src/main.cpp

@@ -21,6 +21,11 @@
 #include "nlohmann_parsers.h"
 #include "new_release_dialog.h"
 
+#ifdef COMPILED_WITH_AMENT
+#include <ament_index_cpp/get_package_prefix.hpp>
+#include <ament_index_cpp/get_package_share_directory.hpp>
+#endif
+
 static QString VERSION_STRING = QString("%1.%2.%3").arg(PJ_MAJOR_VERSION).arg(PJ_MINOR_VERSION).arg(PJ_PATCH_VERSION);
 
 inline int GetVersionNumber(QString str)
@@ -101,6 +106,23 @@ int main(int argc, char* argv[])
 
   app.setApplicationVersion(VERSION_STRING);
 
+  QString extra_path;
+
+  try {
+#ifdef COMPILED_WITH_AMENT
+    extra_path = QString::fromStdString(ament_index_cpp::get_package_prefix("plotjuggler_ros"));
+    extra_path += "/lib/plotjuggler_ros";
+#else
+
+#endif
+  } catch (...) {
+
+      QMessageBox::warning(nullptr, "Missing package [plotjuggler-ros]",
+             "If you just upgraded from PlotJuggler 2.x to 3.x , try installing this package:\n\n"
+             "sudo apt install ros-${ROS_DISTRO}-plotjuggler-ros",
+          QMessageBox::Cancel, QMessageBox::Cancel);
+  }
+
   //---------------------------
   TransformFactory::registerTransform<FirstDerivative>();
   TransformFactory::registerTransform<ScaleTransform>();
@@ -139,6 +161,14 @@ int main(int argc, char* argv[])
                                     "Automatically start publisher when loading the layout file");
   parser.addOption(publish_option);
 
+  QCommandLineOption folder_option(QStringList() << "extra-plugin-folders",
+                                    "Add semicolon-separated list of folders where you should look for plugins.");
+  if(!extra_path.isEmpty())
+  {
+    folder_option.setDefaultValue( extra_path );
+  }
+  parser.addOption(folder_option);
+
   QCommandLineOption buffersize_option(QStringList() << "buffer_size",
                                        QCoreApplication::translate("main", "Change the maximum size of the streaming "
                                                                            "buffer (minimum: 10 default: 60)"),

src/mainwindow.cpp

@@ -47,6 +47,7 @@
 #include "nlohmann_parsers.h"
 #include "cheatsheet/cheatsheet_dialog.h"
 
+
 MainWindow::MainWindow(const QCommandLineParser& commandline_parser, QWidget* parent)
   : QMainWindow(parent)
   , ui(new Ui::MainWindow)
@@ -146,28 +147,16 @@ MainWindow::MainWindow(const QCommandLineParser& commandline_parser, QWidget* pa
 
   initializeActions();
 
+  QStringList loaded;
+  loaded += initializePlugins(QCoreApplication::applicationDirPath());
+  loaded += initializePlugins( QStandardPaths::writableLocation( QStandardPaths::GenericDataLocation) + "/PlotJuggler" );
 
-  auto loaded_A = initializePlugins(QCoreApplication::applicationDirPath());
-  auto loaded_B = initializePlugins( QStandardPaths::writableLocation( QStandardPaths::GenericDataLocation) + "/PlotJuggler" );
+  auto extra_folders = commandline_parser.value("extra-plugin-folders").split(";", QString::SkipEmptyParts);
 
-#ifdef COMPILED_FOR_ROS
-  auto loaded = loaded_A + loaded_B;
-  bool has_ros_plugin = false;
-  for (const auto& class_name: loaded)
-  {
-    if( class_name.contains("ROS") ){
-      has_ros_plugin = true;
-    }
-  }
-  if( !has_ros_plugin )
+  for(const auto& folder: extra_folders)
   {
-    QMessageBox::warning(this, "Missing package",
-        tr("PlotJuggler was compiled with ROS, but it wasn't able to load any ROS specific plugin.\n\n"
-           "If you just upgraded from PlotJuggler 2.x to 3.x , try installing this package:\n\n"
-           "sudo apt install ros-${ROS_DISTRO}-plotjuggler-ros"),
-        QMessageBox::Cancel, QMessageBox::Cancel);
+    loaded += initializePlugins(folder);
   }
-#endif
 
   _undo_timer.start();