Merge pull request #22 from yangmingustb/1227

tool: add tf2

.gitignore

@@ -73,10 +73,9 @@ third_party/p*
 third_party/R*
 third_party/P*
 third_party/l*
-third_party/tf2/*
+third_party/tf2/build/*
 third_party/civetweb/*
 third_party/install/*
-third_party/tf2/*
 third_party/civetweb/*
 third_party/civetwe*
 third_party/matplotlib-cpp*

install_scripts/install_tf2.sh

@@ -7,10 +7,26 @@
 
 # ## How to build
 
+set -e
+
+CURRENT_PATH=$(cd $(dirname $0) && pwd)
+
+cd ${CURRENT_PATH}
+cd ..
+cd third_party
+
+cd tf2
+rm -rf build
 mkdir build && cd build
-cmake .. -DBUILD_TESTS=OFF -DCMAKE_INSTALL_PREFIX=/usr/local/tf2
-make -j$(nproc)
+
+
+cmake .. -DCMAKE_INSTALL_PREFIX=../../install/tf2 -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17 -DBUILD_TESTS=OFF
+
+make -j6
+
 sudo make install
+
+
 
 ## gtest support for tf2-apollo
 

third_party/tf2/BUILD

@@ -0,0 +1,21 @@
+load("@rules_cc//cc:defs.bzl", "cc_library")
+
+cc_library(
+    name = "tf2",
+    srcs = [
+        "src/buffer_core.cpp",
+        "src/cache.cpp",
+        "src/static_cache.cpp",
+        "src/time.cpp",
+    ],
+    hdrs = glob([
+        "include/geometry_msgs/**",
+        "include/tf2_msgs/**",
+        "include/tf2/**",
+    ]),
+    strip_include_prefix = "include",
+    visibility = ["//visibility:public"],
+    deps = [
+        "@boost",
+    ],
+)

third_party/tf2/CMakeLists.txt

@@ -0,0 +1,54 @@
+cmake_minimum_required(VERSION 3.5)
+project(tf2 CXX)
+
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_FLAGS "-fPIC -DNDEBUG -O3 -pipe -Wall")
+
+# set (CMAKE_INSTALL_PREFIX ${CMAKE_SOURCE_DIR}/build/install CACHE STRING "" FORCE)
+# set (UNIT_TEST_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX}/tests CACHE STRING "" FORCE)
+# set(CMAKE_CXX_FLAGS "-std=c++11 -pthread -fPIE -fPIC -Wno-deprecated -pipe -W -Werror -Wall -g -O2" CACHE STRING "" FORCE)
+
+find_package(Boost REQUIRED COMPONENTS system thread)
+include_directories( 
+	include
+	${Boost_INCLUDE_DIR} # for signals2 is header only
+)
+
+option(BUILD_TESTS "Build the tests" ON)
+
+# export user definitions
+#CPP Libraries
+add_library(tf2 SHARED
+	src/cache.cpp
+	src/buffer_core.cpp
+	src/static_cache.cpp
+	src/time.cpp
+)
+
+target_link_libraries(tf2
+	${Boost_LIBRARIES}
+)
+
+# ${catkin_LIBRARIES} ${console_bridge_LIBRARIES})
+
+install(TARGETS ${PROJECT_NAME} DESTINATION
+    ${CMAKE_INSTALL_PREFIX}/lib
+)
+
+install(DIRECTORY include DESTINATION
+  ${CMAKE_INSTALL_PREFIX}
+)
+
+install(FILES README.md DESTINATION
+  ${CMAKE_INSTALL_PREFIX}
+)
+
+if (BUILD_TESTS)
+    include(cmake/GTest.cmake)
+    fetch_googletest(
+        ${PROJECT_SOURCE_DIR}/cmake
+        ${PROJECT_BINARY_DIR}/googletest
+    )
+    enable_testing()
+    add_subdirectory(test)
+endif()

third_party/tf2/README.md

@@ -0,0 +1,25 @@
+# tf2-apollo
+
+## Intro
+
+tf2-apollo was Apollo's clone of ROS tf2 for coordinate transforms.
+It seems that it was based on `ros/geometry2` tagged `0.5.16`
+
+## How to build
+
+```
+mkdir build && cd build
+cmake .. -DBUILD_TESTS=OFF -DCMAKE_INSTALL_PREFIX=/usr/local/tf2
+make -j$(nproc)
+sudo make install
+```
+
+## gtest support for tf2-apollo
+
+In order not to build gtest into our docker image, gtest support for tf2 was
+implemented according to https://crascit.com/2015/07/25/cmake-gtest
+
+## Reference
+- https://github.com/ros/geometry2
+- http://wiki.ros.org/geometry2
+

third_party/tf2/cmake/GTest.cmake

@@ -0,0 +1,33 @@
+# the following code to fetch googletest
+# is inspired by and adapted after https://crascit.com/2015/07/25/cmake-gtest/
+# download and unpack googletest at configure time
+
+macro(fetch_googletest _download_module_path _download_root)
+    set(GOOGLETEST_DOWNLOAD_ROOT ${_download_root})
+    configure_file(
+        ${_download_module_path}/GTestDownload.cmake
+        ${_download_root}/CMakeLists.txt
+        @ONLY
+        )
+    unset(GOOGLETEST_DOWNLOAD_ROOT)
+
+    execute_process(
+        COMMAND
+            "${CMAKE_COMMAND}" -G "${CMAKE_GENERATOR}" .
+        WORKING_DIRECTORY
+            ${_download_root}
+        )
+    execute_process(
+        COMMAND
+            "${CMAKE_COMMAND}" --build .
+        WORKING_DIRECTORY
+            ${_download_root}
+        )
+
+    # adds the targers: gtest, gtest_main, gmock, gmock_main
+    add_subdirectory(
+        ${_download_root}/googletest-src
+        ${_download_root}/googletest-build
+        )
+endmacro()
+

third_party/tf2/cmake/GTestDownload.cmake

@@ -0,0 +1,15 @@
+# code copied from https://crascit.com/2015/07/25/cmake-gtest/
+cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
+project(GoogleTestDownload NONE)
+
+include(ExternalProject)
+ExternalProject_Add(googletest
+  	SOURCE_DIR "@GOOGLETEST_DOWNLOAD_ROOT@/googletest-src"
+  	BINARY_DIR "@GOOGLETEST_DOWNLOAD_ROOT@/googletest-build"
+  	GIT_REPOSITORY	https://github.com/google/googletest.git
+  	GIT_TAG 	release-1.10.0
+ 	CONFIGURE_COMMAND ""
+  	BUILD_COMMAND ""
+  	INSTALL_COMMAND ""
+  	TEST_COMMAND ""
+)