fix(conan bugs for glog)

ai-winter · Dec 21, 2024 · e0c0457 · e0c0457
1 parent f50af14
commit e0c0457
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Showing 11 changed files with 205 additions and 61 deletions.
diff --git a/3rd/conanfile.py b/3rd/conanfile.py
@@ -6,8 +6,16 @@ class ExampleRecipe(ConanFile):
     settings = "os", "compiler", "build_type", "arch"
     generators = "CMakeDeps", "CMakeToolchain", "cmake_find_package", "cmake"
 
+    def configure(self):
+        self.options["ceres-solver"].shared = True
+        self.options["ceres-solver"].use_glog = True
+        self.options["glog"].shared = True
+        self.options["glog"].with_threads = True
+        self.options["gflags"].shared = True
+
     def requirements(self):
         self.requires("osqp/0.6.3")
+        self.requires("ceres-solver/1.14.0")
 
     def layout(self):
         cmake_layout(self)
diff --git a/3rd/conaninfo.txt b/3rd/conaninfo.txt
@@ -2,11 +2,12 @@
     arch=x86_64
     build_type=Release
     compiler=gcc
-    compiler.libcxx=libstdc++
+    compiler.libcxx=libstdc++11
     compiler.version=9
     os=Linux
 
 [requires]
+    ceres-solver/1.Y.Z
     osqp/0.6.3
 
 [options]
@@ -16,16 +17,51 @@
     arch=x86_64
     build_type=Release
     compiler=gcc
-    compiler.libcxx=libstdc++
+    compiler.libcxx=libstdc++11
     compiler.version=9
     os=Linux
 
 [full_requires]
+    ceres-solver/1.14.0:7195fd60b8544268e80a4a2edca60ab3e55f8aa9
+    eigen/3.4.0:5ab84d6acfe1f23c4fae0ab88f26e3a396351ac9
+    gflags/2.2.2:88539f002769027b252fd7a108dc2f1fa9529154
+    glog/0.6.0:a9d362b17f05cef8580ca68487c6299654e427f6
+    libunwind/1.8.0:33c616363345eda1477f22cf41ff3cd6c49db049
     osqp/0.6.3:6af9cc7cb931c5ad942174fd7838eb655717c709
+    xz_utils/5.4.5:6af9cc7cb931c5ad942174fd7838eb655717c709
+    zlib/1.3.1:6af9cc7cb931c5ad942174fd7838eb655717c709
 
 [full_options]
+    ceres-solver:shared=True
+    ceres-solver:use_CXX11=False
+    ceres-solver:use_CXX11_threads=False
+    ceres-solver:use_TBB=False
+    ceres-solver:use_custom_blas=True
+    ceres-solver:use_eigen_sparse=True
+    ceres-solver:use_gflags=deprecated
+    ceres-solver:use_glog=True
+    ceres-solver:use_schur_specializations=True
+    eigen:MPL2_only=False
+    gflags:namespace=gflags
+    gflags:nothreads=True
+    gflags:shared=True
+    glog:shared=True
+    glog:with_gflags=True
+    glog:with_threads=True
+    glog:with_unwind=True
+    libunwind:coredump=True
+    libunwind:fPIC=True
+    libunwind:minidebuginfo=True
+    libunwind:ptrace=True
+    libunwind:setjmp=True
+    libunwind:shared=False
+    libunwind:zlibdebuginfo=True
     osqp:fPIC=True
     osqp:shared=False
+    xz_utils:fPIC=True
+    xz_utils:shared=False
+    zlib:fPIC=True
+    zlib:shared=False
 
 [recipe_hash]
 

diff --git a/scripts/build.sh b/scripts/build.sh
@@ -1,4 +1,44 @@
+#!/bin/bash
+
+add_path_to_bashrc() {
+    local TARGET_PATH="$1"
+    local ENV_PATH_NAME="$2"
+
+    if [ -z "$TARGET_PATH" ]; then
+        echo "Please provide the target_path."
+        return 1
+    fi
+
+    if echo "$$ENV_PATH_NAME" | grep -q "$TARGET_PATH"; then
+        echo "$TARGET_PATH exists in $$ENV_PATH_NAME."
+    else
+        if grep -q "export $ENV_PATH_NAME=.*$TARGET_PATH" ~/.bashrc; then
+            echo "$TARGET_PATH has been set."
+        else
+            echo "export $ENV_PATH_NAME=\$$ENV_PATH_NAME:$TARGET_PATH" >> ~/.bashrc
+            echo "$TARGET_PATH is set."
+        fi
+    fi
+}
+
+process_3rd_library() {
+    local list=("$@")
+    for item in "${list[@]}"; do
+        sub_dirs=$(find "$HOME/.conan/data/$item/" -mindepth 1 -maxdepth 1 -type d)
+        for sub_item in $sub_dirs; do
+            sub_packages=$(find "$sub_item/_/_/package" -mindepth 1 -maxdepth 1 -type d)
+            for sub_pack in $sub_packages; do
+                export LIBRARY_PATH=$LIBRARY_PATH:"$sub_pack/lib"
+                export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:"$sub_pack/lib"
+                add_path_to_bashrc "$sub_pack/lib" "LD_LIBRARY_PATH"
+                add_path_to_bashrc "$sub_pack/lib" "LIBRARY_PATH"
+            done
+        done
+    done
+}
+
 cd ../3rd
-./conan_install.sh  # option for osqp
+conan install . --output-folder=build --build=missing -s compiler.libcxx=libstdc++11
+process_3rd_library "gflags" "glog" "ceres-solver"
 cd ../
-catkin_make
+catkin_make
diff --git a/src/core/common/CMakeLists.txt b/src/core/common/CMakeLists.txt
@@ -1,11 +1,15 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(common)
 
-# set(CMAKE_CXX_STANDARD 11)
+get_filename_component(PROJECT_ROOT_DIR ${CMAKE_SOURCE_DIR} DIRECTORY)
+include(${PROJECT_ROOT_DIR}/3rd/conanbuildinfo.cmake)
+conan_basic_setup()
+
 find_package(Eigen3 REQUIRED)
 
 find_package(catkin REQUIRED COMPONENTS
   roscpp
+  costmap_2d
 )
 
 catkin_package(
@@ -20,14 +24,12 @@ include_directories(
   ${EIGEN3_INCLUDE_DIR}
 )
 
-# file(GLOB math_src_fils src/math/*.cc)
 file(GLOB util_src_files src/util/*.cpp)
 file(GLOB math_src_files_cpp src/math/*.cpp)
 file(GLOB geometry_src_files src/geometry/*.cpp)
 file(GLOB safety_corridor_src_files src/safety_corridor/*.cpp)
 
 add_library(${PROJECT_NAME}
-  # ${math_src_fils}
   ${util_src_files}
   ${math_src_files_cpp}
   ${geometry_src_files}
@@ -39,24 +41,15 @@ add_dependencies(${PROJECT_NAME}
   ${catkin_EXPORTED_TARGETS}
 )
 
+target_include_directories(${PROJECT_NAME} PUBLIC
+  ${CONAN_INCLUDE_DIRS}
+)
+
 target_link_libraries(${PROJECT_NAME}
   ${catkin_LIBRARIES}
-  glog
-  gflags
-  protobuf
+  ${CONAN_LIBS}
 )
 
-# add_definitions("-Wall -g")
-# find_package(Python3 COMPONENTS Development NumPy)
-# add_executable(convex_safety_corridor_test test/convex_safety_corridor_test.cpp)
-# target_link_libraries(convex_safety_corridor_test
-#   ${catkin_LIBRARIES}
-#   ${GTEST_LIBRARIES}
-#   Python3::Python
-#   Python3::NumPy
-#   ${PROJECT_NAME} 
-# )
-
 # install
 install(DIRECTORY include/${PROJECT_NAME}/
 	DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}

diff --git a/src/plugins/dynamic_rviz_config/CMakeLists.txt b/src/plugins/dynamic_rviz_config/CMakeLists.txt
@@ -1,15 +1,14 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(dynamic_rviz_config)
-# find_package(catkin REQUIRED COMPONENTS
-#   roscpp
-#   rospy
-# )
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+)
 
-# catkin_package(
-#   CATKIN_DEPENDS urdf xacro
-# )
+catkin_package(
+  CATKIN_DEPENDS urdf xacro
+)
 
-# catkin_install_python(PROGRAMS
-#   scripts/rviz_generate.py
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+catkin_install_python(PROGRAMS
+  scripts/rviz_generate.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/src/plugins/dynamic_rviz_config/package.xml b/src/plugins/dynamic_rviz_config/package.xml
@@ -9,12 +9,9 @@
   <author email="913982779@qq.com">Winter</author>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <!-- <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
 
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>urdf</run_depend>
-  <run_depend>xacro</run_depend> -->
+  <depend>rospy</depend>
+  <depend>urdf</depend>
+  <depend>xacro</depend>
 
 </package>
diff --git a/src/sim_env/launch/config.launch b/src/sim_env/launch/config.launch
@@ -42,6 +42,8 @@
   <include file="$(find sim_env)/launch/include/robots/start_robots.launch.xml" />
 
   <!-- open rviz for visualization -->
-  <node pkg="dynamic_rviz_config" type="rviz_generate.py" name="rosapp_rviz" args="$(arg robot_number)" output="screen" if="$(eval arg('rviz_file') == '')" />
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find sim_env)/rviz/$(arg rviz_file)" unless="$(eval arg('rviz_file') == '')" />
+  <node pkg="dynamic_rviz_config" type="rviz_generate.py" name="rosapp_rviz" args="$(arg robot_number)" output="screen"
+    if="$(eval arg('rviz_file') == '')" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find sim_env)/rviz/$(arg rviz_file)"
+    unless="$(eval arg('rviz_file') == '')" />
 </launch>
diff --git a/src/sim_env/launch/include/robots/start_robots.launch.xml b/src/sim_env/launch/include/robots/start_robots.launch.xml
@@ -3,7 +3,7 @@
 	<arg name="agent_number" default="1" />
 	<arg name="agent_id" default="1" />
 	<arg name="robot1_type" value="turtlebot3_waffle" />
-	<arg name="robot1_global_planner" value="rrt" />
+	<arg name="robot1_global_planner" value="rrt_star" />
 	<arg name="robot1_local_planner" value="lqr" />
 	<arg name="robot1_x_pos" value="0.0" />
 	<arg name="robot1_y_pos" value="0.0" />

diff --git a/src/sim_env/launch/main.launch b/src/sim_env/launch/main.launch
@@ -1,6 +1,6 @@
 <?xml version='1.0' encoding='utf-8'?>
 <launch>
-	<arg name="world_parameter" value="warehouse" />
+	<arg name="world_parameter" value="warehouse_with_pedestrians" />
 	<include file="$(find sim_env)/launch/config.launch">
 		<arg name="world" value="$(arg world_parameter)" />
 		<arg name="map" value="warehouse" />

diff --git a/src/sim_env/rviz/cache.rviz b/src/sim_env/rviz/cache.rviz
@@ -15,23 +15,84 @@ Visualization Manager:
   - Class: rviz/TF
     Enabled: false
     Name: TF
-  - Class: rviz/RobotModel
+  - Class: rviz/Group
+    Displays:
+    - Class: rviz/RobotModel
+      Enabled: true
+      Name: RobotModel
+      Robot Description: robot1/robot_description
+      TF Prefix: robot1
+    - Class: rviz/Image
+      Enabled: false
+      Name: Image1
+      Topic: /robot1/camera/rgb/image_raw
+    - Alpha: 1
+      Class: rviz/LaserScan
+      Color: 255; 0; 0
+      Color Transformer: FlatColor
+      Enabled: true
+      Name: LaserScan1
+      Size (m): 0.03
+      Style: Spheres
+      Topic: /robot1/scan
+    - Class: rviz/Path
+      Color: 32; 74; 135
+      Enabled: true
+      Name: Path
     Enabled: true
-    Name: RobotModel
-    Robot Description: robot_description
-  - Class: rviz/Image
-    Enabled: false
-    Name: Image
-    Topic: /camera/rgb/image_raw
-  - Alpha: 1
-    Class: rviz/LaserScan
-    Color: 255; 0; 0
-    Color Transformer: FlatColor
+    Name: Robot1
+  - Class: rviz/Group
+    Displays:
+    - Class: rviz/RobotModel
+      Enabled: true
+      Name: RobotModel
+      Robot Description: robot2/robot_description
+      TF Prefix: robot2
+    - Class: rviz/Image
+      Enabled: false
+      Name: Image2
+      Topic: /robot2/camera/rgb/image_raw
+    - Alpha: 1
+      Class: rviz/LaserScan
+      Color: 255; 0; 0
+      Color Transformer: FlatColor
+      Enabled: true
+      Name: LaserScan2
+      Size (m): 0.03
+      Style: Spheres
+      Topic: /robot2/scan
+    - Class: rviz/Path
+      Color: 32; 74; 135
+      Enabled: true
+      Name: Path
+    Enabled: true
+    Name: Robot2
+  - Class: rviz/Group
+    Displays:
+    - Class: rviz/RobotModel
+      Enabled: true
+      Name: RobotModel
+      Robot Description: robot3/robot_description
+      TF Prefix: robot3
+    - Class: rviz/Image
+      Enabled: false
+      Name: Image3
+      Topic: /robot3/camera/rgb/image_raw
+    - Alpha: 1
+      Class: rviz/LaserScan
+      Color: 255; 0; 0
+      Color Transformer: FlatColor
+      Enabled: true
+      Name: LaserScan3
+      Size (m): 0.03
+      Style: Spheres
+      Topic: /robot3/scan
+    - Class: rviz/Path
+      Color: 32; 74; 135
+      Enabled: true
+      Name: Path
     Enabled: true
-    Name: LaserScan
-    Size (m): 0.03
-    Style: Spheres
-    Topic: /scan
+    Name: Robot3
   Global Options:
     Fixed Frame: map
   Tools:
@@ -42,6 +103,14 @@ Visualization Manager:
   - Class: rviz/Measure
   - Class: rviz/PublishPoint
   - Class: rviz/SetInitialPose
-    Topic: /initialpose
+    Topic: /robot1/initialpose
+  - Class: rviz/SetGoal
+    Topic: /robot1/move_base_simple/goal
+  - Class: rviz/SetInitialPose
+    Topic: /robot2/initialpose
+  - Class: rviz/SetGoal
+    Topic: /robot2/move_base_simple/goal
+  - Class: rviz/SetInitialPose
+    Topic: /robot3/initialpose
   - Class: rviz/SetGoal
-    Topic: /move_base_simple/goal
+    Topic: /robot3/move_base_simple/goal