From fa61d0d26c901d4187d91681f4d10e7e169ec8a9 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sun, 24 Nov 2019 15:01:49 -0800 Subject: [PATCH 01/25] Add .dockerignore file --- .dockerignore | 8 ++++++++ 1 file changed, 8 insertions(+) create mode 100644 .dockerignore diff --git a/.dockerignore b/.dockerignore new file mode 100644 index 00000000..dca6942a --- /dev/null +++ b/.dockerignore @@ -0,0 +1,8 @@ +################################################################################ +# Repo + +.git/* +.dockerignore +.gitignore +**Dockerfile +**.Dockerfile From 51c25e7c30e8d9788eba3b5b096aa7021d2c6e33 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sun, 24 Nov 2019 15:02:21 -0800 Subject: [PATCH 02/25] Add inital .repo files --- install/overlay.repos | 20 ++++++++++++++++++++ install/underlay.repos | 26 ++++++++++++++++++++++++++ 2 files changed, 46 insertions(+) create mode 100644 install/overlay.repos create mode 100644 install/underlay.repos diff --git a/install/overlay.repos b/install/overlay.repos new file mode 100644 index 00000000..50aa86cc --- /dev/null +++ b/install/overlay.repos @@ -0,0 +1,20 @@ +repositories: + MIT-SPARK/Kimera-RPGO: + type: git + url: https://github.com/MIT-SPARK/Kimera-RPGO.git + version: master + +# - git: +# local-name: Kimera-RPGO +# uri: https://github.com/MIT-SPARK/Kimera-RPGO.git +# version: master +# # Last tested commit: d48028de5b27a3cf51bd1cd538e4c54ac568154d +# - git: +# local-name: Kimera-VIO +# uri: https://github.com/MIT-SPARK/Kimera-VIO.git +# version: master +# # Last tested commit: 2efbc572940dd56b8c6caf6d159cd7afd390d28e +# - git: +# local-name: Kimera-VIO-ROS +# uri: https://github.com/MIT-SPARK/Kimera-VIO-ROS.git +# version: master diff --git a/install/underlay.repos b/install/underlay.repos new file mode 100644 index 00000000..19efc2ac --- /dev/null +++ b/install/underlay.repos @@ -0,0 +1,26 @@ +repositories: + borglab/gtsam: + type: git + # url: https://github.com/borglab/gtsam.git + # version: master + url: https://github.com/ruffsl/gtsam.git + version: patch-1 + # Last tested commit: 342f30d148fae84c92ff71705c9e50e0a3683bda + # laurentkneip/opengv: + # type: git + # # url: https://github.com/laurentkneip/opengv.git + # # version: master + # url: https://github.com/ruffsl/opengv.git + # version: patch-1 + # dorian3d/DBoW2: + # type: git + # # url: https://github.com/dorian3d/DBoW2.git + # # version: master + # url: https://github.com/ruffsl/DBoW2.git + # version: patch-1 + +# - git: +# local-name: opencv3_catkin +# uri: https://github.com/ethz-asl/opencv3_catkin.git +# version: master +# # Last tested commit: 880da1510aa80a247b80adca32ac2941ddfa94ff From e144a2c21265174cbb0b0a6720ad83aae85e5ed6 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sun, 24 Nov 2019 15:02:33 -0800 Subject: [PATCH 03/25] Add inital Dockerfile --- Dockerfile | 90 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 90 insertions(+) create mode 100644 Dockerfile diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 00000000..70f1b15c --- /dev/null +++ b/Dockerfile @@ -0,0 +1,90 @@ +ARG FROM_IMAGE=ros:dashing + +# multi-stage for caching +FROM $FROM_IMAGE AS cache + +# clone underlay source +ENV UNDERLAY_WS /opt/underlay_ws +RUN mkdir -p $UNDERLAY_WS/src +WORKDIR $UNDERLAY_WS +COPY ./install/underlay.repos ./ +RUN vcs import src < underlay.repos + +# copy overlay source +ENV OVERLAY_WS /opt/overlay_ws +RUN mkdir -p $OVERLAY_WS/src +WORKDIR $OVERLAY_WS +# COPY ./ src/Kimera-VIO-ROS +COPY ./install/overlay.repos ./ +RUN vcs import src < overlay.repos + +# copy manifests for caching +WORKDIR /opt +RUN find ./ -name "package.xml" | \ + xargs cp --parents -t /tmp + # && find ./ -name "COLCON_IGNORE" | \ + # xargs cp --parents -t /tmp + +# multi-stage for building +FROM $FROM_IMAGE AS build + +# install CI dependencies +RUN apt-get update && apt-get install -q -y \ + ccache \ + lcov \ + && rm -rf /var/lib/apt/lists/* + +# copy underlay manifests +ENV UNDERLAY_WS /opt/underlay_ws +COPY --from=cache /tmp/underlay_ws $UNDERLAY_WS +WORKDIR $UNDERLAY_WS + +# install underlay dependencies +RUN . /opt/ros/$ROS_DISTRO/setup.sh && \ + apt-get update && rosdep install -q -y \ + --from-paths src \ + --ignore-src \ + && rm -rf /var/lib/apt/lists/* + +# copy underlay source +COPY --from=cache $UNDERLAY_WS ./ + +# build underlay source +ARG UNDERLAY_MIXINS="release ccache" +RUN . /opt/ros/$ROS_DISTRO/setup.sh && \ + colcon build \ + --symlink-install \ + --mixin \ + $UNDERLAY_MIXINS \ + --event-handlers console_direct+ + +# copy overlay manifests +ENV OVERLAY_WS /opt/overlay_ws +COPY --from=cache /tmp/overlay_ws $OVERLAY_WS +WORKDIR $OVERLAY_WS + +# install overlay dependencies +RUN . $UNDERLAY_WS/install/setup.sh && \ + apt-get update && rosdep install -q -y \ + --from-paths \ + src \ + $UNDERLAY_WS/src \ + --ignore-src \ + && rm -rf /var/lib/apt/lists/* + +# copy overlay source +COPY --from=cache $OVERLAY_WS ./ + +# build overlay source +ARG OVERLAY_MIXINS="release ccache" +RUN . $UNDERLAY_WS/install/setup.sh && \ + colcon build \ + --symlink-install \ + --mixin \ + $OVERLAY_MIXINS \ + --event-handlers console_direct+ + +# source overlay from entrypoint +RUN sed --in-place \ + 's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \ + /ros_entrypoint.sh \ No newline at end of file From c7f9f21fd66f9965fa39d1a6d0a8a1d6a48b9402 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sun, 24 Nov 2019 20:22:01 -0800 Subject: [PATCH 04/25] Build entire underlay --- install/underlay.repos | 36 ++++++++++++++++++------------------ 1 file changed, 18 insertions(+), 18 deletions(-) diff --git a/install/underlay.repos b/install/underlay.repos index 19efc2ac..9ab54021 100644 --- a/install/underlay.repos +++ b/install/underlay.repos @@ -6,21 +6,21 @@ repositories: url: https://github.com/ruffsl/gtsam.git version: patch-1 # Last tested commit: 342f30d148fae84c92ff71705c9e50e0a3683bda - # laurentkneip/opengv: - # type: git - # # url: https://github.com/laurentkneip/opengv.git - # # version: master - # url: https://github.com/ruffsl/opengv.git - # version: patch-1 - # dorian3d/DBoW2: - # type: git - # # url: https://github.com/dorian3d/DBoW2.git - # # version: master - # url: https://github.com/ruffsl/DBoW2.git - # version: patch-1 - -# - git: -# local-name: opencv3_catkin -# uri: https://github.com/ethz-asl/opencv3_catkin.git -# version: master -# # Last tested commit: 880da1510aa80a247b80adca32ac2941ddfa94ff + laurentkneip/opengv: + type: git + # url: https://github.com/laurentkneip/opengv.git + # version: master + url: https://github.com/ruffsl/opengv.git + version: patch-1 + dorian3d/DBoW2: + type: git + # url: https://github.com/dorian3d/DBoW2.git + # version: master + url: https://github.com/ruffsl/DBoW2.git + version: patch-1 + opencv/opencv: + type: git + # url: https://github.com/opencv/opencv.git + # version: master + url: https://github.com/ruffsl/opencv.git + version: patch-1 From bc1ae72dba0c0618c370f0481bac45b32fae759d Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sun, 24 Nov 2019 20:22:54 -0800 Subject: [PATCH 05/25] Build from VIO fork --- install/overlay.repos | 19 +++++++++---------- 1 file changed, 9 insertions(+), 10 deletions(-) diff --git a/install/overlay.repos b/install/overlay.repos index 50aa86cc..2a1e2479 100644 --- a/install/overlay.repos +++ b/install/overlay.repos @@ -3,18 +3,17 @@ repositories: type: git url: https://github.com/MIT-SPARK/Kimera-RPGO.git version: master + # Last tested commit: d48028de5b27a3cf51bd1cd538e4c54ac568154d + MIT-SPARK/Kimera-VIO: + type: git + # url: https://github.com/MIT-SPARK/Kimera-VIO.git + # version: master + url: https://github.com/ruffsl/Kimera-VIO.git + version: patch-1 + # Last tested commit: 2efbc572940dd56b8c6caf6d159cd7afd390d28e -# - git: -# local-name: Kimera-RPGO -# uri: https://github.com/MIT-SPARK/Kimera-RPGO.git -# version: master -# # Last tested commit: d48028de5b27a3cf51bd1cd538e4c54ac568154d -# - git: -# local-name: Kimera-VIO -# uri: https://github.com/MIT-SPARK/Kimera-VIO.git -# version: master -# # Last tested commit: 2efbc572940dd56b8c6caf6d159cd7afd390d28e # - git: # local-name: Kimera-VIO-ROS # uri: https://github.com/MIT-SPARK/Kimera-VIO-ROS.git # version: master + From bfe6abba0ff39140fe85a87e7b4bff12a30824ba Mon Sep 17 00:00:00 2001 From: ruffsl Date: Mon, 25 Nov 2019 18:47:52 -0800 Subject: [PATCH 06/25] Find needed boost package in cmake --- CMakeLists.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index faafcbbf..2668fa77 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -2,6 +2,8 @@ cmake_minimum_required(VERSION 2.8.3) project(kimera_ros) find_package(catkin_simple REQUIRED) +find_package(Boost REQUIRED COMPONENTS + filesystem serialization regex timer date_time thread) catkin_simple() From de976043644975912d93274ed48797cfb4d6f03d Mon Sep 17 00:00:00 2001 From: ruffsl Date: Mon, 25 Nov 2019 19:56:55 -0800 Subject: [PATCH 07/25] Update package to depend on libopencv-dev --- package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/package.xml b/package.xml index ab61389b..bbdfa25c 100644 --- a/package.xml +++ b/package.xml @@ -15,7 +15,7 @@ - opencv3_catkin + libopencv-dev KimeraVIO roscpp From a67d7773d03a5348e44bdd3566d3f7080a9a2312 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Mon, 25 Nov 2019 20:18:26 -0800 Subject: [PATCH 08/25] Install optional OpenCV dependencies to ensure cmake builds all modules needed in overlay e.g. vtk is needed for the viz module --- Dockerfile | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/Dockerfile b/Dockerfile index 70f1b15c..933cbdca 100644 --- a/Dockerfile +++ b/Dockerfile @@ -34,6 +34,18 @@ RUN apt-get update && apt-get install -q -y \ lcov \ && rm -rf /var/lib/apt/lists/* +# install opencv dependencies +RUN apt-get update && apt-get install -y \ + gfortran \ + libatlas-base-dev \ + libgtk-3-dev \ + libjpeg-dev \ + libpng-dev \ + libtiff-dev \ + libvtk6-dev \ + unzip \ + && rm -rf /var/lib/apt/lists/* + # copy underlay manifests ENV UNDERLAY_WS /opt/underlay_ws COPY --from=cache /tmp/underlay_ws $UNDERLAY_WS From 6dfb8580f0cc4638124656d0cf21a04ac178cc86 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Mon, 25 Nov 2019 20:20:21 -0800 Subject: [PATCH 09/25] Install ROS1 for current ros1 overlay --- Dockerfile | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/Dockerfile b/Dockerfile index 933cbdca..a6de911b 100644 --- a/Dockerfile +++ b/Dockerfile @@ -28,10 +28,20 @@ RUN find ./ -name "package.xml" | \ # multi-stage for building FROM $FROM_IMAGE AS build +# setup keys +RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 + +# setup sources.list +RUN echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros1-latest.list + +ENV ROS_DISTRO melodic +# ENV ROS2_DISTRO dashing + # install CI dependencies RUN apt-get update && apt-get install -q -y \ ccache \ lcov \ + ros-$ROS_DISTRO-ros-core \ && rm -rf /var/lib/apt/lists/* # install opencv dependencies From 3d712f4482a565a0c74a714878046a36073ccba5 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Mon, 25 Nov 2019 20:21:41 -0800 Subject: [PATCH 10/25] Ommit ccache mixin to avoid opencv build issue --- Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Dockerfile b/Dockerfile index a6de911b..628efcc4 100644 --- a/Dockerfile +++ b/Dockerfile @@ -72,7 +72,7 @@ RUN . /opt/ros/$ROS_DISTRO/setup.sh && \ COPY --from=cache $UNDERLAY_WS ./ # build underlay source -ARG UNDERLAY_MIXINS="release ccache" +ARG UNDERLAY_MIXINS="release" RUN . /opt/ros/$ROS_DISTRO/setup.sh && \ colcon build \ --symlink-install \ From 94aaa785a6ca66b3f33134ce6a50981e96e89e15 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Mon, 25 Nov 2019 20:25:21 -0800 Subject: [PATCH 11/25] Add overlay step for ros packages --- Dockerfile | 37 ++++++++++++++++++++++++++++++++++--- 1 file changed, 34 insertions(+), 3 deletions(-) diff --git a/Dockerfile b/Dockerfile index 628efcc4..1e89c84e 100644 --- a/Dockerfile +++ b/Dockerfile @@ -14,10 +14,17 @@ RUN vcs import src < underlay.repos ENV OVERLAY_WS /opt/overlay_ws RUN mkdir -p $OVERLAY_WS/src WORKDIR $OVERLAY_WS -# COPY ./ src/Kimera-VIO-ROS COPY ./install/overlay.repos ./ RUN vcs import src < overlay.repos +# copy ros source +ENV ROS_WS /opt/ros_ws +RUN mkdir -p $ROS_WS/src +WORKDIR $ROS_WS +# COPY ./ src/Kimera-VIO-ROS +COPY ./install/ros.repos ./ +RUN vcs import src < ros.repos + # copy manifests for caching WORKDIR /opt RUN find ./ -name "package.xml" | \ @@ -103,10 +110,34 @@ RUN . $UNDERLAY_WS/install/setup.sh && \ colcon build \ --symlink-install \ --mixin \ - $OVERLAY_MIXINS \ +# copy ros manifests +ENV ROS_WS /opt/ros_ws +COPY --from=cache /tmp/ros_ws $ROS_WS +WORKDIR $ROS_WS + +# install overlay dependencies +RUN . $OVERLAY_WS/install/setup.sh && \ + apt-get update && rosdep install -q -y \ + --from-paths \ + src \ + $UNDERLAY_WS/src \ + $OVERLAY_WS/src \ + --ignore-src \ + && rm -rf /var/lib/apt/lists/* + +# copy overlay source +COPY --from=cache $ROS_WS ./ + +# build overlay source +ARG ROS_MIXINS="release ccache" +RUN . $OVERLAY_WS/install/setup.sh && \ + colcon build \ + --symlink-install \ + --mixin \ + $ROS_MIXINS \ --event-handlers console_direct+ # source overlay from entrypoint RUN sed --in-place \ - 's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \ + 's|^source .*|source "$ROS_WS/install/setup.bash"|' \ /ros_entrypoint.sh \ No newline at end of file From 60804ccb03fdeaa0b547b25fae812b01c78dc635 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Mon, 25 Nov 2019 20:28:45 -0800 Subject: [PATCH 12/25] Skip invalid capilized key for boost hack used for mesh_rviz_plugins package with simple_catkin --- Dockerfile | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Dockerfile b/Dockerfile index 1e89c84e..571f37fd 100644 --- a/Dockerfile +++ b/Dockerfile @@ -123,6 +123,8 @@ RUN . $OVERLAY_WS/install/setup.sh && \ $UNDERLAY_WS/src \ $OVERLAY_WS/src \ --ignore-src \ + --skip-keys "\ + Boost" \ && rm -rf /var/lib/apt/lists/* # copy overlay source From c6724d4c3f2112f214460b6a78bb4a836f82f216 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Wed, 27 Nov 2019 14:47:12 -0800 Subject: [PATCH 13/25] Clean repos files --- install/overlay.repos | 8 -------- install/underlay.repos | 1 - 2 files changed, 9 deletions(-) diff --git a/install/overlay.repos b/install/overlay.repos index 2a1e2479..a105f6d2 100644 --- a/install/overlay.repos +++ b/install/overlay.repos @@ -3,17 +3,9 @@ repositories: type: git url: https://github.com/MIT-SPARK/Kimera-RPGO.git version: master - # Last tested commit: d48028de5b27a3cf51bd1cd538e4c54ac568154d MIT-SPARK/Kimera-VIO: type: git # url: https://github.com/MIT-SPARK/Kimera-VIO.git # version: master url: https://github.com/ruffsl/Kimera-VIO.git version: patch-1 - # Last tested commit: 2efbc572940dd56b8c6caf6d159cd7afd390d28e - -# - git: -# local-name: Kimera-VIO-ROS -# uri: https://github.com/MIT-SPARK/Kimera-VIO-ROS.git -# version: master - diff --git a/install/underlay.repos b/install/underlay.repos index 9ab54021..ed844659 100644 --- a/install/underlay.repos +++ b/install/underlay.repos @@ -5,7 +5,6 @@ repositories: # version: master url: https://github.com/ruffsl/gtsam.git version: patch-1 - # Last tested commit: 342f30d148fae84c92ff71705c9e50e0a3683bda laurentkneip/opengv: type: git # url: https://github.com/laurentkneip/opengv.git From 132835f445716a515e1a4586917186a7ecc919eb Mon Sep 17 00:00:00 2001 From: ruffsl Date: Wed, 27 Nov 2019 14:48:04 -0800 Subject: [PATCH 14/25] Add ros repos file --- install/ros.repos | 31 +++++++++++++++++++++++++++++++ 1 file changed, 31 insertions(+) create mode 100644 install/ros.repos diff --git a/install/ros.repos b/install/ros.repos new file mode 100644 index 00000000..8e37c483 --- /dev/null +++ b/install/ros.repos @@ -0,0 +1,31 @@ +repositories: + MIT-SPARK/Kimera-VIO-ROS: + type: git + # url: https://github.com/MIT-SPARK/Kimera-VIO-ROS.git + # version: master + url: https://github.com/ruffsl/Kimera-VIO-ROS.git + version: docker + MIT-SPARK/pose_graph_tools: + type: git + url: https://github.com/MIT-SPARK/pose_graph_tools.git + version: master + ToniRV/mesh_rviz_plugins: + type: git + url: https://github.com/ToniRV/mesh_rviz_plugins.git + version: master + # url: https://github.com/ruffsl/mesh_rviz_plugins.git + # version: patch-1 + ToniRV/kimera_rviz_markers: + type: git + url: https://github.com/ToniRV/kimera_rviz_markers.git + version: master + catkin/catkin_simple: + type: git + url: https://github.com/catkin/catkin_simple.git + version: master + +# - git: +# local-name: cmake_external_project_catkin +# uri: https://github.com/zurich-eye/cmake_external_project_catkin.git +# version: master + From 2f0b92030cb3356aa4406d4cb05255a68a8aadf0 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Mon, 9 Dec 2019 15:53:27 -0800 Subject: [PATCH 15/25] Update from dashing to eloquent --- Dockerfile | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Dockerfile b/Dockerfile index 571f37fd..0f39d433 100644 --- a/Dockerfile +++ b/Dockerfile @@ -1,4 +1,4 @@ -ARG FROM_IMAGE=ros:dashing +ARG FROM_IMAGE=ros:eloquent # multi-stage for caching FROM $FROM_IMAGE AS cache @@ -42,7 +42,7 @@ RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6 RUN echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros1-latest.list ENV ROS_DISTRO melodic -# ENV ROS2_DISTRO dashing +# ENV ROS2_DISTRO eloquent # install CI dependencies RUN apt-get update && apt-get install -q -y \ From 427dbd4ee994822e19c3c5374e265866fe306fac Mon Sep 17 00:00:00 2001 From: ruffsl Date: Mon, 9 Dec 2019 15:54:52 -0800 Subject: [PATCH 16/25] Add cmake flags for opencv and gtsam --- Dockerfile | 13 ++++++++++--- install/underlay.repos | 4 ++++ 2 files changed, 14 insertions(+), 3 deletions(-) diff --git a/Dockerfile b/Dockerfile index 0f39d433..089f297e 100644 --- a/Dockerfile +++ b/Dockerfile @@ -83,9 +83,16 @@ ARG UNDERLAY_MIXINS="release" RUN . /opt/ros/$ROS_DISTRO/setup.sh && \ colcon build \ --symlink-install \ - --mixin \ - $UNDERLAY_MIXINS \ - --event-handlers console_direct+ + --mixin $UNDERLAY_MIXINS \ + --cmake-args \ + --no-warn-unused-cli \ + -DGTSAM_BUILD_TESTS=OFF \ + -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ + -DGTSAM_BUILD_UNSTABLE=ON \ + -DGTSAM_POSE3_EXPMAP=ON \ + -DGTSAM_ROT3_EXPMAP=ON \ + -DOPENCV_EXTRA_MODULES_PATH=$UNDERLAY_WS/src/opencv/opencv/contrib/modules + # --event-handlers console_direct+ # copy overlay manifests ENV OVERLAY_WS /opt/overlay_ws diff --git a/install/underlay.repos b/install/underlay.repos index ed844659..454bb886 100644 --- a/install/underlay.repos +++ b/install/underlay.repos @@ -23,3 +23,7 @@ repositories: # version: master url: https://github.com/ruffsl/opencv.git version: patch-1 + opencv/opencv/contrib: + type: git + url: https://github.com/opencv/opencv_contrib.git + version: 3.3.1 From b42cb35e2809fbc7f44efc23018651867f96e96f Mon Sep 17 00:00:00 2001 From: ruffsl Date: Mon, 9 Dec 2019 15:57:37 -0800 Subject: [PATCH 17/25] Ingore warnings for now --- Dockerfile | 29 +++++++++++++++++++++++++---- 1 file changed, 25 insertions(+), 4 deletions(-) diff --git a/Dockerfile b/Dockerfile index 089f297e..f90d70d9 100644 --- a/Dockerfile +++ b/Dockerfile @@ -116,7 +116,19 @@ ARG OVERLAY_MIXINS="release ccache" RUN . $UNDERLAY_WS/install/setup.sh && \ colcon build \ --symlink-install \ - --mixin \ + --mixin $OVERLAY_MIXINS \ + --cmake-args \ + --no-warn-unused-cli \ + -DCMAKE_CXX_FLAGS="\ + -Wno-sign-compare \ + -Wno-unused-value \ + -Wno-unused-variable \ + -Wno-unused-but-set-variable \ + -Wno-reorder \ + -Wno-parentheses \ + -Wno-unused-parameter" + # --event-handlers console_direct+ + # copy ros manifests ENV ROS_WS /opt/ros_ws COPY --from=cache /tmp/ros_ws $ROS_WS @@ -142,9 +154,18 @@ ARG ROS_MIXINS="release ccache" RUN . $OVERLAY_WS/install/setup.sh && \ colcon build \ --symlink-install \ - --mixin \ - $ROS_MIXINS \ - --event-handlers console_direct+ + --mixin $ROS_MIXINS \ + --cmake-args \ + --no-warn-unused-cli \ + -DCMAKE_CXX_FLAGS="\ + -Wno-sign-compare \ + -Wno-unused-value \ + -Wno-unused-variable \ + -Wno-unused-but-set-variable \ + -Wno-reorder \ + -Wno-parentheses \ + -Wno-unused-parameter" + # --event-handlers console_direct+ # source overlay from entrypoint RUN sed --in-place \ From b89842b8cb91479c6fc83d7a8c8aef33bd097634 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Mon, 9 Dec 2019 15:58:56 -0800 Subject: [PATCH 18/25] Use upstream gtsam --- install/underlay.repos | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/install/underlay.repos b/install/underlay.repos index 454bb886..ab318b45 100644 --- a/install/underlay.repos +++ b/install/underlay.repos @@ -1,10 +1,8 @@ repositories: borglab/gtsam: type: git - # url: https://github.com/borglab/gtsam.git - # version: master - url: https://github.com/ruffsl/gtsam.git - version: patch-1 + url: https://github.com/borglab/gtsam.git + version: master laurentkneip/opengv: type: git # url: https://github.com/laurentkneip/opengv.git From f57abe262d421b4836d0ff46b00df8a79ca5112a Mon Sep 17 00:00:00 2001 From: ruffsl Date: Tue, 10 Dec 2019 12:43:58 -0800 Subject: [PATCH 19/25] Fix naming convention --- install/overlay.repos | 6 ++++-- package.xml | 2 +- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/install/overlay.repos b/install/overlay.repos index a105f6d2..6170947e 100644 --- a/install/overlay.repos +++ b/install/overlay.repos @@ -1,8 +1,10 @@ repositories: MIT-SPARK/Kimera-RPGO: type: git - url: https://github.com/MIT-SPARK/Kimera-RPGO.git - version: master + # url: https://github.com/MIT-SPARK/Kimera-RPGO.git + # version: master + url: https://github.com/ruffsl/Kimera-RPGO.git + version: patch-1 MIT-SPARK/Kimera-VIO: type: git # url: https://github.com/MIT-SPARK/Kimera-VIO.git diff --git a/package.xml b/package.xml index bbdfa25c..e7431132 100644 --- a/package.xml +++ b/package.xml @@ -16,7 +16,7 @@ libopencv-dev - KimeraVIO + kimera_vio roscpp std_msgs From b4796c2c0d3bdeafbd47a3cfdd5bbe5bbeeae72b Mon Sep 17 00:00:00 2001 From: ruffsl Date: Thu, 9 Jan 2020 16:04:44 -0800 Subject: [PATCH 20/25] Correct depends --- package.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/package.xml b/package.xml index e39e8b72..13ee115c 100644 --- a/package.xml +++ b/package.xml @@ -29,8 +29,8 @@ tf pose_graph_tools - glog_catkin - gflags_catkin + libgflags-dev + libgoogle-glog-dev pcl_ros pcl_msgs From 4213acf8eb28cdae1bda5a86dca4c2f7a4f2f13e Mon Sep 17 00:00:00 2001 From: ruffsl Date: Thu, 9 Jan 2020 16:08:37 -0800 Subject: [PATCH 21/25] Update depends for opencv --- package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/package.xml b/package.xml index 13ee115c..7d0dc8da 100644 --- a/package.xml +++ b/package.xml @@ -15,7 +15,7 @@ - opencv3_catkin + libopencv-dev kimera_vio roscpp From 4e67a837d06e6a872b3fb5d2acf34af8f55d74bb Mon Sep 17 00:00:00 2001 From: ruffsl Date: Thu, 9 Jan 2020 16:17:54 -0800 Subject: [PATCH 22/25] Alpha sort cmake flags --- Dockerfile | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/Dockerfile b/Dockerfile index f90d70d9..ef58d20e 100644 --- a/Dockerfile +++ b/Dockerfile @@ -120,13 +120,14 @@ RUN . $UNDERLAY_WS/install/setup.sh && \ --cmake-args \ --no-warn-unused-cli \ -DCMAKE_CXX_FLAGS="\ + -Wno-parentheses \ + -Wno-reorder \ -Wno-sign-compare \ - -Wno-unused-value \ - -Wno-unused-variable \ -Wno-unused-but-set-variable \ - -Wno-reorder \ - -Wno-parentheses \ - -Wno-unused-parameter" + -Wno-unused-function \ + -Wno-unused-parameter \ + -Wno-unused-value \ + -Wno-unused-variable" # --event-handlers console_direct+ # copy ros manifests From 62ea2a59896d85fd49cad9dcf30caf1d66ea4c83 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Thu, 9 Jan 2020 18:20:28 -0800 Subject: [PATCH 23/25] Update latest building branches --- install/overlay.repos | 2 +- install/ros.repos | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/install/overlay.repos b/install/overlay.repos index 6170947e..5c111972 100644 --- a/install/overlay.repos +++ b/install/overlay.repos @@ -10,4 +10,4 @@ repositories: # url: https://github.com/MIT-SPARK/Kimera-VIO.git # version: master url: https://github.com/ruffsl/Kimera-VIO.git - version: patch-1 + version: patch-3 diff --git a/install/ros.repos b/install/ros.repos index 8e37c483..3d4e0a77 100644 --- a/install/ros.repos +++ b/install/ros.repos @@ -4,7 +4,7 @@ repositories: # url: https://github.com/MIT-SPARK/Kimera-VIO-ROS.git # version: master url: https://github.com/ruffsl/Kimera-VIO-ROS.git - version: docker + version: patch-1 MIT-SPARK/pose_graph_tools: type: git url: https://github.com/MIT-SPARK/pose_graph_tools.git From f1b44c1207f14dfdff32faf16baa6ee5f90b795f Mon Sep 17 00:00:00 2001 From: ruffsl Date: Mon, 13 Jan 2020 17:48:47 -0800 Subject: [PATCH 24/25] Correct checkout branch for GTSAM --- install/underlay.repos | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/install/underlay.repos b/install/underlay.repos index ab318b45..8f8bbc6a 100644 --- a/install/underlay.repos +++ b/install/underlay.repos @@ -2,7 +2,7 @@ repositories: borglab/gtsam: type: git url: https://github.com/borglab/gtsam.git - version: master + version: develop laurentkneip/opengv: type: git # url: https://github.com/laurentkneip/opengv.git From 0f54fa9735c1530fc146688cf84d36130bf8f71c Mon Sep 17 00:00:00 2001 From: ruffsl Date: Tue, 14 Jan 2020 13:06:09 -0800 Subject: [PATCH 25/25] Remove duplicate boost in cmake --- CMakeLists.txt | 2 -- 1 file changed, 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 43989496..3021ef98 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -2,8 +2,6 @@ cmake_minimum_required(VERSION 2.8.3) project(kimera_vio_ros) find_package(catkin_simple REQUIRED) -find_package(Boost REQUIRED COMPONENTS - filesystem serialization regex timer date_time thread) ### System Dependencies find_package(Boost REQUIRED COMPONENTS