From 469238141d971ee703a4d2d39bbec0f386a667d2 Mon Sep 17 00:00:00 2001 From: "Ryan Y. Liu" Date: Sun, 15 Oct 2023 21:24:18 +0800 Subject: [PATCH 1/5] fix building issue with CONDA ROS env by Robostack --- .gitignore | 6 ++++++ README.md | 14 ++++++++++++++ swarm-playground/formation_ws/src/CMakeLists.txt | 2 +- .../src/Utils/odom_visualization/CMakeLists.txt | 2 +- .../src/Utils/pose_utils/CMakeLists.txt | 2 +- .../src/Utils/rviz_plugins/CMakeLists.txt | 4 ++-- .../src/planner/swarm_bridge/CMakeLists.txt | 4 ++++ .../src/planner/traj_utils/CMakeLists.txt | 2 +- .../src/uav_simulator/local_sensing/CMakeLists.txt | 1 + .../src/uav_simulator/mockamap/CMakeLists.txt | 2 ++ .../src/uav_simulator/mockamap/include/maps.hpp | 1 + .../src/uav_simulator/so3_control/CMakeLists.txt | 2 +- .../so3_quadrotor_simulator/CMakeLists.txt | 2 +- .../interlaced_flight_ws/src/CMakeLists.txt | 2 +- .../src/Utils/odom_visualization/CMakeLists.txt | 2 +- .../src/Utils/pose_utils/CMakeLists.txt | 2 +- .../src/Utils/rviz_plugins/CMakeLists.txt | 4 ++-- .../CMakeLists.txt | 2 +- .../src/planner/swarm_bridge/CMakeLists.txt | 4 ++++ .../src/planner/traj_utils/CMakeLists.txt | 2 +- .../src/uav_simulator/local_sensing/CMakeLists.txt | 1 + .../src/uav_simulator/mockamap/CMakeLists.txt | 2 ++ .../src/uav_simulator/mockamap/include/maps.hpp | 1 + .../src/uav_simulator/so3_control/CMakeLists.txt | 2 +- .../so3_quadrotor_simulator/CMakeLists.txt | 2 +- swarm-playground/main_ws/src/CMakeLists.txt | 2 +- .../src/Utils/odom_visualization/CMakeLists.txt | 2 +- .../main_ws/src/Utils/pose_utils/CMakeLists.txt | 2 +- .../main_ws/src/Utils/rviz_plugins/CMakeLists.txt | 4 ++-- .../Utils/selected_points_publisher/CMakeLists.txt | 2 +- .../src/planner/swarm_bridge/CMakeLists.txt | 4 ++++ .../main_ws/src/planner/traj_utils/CMakeLists.txt | 2 +- .../src/uav_simulator/local_sensing/CMakeLists.txt | 1 + .../src/uav_simulator/mockamap/CMakeLists.txt | 2 ++ .../src/uav_simulator/mockamap/include/maps.hpp | 1 + .../src/uav_simulator/so3_control/CMakeLists.txt | 2 +- .../so3_quadrotor_simulator/CMakeLists.txt | 2 +- swarm-playground/tracking_ws/src/CMakeLists.txt | 2 +- .../src/Utils/odom_visualization/CMakeLists.txt | 2 +- .../src/Utils/pose_utils/CMakeLists.txt | 2 +- .../src/Utils/rviz_plugins/CMakeLists.txt | 4 ++-- .../src/planner/swarm_bridge/CMakeLists.txt | 4 ++++ .../src/planner/traj_utils/CMakeLists.txt | 2 +- .../src/uav_simulator/local_sensing/CMakeLists.txt | 1 + .../src/uav_simulator/mockamap/CMakeLists.txt | 2 ++ .../src/uav_simulator/mockamap/include/maps.hpp | 1 + .../src/uav_simulator/so3_control/CMakeLists.txt | 2 +- .../so3_quadrotor_simulator/CMakeLists.txt | 2 +- 48 files changed, 86 insertions(+), 34 deletions(-) create mode 100644 .gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..278e1cd --- /dev/null +++ b/.gitignore @@ -0,0 +1,6 @@ +__pycache__ +.vscode/ +build/ +devel/ +logs/ +.catkin* \ No newline at end of file diff --git a/README.md b/README.md index fe9fa37..06e14f7 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,17 @@ +# About This Fork + +This fork supports building and testing using a ROS Noetic Conda install maintained by [Robostack](https://robostack.github.io/GettingStarted.html). + +```sh +mamba install ros-noetic-desktop-full=1.5.0 -c robostack-staging -y + +mamba install compilers cmake pkg-config make ninja colcon-common-extensions catkin_tools -y + +mamba install ompl=1.5.2 armadillo=12.6.5 -y +``` + +Now you can use it on whatever distro you like (Ubuntu Jammy is tested). See commits to find out what changes have been made. The original README is kept below, enjoy! + # EGO-Planner-v2 Swarm Playground, the codebase of the paper "[Swarm of micro flying robots in the wild](https://www.science.org/doi/10.1126/scirobotics.abm5954)". diff --git a/swarm-playground/formation_ws/src/CMakeLists.txt b/swarm-playground/formation_ws/src/CMakeLists.txt index 2016816..3031080 120000 --- a/swarm-playground/formation_ws/src/CMakeLists.txt +++ b/swarm-playground/formation_ws/src/CMakeLists.txt @@ -1 +1 @@ -/opt/ros/noetic/share/catkin/cmake/toplevel.cmake \ No newline at end of file +/home/ryan/mambaforge/envs/dhma/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/swarm-playground/formation_ws/src/Utils/odom_visualization/CMakeLists.txt b/swarm-playground/formation_ws/src/Utils/odom_visualization/CMakeLists.txt index 554254a..7eea881 100755 --- a/swarm-playground/formation_ws/src/Utils/odom_visualization/CMakeLists.txt +++ b/swarm-playground/formation_ws/src/Utils/odom_visualization/CMakeLists.txt @@ -37,7 +37,7 @@ cmake_minimum_required(VERSION 2.8.3) project(odom_visualization) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-O3 -Wall -g") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall -g") ADD_COMPILE_OPTIONS(-std=c++11 ) ADD_COMPILE_OPTIONS(-std=c++14 ) diff --git a/swarm-playground/formation_ws/src/Utils/pose_utils/CMakeLists.txt b/swarm-playground/formation_ws/src/Utils/pose_utils/CMakeLists.txt index d65f182..d2d7f94 100755 --- a/swarm-playground/formation_ws/src/Utils/pose_utils/CMakeLists.txt +++ b/swarm-playground/formation_ws/src/Utils/pose_utils/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3) project(pose_utils) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-O3 -Wall -g") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall -g") ADD_COMPILE_OPTIONS(-std=c++11 ) ADD_COMPILE_OPTIONS(-std=c++14 ) diff --git a/swarm-playground/formation_ws/src/Utils/rviz_plugins/CMakeLists.txt b/swarm-playground/formation_ws/src/Utils/rviz_plugins/CMakeLists.txt index 5cbc01a..51bf1d3 100644 --- a/swarm-playground/formation_ws/src/Utils/rviz_plugins/CMakeLists.txt +++ b/swarm-playground/formation_ws/src/Utils/rviz_plugins/CMakeLists.txt @@ -21,7 +21,7 @@ catkin_package( if(rviz_QT_VERSION VERSION_LESS "5") message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") - find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui) + find_package(Qt4 ${rviz_QT_VERSION} REQUIRED QtCore QtGui) ## pull in all required include dirs, define QT_LIBRARIES, etc. include(${QT_USE_FILE}) qt4_wrap_cpp(MOC_FILES @@ -30,7 +30,7 @@ if(rviz_QT_VERSION VERSION_LESS "5") else() message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") - find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) + find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets) ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies set(QT_LIBRARIES Qt5::Widgets) qt5_wrap_cpp(MOC_FILES diff --git a/swarm-playground/formation_ws/src/planner/swarm_bridge/CMakeLists.txt b/swarm-playground/formation_ws/src/planner/swarm_bridge/CMakeLists.txt index 65cc56a..49522f1 100755 --- a/swarm-playground/formation_ws/src/planner/swarm_bridge/CMakeLists.txt +++ b/swarm-playground/formation_ws/src/planner/swarm_bridge/CMakeLists.txt @@ -10,6 +10,7 @@ find_package(Eigen3 REQUIRED) set(ENABLE_TCP false) # requires zmq, zmqpp +find_package(Boost REQUIRED COMPONENTS system filesystem thread) find_package(catkin REQUIRED COMPONENTS roscpp std_msgs @@ -35,6 +36,7 @@ add_executable(bridge_node_udp ) target_link_libraries(bridge_node_udp ${catkin_LIBRARIES} + ${Boost_LIBRARIES} ) if(ENABLE_TCP) @@ -46,6 +48,7 @@ if(ENABLE_TCP) ${catkin_LIBRARIES} zmq zmqpp + ${Boost_LIBRARIES} ) endif(ENABLE_TCP) @@ -55,6 +58,7 @@ add_executable(traj2odom_node ) target_link_libraries(traj2odom_node ${catkin_LIBRARIES} + ${Boost_LIBRARIES} ) diff --git a/swarm-playground/formation_ws/src/planner/traj_utils/CMakeLists.txt b/swarm-playground/formation_ws/src/planner/traj_utils/CMakeLists.txt index 216ef27..4b9a3dd 100755 --- a/swarm-playground/formation_ws/src/planner/traj_utils/CMakeLists.txt +++ b/swarm-playground/formation_ws/src/planner/traj_utils/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3) project(traj_utils) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") # set(ENABLE_PRECOMPILED_HEADERS "OFF") diff --git a/swarm-playground/formation_ws/src/uav_simulator/local_sensing/CMakeLists.txt b/swarm-playground/formation_ws/src/uav_simulator/local_sensing/CMakeLists.txt index a6750be..aeb5119 100644 --- a/swarm-playground/formation_ws/src/uav_simulator/local_sensing/CMakeLists.txt +++ b/swarm-playground/formation_ws/src/uav_simulator/local_sensing/CMakeLists.txt @@ -65,6 +65,7 @@ if(ENABLE_CUDA) ${catkin_LIBRARIES} ) else(ENABLE_CUDA) + find_package(PCL REQUIRED) find_package(Eigen3 REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules pcl_ros sensor_msgs geometry_msgs nav_msgs quadrotor_msgs) diff --git a/swarm-playground/formation_ws/src/uav_simulator/mockamap/CMakeLists.txt b/swarm-playground/formation_ws/src/uav_simulator/mockamap/CMakeLists.txt index 2593c16..03a3970 100644 --- a/swarm-playground/formation_ws/src/uav_simulator/mockamap/CMakeLists.txt +++ b/swarm-playground/formation_ws/src/uav_simulator/mockamap/CMakeLists.txt @@ -12,6 +12,7 @@ set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages +find_package(PCL REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp pcl_ros @@ -156,6 +157,7 @@ add_executable(${PROJECT_NAME}_node ## Specify libraries to link a library or executable target against target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} + ${PCL_LIBRARIES} ) ############# diff --git a/swarm-playground/formation_ws/src/uav_simulator/mockamap/include/maps.hpp b/swarm-playground/formation_ws/src/uav_simulator/mockamap/include/maps.hpp index bcda759..0db846b 100644 --- a/swarm-playground/formation_ws/src/uav_simulator/mockamap/include/maps.hpp +++ b/swarm-playground/formation_ws/src/uav_simulator/mockamap/include/maps.hpp @@ -1,6 +1,7 @@ #ifndef MAPS_HPP #define MAPS_HPP +#include #include #include diff --git a/swarm-playground/formation_ws/src/uav_simulator/so3_control/CMakeLists.txt b/swarm-playground/formation_ws/src/uav_simulator/so3_control/CMakeLists.txt index d74dbfd..c333e61 100755 --- a/swarm-playground/formation_ws/src/uav_simulator/so3_control/CMakeLists.txt +++ b/swarm-playground/formation_ws/src/uav_simulator/so3_control/CMakeLists.txt @@ -46,7 +46,7 @@ cmake_minimum_required(VERSION 2.8.3) project(so3_control) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") ## Find catkin macros and libraries diff --git a/swarm-playground/formation_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt b/swarm-playground/formation_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt index b4be1bf..64b6e81 100755 --- a/swarm-playground/formation_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt +++ b/swarm-playground/formation_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt @@ -4,7 +4,7 @@ project(so3_quadrotor_simulator) add_compile_options(-std=c++11) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") find_package(catkin REQUIRED COMPONENTS diff --git a/swarm-playground/interlaced_flight_ws/src/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/CMakeLists.txt index 2016816..3031080 120000 --- a/swarm-playground/interlaced_flight_ws/src/CMakeLists.txt +++ b/swarm-playground/interlaced_flight_ws/src/CMakeLists.txt @@ -1 +1 @@ -/opt/ros/noetic/share/catkin/cmake/toplevel.cmake \ No newline at end of file +/home/ryan/mambaforge/envs/dhma/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/swarm-playground/interlaced_flight_ws/src/Utils/odom_visualization/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/Utils/odom_visualization/CMakeLists.txt index 554254a..7eea881 100755 --- a/swarm-playground/interlaced_flight_ws/src/Utils/odom_visualization/CMakeLists.txt +++ b/swarm-playground/interlaced_flight_ws/src/Utils/odom_visualization/CMakeLists.txt @@ -37,7 +37,7 @@ cmake_minimum_required(VERSION 2.8.3) project(odom_visualization) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-O3 -Wall -g") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall -g") ADD_COMPILE_OPTIONS(-std=c++11 ) ADD_COMPILE_OPTIONS(-std=c++14 ) diff --git a/swarm-playground/interlaced_flight_ws/src/Utils/pose_utils/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/Utils/pose_utils/CMakeLists.txt index d65f182..d2d7f94 100755 --- a/swarm-playground/interlaced_flight_ws/src/Utils/pose_utils/CMakeLists.txt +++ b/swarm-playground/interlaced_flight_ws/src/Utils/pose_utils/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3) project(pose_utils) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-O3 -Wall -g") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall -g") ADD_COMPILE_OPTIONS(-std=c++11 ) ADD_COMPILE_OPTIONS(-std=c++14 ) diff --git a/swarm-playground/interlaced_flight_ws/src/Utils/rviz_plugins/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/Utils/rviz_plugins/CMakeLists.txt index 19d8772..949a70e 100644 --- a/swarm-playground/interlaced_flight_ws/src/Utils/rviz_plugins/CMakeLists.txt +++ b/swarm-playground/interlaced_flight_ws/src/Utils/rviz_plugins/CMakeLists.txt @@ -22,7 +22,7 @@ catkin_package( if(rviz_QT_VERSION VERSION_LESS "5") message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") - find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui) + find_package(Qt4 ${rviz_QT_VERSION} REQUIRED QtCore QtGui) ## pull in all required include dirs, define QT_LIBRARIES, etc. include(${QT_USE_FILE}) qt4_wrap_cpp(MOC_FILES @@ -31,7 +31,7 @@ if(rviz_QT_VERSION VERSION_LESS "5") else() message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") - find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) + find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets) ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies set(QT_LIBRARIES Qt5::Widgets) qt5_wrap_cpp(MOC_FILES diff --git a/swarm-playground/interlaced_flight_ws/src/Utils/selected_points_publisher-master/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/Utils/selected_points_publisher-master/CMakeLists.txt index 1d583f4..6c2644c 100644 --- a/swarm-playground/interlaced_flight_ws/src/Utils/selected_points_publisher-master/CMakeLists.txt +++ b/swarm-playground/interlaced_flight_ws/src/Utils/selected_points_publisher-master/CMakeLists.txt @@ -6,7 +6,7 @@ catkin_package() include_directories(include ${catkin_INCLUDE_DIRS}) link_directories(${catkin_LIBRARY_DIRS}) -find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets Quick) +find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets Quick) set(QT_LIBRARIES Qt5::Widgets) qt5_wrap_cpp(MOC_FILES include/selected_points_publisher/selected_points_publisher.hpp diff --git a/swarm-playground/interlaced_flight_ws/src/planner/swarm_bridge/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/planner/swarm_bridge/CMakeLists.txt index 65cc56a..49522f1 100755 --- a/swarm-playground/interlaced_flight_ws/src/planner/swarm_bridge/CMakeLists.txt +++ b/swarm-playground/interlaced_flight_ws/src/planner/swarm_bridge/CMakeLists.txt @@ -10,6 +10,7 @@ find_package(Eigen3 REQUIRED) set(ENABLE_TCP false) # requires zmq, zmqpp +find_package(Boost REQUIRED COMPONENTS system filesystem thread) find_package(catkin REQUIRED COMPONENTS roscpp std_msgs @@ -35,6 +36,7 @@ add_executable(bridge_node_udp ) target_link_libraries(bridge_node_udp ${catkin_LIBRARIES} + ${Boost_LIBRARIES} ) if(ENABLE_TCP) @@ -46,6 +48,7 @@ if(ENABLE_TCP) ${catkin_LIBRARIES} zmq zmqpp + ${Boost_LIBRARIES} ) endif(ENABLE_TCP) @@ -55,6 +58,7 @@ add_executable(traj2odom_node ) target_link_libraries(traj2odom_node ${catkin_LIBRARIES} + ${Boost_LIBRARIES} ) diff --git a/swarm-playground/interlaced_flight_ws/src/planner/traj_utils/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/planner/traj_utils/CMakeLists.txt index 216ef27..4b9a3dd 100755 --- a/swarm-playground/interlaced_flight_ws/src/planner/traj_utils/CMakeLists.txt +++ b/swarm-playground/interlaced_flight_ws/src/planner/traj_utils/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3) project(traj_utils) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") # set(ENABLE_PRECOMPILED_HEADERS "OFF") diff --git a/swarm-playground/interlaced_flight_ws/src/uav_simulator/local_sensing/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/uav_simulator/local_sensing/CMakeLists.txt index a6750be..aeb5119 100644 --- a/swarm-playground/interlaced_flight_ws/src/uav_simulator/local_sensing/CMakeLists.txt +++ b/swarm-playground/interlaced_flight_ws/src/uav_simulator/local_sensing/CMakeLists.txt @@ -65,6 +65,7 @@ if(ENABLE_CUDA) ${catkin_LIBRARIES} ) else(ENABLE_CUDA) + find_package(PCL REQUIRED) find_package(Eigen3 REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules pcl_ros sensor_msgs geometry_msgs nav_msgs quadrotor_msgs) diff --git a/swarm-playground/interlaced_flight_ws/src/uav_simulator/mockamap/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/uav_simulator/mockamap/CMakeLists.txt index 2593c16..03a3970 100644 --- a/swarm-playground/interlaced_flight_ws/src/uav_simulator/mockamap/CMakeLists.txt +++ b/swarm-playground/interlaced_flight_ws/src/uav_simulator/mockamap/CMakeLists.txt @@ -12,6 +12,7 @@ set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages +find_package(PCL REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp pcl_ros @@ -156,6 +157,7 @@ add_executable(${PROJECT_NAME}_node ## Specify libraries to link a library or executable target against target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} + ${PCL_LIBRARIES} ) ############# diff --git a/swarm-playground/interlaced_flight_ws/src/uav_simulator/mockamap/include/maps.hpp b/swarm-playground/interlaced_flight_ws/src/uav_simulator/mockamap/include/maps.hpp index bcda759..0db846b 100644 --- a/swarm-playground/interlaced_flight_ws/src/uav_simulator/mockamap/include/maps.hpp +++ b/swarm-playground/interlaced_flight_ws/src/uav_simulator/mockamap/include/maps.hpp @@ -1,6 +1,7 @@ #ifndef MAPS_HPP #define MAPS_HPP +#include #include #include diff --git a/swarm-playground/interlaced_flight_ws/src/uav_simulator/so3_control/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/uav_simulator/so3_control/CMakeLists.txt index d74dbfd..c333e61 100755 --- a/swarm-playground/interlaced_flight_ws/src/uav_simulator/so3_control/CMakeLists.txt +++ b/swarm-playground/interlaced_flight_ws/src/uav_simulator/so3_control/CMakeLists.txt @@ -46,7 +46,7 @@ cmake_minimum_required(VERSION 2.8.3) project(so3_control) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") ## Find catkin macros and libraries diff --git a/swarm-playground/interlaced_flight_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt index b4be1bf..64b6e81 100755 --- a/swarm-playground/interlaced_flight_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt +++ b/swarm-playground/interlaced_flight_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt @@ -4,7 +4,7 @@ project(so3_quadrotor_simulator) add_compile_options(-std=c++11) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") find_package(catkin REQUIRED COMPONENTS diff --git a/swarm-playground/main_ws/src/CMakeLists.txt b/swarm-playground/main_ws/src/CMakeLists.txt index 2016816..3031080 120000 --- a/swarm-playground/main_ws/src/CMakeLists.txt +++ b/swarm-playground/main_ws/src/CMakeLists.txt @@ -1 +1 @@ -/opt/ros/noetic/share/catkin/cmake/toplevel.cmake \ No newline at end of file +/home/ryan/mambaforge/envs/dhma/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/swarm-playground/main_ws/src/Utils/odom_visualization/CMakeLists.txt b/swarm-playground/main_ws/src/Utils/odom_visualization/CMakeLists.txt index 554254a..7eea881 100755 --- a/swarm-playground/main_ws/src/Utils/odom_visualization/CMakeLists.txt +++ b/swarm-playground/main_ws/src/Utils/odom_visualization/CMakeLists.txt @@ -37,7 +37,7 @@ cmake_minimum_required(VERSION 2.8.3) project(odom_visualization) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-O3 -Wall -g") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall -g") ADD_COMPILE_OPTIONS(-std=c++11 ) ADD_COMPILE_OPTIONS(-std=c++14 ) diff --git a/swarm-playground/main_ws/src/Utils/pose_utils/CMakeLists.txt b/swarm-playground/main_ws/src/Utils/pose_utils/CMakeLists.txt index d65f182..d2d7f94 100755 --- a/swarm-playground/main_ws/src/Utils/pose_utils/CMakeLists.txt +++ b/swarm-playground/main_ws/src/Utils/pose_utils/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3) project(pose_utils) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-O3 -Wall -g") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall -g") ADD_COMPILE_OPTIONS(-std=c++11 ) ADD_COMPILE_OPTIONS(-std=c++14 ) diff --git a/swarm-playground/main_ws/src/Utils/rviz_plugins/CMakeLists.txt b/swarm-playground/main_ws/src/Utils/rviz_plugins/CMakeLists.txt index 19d8772..949a70e 100644 --- a/swarm-playground/main_ws/src/Utils/rviz_plugins/CMakeLists.txt +++ b/swarm-playground/main_ws/src/Utils/rviz_plugins/CMakeLists.txt @@ -22,7 +22,7 @@ catkin_package( if(rviz_QT_VERSION VERSION_LESS "5") message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") - find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui) + find_package(Qt4 ${rviz_QT_VERSION} REQUIRED QtCore QtGui) ## pull in all required include dirs, define QT_LIBRARIES, etc. include(${QT_USE_FILE}) qt4_wrap_cpp(MOC_FILES @@ -31,7 +31,7 @@ if(rviz_QT_VERSION VERSION_LESS "5") else() message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") - find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) + find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets) ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies set(QT_LIBRARIES Qt5::Widgets) qt5_wrap_cpp(MOC_FILES diff --git a/swarm-playground/main_ws/src/Utils/selected_points_publisher/CMakeLists.txt b/swarm-playground/main_ws/src/Utils/selected_points_publisher/CMakeLists.txt index 1d583f4..6c2644c 100644 --- a/swarm-playground/main_ws/src/Utils/selected_points_publisher/CMakeLists.txt +++ b/swarm-playground/main_ws/src/Utils/selected_points_publisher/CMakeLists.txt @@ -6,7 +6,7 @@ catkin_package() include_directories(include ${catkin_INCLUDE_DIRS}) link_directories(${catkin_LIBRARY_DIRS}) -find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets Quick) +find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets Quick) set(QT_LIBRARIES Qt5::Widgets) qt5_wrap_cpp(MOC_FILES include/selected_points_publisher/selected_points_publisher.hpp diff --git a/swarm-playground/main_ws/src/planner/swarm_bridge/CMakeLists.txt b/swarm-playground/main_ws/src/planner/swarm_bridge/CMakeLists.txt index 65cc56a..49522f1 100755 --- a/swarm-playground/main_ws/src/planner/swarm_bridge/CMakeLists.txt +++ b/swarm-playground/main_ws/src/planner/swarm_bridge/CMakeLists.txt @@ -10,6 +10,7 @@ find_package(Eigen3 REQUIRED) set(ENABLE_TCP false) # requires zmq, zmqpp +find_package(Boost REQUIRED COMPONENTS system filesystem thread) find_package(catkin REQUIRED COMPONENTS roscpp std_msgs @@ -35,6 +36,7 @@ add_executable(bridge_node_udp ) target_link_libraries(bridge_node_udp ${catkin_LIBRARIES} + ${Boost_LIBRARIES} ) if(ENABLE_TCP) @@ -46,6 +48,7 @@ if(ENABLE_TCP) ${catkin_LIBRARIES} zmq zmqpp + ${Boost_LIBRARIES} ) endif(ENABLE_TCP) @@ -55,6 +58,7 @@ add_executable(traj2odom_node ) target_link_libraries(traj2odom_node ${catkin_LIBRARIES} + ${Boost_LIBRARIES} ) diff --git a/swarm-playground/main_ws/src/planner/traj_utils/CMakeLists.txt b/swarm-playground/main_ws/src/planner/traj_utils/CMakeLists.txt index 216ef27..4b9a3dd 100755 --- a/swarm-playground/main_ws/src/planner/traj_utils/CMakeLists.txt +++ b/swarm-playground/main_ws/src/planner/traj_utils/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3) project(traj_utils) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") # set(ENABLE_PRECOMPILED_HEADERS "OFF") diff --git a/swarm-playground/main_ws/src/uav_simulator/local_sensing/CMakeLists.txt b/swarm-playground/main_ws/src/uav_simulator/local_sensing/CMakeLists.txt index a6750be..aeb5119 100644 --- a/swarm-playground/main_ws/src/uav_simulator/local_sensing/CMakeLists.txt +++ b/swarm-playground/main_ws/src/uav_simulator/local_sensing/CMakeLists.txt @@ -65,6 +65,7 @@ if(ENABLE_CUDA) ${catkin_LIBRARIES} ) else(ENABLE_CUDA) + find_package(PCL REQUIRED) find_package(Eigen3 REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules pcl_ros sensor_msgs geometry_msgs nav_msgs quadrotor_msgs) diff --git a/swarm-playground/main_ws/src/uav_simulator/mockamap/CMakeLists.txt b/swarm-playground/main_ws/src/uav_simulator/mockamap/CMakeLists.txt index 2593c16..03a3970 100644 --- a/swarm-playground/main_ws/src/uav_simulator/mockamap/CMakeLists.txt +++ b/swarm-playground/main_ws/src/uav_simulator/mockamap/CMakeLists.txt @@ -12,6 +12,7 @@ set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages +find_package(PCL REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp pcl_ros @@ -156,6 +157,7 @@ add_executable(${PROJECT_NAME}_node ## Specify libraries to link a library or executable target against target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} + ${PCL_LIBRARIES} ) ############# diff --git a/swarm-playground/main_ws/src/uav_simulator/mockamap/include/maps.hpp b/swarm-playground/main_ws/src/uav_simulator/mockamap/include/maps.hpp index bcda759..0db846b 100644 --- a/swarm-playground/main_ws/src/uav_simulator/mockamap/include/maps.hpp +++ b/swarm-playground/main_ws/src/uav_simulator/mockamap/include/maps.hpp @@ -1,6 +1,7 @@ #ifndef MAPS_HPP #define MAPS_HPP +#include #include #include diff --git a/swarm-playground/main_ws/src/uav_simulator/so3_control/CMakeLists.txt b/swarm-playground/main_ws/src/uav_simulator/so3_control/CMakeLists.txt index d74dbfd..c333e61 100755 --- a/swarm-playground/main_ws/src/uav_simulator/so3_control/CMakeLists.txt +++ b/swarm-playground/main_ws/src/uav_simulator/so3_control/CMakeLists.txt @@ -46,7 +46,7 @@ cmake_minimum_required(VERSION 2.8.3) project(so3_control) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") ## Find catkin macros and libraries diff --git a/swarm-playground/main_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt b/swarm-playground/main_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt index b4be1bf..64b6e81 100755 --- a/swarm-playground/main_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt +++ b/swarm-playground/main_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt @@ -4,7 +4,7 @@ project(so3_quadrotor_simulator) add_compile_options(-std=c++11) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") find_package(catkin REQUIRED COMPONENTS diff --git a/swarm-playground/tracking_ws/src/CMakeLists.txt b/swarm-playground/tracking_ws/src/CMakeLists.txt index 2016816..3031080 120000 --- a/swarm-playground/tracking_ws/src/CMakeLists.txt +++ b/swarm-playground/tracking_ws/src/CMakeLists.txt @@ -1 +1 @@ -/opt/ros/noetic/share/catkin/cmake/toplevel.cmake \ No newline at end of file +/home/ryan/mambaforge/envs/dhma/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/swarm-playground/tracking_ws/src/Utils/odom_visualization/CMakeLists.txt b/swarm-playground/tracking_ws/src/Utils/odom_visualization/CMakeLists.txt index 554254a..7eea881 100755 --- a/swarm-playground/tracking_ws/src/Utils/odom_visualization/CMakeLists.txt +++ b/swarm-playground/tracking_ws/src/Utils/odom_visualization/CMakeLists.txt @@ -37,7 +37,7 @@ cmake_minimum_required(VERSION 2.8.3) project(odom_visualization) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-O3 -Wall -g") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall -g") ADD_COMPILE_OPTIONS(-std=c++11 ) ADD_COMPILE_OPTIONS(-std=c++14 ) diff --git a/swarm-playground/tracking_ws/src/Utils/pose_utils/CMakeLists.txt b/swarm-playground/tracking_ws/src/Utils/pose_utils/CMakeLists.txt index d65f182..d2d7f94 100755 --- a/swarm-playground/tracking_ws/src/Utils/pose_utils/CMakeLists.txt +++ b/swarm-playground/tracking_ws/src/Utils/pose_utils/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3) project(pose_utils) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-O3 -Wall -g") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall -g") ADD_COMPILE_OPTIONS(-std=c++11 ) ADD_COMPILE_OPTIONS(-std=c++14 ) diff --git a/swarm-playground/tracking_ws/src/Utils/rviz_plugins/CMakeLists.txt b/swarm-playground/tracking_ws/src/Utils/rviz_plugins/CMakeLists.txt index 19d8772..949a70e 100644 --- a/swarm-playground/tracking_ws/src/Utils/rviz_plugins/CMakeLists.txt +++ b/swarm-playground/tracking_ws/src/Utils/rviz_plugins/CMakeLists.txt @@ -22,7 +22,7 @@ catkin_package( if(rviz_QT_VERSION VERSION_LESS "5") message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") - find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui) + find_package(Qt4 ${rviz_QT_VERSION} REQUIRED QtCore QtGui) ## pull in all required include dirs, define QT_LIBRARIES, etc. include(${QT_USE_FILE}) qt4_wrap_cpp(MOC_FILES @@ -31,7 +31,7 @@ if(rviz_QT_VERSION VERSION_LESS "5") else() message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") - find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) + find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets) ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies set(QT_LIBRARIES Qt5::Widgets) qt5_wrap_cpp(MOC_FILES diff --git a/swarm-playground/tracking_ws/src/planner/swarm_bridge/CMakeLists.txt b/swarm-playground/tracking_ws/src/planner/swarm_bridge/CMakeLists.txt index 65cc56a..49522f1 100755 --- a/swarm-playground/tracking_ws/src/planner/swarm_bridge/CMakeLists.txt +++ b/swarm-playground/tracking_ws/src/planner/swarm_bridge/CMakeLists.txt @@ -10,6 +10,7 @@ find_package(Eigen3 REQUIRED) set(ENABLE_TCP false) # requires zmq, zmqpp +find_package(Boost REQUIRED COMPONENTS system filesystem thread) find_package(catkin REQUIRED COMPONENTS roscpp std_msgs @@ -35,6 +36,7 @@ add_executable(bridge_node_udp ) target_link_libraries(bridge_node_udp ${catkin_LIBRARIES} + ${Boost_LIBRARIES} ) if(ENABLE_TCP) @@ -46,6 +48,7 @@ if(ENABLE_TCP) ${catkin_LIBRARIES} zmq zmqpp + ${Boost_LIBRARIES} ) endif(ENABLE_TCP) @@ -55,6 +58,7 @@ add_executable(traj2odom_node ) target_link_libraries(traj2odom_node ${catkin_LIBRARIES} + ${Boost_LIBRARIES} ) diff --git a/swarm-playground/tracking_ws/src/planner/traj_utils/CMakeLists.txt b/swarm-playground/tracking_ws/src/planner/traj_utils/CMakeLists.txt index 216ef27..4b9a3dd 100755 --- a/swarm-playground/tracking_ws/src/planner/traj_utils/CMakeLists.txt +++ b/swarm-playground/tracking_ws/src/planner/traj_utils/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3) project(traj_utils) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") # set(ENABLE_PRECOMPILED_HEADERS "OFF") diff --git a/swarm-playground/tracking_ws/src/uav_simulator/local_sensing/CMakeLists.txt b/swarm-playground/tracking_ws/src/uav_simulator/local_sensing/CMakeLists.txt index cb96f74..7d2a5d6 100644 --- a/swarm-playground/tracking_ws/src/uav_simulator/local_sensing/CMakeLists.txt +++ b/swarm-playground/tracking_ws/src/uav_simulator/local_sensing/CMakeLists.txt @@ -5,6 +5,7 @@ SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo ADD_COMPILE_OPTIONS(-std=c++11 ) ADD_COMPILE_OPTIONS(-std=c++14 ) +find_package(PCL REQUIRED) find_package(Eigen3 REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules pcl_ros sensor_msgs geometry_msgs nav_msgs quadrotor_msgs) diff --git a/swarm-playground/tracking_ws/src/uav_simulator/mockamap/CMakeLists.txt b/swarm-playground/tracking_ws/src/uav_simulator/mockamap/CMakeLists.txt index 2593c16..03a3970 100644 --- a/swarm-playground/tracking_ws/src/uav_simulator/mockamap/CMakeLists.txt +++ b/swarm-playground/tracking_ws/src/uav_simulator/mockamap/CMakeLists.txt @@ -12,6 +12,7 @@ set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages +find_package(PCL REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp pcl_ros @@ -156,6 +157,7 @@ add_executable(${PROJECT_NAME}_node ## Specify libraries to link a library or executable target against target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} + ${PCL_LIBRARIES} ) ############# diff --git a/swarm-playground/tracking_ws/src/uav_simulator/mockamap/include/maps.hpp b/swarm-playground/tracking_ws/src/uav_simulator/mockamap/include/maps.hpp index bcda759..0db846b 100644 --- a/swarm-playground/tracking_ws/src/uav_simulator/mockamap/include/maps.hpp +++ b/swarm-playground/tracking_ws/src/uav_simulator/mockamap/include/maps.hpp @@ -1,6 +1,7 @@ #ifndef MAPS_HPP #define MAPS_HPP +#include #include #include diff --git a/swarm-playground/tracking_ws/src/uav_simulator/so3_control/CMakeLists.txt b/swarm-playground/tracking_ws/src/uav_simulator/so3_control/CMakeLists.txt index d74dbfd..c333e61 100755 --- a/swarm-playground/tracking_ws/src/uav_simulator/so3_control/CMakeLists.txt +++ b/swarm-playground/tracking_ws/src/uav_simulator/so3_control/CMakeLists.txt @@ -46,7 +46,7 @@ cmake_minimum_required(VERSION 2.8.3) project(so3_control) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") ## Find catkin macros and libraries diff --git a/swarm-playground/tracking_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt b/swarm-playground/tracking_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt index b4be1bf..64b6e81 100755 --- a/swarm-playground/tracking_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt +++ b/swarm-playground/tracking_ws/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt @@ -4,7 +4,7 @@ project(so3_quadrotor_simulator) add_compile_options(-std=c++11) set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") find_package(catkin REQUIRED COMPONENTS From 07b81e8a0ef110afc202d2e3d36d6ecfb45128f1 Mon Sep 17 00:00:00 2001 From: "Ryan Y. Liu" Date: Sun, 15 Oct 2023 22:39:51 +0800 Subject: [PATCH 2/5] integrate "fork info" into the original readme --- README.md | 2 ++ ...DME]_Addtional_Instructions_for_Ubuntu22.md | 18 ++++++++++++++++++ 2 files changed, 20 insertions(+) create mode 100644 swarm-playground/[README]_Addtional_Instructions_for_Ubuntu22.md diff --git a/README.md b/README.md index 06e14f7..060a6bc 100644 --- a/README.md +++ b/README.md @@ -19,6 +19,8 @@ Swarm Playground, the codebase of the paper "[Swarm of micro flying robots in th Please follow the [tutorial PDF file](swarm-playground/[README]_Brief_Documentation_for_Swarm_Playground.pdf) with corresponding videos ([1](swarm-playground/main_ws/WatchMe_main.mp4), [2](swarm-playground/formation_ws/WatchMe_formation.mp4), [3](swarm-playground/tracking_ws/WatchMe_tracking.mp4), [4](swarm-playground/interlaced_flight_ws/WatchMe_interlaced_flights.mp4)) to run the code. +For Ubuntu 22 (or other distros) users, a quick way to get started is to use [RoboStack](https://robostack.github.io/GettingStarted.html)'s ROS Noetic in the Conda virtual environment. Instructions can be found [here](./swarm-playground/[README]_Addtional_Instructions_for_Ubuntu22.md). + This work was born out of [MINCO](https://github.com/ZJU-FAST-Lab/GCOPTER). If you find it interesting, please give both repos stars generously. Thanks. diff --git a/swarm-playground/[README]_Addtional_Instructions_for_Ubuntu22.md b/swarm-playground/[README]_Addtional_Instructions_for_Ubuntu22.md new file mode 100644 index 0000000..3956c4e --- /dev/null +++ b/swarm-playground/[README]_Addtional_Instructions_for_Ubuntu22.md @@ -0,0 +1,18 @@ +# Getting Started with "Conda ROS" + +First please install `mamba`, which is a faster version of `conda` and defaults to the `conda-forge` channel. Then you can run the following to set up the environment. + +```sh +mamba create -n ego-v2 python=3.9 -y +mamba activate ego-v2 + +mamba install ros-noetic-desktop-full=1.5.0 -c robostack-staging -y +mamba install compilers cmake pkg-config make ninja colcon-common-extensions catkin_tools -y +mamba install armadillo=12.6.5 -y + +# reactivate the env to prevent permission issues +mamba deactivate +mamba activate ego-v2 +``` + +With this environment activated you can run ROS commands as normal. For further instructions please refer to the [tutorial pdf](./[README]_Brief_Documentation_for_Swarm_Playground.pdf). From 13b8af38639e3de119d5892c355a4137b4cf3d37 Mon Sep 17 00:00:00 2001 From: "Ryan Y. Liu" Date: Mon, 16 Oct 2023 10:54:47 +0800 Subject: [PATCH 3/5] don't ignore .catkin_workspace --- .gitignore | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index 278e1cd..f7c7aaf 100644 --- a/.gitignore +++ b/.gitignore @@ -3,4 +3,4 @@ __pycache__ build/ devel/ logs/ -.catkin* \ No newline at end of file +.catkin_tools \ No newline at end of file From 4ad2886fa284957b31b15e0c877ff9ca84c53c03 Mon Sep 17 00:00:00 2001 From: "Ryan Y. Liu" Date: Mon, 16 Oct 2023 10:56:36 +0800 Subject: [PATCH 4/5] these files will be automatically generated upon running `catkin_make` --- swarm-playground/formation_ws/src/CMakeLists.txt | 1 - swarm-playground/interlaced_flight_ws/src/CMakeLists.txt | 1 - swarm-playground/main_ws/src/CMakeLists.txt | 1 - swarm-playground/tracking_ws/src/CMakeLists.txt | 1 - 4 files changed, 4 deletions(-) delete mode 120000 swarm-playground/formation_ws/src/CMakeLists.txt delete mode 120000 swarm-playground/interlaced_flight_ws/src/CMakeLists.txt delete mode 120000 swarm-playground/main_ws/src/CMakeLists.txt delete mode 120000 swarm-playground/tracking_ws/src/CMakeLists.txt diff --git a/swarm-playground/formation_ws/src/CMakeLists.txt b/swarm-playground/formation_ws/src/CMakeLists.txt deleted file mode 120000 index 3031080..0000000 --- a/swarm-playground/formation_ws/src/CMakeLists.txt +++ /dev/null @@ -1 +0,0 @@ -/home/ryan/mambaforge/envs/dhma/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/swarm-playground/interlaced_flight_ws/src/CMakeLists.txt b/swarm-playground/interlaced_flight_ws/src/CMakeLists.txt deleted file mode 120000 index 3031080..0000000 --- a/swarm-playground/interlaced_flight_ws/src/CMakeLists.txt +++ /dev/null @@ -1 +0,0 @@ -/home/ryan/mambaforge/envs/dhma/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/swarm-playground/main_ws/src/CMakeLists.txt b/swarm-playground/main_ws/src/CMakeLists.txt deleted file mode 120000 index 3031080..0000000 --- a/swarm-playground/main_ws/src/CMakeLists.txt +++ /dev/null @@ -1 +0,0 @@ -/home/ryan/mambaforge/envs/dhma/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/swarm-playground/tracking_ws/src/CMakeLists.txt b/swarm-playground/tracking_ws/src/CMakeLists.txt deleted file mode 120000 index 3031080..0000000 --- a/swarm-playground/tracking_ws/src/CMakeLists.txt +++ /dev/null @@ -1 +0,0 @@ -/home/ryan/mambaforge/envs/dhma/share/catkin/cmake/toplevel.cmake \ No newline at end of file From 0d3d96eaeee72731365bfe04f89943492c60760c Mon Sep 17 00:00:00 2001 From: "Ryan Y. Liu" Date: Mon, 16 Oct 2023 11:00:40 +0800 Subject: [PATCH 5/5] clean up redundant info --- README.md | 14 -------------- 1 file changed, 14 deletions(-) diff --git a/README.md b/README.md index 060a6bc..6998cdc 100644 --- a/README.md +++ b/README.md @@ -1,17 +1,3 @@ -# About This Fork - -This fork supports building and testing using a ROS Noetic Conda install maintained by [Robostack](https://robostack.github.io/GettingStarted.html). - -```sh -mamba install ros-noetic-desktop-full=1.5.0 -c robostack-staging -y - -mamba install compilers cmake pkg-config make ninja colcon-common-extensions catkin_tools -y - -mamba install ompl=1.5.2 armadillo=12.6.5 -y -``` - -Now you can use it on whatever distro you like (Ubuntu Jammy is tested). See commits to find out what changes have been made. The original README is kept below, enjoy! - # EGO-Planner-v2 Swarm Playground, the codebase of the paper "[Swarm of micro flying robots in the wild](https://www.science.org/doi/10.1126/scirobotics.abm5954)".