Upgrade to indigo

bcharrow · Jan 27, 2015 · 09218ca · 09218ca
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,6 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(matlab_rosbag)
 
+find_package(cmake_modules)
 find_package(Eigen REQUIRED)
 find_package(Boost REQUIRED COMPONENTS regex)
 find_package(catkin REQUIRED COMPONENTS rosbag_storage tf2 roscpp_serialization)
@@ -12,5 +13,8 @@ include_directories(${catkin_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIRS})
 add_library(matlab_rosbag src/parser.cpp)
 target_link_libraries(matlab_rosbag ${catkin_LIBRARIES})
 
-catkin_add_gtest(parser_test src/parser_test.cpp)
+if (CATKIN_ENABLE_TESTING)
+  catkin_add_gtest(parser_test src/parser_test.cpp)
+endif()
+
 target_link_libraries(parser_test matlab_rosbag ${catkin_LIBRARIES})
diff --git a/COMPILING.md b/COMPILING.md
@@ -1,15 +1,96 @@
+<!-- markdown-toc start - Don't edit this section. Run M-x markdown-toc/generate-toc again -->
+**Table of Contents**
+
+- [Overview](#overview)
+- [Using ROS Indigo](#using-ros-indigo)
+- [Using ROS Hydro](#using-ros-hydro)
+- [Using ROS Groovy](#using-ros-groovy)
+- [Using ROS Electric](#using-ros-electric)
+
+<!-- markdown-toc end -->
+
 # Overview
 
 In order to compile rosbag_wrapper into a mex function so that it can be used on a machine without ROS we need to statically compile all of the libraries that the C++ ROS bag API depends on.  To make things harder, [mex files are shared object files](http://www.mathworks.com/help/matlab/matlab_external/troubleshooting-mex-files.html#bsscx2j-1) and so each statically linked library must have been compiled with the -fPIC flag.  See [this page](http://www.gentoo.org/proj/en/base/amd64/howtos/index.xml?part=1&chap=3) for a description of -fPIC.
 
 Even if you only want to compile code for your machine, Matlab comes with its own version of several libraries used by ROS -- most notably Boost -- and these versions may be incompatible with your system version.  So, you'll either need to statically compile boost, or compile and link against the version that Matlab uses.
 
-## Using ROS Hydro
+# Using ROS Indigo
+You'll need to do several things in order.  First, make the workspace:
+
+    export MAT_WS=$HOME/matbag_ws && mkdir $MAT_WS && cd $MAT_WS
+
+All directions from here on out assume that the MAT_WS variable in your shell is the ROS workspace.
+
+## [Boost 1.54](http://sourceforge.net/projects/boost/files/boost/1.54.0/)
+Download and unpack verison 1.54 of Boost and go that directory
+
+    ./bootstrap.sh
+    ./b2 cxxflags='-fPIC' --build-dir=build --with-regex --with-system \
+      --with-filesystem --with-program_options --with-date_time --with-thread \
+      --with-signals link=static variant=release --prefix=$MAT_WS/install install
+
+To compile things with multiple processors, add the flag <tt>-jNUM_PROCESSORS</tt>
+
+NOTE:  On 14.04 using gcc 4.8.2 I had to apply the following patch to boost/cstdint.hpp: https://svn.boost.org/trac/boost/changeset/84905
+
+## [bz2](http://www.bzip.org/downloads.html)
+
+Add <tt>-fPIC</tt> to the CFLAGS line in the Makefile.
+
+    make install PREFIX=$MAT_WS/install
+
+## [Console Bridge](https://github.com/ros/console_bridge)
+
+    git clone git://github.com/ros/console_bridge.git
+    mkdir console_bridge/build && cd console_bridge/build
+    cmake .. -DBUILD_SHARED_LIBS=false -DCMAKE_CXX_FLAGS=-fPIC \
+      -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBoost_NO_SYSTEM_PATHS=ON \
+      -DBOOST_ROOT=$MAT_WS/install -DCMAKE_INSTALL_PREFIX=$MAT_WS/install
+    make install
+
+## [LZ4](https://code.google.com/p/lz4/)
+Download and unpack LZ4, go to that directory:
+
+    make install CFLAGS='-O3 -fPIC' DESTDIR=$MAT_WS/install PREFIX=
+
+## ROS ##
+
+Install [rosinstall_generator](http://wiki.ros.org/rosinstall_generator#Installation) and [wstool](http://wiki.ros.org/wstool#Installation) for ROS.
+
+Generate install file and download necessary packages
+
+    cd $MAT_WS
+    rosinstall_generator --rosdistro indigo rosbag_storage tf2 --deps --wet-only --tar > matbag.rosinstall
+    wstool init -j8 src matbag.rosinstall
+    git clone -b indigo-devel https://github.com/bcharrow/matlab_rosbag.git src/matlab_rosbag
+    rosdep install --from-paths src --ignore-src --rosdistro indigo -y
+
+Next we need to compile ROS using catkin using the downloaded version of boost and bz2 as opposed to the system's version:
+
+    ./src/catkin/bin/catkin_make_isolated --merge --install --install-space install --cmake-args \
+      -DBUILD_SHARED_LIBS=false \
+      -DCMAKE_CXX_FLAGS=-fPIC \
+      -DCMAKE_C_FLAGS=-fPIC \
+      -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+      -DBoost_NO_SYSTEM_PATHS=ON \
+      -DBOOST_ROOT=$MAT_WS/install \
+      -DBZIP2_INCLUDE_DIR=$MAT_WS/install/include/ \
+      -DBZIP2_LIBRARIES=$MAT_WS/install/lib/libbz2.a
+
+## matlab_rosbag
+Now use the <tt>mex_compile.sh</tt> build script
+
+    cd $MAT_WS/src/matlab_rosbag/src
+    bash mex_compile.sh
+
+
+# Using ROS Hydro
 You need to install each of these things in order.  First, make the workspace:
 
     mkdir ~/matbag_ws && cd ~/matbag_ws
 
-### [Boost](http://www.boost.org/users/download/)
+## [Boost](http://www.boost.org/users/download/)
 Download and unpack the latest version of Boost and go to that directory.
 
     ./bootstrap.sh
@@ -19,13 +100,13 @@ Download and unpack the latest version of Boost and go to that directory.
 
 To compile things with multiple processors, add the flag <tt>-jNUM_PROCESSORS</tt>
 
-### [bz2](http://www.bzip.org/downloads.html)
+## [bz2](http://www.bzip.org/downloads.html)
 
 Add <tt>-fPIC</tt> to the CFLAGS line in the Makefile.
 
     make install PREFIX=$HOME/matbag_ws/install
 
-### ROS
+## ROS
 Install [rosinstall_generator](http://wiki.ros.org/rosinstall_generator#Installation) and [wstool](http://wiki.ros.org/wstool#Installation) for ROS.
 
 Generate install file and download necessary packages
@@ -46,18 +127,18 @@ Next we need to compile.  Set ROSCONSOLE_SEVERITY_NONE, so we don't need to buil
       -DBZIP2_INCLUDE_DIR=~/matbag_ws/install/include/ \
       -DBZIP2_LIBRARIES=~/matbag_ws/install/lib/libbz2a
 
-### matlab_rosbag
+## matlab_rosbag
 Now use the <tt>mex_compile.sh</tt> build script
 
     cd ~/matbag_ws/src/matlab_rosbag/src
     bash mex_compile.sh
 
-## Using ROS Groovy
+# Using ROS Groovy
 You need to install each of these things in order.  First, make the workspace:
 
     mkdir ~/matbag_ws && cd ~/matbag_ws
 
-### [Boost](http://www.boost.org/users/download/)
+## [Boost](http://www.boost.org/users/download/)
 Download and unpack the latest version of Boost and go to that directory.
 
     ./bootstrap.sh
@@ -67,13 +148,13 @@ Download and unpack the latest version of Boost and go to that directory.
 
 To compile things with multiple processors, add the flag <tt>-jNUM_PROCESSORS</tt>
 
-### [bz2](http://www.bzip.org/downloads.html)
+## [bz2](http://www.bzip.org/downloads.html)
 
 Add <tt>-fPIC</tt> to the CFLAGS line in the Makefile.
 
     make install PREFIX=$HOME/matbag_ws/install
 
-### ROS
+## ROS
 Install the [rosinstall_generator](http://wiki.ros.org/rosinstall_generator#Installation) package for ROS.
 
 Generate install file and download necessary packages
@@ -97,7 +178,7 @@ By compiling out logging with ROSCONSOLE_SEVERITY_NONE, we don't need to build l
 
     src/catkin/bin/catkin_make install
 
-### matlab_rosbag
+## matlab_rosbag
 Clone the repository and use the <tt>mex_compile.sh</tt> build script
 
     cd ~/matbag_ws/src
@@ -106,9 +187,9 @@ Clone the repository and use the <tt>mex_compile.sh</tt> build script
     bash mex_compile.sh
 
 
-## Using ROS Electric
+# Using ROS Electric
 
-### ROS libraries
+## ROS libraries
 
 You'll need to compile static libraries for the following packages:
 
@@ -121,29 +202,29 @@ To compile static libraries go to a package's build folder and enter:
 Now check in ../lib and copy the static version of the library to LIB_DIR.
 where LIB_DIR is a directory where you will put all of the static libraries.
 
-### [Boost](http://www.boost.org/users/download/)
+## [Boost](http://www.boost.org/users/download/)
 
     ./bootstrap.sh
     ./bjam cxxflags='-fPIC'  --build-dir=mybuild \
         --with-regex --with-thread --with-signals --with-filesystem \
         --with-system link=static stage
      cp stage/lib/* LIB_DIR
 
-### [bz2](http://www.bzip.org/downloads.html)
+## [bz2](http://www.bzip.org/downloads.html)
 
-### [expat](http://sourceforge.net/projects/expat/)
+## [expat](http://sourceforge.net/projects/expat/)
     CFLAGS=-fPIC ./configure --prefix=$(pwd)/install
     make
     make install
     cp install/lib/libexpt.a LIB_DIR
 
-### [APR](http://apr.apache.org/download.cgi)
+## [APR](http://apr.apache.org/download.cgi)
     CFLAGS=-fPIC ./configure --prefix=$(pwd)/install
     make
     make install
     cp .libs/libapr-1.a LIB_DIR
 
-### [APR-iconv](http://apr.apache.org/download.cgi)
+## [APR-iconv](http://apr.apache.org/download.cgi)
 
 IMPORTANT: On OS X I had to compile the APR implementation of iconv() and compile apr-util against that.  On Ubuntu 11.10, I didn't have to do this.
 
@@ -153,7 +234,7 @@ IMPORTANT: On OS X I had to compile the APR implementation of iconv() and compil
     make install
     cp lib/.libs/libapriconv-1.a LIB_DIR
 
-### [APR-util](http://apr.apache.org/download.cgi)
+## [APR-util](http://apr.apache.org/download.cgi)
 
     CFLAGS=-fPIC ./configure \
                  --with-iconv=../apr-iconv-1.2.1/install \
@@ -162,7 +243,7 @@ IMPORTANT: On OS X I had to compile the APR implementation of iconv() and compil
     make
     cp .libs/libapr-1.a LIB_DIR
 
-### [log4cxx](http://logging.apache.org/log4cxx/download.html)
+## [log4cxx](http://logging.apache.org/log4cxx/download.html)
 
     CFLAGS=-fPIC ./configure --prefix=$(pwd)/install \
         --with-apr=../apr-1.4.6/install \

diff --git a/package.xml b/package.xml
@@ -16,5 +16,5 @@
   <run_depend>roscpp_serialization</run_depend>
   <run_depend>tf2</run_depend>
 
-  <test_depend>gtest</test_depend>
+  <test_depend>rosunit</test_depend>
 </package>
diff --git a/src/mex_compile.sh b/src/mex_compile.sh
@@ -7,6 +7,8 @@ fi
 
 mex -O rosbag_wrapper.cpp parser.cpp \
     ${INSTALL}/librosbag_storage.a \
+    ${INSTALL}/libroslz4.a \
+    ${INSTALL}/liblz4.a \
     ${INSTALL}/libcpp_common.a \
     ${INSTALL}/librostime.a \
     ${INSTALL}/libconsole_bridge.a \