Merge branch 'develop'

MRPT · Jun 7, 2023 · 8f01321 · 8f01321
2 parents 4af6ea5 + 9811c49
commit 8f01321
Show file tree

Hide file tree

Showing 703 changed files with 87,517 additions and 26,061 deletions.
diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
@@ -68,7 +68,7 @@ jobs:
           if [ "${{ matrix.os }}" = "ubuntu-latest" ]; then
             sudo apt install libicu-dev libsimpleini-dev
             # to enable pymrpt:
-            sudo apt install libboost-all-dev python3-numpy
+            sudo apt install pybind11-dev python3-dev #python3-numpy
           fi
 
           if [ "${{ matrix.compiler }}" = "gcc" ]; then

diff --git a/3rdparty/nanogui b/3rdparty/nanogui
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -253,6 +253,16 @@ if(NOT MSVC AND NOT XCODE_VERSION)
     endif()
 endif()
 
+# ----------------------------------------------------------------------------
+# ROS
+# ----------------------------------------------------------------------------
+include(cmakemodules/script_ros.cmake REQUIRED)        # Check for ROS1 / ROS2
+
+# Abort from ROS scripts? (special case for the build farm)
+if (MRPT_ABORT_CMAKE_SCRIPT)
+	return()
+endif()
+
 # ----------------------------------------------------------------------------
 # Other sub-scripts:
 # ----------------------------------------------------------------------------
@@ -289,8 +299,8 @@ include(cmakemodules/script_opencv.cmake REQUIRED)      # Check for the OpenCV l
 include(cmakemodules/script_openni2.cmake REQUIRED)     # Check for the OpenNI2 library
 include(cmakemodules/script_pcap.cmake REQUIRED)        # Check for the libpcap library
 include(cmakemodules/script_phidget.cmake REQUIRED)     # Support for phidget Interface Kit with proximity sensor device :
+include(cmakemodules/script_python_bindings.cmake REQUIRED)     # Support for python
 include(cmakemodules/script_qt.cmake REQUIRED)          # Check for wxWidgets + GL
-include(cmakemodules/script_ros.cmake REQUIRED)        # Check for ROS1 / ROS2
 include(cmakemodules/script_SIMD.cmake REQUIRED)        # SSE2/SSE3/... optimization options
 include(cmakemodules/script_simpleini.cmake REQUIRED)   # SimpleINI lib
 include(cmakemodules/script_suitesparse.cmake REQUIRED) # SuiteSparse libs
@@ -304,6 +314,7 @@ include(cmakemodules/script_zlib.cmake REQUIRED)        # Check for zlib
 
 include(cmakemodules/process_emscripten_embedded_files.cmake REQUIRED)
 
+
 # ---------------------------------------------------------------------------
 #			OPTIONS
 #The options for the user when using "cmakesetup" or "ccmake":
@@ -640,28 +651,19 @@ add_subdirectory(doc)
 
 #   UNIT TESTS:
 # ----------------------------------------------------------------------------
-if (DEFINED BUILD_TESTING)
-	set(_def_value ${BUILD_TESTING})
+if (((DEFINED BUILD_TESTING) AND (NOT BUILD_TESTING)) OR (DEFINED ENV{ROS_DISTRO}))
+	# We are in a ROS environment: disable tests by default to reduce build time in ROS build farms.
+	set(_def_value OFF)
 else()
-	if ("$ENV{ROS_DISTRO}" STREQUAL "")
-		# Regular case:
-		set(_def_value ON)
-	else()
-		# We are in a ROS environment: disable tests by default to reduce build time in ROS build farms.
-		set(_def_value OFF)
-	endif()
+	# Regular case:
+	set(_def_value ON)
 endif()
 set(MRPT_BUILD_TESTING ${_def_value} CACHE BOOL "Build MRPT tests")
 if(MRPT_BUILD_TESTING)
 	add_subdirectory(tests)  # Build my tests
 endif()
 unset(_def_value )
 
-#-----------------------------------
-# The python bindings
-# *Note*: This must be AFTER the generation of mrpt-xxx-config.cmake files
-include(cmakemodules/script_python_bindings.cmake REQUIRED)     # Support for python
-
 # Prepare CPack params for building binary packages (has to be after the apps/)
 include(cmakemodules/script_setup_cpack.cmake REQUIRED)
 

diff --git a/README.md b/README.md
@@ -78,12 +78,17 @@ sudo apt install ros-$ROS_DISTRO-mrpt2
 
 | Distro | `develop` branch  | Stable release | Next builds |
 |---|---|---|---|
-| ROS1 Melodic @ u18.04 |  | [![Version](https://img.shields.io/ros/v/melodic/mrpt2)](https://index.ros.org/search/?term=mrpt2) |  |
 | ROS1 Noetic @ u20.04 | [![Build Status](https://build.ros.org/job/Ndev__mrpt2__ubuntu_focal_amd64/badge/icon)](https://build.ros.org/job/Ndev__mrpt2__ubuntu_focal_amd64/) | [![Version](https://img.shields.io/ros/v/noetic/mrpt2)](https://index.ros.org/search/?term=mrpt2) | [![Build Status](https://build.ros.org/job/Nbin_uF64__mrpt2__ubuntu_focal_amd64__binary/badge/icon)](https://build.ros.org/job/Nbin_uF64__mrpt2__ubuntu_focal_amd64__binary/) |
-| ROS2 Foxy @ u20.04 | [![Build Status](https://build.ros2.org/job/Fdev__mrpt2__ubuntu_focal_amd64/badge/icon)](https://build.ros2.org/job/Fdev__mrpt2__ubuntu_focal_amd64/) | [![Version](https://img.shields.io/ros/v/foxy/mrpt2)](https://index.ros.org/search/?term=mrpt2) | [![Build Status](https://build.ros2.org/job/Fbin_uF64__mrpt2__ubuntu_focal_amd64__binary/badge/icon)](https://build.ros2.org/job/Fbin_uF64__mrpt2__ubuntu_focal_amd64__binary/) |
 | ROS2 Humble @ u22.04 | [![Build Status](https://build.ros2.org/job/Hdev__mrpt2__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Hdev__mrpt2__ubuntu_jammy_amd64/) | [![Version](https://img.shields.io/ros/v/humble/mrpt2)](https://index.ros.org/search/?term=mrpt2) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/) | 
+| ROS2 Iron @ u22.04 | [![Build Status](https://build.ros2.org/job/Idev__mrpt2__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Idev__mrpt2__ubuntu_jammy_amd64/) | [![Version](https://img.shields.io/ros/v/iron/mrpt2)](https://index.ros.org/search/?term=mrpt2) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/) | 
 | ROS2 Rolling @ u22.04 | [![Build Status](https://build.ros2.org/job/Rdev__mrpt2__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Rdev__mrpt2__ubuntu_jammy_amd64/) |  [![Version](https://img.shields.io/ros/v/rolling/mrpt2)](https://index.ros.org/search/?term=mrpt2) | [![Build Status](https://build.ros2.org/job/Rbin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/) | 
 
+| EOL Distro | Last release |
+|---|---|
+| ROS1 Melodic @ u18.04 | [![Version](https://img.shields.io/ros/v/melodic/mrpt2)](https://index.ros.org/search/?term=mrpt2) |
+| ROS2 Foxy @ u20.04 | [![Version](https://img.shields.io/ros/v/foxy/mrpt2)](https://index.ros.org/search/?term=mrpt2) |
+
+
 ## 4. License
 MRPT is released under the [new BSD license](http://www.mrpt.org/License/).
 

diff --git a/apps/DifOdometry-Datasets/DifOdometry_Datasets.h b/apps/DifOdometry-Datasets/DifOdometry_Datasets.h
@@ -8,7 +8,7 @@
    +------------------------------------------------------------------------+ */
 
 #include <mrpt/config/CConfigFileBase.h>
-#include <mrpt/gui.h>
+#include <mrpt/gui/CDisplayWindow3D.h>
 #include <mrpt/img/CImage.h>
 #include <mrpt/obs/CObservation3DRangeScan.h>
 #include <mrpt/obs/CRawlog.h>

diff --git a/apps/DifOdometry-Datasets/DifOdometry_Datasets_main.cpp b/apps/DifOdometry-Datasets/DifOdometry_Datasets_main.cpp
@@ -8,6 +8,7 @@
    +------------------------------------------------------------------------+ */
 
 #include <mrpt/config/CConfigFile.h>
+#include <mrpt/system/os.h>
 
 #include <chrono>
 #include <thread>

diff --git a/apps/ReactiveNav3D-Demo/ReactiveNav3D_demo.h b/apps/ReactiveNav3D-Demo/ReactiveNav3D_demo.h
@@ -9,7 +9,7 @@
  */
 
 #include <mrpt/core/round.h>
-#include <mrpt/gui.h>
+#include <mrpt/gui/CDisplayWindow3D.h>
 #include <mrpt/kinematics/CVehicleSimul_DiffDriven.h>
 #include <mrpt/maps/COccupancyGridMap2D.h>
 #include <mrpt/math/TLine3D.h>

diff --git a/apps/ReactiveNavigationDemo/reactive_navigator_demoMain.cpp b/apps/ReactiveNavigationDemo/reactive_navigator_demoMain.cpp
@@ -62,7 +62,6 @@ wxBitmap MyArtProvider::CreateBitmap(
 	return wxNullBitmap;
 }
 
-#include <mrpt/gui.h>
 #include <mrpt/nav.h>
 #include <mrpt/opengl.h>
 #include <mrpt/serialization/CArchive.h>

diff --git a/apps/gps2rawlog/gps2rawlog_main.cpp b/apps/gps2rawlog/gps2rawlog_main.cpp
@@ -98,16 +98,14 @@ int main(int argc, char** argv)
 		{
 			gps_if.doProcess();
 
-			CGenericSensor::TListObservations lst_obs;
-			gps_if.getObservations(lst_obs);
+			const auto lst_obs = gps_if.getObservations();
 
 			printf(
 				"%u bytes parsed, %u new observations identified...\n",
 				(unsigned)fil_input->getPosition(), (unsigned)lst_obs.size());
-			for (auto it = lst_obs.begin(); it != lst_obs.end(); ++it)
-			{
-				arch << *it->second;
-			}
+
+			for (const auto& kv : lst_obs)
+				arch << *kv.second;
 		}
 
 		// successful end of program.

diff --git a/apps/graph-slam/display_graph.cpp b/apps/graph-slam/display_graph.cpp
@@ -8,8 +8,7 @@
    +------------------------------------------------------------------------+ */
 
 #include <mrpt/graphs.h>
-//#include <mrpt/graphslam/levmarq.h>
-#include <mrpt/gui.h>
+#include <mrpt/gui/CDisplayWindow3D.h>
 #include <mrpt/opengl/CGridPlaneXY.h>
 #include <mrpt/opengl/CPointCloud.h>
 #include <mrpt/opengl/CSetOfLines.h>

diff --git a/apps/graph-slam/graph-slam_main.cpp b/apps/graph-slam/graph-slam_main.cpp
@@ -19,7 +19,7 @@
 #include <mrpt/3rdparty/tclap/CmdLine.h>
 #include <mrpt/graphs.h>
 #include <mrpt/graphslam/levmarq.h>
-#include <mrpt/gui.h>
+#include <mrpt/system/datetime.h>
 
 using namespace mrpt;
 using namespace mrpt::graphslam;

diff --git a/apps/hmt-slam-gui/CDlgLog.cpp b/apps/hmt-slam-gui/CDlgLog.cpp
diff --git a/apps/hmt-slam-gui/CDlgLog.h b/apps/hmt-slam-gui/CDlgLog.h
diff --git a/apps/hmt-slam-gui/CMakeLists.txt b/apps/hmt-slam-gui/CMakeLists.txt