Merge pull request #1226 from MRPT/develop

Merge for release 2.4.4

CMakeLists.txt

@@ -34,7 +34,6 @@ if (POLICY CMP0075)
 endif()
 
 if ((NOT IS_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/nanogui/include")
-    OR (NOT IS_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/libfyaml/include")
     OR (NOT IS_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/rplidar_sdk/sdk/sdk")
    )
   message(FATAL_ERROR "git submodules missing! "
@@ -118,8 +117,15 @@ include(cmakemodules/script_select_app_to_build.cmake REQUIRED)		# Build (or not
 
 # Build static or dynamic libs?
 # ===================================================
-# Default: dynamic libraries:
-set(BUILD_SHARED_LIBS ON CACHE BOOL "Build shared libraries (.dll/.so) instead of static ones (.lib/.a)")
+# Default: dynamic libraries (except if building to JavaScript code)
+if ("${CMAKE_SYSTEM_NAME}" STREQUAL "Emscripten")
+	set(_def_value OFF)
+else()
+	set(_def_value ON)
+endif()
+set(BUILD_SHARED_LIBS ${_def_value} CACHE BOOL "Build shared libraries (.dll/.so) instead of static ones (.lib/.a)")
+unset(_def_value)
+
 if(BUILD_SHARED_LIBS)
 	set(CMAKE_MRPT_BUILD_SHARED_LIB "#define MRPT_BUILT_AS_DLL")
 	set(CMAKE_MRPT_BUILD_SHARED_LIB_ONOFF 1)
@@ -128,6 +134,12 @@ else()
 	set(CMAKE_MRPT_BUILD_SHARED_LIB_ONOFF 0)
 endif()
 
+# Only for emscripten: build executables as .html demo pages:
+# =============================================================
+if ("${CMAKE_SYSTEM_NAME}" STREQUAL "Emscripten")
+	set(CMAKE_EXECUTABLE_SUFFIX ".html")
+endif()
+
 # Only for Unix: use pkg-config to find libraries
 # ===================================================
 include(FindPkgConfig OPTIONAL)
@@ -279,6 +291,8 @@ include(cmakemodules/script_wxwidgets.cmake REQUIRED)   # Check for wxWidgets +
 include(cmakemodules/script_xsens.cmake REQUIRED)       # XSens Motion trackers / IMU drivers
 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":
@@ -416,7 +430,7 @@ if (MRPT_COMPILER_IS_CLANG)
 	# Use "modern" C99 ! ;-)
 	set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c99")
 
-	if(NOT APPLE)
+	if(NOT APPLE AND NOT ("${CMAKE_SYSTEM_NAME}" STREQUAL "Emscripten"))
 		# From: https://stackoverflow.com/a/16788372/1631514
 		# I would use the native library for each OS i.e. libstdc++ on GNU/Linux and libc++ on Mac OS X.
 		# libc++ is not 100% complete on GNU/Linux, and there's no real advantage to using it when libstdc++
@@ -609,10 +623,16 @@ add_subdirectory(doc)
 
 #   UNIT TESTS:
 # ----------------------------------------------------------------------------
-set(MRPT_BUILD_TESTING ON CACHE BOOL "Build MRPT tests")
+if (DEFINED BUILD_TESTING)
+	set(_def_value ${BUILD_TESTING})
+else()
+	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

README.md

@@ -53,73 +53,35 @@ See [this PPA](https://launchpad.net/~joseluisblancoc/+archive/ubuntu/mrpt) for
 
         sudo add-apt-repository ppa:joseluisblancoc/mrpt   # develop branch
         #sudo add-apt-repository ppa:joseluisblancoc/mrpt-stable   # master (stable releases) branch
-        #sudo apt update # Only required for Ubuntu 16.04
         sudo apt install libmrpt-dev mrpt-apps
 
 Supported distributions:
-  * Ubuntu 20.04 LTS (Focal), Ubuntu 18.04 LTS (Bionic), 18.10 (Cosmic), 19.10 (Eoan)
-  * Ubuntu 16.04 LTS Xenial (EOL: April 2021)
-  	* Using 16.04 requires installing gcc-7 due to some bugs in gcc-5:
-
-          add-apt-repository ppa:ubuntu-toolchain-r/test
-          apt-get update
-          apt-get install -y g++-7
-
+  * Ubuntu 18.04 LTS (Bionic), Ubuntu 20.04 LTS (Focal), or newer.
 
 ### 3.2. Build from sources
 
-Minimum compiler requisites:
-  * gcc-7 or newer.
-    * Ubuntu 16.04LTS Xenial: [Instructions](https://gist.github.com/jlblancoc/99521194aba975286c80f93e47966dc5) for installing gcc-7 in this version of Ubuntu.
-    * Ubuntu 18.04 or newer: default gcc version is ok.
-  * clang-4 or newer.
-  * Windows: Visual Studio 2017 version 15.3 or newer.
-  * cmake >= 3.3 required (>=3.4 for Windows).
-  * Eigen >= 3.3 required.
-
-To build in Debian/Ubuntu follow the steps below. See [full build docs](http://www.mrpt.org/Building_and_Installing_Instructions) online
-for Windows instructions or to learn all the details.
-
-  * Install **minimum** recommended dependencies:
-
-```bash
-sudo apt install build-essential pkg-config cmake libwxgtk3.0-dev libwxgtk3.0-gtk3-dev \
-libopencv-dev libeigen3-dev libgtest-dev
-```
-  MRPT builds against OpenCV 2.4.x, 3.x, 4.x, but it is recommended to use 3.0 or later.
-
+See [build documentation](https://docs.mrpt.org/reference/latest/compiling.html) ([source](doc/source/compiling.rst)).
 
-  * **Recommended**: Install additional dependencies to enable most MRPT features (except ROS bridges):
+### 3.3. Windows precompiled versions
 
-```bash
-sudo apt install libftdi-dev freeglut3-dev zlib1g-dev libusb-1.0-0-dev \
-libudev-dev libfreenect-dev libdc1394-22-dev libavformat-dev libswscale-dev \
-libassimp-dev libjpeg-dev   libsuitesparse-dev libpcap-dev liboctomap-dev \
-libglfw3-dev
-```
+Executables (`.exe`s and `.dll`s) and development libraries (`.h`s and `.lib`s) included:
 
-  * Install additional dependencies for `ros1bridge` using official Ubuntu repositories.
-  If you already have a ROS distribution installed, doing `source /opt/ros/xxx/setup.bash`
-  is enough, no further packages must be installed.
+[Nightly built Windows installer](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
 
-```bash
-sudo apt install libcv-bridge-dev libgeometry-msgs-dev libnav-msgs-dev librosbag-storage-dev libroscpp-dev libsensor-msgs-dev libstd-srvs-dev libstereo-msgs-dev libtf2-dev libtf2-msgs-dev libbz2-dev
-```
+### 3.4. As a ROS1/ROS2 package
 
-  * Build with `cmake` as usual:
+MRPT is also shipped as a ros1 & ros2 package named `mrpt2`, so it can be installed via: 
 
 ```bash
-mkdir build && cd build
-cmake ..
-make
+sudo apt install ros-$ROS_DISTRO-mrpt2
 ```
 
-### 3.3. Windows precompiled versions
-
-Executables (`.exe`s and `.dll`s) and development libraries (`.h`s and `.lib`s) included:
-
-[Nightly built Windows installer](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)
+`mrpt2` status in ROS build farms:
 
+| Distro | `develop` branch  | Stable release |
+|---|---|---|
+| 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/) | [![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 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/) | [![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/) |
 
 ## 4. License
 MRPT is released under the [new BSD license](http://www.mrpt.org/License/).