YMC library for Melodic (#2135)

* Replace library to -fPIC compiled binary (x86/aarch64) (cherry picked from commit 849f623) * Added melodic support * Fix typo in CMake file
autowarefoundation · Mar 26, 2019 · b2ab456 · b2ab456
1 parent 2c25f07
commit b2ab456
Show file tree

Hide file tree

Showing 5 changed files with 55 additions and 66 deletions.
diff --git a/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt b/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt
@@ -1,70 +1,59 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(ymc)
 
-if($ENV{ROS_DISTRO} STRLESS "melodic")
-  set(CMAKE_CXX_FLAGS "-Wall ${CMAKE_CXX_FLAGS}")
 
-  find_package(autoware_build_flags REQUIRED)
-
-  find_package(autoware_msgs REQUIRED)
-
-  find_package(
-    catkin REQUIRED COMPONENTS
-    roscpp
-    geometry_msgs
-    rosconsole
-    autoware_msgs
-  )
-
-  catkin_package(
-    CATKIN_DEPENDS
-    roscpp
-    geometry_msgs
-    rosconsole
-    autoware_msgs
-  )
-
-  IF ("${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "aarch64")
-    set(LIB_ARCH _aarch64)
-  ELSE ()
-    unset(LIB_ARCH)
-  ENDIF ()
-
-  include_directories(
-    ${autoware_msgs_INCLUDE_DIRS}
-    ${catkin_INCLUDE_DIRS}
-    include
-  )
-
-  IF (CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 5.1)
-    set(LIB_VERSION 2.0) # _GLIBCXX_USE_CXX11_ABI is 1
-  ELSE ()
-    set(LIB_VERSION 1.0) # _GLIBCXX_USE_CXX11_ABI is 0
-  ENDIF ()
-
-  add_executable(g30esli_interface
-    node/g30esli_interface/g30esli_interface.cpp
-  )
-
-  add_dependencies(g30esli_interface
-    ${catkin_EXPORTED_TARGETS}
-  )
-
-  target_link_libraries(g30esli_interface
-    ${catkin_LIBRARIES}
-    ${CMAKE_CURRENT_SOURCE_DIR}/lib/libymc_can_${LIB_VERSION}${LIB_ARCH}.a
-  )
-
-  install(TARGETS g30esli_interface
-          ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-          LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-          RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-
-  install(DIRECTORY launch/
-          DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-          PATTERN ".svn" EXCLUDE)
-else()
-  find_package(catkin REQUIRED)
-  catkin_package()
-  message("ymc package not be built. Only ROS distributions earlier than Melodic are supported (attempted to build for: $ENV{ROS_DISTRO}")
-endif()
+set(CMAKE_CXX_FLAGS "-Wall ${CMAKE_CXX_FLAGS}")
+
+find_package(autoware_build_flags REQUIRED)
+
+find_package(autoware_msgs REQUIRED)
+
+find_package(
+  catkin REQUIRED COMPONENTS
+  roscpp
+  geometry_msgs
+  rosconsole
+  autoware_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+  roscpp
+  geometry_msgs
+  rosconsole
+  autoware_msgs
+)
+
+IF ("${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "aarch64")
+  set(LIB_ARCH _aarch64)
+ELSE ()
+  unset(LIB_ARCH)
+ENDIF ()
+
+include_directories(
+  ${autoware_msgs_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+  include
+)
+
+add_executable(g30esli_interface
+  node/g30esli_interface/g30esli_interface.cpp
+)
+
+add_dependencies(g30esli_interface
+  ${catkin_EXPORTED_TARGETS}
+)
+
+target_link_libraries(g30esli_interface
+  ${catkin_LIBRARIES}
+  ${CMAKE_CURRENT_SOURCE_DIR}/lib/libymc_can${LIB_ARCH}.a
+)
+
+install(TARGETS g30esli_interface
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(DIRECTORY launch/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+        PATTERN ".svn" EXCLUDE)
diff --git a/ros/src/actuation/vehicles/packages/ymc/lib/libymc_can.a b/ros/src/actuation/vehicles/packages/ymc/lib/libymc_can.a
diff --git a/ros/src/actuation/vehicles/packages/ymc/lib/libymc_can_1.0.a b/ros/src/actuation/vehicles/packages/ymc/lib/libymc_can_1.0.a
diff --git a/ros/src/actuation/vehicles/packages/ymc/lib/libymc_can_2.0.a b/ros/src/actuation/vehicles/packages/ymc/lib/libymc_can_2.0.a
diff --git a/...packages/ymc/lib/libymc_can_2.0_aarch64.a → ...les/packages/ymc/lib/libymc_can_aarch64.a b/...packages/ymc/lib/libymc_can_2.0_aarch64.a → ...les/packages/ymc/lib/libymc_can_aarch64.a