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MyCode/.catkin_workspace
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# This file currently only serves to mark the location of a catkin workspace for tool integration

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MyCode/.vscode/settings.json vendored
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{
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"cctype": "cpp",
"clocale": "cpp",
"cmath": "cpp",
"cstdarg": "cpp",
"cstddef": "cpp",
"cstdio": "cpp",
"cstdlib": "cpp",
"cstring": "cpp",
"ctime": "cpp",
"cwchar": "cpp",
"cwctype": "cpp",
"array": "cpp",
"atomic": "cpp",
"strstream": "cpp",
"bit": "cpp",
"*.tcc": "cpp",
"bitset": "cpp",
"chrono": "cpp",
"codecvt": "cpp",
"complex": "cpp",
"condition_variable": "cpp",
"cstdint": "cpp",
"deque": "cpp",
"forward_list": "cpp",
"list": "cpp",
"map": "cpp",
"set": "cpp",
"unordered_map": "cpp",
"unordered_set": "cpp",
"vector": "cpp",
"exception": "cpp",
"algorithm": "cpp",
"functional": "cpp",
"iterator": "cpp",
"memory": "cpp",
"memory_resource": "cpp",
"netfwd": "cpp",
"numeric": "cpp",
"optional": "cpp",
"random": "cpp",
"ratio": "cpp",
"string": "cpp",
"string_view": "cpp",
"system_error": "cpp",
"tuple": "cpp",
"type_traits": "cpp",
"utility": "cpp",
"fstream": "cpp",
"initializer_list": "cpp",
"iomanip": "cpp",
"iosfwd": "cpp",
"iostream": "cpp",
"istream": "cpp",
"limits": "cpp",
"mutex": "cpp",
"new": "cpp",
"ostream": "cpp",
"sstream": "cpp",
"stdexcept": "cpp",
"streambuf": "cpp",
"thread": "cpp",
"cfenv": "cpp",
"cinttypes": "cpp",
"typeindex": "cpp",
"typeinfo": "cpp",
"valarray": "cpp",
"variant": "cpp",
"*.ipp": "cpp",
"core": "cpp",
"numericaldiff": "cpp",
"specialfunctions": "cpp",
"sparsecore": "cpp"
}
}

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MyCode/LICENSE
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How to Apply These Terms to Your New Programs
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free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
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Also add information on how to contact you by electronic and paper mail.
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# SG-SLAM
SLAM是智能移动机器人在未知环境中进行状态估计的基本能力之一。然而，大多数视觉SLAM系统**依赖于静态场景的假设**，因此在动态场景中的准确性和鲁棒性严重下降。此外，许多系统构建的度量图**缺乏语义信息**，因此机器人无法在人类的认知水平上理解他们的周围环境。
SG-SLAM是一个基于[ORB-SLAM2](https://github.com/raulmur/ORB_SLAM2)框架的实时RGB-D语义视觉SLAM系统。首先，SG-SLAM增加了两个新的并行线程：一个获取2D语义信息的对象检测线程和一个语义建图线程。然后，在跟踪线程中加入了一个融合语义和几何信息的**快速动态特征剔除算法**。最后，在语义建图线程中生成3D点云和3D语义对象后，它们被发布到ROS系统中进行可视化。
在TUM数据集、波恩数据集和OpenLORIS-Scene数据集进行了实验评估，结果表明SG-SLAM不仅是动态场景中非常实时、准确、鲁棒的系统之一，而且还可以创建直观的语义对象度量地图。
【哔哩哔哩】[系统功能演示视频](https://www.bilibili.com/video/BV1nm4y1y7Ar)
【Youtube】[系统功能演示视频](https://youtu.be/16w_4NRFCdY)
![sg-slam](./doc/sg-slam-system-overview-zh.png)
**图1**. SG-SLAM系统框架。ORB-SLAM2的原始框架以水绿色背景呈现，新（或修改的）功能以红色背景呈现。
<img src="./doc/semantic-object-metric-map-zh.png" style="zoom: 25%;" />
**图2**. tum rgbd dataset fr3/walking_xyz 序列的语义对象度量地图
<img src="./doc/octomap-zh.png" style="zoom: 15%;" />
**图3**. tum rgbd dataset fr3/long office household 序列的八叉树地图
<img src="./doc/realmap-zh.png" style="zoom: 15%;" />
**图**4. 实际运行效果图
**系统特点 :**
- 基于ORB-SLAM2, NCNN, ROS, etc.
- 实时 (如果NCNN配置好GPU CUDA加速的话)
- 较其他同类工作（可能更）容易配置和部署
- ...
## 1. License
SG-SLAM 基于协议 [GPLv3 license](https://github.com/silencht/SG-SLAM/blob/main/LICENSE).
论文可在此处下载（或本仓库doc） [IEEE Xplore](https://ieeexplore.ieee.org/abstract/document/9978699/).
如果是学术使用, 请引用（BibTex）:
```
@ARTICLE{9978699,
author={Cheng, Shuhong and Sun, Changhe and Zhang, Shijun and Zhang, Dianfan},
journal={IEEE Transactions on Instrumentation and Measurement},
title={SG-SLAM: A Real-Time RGB-D Visual SLAM Toward Dynamic Scenes With Semantic and Geometric Information},
year={2023},
volume={72},
number={},
pages={1-12},
doi={10.1109/TIM.2022.3228006}}
```
## 2. 编译配置 SG-SLAM
```bash
#最基本的
sudo apt-get update
sudo apt install git
sudo apt install cmake
sudo apt install build-essential
sudo apt vim
#test
git --version
gcc --version
g++ --version
cmake --version
#Pangolin
sudo apt install libglew-dev
sudo apt install libboost-dev libboost-thread-dev libboost-filesystem-dev
sudo apt install libpython2.7-dev
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin/
git checkout v0.5
mkdir build
cd build
cmake ..
make -j4
sudo make install
#OpenCV,可参考https://docs.opencv.org/3.4.15/d7/d9f/tutorial_linux_install.html
sudo apt install libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
git clone https://github.com/opencv/opencv.git
cd opencv/
git checkout 3.4.15
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
sudo make install
#test
pkg-config opencv --modversion
#Eigen
git clone https://gitlab.com/libeigen/eigen.git
cd eigen/
git checkout 3.1.0
mkdir build
cd build
cmake ..
sudo make install
#test
cat /usr/local/include/eigen3/Eigen/src/Core/util/Macros.h
#Compile orb-slam2 with build.sh,and now orbslam2 can perform well
#ROS
#中国大陆可换源,resource(http://wiki.ros.org/ROS/Installation/UbuntuMirrors)
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
#Set up keys
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
#this ros below is for ubuntu 18.04
sudo apt install ros-melodic-desktop-full
#环境变量配置
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
#依赖安装
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
#初始化rosdep.遇到错误可参考该文章,https://zhuanlan.zhihu.com/p/397966333
sudo apt install python-rosdep
sudo rosdep init
rosdep update
#test
roscore
#PCL,and pcl-tools(可选)
sudo apt install libpcl-dev pcl-tools
#Octomap,and octovis(可选)
sudo apt install liboctomap-dev octovis
sudo apt install ros-melodic-octomap ros-melodic-octomap-mapping ros-melodic-octomap-msgs ros-melodic-octomap-ros ros-melodic-octomap-rviz-plugins
#SG-SLAM
git clone https://github.com/silencht/SG-SLAM
#编译第三方库：DBoW2、g2o、ncnn
cd SG-SLAM/src/sg-slam/
./ThirdpartyBuild.sh
#如何完整编译安装ncnn? 请参考ncnn仓库的README中的HowTo （https://github.com/Tencent/ncnn/README.md）
#安装完英伟达显卡驱动,vulkan and etc., 编译并安装ncnn
#如果出现编译错误，-DNCNN_DISABLE_RTTI=OFF (https://github.com/Tencent/ncnn/issues/2665)
cd SG-SLAM/src/sg-slam/Thirdparty/ncnn/
mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=../toolchains/host.gcc.toolchain.cmake -DNCNN_DISABLE_RTTI=OFF ..
#j后面的数字4可根据自己的CPU线程相应变大，进而提高编译速度
make -j4
sudo make install
#修改 SG-SLAM/src/sg-slam/CMakeLists.txt 中的路径，将该路径设置为你自己系统中的ncnn路径，提醒：该路径下包含ncnnConfig.cmake文件
#set(ncnn_DIR "there,replace with your path/SG-SLAM/src/sg-slam/Thirdparty/ncnn/build/install/lib/cmake/ncnn" CACHE PATH "Directory that contains ncnnConfig.cmake")
#初始化 ROS 工作空间然后依次编译各个功能包
#第一个包功能是将自己相机输出的ROS和OpenCV的话题消息格式转换
#第二个包功能是提供一系列图像几何处理方法
#第三个包功能是负责接收sg-slam发布的3D点云,将之转化为八叉树地图
#第四个包是SG-SLAM系统代码
cd SG-SLAM/src
catkin_init_workspace
cd ..
catkin_make --pkg cv_bridge
catkin_make --pkg image_geometry
catkin_make --pkg octomap_server
catkin_make --pkg sg-slam
```
## 3. 运行 SG-SLAM
将 [TUM dataset](https://vision.in.tum.de/data/datasets/rgbd-dataset/download) 数据集下载完成后放入home目录下的Music路径（该路径与 **run_tum_walking_xyz.sh** 文件调用路径一致，也可根据个人喜好随意设置。
```bash
#Runing SG-SLAM
#terminal 1
roscore
#terminal 2 移动到octomap_server功能包下的launch目录下，该目录下有两个launch文件（octomap.launch，transform.launch），运行之。八叉树建图的各功能参数可在此配置
cd your_sg-slam_path/src/octomap_server/launch
roslaunch octomap.launch
#terminal 3，你可以使用我的rviz配置文件（如下命令），它的路径位于your_sg-slam_path/src/sg-slam/Examples/rvizconfig.rviz，这将直接在打开的rviz中订阅一些地图主题。当然，也可以直接打开rviz，然后手动订阅相关话题。
rviz -d your_sg-slam_path/src/sg-slam/Examples/rvizconfig.rviz
#terminal 4，运行tum数据集的walking_xyz序列。另外，也可运行硬件相机，如文件run_astra_pro_camera.sh
cd your_sg-slam_path/src/sg-slam/
./run_tum_walking_xyz.sh
```
## 4. 参考过的仓库
**包括但不限于以下仓库 (排列顺序无意义) : **
- https://github.com/raulmur/ORB_SLAM2
- https://github.com/ivipsourcecode/DS-SLAM
- https://github.com/Ewenwan/ORB_SLAM2_SSD_Semantic
- https://github.com/MRwangmaomao/semantic_slam_nav_ros
- https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map
- https://github.com/abhineet123/ORB_SLAM2
- https://github.com/floatlazer/semantic_slam
- https://github.com/bijustin/YOLO-DynaSLAM
- https://github.com/bijustin/Fast-Dynamic-ORB-SLAM
- https://github.com/halajun/VDO_SLAM
- https://github.com/Quitino/IndoorMapping
- https://github.com/ninedayhx/orb_slam2_ros_dense_map
- https://github.com/lturing/ORB_SLAM3_ROS
- https://github.com/IATBOMSW/ORB-SLAM2_DENSE
- https://github.com/xiaobainixi/ORB-SLAM2_RGBD_DENSE_MAP
- https://github.com/laavanyebahl/3D-Object-Detection-with-Point-Clouds
- ...
## 5. 其他
### 5.1 octomap_server节点
/SG-SLAM/src/octomap_server/launch/octomap.launch
该文件用于启动 octomap_server 节点并配置一些参数。 你可以在这里看到这些参数的含义（http://wiki.ros.org/octomap_server、https://octomap.github.io/）
其中，**param name="resolution"**参数表示octomap的体素分辨率。 参数越小，地图体素分割越精细，分辨率越高。 但是处理时间和计算复杂度也增加了。
**occupancy_min_z** 和 **occupancy_max_z** 参数可以选择性通过z轴范围内的点云。 如果您的相机初始视图与地面平行，您还可以使用 occupancy_min_z 参数来过滤掉地面（一个小的诡计）。 同样，occupancy_min_z 参数可用于过滤出房屋的顶部体素。
**filter_ground**是过滤掉地面的正常算法（不是直接使用occupancy_min_z过滤掉地面的技巧）。 用法可以参考上面的网址。 当然，现在是关闭的。
```xml
<!--
Example launch file for octomap_server mapping:
-->
<launch>
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
<remap from="cloud_in" to="/SG_SLAM/Point_Clouds" />
<param name="frame_id" type="string" value="/map" />
<param name="resolution" value="0.05" />
<param name="sensor_model/hit" value="0.7" />
<param name="sensor_model/miss" value="0.4" />
<param name="sensor_model/max" value="0.99" />
<param name="sensor_model/min" value="0.12" />
<param name="sensor_model/max_range" value="-1.0" />
<param name="height_map" type="bool" value="false" />
<param name="colored_map" type="bool" value="true" />
<param name="latch" type="bool" value="false" />
<param name="occupancy_min_z" type="double" value="-1.5" />
<param name="occupancy_max_z" type="double" value="1.5" />
<param name="filter_ground" type="bool" value="false" />
<param name="base_frame_id" type="string" value="/map" />
<param name="filter_speckles" type="bool" value="true" />
<param name="ground_filter/distance" type="double" value="0.05" />
<param name="ground_filter/angle" type="double" value="0.15" />
<param name="ground_filter/plane_distance" type="double" value="0.05" />
<param name="pointcloud_min_z" type="double" value="-5.0" />
<param name="pointcloud_max_z" type="double" value="5.0" />
</node>
</launch>
```
### 5.2 相机参数yaml文件
SG-SLAM/src/sg-slam/Examples/astra_pro_camera.yaml
SG-SLAM/src/sg-slam/Examples/TUM1.yaml
……
相机配置参数文件新增了以下参数项，后面依次介绍这些参数的作用。
```yaml
PointCloudMapping.is_map_construction_consider_dynamic: 0
PointCloudMapping.camera_valid_depth_Min: 0.5
PointCloudMapping.camera_valid_depth_Max: 5.0
PointCloudMapping.is_octo_semantic_map_construction: 0
PointCloudMapping.Sor_Local_MeanK: 50
PointCloudMapping.Sor_Local_StddevMulThresh: 2.0
PointCloudMapping.Voxel_Local_LeafSize: 0.01
PointCloudMapping.is_global_pc_reconstruction: 1
PointCloudMapping.Sor_Global_MeanK: 50
PointCloudMapping.Sor_Global_StddevMulThresh: 2.0
PointCloudMapping.Voxel_Global_LeafSize: 0.01
Detector3D.Sor_MeanK: 50
Detector3D.Sor_StddevMulThresh: 1.0
Detector3D.Voxel_LeafSize: 0.01
Detector3D.EuclideanClusterTolerance: 0.02
Detector3D.EuclideanClusterMinSize: 1000
Detector3D.EuclideanClusterMaxSize: 30000
Detector3D.DetectSimilarCompareRatio: 0.1
Detector3D.global_pc_update_kf_threshold: 30
Detector2D.detection_confidence_threshold: 0.985
Detector2D.dynamic_detection_confidence_threshold: 0.1
```
- PointCloudMapping.is_map_construction_consider_dynamic
进行octomap或三维点云地图构建时，地图中的动态对象会影响地图构建的质量。当此参数设置为1时，地图构建时将尽可能剔除动态对象（代码实现是剔除行人），即不对动态对象进行建图。如果场景中不存在动态对象类别，可将此参数设置为0。
- PointCloudMapping.camera_valid_depth_Min and PointCloudMapping.camera_valid_depth_Max
RGB-D深度相机因硬件、原理等限制，深度图像的数据存在有效的观测范围限制。这两个参数用来限制深度图像的有效数值范围。可根据相机型号进行调节，此处默认有效范围为0.5米到5米。
- PointCloudMapping.is_octo_semantic_map_construction
是否构建octomap和语义对象度量地图，1代表构建，0是不构建
- PointCloudMapping.Sor_Local_MeanK，PointCloudMapping.Sor_Local_StddevMulThresh and PointCloudMapping.Voxel_Local_LeafSize
如果is_octo_semantic_map_construction设置为1，即构建octomap。这三个参数的作用是对单帧深度图像转换得到的三维点云进行滤波的滤波器设置参数。
以Voxel_Local_LeafSize为例，从System.cc读取yaml配置文件时的代码可以看出，这个参数最终传递给了**PointCloudMapping**类中的Voxel滤镜对象构造函数。这个参数最后传给了**voxel filter object**，也就是深度图转化为3D点云后，对点云进行体素过滤所使用的分辨率。 因为深度图直接转换出来的3D点云数量非常多（640*480），计算负担大，所以需要进行过滤。 voxel filter的分辨率和octomap类似，就是用体素中所有点的重心来近似显示体素中其他点，从而减少计算量。
经过我的测试，在我的设备上一般设置为0.01，计算效率和效果达到了很好的平衡。 可针对个人硬件的不同对参数进行调整。
- PointCloudMapping.is_global_pc_reconstruction
是否进行三维点云地图重建，1是进行，0是不进行。由于地图构建需要不小的计算成本，因此一般建议此参数和PointCloudMapping.is_octo_semantic_map_construction参数不要同时开启。
- PointCloudMapping.Sor_Global_MeanK, PointCloudMapping.Sor_Global_StddevMulThresh and PointCloudMapping.Voxel_Global_LeafSize
这些参数的作用类似于PointCloudMapping.Sor_Local_MeanK等参数。
- Detector3D.Sor_MeanK, Detector3D.Sor_StddevMulThresh and Detector3D.Voxel_LeafSize
这些参数的作用类似PointCloudMapping.Sor_Local_MeanK等参数。它们是获取3D语义对象时，对检测框内的点云团进行滤波处理的参数。下面的欧式聚类设置参数也是为了尽可能准确的提取目标对象的点云团。
- Detector3D.EuclideanClusterTolerance, Detector3D.EuclideanClusterMinSize, Detector3D.EuclideanClusterMaxSize
对对象检测框内的点云进行欧式聚类分割的设置参数。作用是为了尽可能准确的在检测框内的点云团中分割出目标对象的点云团。
- Detector3D.DetectSimilarCompareRatio
求点云团与其目标对象的相似匹配度时，进行筛选的比例参数。作用类似于ORB-SLAM2中进行Bow词袋匹配时的mfNNratio变量。此值越小，筛选就越严格。
- Detector3D.global_pc_update_kf_threshold
实时进行全局三维点云地图滤波和发布等功能十分消耗算力，因此平时只是处理每帧点云并添加到全局地图。只有在系统空闲（缓冲队列中没有新的关键帧）或处理的关键帧数量超过当前阈值参数时才会进行全局点云滤波和发布操作。
- Detector2D.detection_confidence_threshold
检测普通对象时的置信度阈值，只有检测结果高于该阈值时，才认为检测结果可信。该阈值设置过低可能会造成语义对象度量地图检测到错误的目标。设置过高，可能会导致难以获取到一些不易辨别的目标。因此需根据环境进行设置。与当前检测模型有很大的关系。
- Detector2D.dynamic_detection_confidence_threshold
检测动态对象时的置信度阈值，只有检测结果高于该阈值时，才认为检测结果可信。此阈值设置较低的原因，是动态对象对系统跟踪和建图造成的负面影响较大。因此需要尽可能相信动态对象的检测结果。
### 5.3 动态特征剔除算法代码
代码位于Frame.cc，主要在第155行的RmDynamicPointWithSemanticAndGeometry函数中
### 5.4 octomap_server 部分地图“消失”问题
对于上个版本octomap建图时，部分八叉树地图会出现“消失”的问题已经解决（重写了点云和tf等信息的话题发布功能代码）。
具体问题描述可参考：
https://answers.ros.org/question/224488/octomap-decreasing-probabilities-when-obstacle-is-not-there-anymore/
https://answers.ros.org/question/51837/octomap_server-globally-referenced-pointcloud-and-transform/
https://zhuanlan.zhihu.com/p/625190273

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# SG-SLAM
Simultaneous Localization and Mapping (SLAM) is one of the fundamental capabilities for intelligent mobile robots to perform state estimation in unknown environments. However, most visual SLAM systems **rely on the static scene assumption** and consequently have severely reduced accuracy and robustness in dynamic scenes. Moreover, the metric maps constructed by many systems **lack semantic information**, so the robots cannot understand their surroundings at a human cognitive level.
In this paper, we propose SG-SLAM, which is a real-time RGB-D semantic visual SLAM system based on the [ORB-SLAM2](https://github.com/raulmur/ORB_SLAM2) framework. First, SG-SLAM adds two new parallel threads: an object detecting thread to obtain 2D semantic information and a semantic mapping thread. Then, a **fast dynamic feature rejection algorithm combining semantic and geometric information** is added to the tracking thread. Finally, they are published to the ROS system for visualization after generating 3D point clouds and 3D semantic objects in the **semantic mapping thread**.
We performed an experimental evaluation on the TUM dataset, the Bonn dataset, and the OpenLORIS-Scene dataset. The results show that SG-SLAM is not only one of the most real-time, accurate, and robust systems in dynamic scenes, but also allows the creation of intuitive semantic metric maps.
【BiliBili】[VIDEO](https://www.bilibili.com/video/BV1nm4y1y7Ar)
【Youtube】[VIDEO](https://youtu.be/16w_4NRFCdY)
（For the Chinese version, see the README-zh.md file in the directory）
（**中文版本见目录下README-zh.md文件**）
![sg-slam](./doc/sg-slam-system-overview.png)
**Figure1**. Overview of the framework of the SG-SLAM system. The original work of ORB-SLAM2 is presented on an aqua-green background, while **our main new or modified work is presented on a red background**.
<img src="./doc/semantic-object-metric-map.png" style="zoom: 25%;" />
**Figure2**. Semantic object metric map for tum rgbd dataset fr3/walking_xyz sequence
<img src="./doc/octomap.png" style="zoom: 15%;" />
**Figure3**. octo map for tum rgbd dataset fr3/long office household sequence
<img src="./doc/realmap.png" style="zoom: 15%;" />
**Figure4**. Actual effect
**System Features :**
- Based on ORB-SLAM2, NCNN, ROS, etc.
- Fast running (if NCNN is well configured)
- Easy to deploy
- ...
## 1. License
SG-SLAM is released under a [GPLv3 license](https://github.com/silencht/SG-SLAM/blob/main/LICENSE).
Paper is available on [IEEE Xplore](https://ieeexplore.ieee.org/abstract/document/9978699/).
If you use SG-SLAM in an academic work, please cite:
```
S. Cheng, C. Sun, S. Zhang and D. Zhang, "SG-SLAM: A Real-Time RGB-D Visual SLAM toward Dynamic Scenes with Semantic and Geometric Information," in IEEE Transactions on Instrumentation and Measurement, doi: 10.1109/TIM.2022.3228006.
```
## 2. Building SG-SLAM
```bash
#Basic
sudo apt-get update
sudo apt install git
sudo apt install cmake
sudo apt install build-essential
sudo apt vim
#test
git --version
gcc --version
g++ --version
cmake --version
#Pangolin
sudo apt install libglew-dev
sudo apt install libboost-dev libboost-thread-dev libboost-filesystem-dev
sudo apt install libpython2.7-dev
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin/
git checkout v0.5
mkdir build
cd build
cmake ..
make -j4
sudo make install
#OpenCV,refer https://docs.opencv.org/3.4.15/d7/d9f/tutorial_linux_install.html
sudo apt install libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
git clone https://github.com/opencv/opencv.git
cd opencv/
git checkout 3.4.15
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
sudo make install
#test
pkg-config opencv --modversion
#Eigen
git clone https://gitlab.com/libeigen/eigen.git
cd eigen/
git checkout 3.1.0
mkdir build
cd build
cmake ..
sudo make install
#test
cat /usr/local/include/eigen3/Eigen/src/Core/util/Macros.h
#Compile orb-slam2 with build.sh,and now orbslam2 can perform well
#ROS
#For china,first,replace our resource(http://wiki.ros.org/ROS/Installation/UbuntuMirrors)
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
#Set up keys
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
#this ros below is for ubuntu 18.04
sudo apt install ros-melodic-desktop-full
#Environment setup
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
#Dependencies for building packages
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
#Initialize rosdep.If you encounter problems, refer to this article,https://zhuanlan.zhihu.com/p/397966333
sudo apt install python-rosdep
sudo rosdep init
rosdep update
#test
roscore
#PCL,and pcl-tools(optional)
sudo apt install libpcl-dev pcl-tools
#Octomap,and octovis(optional)
sudo apt install liboctomap-dev octovis
sudo apt install ros-melodic-octomap ros-melodic-octomap-mapping ros-melodic-octomap-msgs ros-melodic-octomap-ros ros-melodic-octomap-rviz-plugins
#SG-SLAM
git clone https://github.com/silencht/SG-SLAM
#Build Thirdparty Liarbry
cd SG-SLAM/src/sg-slam/
./ThirdpartyBuild.sh
#How to build ncnn completely? Please refer HowTo in https://github.com/Tencent/ncnn/README.md
#After installing the nvidia driver,vulkan and etc., compile ncnn and install
#-DNCNN_DISABLE_RTTI=OFF (https://github.com/Tencent/ncnn/issues/2665)
cd SG-SLAM/src/sg-slam/Thirdparty/ncnn/
mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=../toolchains/host.gcc.toolchain.cmake -DNCNN_DISABLE_RTTI=OFF ..
make -j4
sudo make install
#Modify the path in SG-SLAM/src/sg-slam/CMakeLists.txt
#set(ncnn_DIR "there,replace with your path/SG-SLAM/src/sg-slam/Thirdparty/ncnn/build/install/lib/cmake/ncnn" CACHE PATH "Directory that contains ncnnConfig.cmake")
#Init ROS workspace and compile package
cd SG-SLAM/src
catkin_init_workspace
cd ..
catkin_make --pkg cv_bridge
catkin_make --pkg image_geometry
catkin_make --pkg octomap_server
catkin_make --pkg sg-slam
```
## 3. Running SG-SLAM
Put the [TUM dataset](https://vision.in.tum.de/data/datasets/rgbd-dataset/download) into the *Music Path* according to the **run_tum_walking_xyz.sh** file (or adjust the script yourself)
```bash
#Runing SG-SLAM
#terminal 1
roscore
#terminal 2
cd your_sg-slam_path/src/octomap_server/launch
roslaunch octomap.launch
#terminal 3，you can use my rviz configuration file（like the command below）, its path is located in your_sg-slam_path/src/sg-slam/Examples/rvizconfig.rviz, This will subscribe to some map-published topics directly in rviz.
#Of course, you can also open rviz directly, and then manually subscribe to the related topic.
rviz -d your_sg-slam_path/src/sg-slam/Examples/rvizconfig.rviz
#terminal 4
cd your_sg-slam_path/src/sg-slam/
./run_tum_walking_xyz.sh
```
## 4. Reference Project
**Including but not limited to the following repositories (In no particular order)**
- https://github.com/raulmur/ORB_SLAM2
- https://github.com/ivipsourcecode/DS-SLAM
- https://github.com/Ewenwan/ORB_SLAM2_SSD_Semantic
- https://github.com/MRwangmaomao/semantic_slam_nav_ros
- https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map
- https://github.com/abhineet123/ORB_SLAM2
- https://github.com/floatlazer/semantic_slam
- https://github.com/bijustin/YOLO-DynaSLAM
- https://github.com/bijustin/Fast-Dynamic-ORB-SLAM
- https://github.com/halajun/VDO_SLAM
- https://github.com/Quitino/IndoorMapping
- https://github.com/ninedayhx/orb_slam2_ros_dense_map
- https://github.com/lturing/ORB_SLAM3_ROS
- https://github.com/IATBOMSW/ORB-SLAM2_DENSE
- https://github.com/xiaobainixi/ORB-SLAM2_RGBD_DENSE_MAP
- https://github.com/laavanyebahl/3D-Object-Detection-with-Point-Clouds
- ...
## 5. Other
### 5.1 octomap_server
/SG-SLAM/src/octomap_server/launch/octomap.launch
This file is used to start the octomap_server node and configure some parameters. You can see what these parameters mean here(http://wiki.ros.org/octomap_server、https://octomap.github.io/)
Among them, the **param name=resolution** parameter indicates the voxel resolution of the octomap. The smaller the parameter, the finer the map voxel segmentation and the higher the resolution. But the processing time and computational complexity also increase.
The **occupancy_min_z** and **occupancy_max_z** parameters can selectively pass through the point cloud within the z-axis range. If your initial camera view is parallel to the ground, you can also use the occupancy_min_z parameter to do a trick to filter out the ground. Similarly, the occupancy_min_z parameter can be used to filter out the top voxels of the house.
**filter_ground** is the normal algorithm for filtering out the ground (not the trick of directly using occupancy_min_z to filter out the ground). Usage can refer to the above URL.
```xml
<!--
Example launch file for octomap_server mapping:
-->
<launch>
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
<remap from="cloud_in" to="/SG_SLAM/Point_Clouds" />
<param name="frame_id" type="string" value="/map" />
<param name="resolution" value="0.05" />
<param name="sensor_model/hit" value="0.7" />
<param name="sensor_model/miss" value="0.4" />
<param name="sensor_model/max" value="0.99" />
<param name="sensor_model/min" value="0.12" />
<param name="sensor_model/max_range" value="-1.0" />
<param name="height_map" type="bool" value="false" />
<param name="colored_map" type="bool" value="true" />
<param name="latch" type="bool" value="false" />
<param name="occupancy_min_z" type="double" value="-1.5" />
<param name="occupancy_max_z" type="double" value="1.5" />
<param name="filter_ground" type="bool" value="false" />
<param name="base_frame_id" type="string" value="/map" />
<param name="filter_speckles" type="bool" value="true" />
<param name="ground_filter/distance" type="double" value="0.05" />
<param name="ground_filter/angle" type="double" value="0.15" />
<param name="ground_filter/plane_distance" type="double" value="0.05" />
<param name="pointcloud_min_z" type="double" value="-5.0" />
<param name="pointcloud_max_z" type="double" value="5.0" />
</node>
</launch>
```
### 5.2 camera.yaml
SG-SLAM/src/sg-slam/Examples/astra_pro_camera.yaml
SG-SLAM/src/sg-slam/Examples/TUM1.yaml
……
The following parameter items have been newly added to the imager configuration parameters file, and the roles of these parameters are described in turn later.
```yaml
%YAML:1.0
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 575.520619
Camera.fy: 575.994771
…………omitted here
#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.05
…………omitted above
PointCloudMapping.is_map_construction_consider_dynamic: 0
PointCloudMapping.camera_valid_depth_Min: 0.5
PointCloudMapping.camera_valid_depth_Max: 5.0
PointCloudMapping.is_octo_semantic_map_construction: 0
PointCloudMapping.Sor_Local_MeanK: 50
PointCloudMapping.Sor_Local_StddevMulThresh: 2.0
PointCloudMapping.Voxel_Local_LeafSize: 0.01
PointCloudMapping.is_global_pc_reconstruction: 1
PointCloudMapping.Sor_Global_MeanK: 50
PointCloudMapping.Sor_Global_StddevMulThresh: 2.0
PointCloudMapping.Voxel_Global_LeafSize: 0.01
Detector3D.Sor_MeanK: 50
Detector3D.Sor_StddevMulThresh: 1.0
Detector3D.Voxel_LeafSize: 0.01
Detector3D.EuclideanClusterTolerance: 0.02
Detector3D.EuclideanClusterMinSize: 1000
Detector3D.EuclideanClusterMaxSize: 30000
Detector3D.DetectSimilarCompareRatio: 0.1
Detector3D.global_pc_update_kf_threshold: 30
Detector2D.detection_confidence_threshold: 0.985
Detector2D.dynamic_detection_confidence_threshold: 0.1
```
- PointCloudMapping.is_map_construction_consider_dynamic
When performing octomap or 3D point cloud map builds, dynamic objects in the map can affect the quality of the map build. When this parameter is set to 1, the map will be built with dynamic objects excluded as much as possible (the code implementation is to exclude pedestrians), i.e., no dynamic objects will be built in map. If there is no dynamic object class in scenes, this parameter can be set to 0.
- PointCloudMapping.camera_valid_depth_Min and PointCloudMapping.camera_valid_depth_Max
RGB-D depth cameras have effective observation range limits for depth image data due to hardware and principle limitations. These two parameters are used to limit the effective value range of the depth image. They can be adjusted according to the camera model, and the default effective range here is 0.5 m to 5 m.
- PointCloudMapping.is_octo_semantic_map_construction
Whether to build octomap and semantic object metric map, 1 is to build, 0 is not to build.
- PointCloudMapping.Sor_Local_MeanK，PointCloudMapping.Sor_Local_StddevMulThresh and PointCloudMapping.Voxel_Local_LeafSize
If is_octo_semantic_map_construction is set to 1, namely, octomap will be constructed. these three parameters function as filter setting parameters for filtering the 3D point cloud obtained from the camera depth image conversion.
Take Voxel_Local_LeafSize as an example :
It can be seen from the code when System.cc reads the yaml configuration file that this parameter is finally passed to the Voxel filter object constructor in the **PointCloudMapping** class.
This parameter is finally passed to the **voxel filter object**, which is the resolution used for voxel filtering on the point cloud after the depth map is transformed into a 3D point cloud. Because the number of 3D point clouds directly converted from the depth map is large (640*480), the calculation burden is heavy, so filtering is performed. The resolution of the voxel filter is similar to that of the octomap, that is, the centroid of the same position is replaced, so that the amount of calculation is reduced.
After my test, it is generally set to 0.01 on my device, and the calculation efficiency and effect have reached a good balance. Adjustable to individual hardware.
- PointCloudMapping.is_global_pc_reconstruction
Whether to perform 3D point cloud map reconstruction, 1 is to do it, 0 is not to do it. Since map construction requires a significant computational cost, it is generally recommended that this parameter and the PointCloudMapping.is_octo_semantic_map_construction parameter not be turned on at the same time.
- PointCloudMapping.Sor_Global_MeanK, PointCloudMapping.Sor_Global_StddevMulThresh and PointCloudMapping.Voxel_Global_LeafSize
these parameters work similarly to parameters like PointCloudMapping.Sor_Local_MeanK.
- Detector3D.Sor_MeanK, Detector3D.Sor_StddevMulThresh and Detector3D.Voxel_LeafSize
These parameters act similar to parameters like PointCloudMapping.Sor_Local_MeanK. They are the parameters for filtering the point cloud clusters in the detection frame when acquiring 3D semantic objects. The following parameters of the Euclidean clustering settings are also used to extract the point cloud clusters of the target objects as accurately as possible.
- Detector3D.EuclideanClusterTolerance, Detector3D.EuclideanClusterMinSize, Detector3D.EuclideanClusterMaxSize
The setting parameters for Euclidean clustering segmentation of the point clouds in the object detection boundingbox. The purpose is to segment the point cloud of the target object among the point clouds in the detection frame as accurately as possible.
- Detector3D.DetectSimilarCompareRatio
The ratio parameter for filtering when finding the similarity match between a point cloud cluster and its target object. The effect is similar to that of the **mfNNratio** variable when performing bag-of-words matching in ORB-SLAM2. The smaller this value is, the more stringent the screening is.
- Detector3D.global_pc_update_kf_threshold
Functions such as global 3D point cloud map filtering and publishing in real time are very computationally intensive, so normally only each frame of the point cloud is processed and added to the global map. Only when the system is idle (no new keyframes in the buffer queue) or when the number of processed keyframes exceeds the current threshold parameter will the global point cloud filtering and publishing operations be performed.
- Detector2D.detection_confidence_threshold
A confidence threshold for detecting common objects, and a detection result is considered credible only if it is higher than this threshold. A low setting of this threshold may cause the semantic object metric map to detect the wrong target. Setting it too high may result in difficulty in acquiring some targets that are not easily discernible. Therefore it needs to be set according to the environment. There is a strong relationship with the current detection model.
- Detector2D.dynamic_detection_confidence_threshold
Confidence threshold when detecting dynamic objects, and the detection result is considered credible only if it is higher than this threshold. The reason for this threshold being set low is that dynamic objects have a greater negative impact on system tracking and map building. Therefore the detection results of dynamic objects need to be trusted as much as possible.
### 5.3 dynamic feature processing code
The code is located in the **RmDynamicPointWithSemanticAndGeometry** function of Frame.cc
### 5.4 octomap_server partial map "disappearance" problem
The problem that some octree maps would "disappear" when Octomap built a map in the last version has been solved (rewritten the code of topic publishing function for point cloud and tf information).
Specific problem descriptions can be found at,
https://answers.ros.org/question/224488/octomap-decreasing-probabilities-when-obstacle-is-not-there-anymore/
https://answers.ros.org/question/51837/octomap_server-globally-referenced-pointcloud-and-transform/
https://zhuanlan.zhihu.com/p/625190273

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#!/usr/bin/python2
# -*- coding: utf-8 -*-
# Software License Agreement (BSD License)
#
# Copyright (c) 2012, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
from __future__ import print_function
import argparse
import copy
import errno
import os
import platform
import sys
CATKIN_MARKER_FILE = '.catkin'
system = platform.system()
IS_DARWIN = (system == 'Darwin')
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# since Windows finds dll's via the PATH variable, prepend it with path to lib
PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
# subfolder of workspace prepended to CMAKE_PREFIX_PATH
ENV_VAR_SUBFOLDERS = {
'CMAKE_PREFIX_PATH': '',
'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
'PATH': PATH_TO_ADD_SUFFIX,
'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
'PYTHONPATH': 'lib/python2.7/dist-packages',
}
def rollback_env_variables(environ, env_var_subfolders):
"""
Generate shell code to reset environment variables.
by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
This does not cover modifications performed by environment hooks.
"""
lines = []
unmodified_environ = copy.copy(environ)
for key in sorted(env_var_subfolders.keys()):
subfolders = env_var_subfolders[key]
if not isinstance(subfolders, list):
subfolders = [subfolders]
value = _rollback_env_variable(unmodified_environ, key, subfolders)
if value is not None:
environ[key] = value
lines.append(assignment(key, value))
if lines:
lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
return lines
def _rollback_env_variable(environ, name, subfolders):
"""
For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
:param subfolders: list of str '' or subfoldername that may start with '/'
:returns: the updated value of the environment variable.
"""
value = environ[name] if name in environ else ''
env_paths = [path for path in value.split(os.pathsep) if path]
value_modified = False
for subfolder in subfolders:
if subfolder:
if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
subfolder = subfolder[1:]
if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
subfolder = subfolder[:-1]
for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
path_to_remove = None
for env_path in env_paths:
env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
if env_path_clean == path_to_find:
path_to_remove = env_path
break
if path_to_remove:
env_paths.remove(path_to_remove)
value_modified = True
new_value = os.pathsep.join(env_paths)
return new_value if value_modified else None
def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
"""
Based on CMAKE_PREFIX_PATH return all catkin workspaces.
:param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
"""
# get all cmake prefix paths
env_name = 'CMAKE_PREFIX_PATH'
value = environ[env_name] if env_name in environ else ''
paths = [path for path in value.split(os.pathsep) if path]
# remove non-workspace paths
workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
return workspaces
def prepend_env_variables(environ, env_var_subfolders, workspaces):
"""Generate shell code to prepend environment variables for the all workspaces."""
lines = []
lines.append(comment('prepend folders of workspaces to environment variables'))
paths = [path for path in workspaces.split(os.pathsep) if path]
prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
subfolder = env_var_subfolders[key]
prefix = _prefix_env_variable(environ, key, paths, subfolder)
lines.append(prepend(environ, key, prefix))
return lines
def _prefix_env_variable(environ, name, paths, subfolders):
"""
Return the prefix to prepend to the environment variable NAME.
Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
"""
value = environ[name] if name in environ else ''
environ_paths = [path for path in value.split(os.pathsep) if path]
checked_paths = []
for path in paths:
if not isinstance(subfolders, list):
subfolders = [subfolders]
for subfolder in subfolders:
path_tmp = path
if subfolder:
path_tmp = os.path.join(path_tmp, subfolder)
# skip nonexistent paths
if not os.path.exists(path_tmp):
continue
# exclude any path already in env and any path we already added
if path_tmp not in environ_paths and path_tmp not in checked_paths:
checked_paths.append(path_tmp)
prefix_str = os.pathsep.join(checked_paths)
if prefix_str != '' and environ_paths:
prefix_str += os.pathsep
return prefix_str
def assignment(key, value):
if not IS_WINDOWS:
return 'export %s="%s"' % (key, value)
else:
return 'set %s=%s' % (key, value)
def comment(msg):
if not IS_WINDOWS:
return '# %s' % msg
else:
return 'REM %s' % msg
def prepend(environ, key, prefix):
if key not in environ or not environ[key]:
return assignment(key, prefix)
if not IS_WINDOWS:
return 'export %s="%s$%s"' % (key, prefix, key)
else:
return 'set %s=%s%%%s%%' % (key, prefix, key)
def find_env_hooks(environ, cmake_prefix_path):
"""Generate shell code with found environment hooks for the all workspaces."""
lines = []
lines.append(comment('found environment hooks in workspaces'))
generic_env_hooks = []
generic_env_hooks_workspace = []
specific_env_hooks = []
specific_env_hooks_workspace = []
generic_env_hooks_by_filename = {}
specific_env_hooks_by_filename = {}
generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
# remove non-workspace paths
workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
for workspace in reversed(workspaces):
env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
if os.path.isdir(env_hook_dir):
for filename in sorted(os.listdir(env_hook_dir)):
if filename.endswith('.%s' % generic_env_hook_ext):
# remove previous env hook with same name if present
if filename in generic_env_hooks_by_filename:
i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
generic_env_hooks.pop(i)
generic_env_hooks_workspace.pop(i)
# append env hook
generic_env_hooks.append(os.path.join(env_hook_dir, filename))
generic_env_hooks_workspace.append(workspace)
generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
# remove previous env hook with same name if present
if filename in specific_env_hooks_by_filename:
i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
specific_env_hooks.pop(i)
specific_env_hooks_workspace.pop(i)
# append env hook
specific_env_hooks.append(os.path.join(env_hook_dir, filename))
specific_env_hooks_workspace.append(workspace)
specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
env_hooks = generic_env_hooks + specific_env_hooks
env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
count = len(env_hooks)
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
for i in range(count):
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
return lines
def _parse_arguments(args=None):
parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
return parser.parse_known_args(args=args)[0]
if __name__ == '__main__':
try:
try:
args = _parse_arguments()
except Exception as e:
print(e, file=sys.stderr)
sys.exit(1)
if not args.local:
# environment at generation time
CMAKE_PREFIX_PATH = r'/opt/ros/melodic'.split(';')
else:
# don't consider any other prefix path than this one
CMAKE_PREFIX_PATH = []
# prepend current workspace if not already part of CPP
base_path = os.path.dirname(__file__)
# CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
# base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
if os.path.sep != '/':
base_path = base_path.replace(os.path.sep, '/')
if base_path not in CMAKE_PREFIX_PATH:
CMAKE_PREFIX_PATH.insert(0, base_path)
CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
environ = dict(os.environ)
lines = []
if not args.extend:
lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
print('\n'.join(lines))
# need to explicitly flush the output
sys.stdout.flush()
except IOError as e:
# and catch potential "broken pipe" if stdout is not writable
# which can happen when piping the output to a file but the disk is full
if e.errno == errno.EPIPE:
print(e, file=sys.stderr)
sys.exit(2)
raise
sys.exit(0)

16
MyCode/build/atomic_configure/env.sh
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@ -1,16 +0,0 @@
#!/usr/bin/env sh
# generated from catkin/cmake/templates/env.sh.in
if [ $# -eq 0 ] ; then
/bin/echo "Usage: env.sh COMMANDS"
/bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
exit 1
fi
# ensure to not use different shell type which was set before
CATKIN_SHELL=sh
# source setup.sh from same directory as this file
_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
. "$_CATKIN_SETUP_DIR/setup.sh"
exec "$@"

8
MyCode/build/atomic_configure/local_setup.bash
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@ -1,8 +0,0 @@
#!/usr/bin/env bash
# generated from catkin/cmake/templates/local_setup.bash.in
CATKIN_SHELL=bash
# source setup.sh from same directory as this file
_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local

9
MyCode/build/atomic_configure/local_setup.sh
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@ -1,9 +0,0 @@
#!/usr/bin/env sh
# generated from catkin/cmake/template/local_setup.sh.in
# since this file is sourced either use the provided _CATKIN_SETUP_DIR
# or fall back to the destination set at configure time
: ${_CATKIN_SETUP_DIR:=/home/test/My/devel}
CATKIN_SETUP_UTIL_ARGS="--extend --local"
. "$_CATKIN_SETUP_DIR/setup.sh"
unset CATKIN_SETUP_UTIL_ARGS

8
MyCode/build/atomic_configure/local_setup.zsh
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@ -1,8 +0,0 @@
#!/usr/bin/env zsh
# generated from catkin/cmake/templates/local_setup.zsh.in
CATKIN_SHELL=zsh
# source setup.sh from same directory as this file
_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'

8
MyCode/build/atomic_configure/setup.bash
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@ -1,8 +0,0 @@
#!/usr/bin/env bash
# generated from catkin/cmake/templates/setup.bash.in
CATKIN_SHELL=bash
# source setup.sh from same directory as this file
_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
. "$_CATKIN_SETUP_DIR/setup.sh"

96
MyCode/build/atomic_configure/setup.sh
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@ -1,96 +0,0 @@
#!/usr/bin/env sh
# generated from catkin/cmake/template/setup.sh.in
# Sets various environment variables and sources additional environment hooks.
# It tries it's best to undo changes from a previously sourced setup file before.
# Supported command line options:
# --extend: skips the undoing of changes from a previously sourced setup file
# --local: only considers this workspace but not the chained ones
# In plain sh shell which doesn't support arguments for sourced scripts you can
# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
# since this file is sourced either use the provided _CATKIN_SETUP_DIR
# or fall back to the destination set at configure time
: ${_CATKIN_SETUP_DIR:=/home/test/My/devel}
_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
unset _CATKIN_SETUP_DIR
if [ ! -f "$_SETUP_UTIL" ]; then
echo "Missing Python script: $_SETUP_UTIL"
return 22
fi
# detect if running on Darwin platform
_UNAME=`uname -s`
_IS_DARWIN=0
if [ "$_UNAME" = "Darwin" ]; then
_IS_DARWIN=1
fi
unset _UNAME
# make sure to export all environment variables
export CMAKE_PREFIX_PATH
if [ $_IS_DARWIN -eq 0 ]; then
export LD_LIBRARY_PATH
else
export DYLD_LIBRARY_PATH
fi
unset _IS_DARWIN
export PATH
export PKG_CONFIG_PATH
export PYTHONPATH
# remember type of shell if not already set
if [ -z "$CATKIN_SHELL" ]; then
CATKIN_SHELL=sh
fi
# invoke Python script to generate necessary exports of environment variables
# use TMPDIR if it exists, otherwise fall back to /tmp
if [ -d "${TMPDIR:-}" ]; then
_TMPDIR="${TMPDIR}"
else
_TMPDIR=/tmp
fi
_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
unset _TMPDIR
if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
echo "Could not create temporary file: $_SETUP_TMP"
return 1
fi
CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
_RC=$?
if [ $_RC -ne 0 ]; then
if [ $_RC -eq 2 ]; then
echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
else
echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
fi
unset _RC
unset _SETUP_UTIL
rm -f "$_SETUP_TMP"
unset _SETUP_TMP
return 1
fi
unset _RC
unset _SETUP_UTIL
. "$_SETUP_TMP"
rm -f "$_SETUP_TMP"
unset _SETUP_TMP
# source all environment hooks
_i=0
while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
unset _CATKIN_ENVIRONMENT_HOOKS_$_i
eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
# set workspace for environment hook
CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
. "$_envfile"
unset CATKIN_ENV_HOOK_WORKSPACE
_i=$((_i + 1))
done
unset _i
unset _CATKIN_ENVIRONMENT_HOOKS_COUNT

8
MyCode/build/atomic_configure/setup.zsh
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@ -1,8 +0,0 @@
#!/usr/bin/env zsh
# generated from catkin/cmake/templates/setup.zsh.in
CATKIN_SHELL=zsh
# source setup.sh from same directory as this file
_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'

24
MyCode/build/catkin/catkin_generated/version/package.cmake
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@ -1,24 +0,0 @@
set(_CATKIN_CURRENT_PACKAGE "catkin")
set(catkin_VERSION "0.7.29")
set(catkin_MAINTAINER "Dirk Thomas <dthomas@osrfoundation.org>")
set(catkin_PACKAGE_FORMAT "3")
set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools")
set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools")
set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose")
set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose")
set(catkin_DOC_DEPENDS )
set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin")
set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues")
set(catkin_URL_REPOSITORY "https://github.com/ros/catkin")
set(catkin_DEPRECATED "")

16
MyCode/build/catkin_generated/env_cached.sh
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@ -1,16 +0,0 @@
#!/usr/bin/env sh
# generated from catkin/cmake/templates/env.sh.in
if [ $# -eq 0 ] ; then
/bin/echo "Usage: env.sh COMMANDS"
/bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
exit 1
fi
# ensure to not use different shell type which was set before
CATKIN_SHELL=sh
# source setup_cached.sh from same directory as this file
_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
. "$_CATKIN_SETUP_DIR/setup_cached.sh"
exec "$@"

30
MyCode/build/catkin_generated/generate_cached_setup.py
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@ -1,30 +0,0 @@
# -*- coding: utf-8 -*-
from __future__ import print_function
import os
import stat
import sys
# find the import for catkin's python package - either from source space or from an installed underlay
if os.path.exists(os.path.join('/opt/ros/melodic/share/catkin/cmake', 'catkinConfig.cmake.in')):
sys.path.insert(0, os.path.join('/opt/ros/melodic/share/catkin/cmake', '..', 'python'))
try:
from catkin.environment_cache import generate_environment_script
except ImportError:
# search for catkin package in all workspaces and prepend to path
for workspace in '/opt/ros/melodic'.split(';'):
python_path = os.path.join(workspace, 'lib/python2.7/dist-packages')
if os.path.isdir(os.path.join(python_path, 'catkin')):
sys.path.insert(0, python_path)
break
from catkin.environment_cache import generate_environment_script
code = generate_environment_script('/home/test/My/devel/env.sh')
output_filename = '/home/test/My/build/catkin_generated/setup_cached.sh'
with open(output_filename, 'w') as f:
# print('Generate script for cached setup "%s"' % output_filename)
f.write('\n'.join(code))
mode = os.stat(output_filename).st_mode
os.chmod(output_filename, mode | stat.S_IXUSR)

2
MyCode/build/catkin_generated/installspace/.rosinstall
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@ -1,2 +0,0 @@
- setup-file:
local-name: /home/test/My/install/setup.sh

304
MyCode/build/catkin_generated/installspace/_setup_util.py
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@ -1,304 +0,0 @@
#!/usr/bin/python2
# -*- coding: utf-8 -*-
# Software License Agreement (BSD License)
#
# Copyright (c) 2012, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
from __future__ import print_function
import argparse
import copy
import errno
import os
import platform
import sys
CATKIN_MARKER_FILE = '.catkin'
system = platform.system()
IS_DARWIN = (system == 'Darwin')
IS_WINDOWS = (system == 'Windows')
PATH_TO_ADD_SUFFIX = ['bin']
if IS_WINDOWS:
# while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
# since Windows finds dll's via the PATH variable, prepend it with path to lib
PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
# subfolder of workspace prepended to CMAKE_PREFIX_PATH
ENV_VAR_SUBFOLDERS = {
'CMAKE_PREFIX_PATH': '',
'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
'PATH': PATH_TO_ADD_SUFFIX,
'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
'PYTHONPATH': 'lib/python2.7/dist-packages',
}
def rollback_env_variables(environ, env_var_subfolders):
"""
Generate shell code to reset environment variables.
by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
This does not cover modifications performed by environment hooks.
"""
lines = []
unmodified_environ = copy.copy(environ)
for key in sorted(env_var_subfolders.keys()):
subfolders = env_var_subfolders[key]
if not isinstance(subfolders, list):
subfolders = [subfolders]
value = _rollback_env_variable(unmodified_environ, key, subfolders)
if value is not None:
environ[key] = value
lines.append(assignment(key, value))
if lines:
lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
return lines
def _rollback_env_variable(environ, name, subfolders):
"""
For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
:param subfolders: list of str '' or subfoldername that may start with '/'
:returns: the updated value of the environment variable.
"""
value = environ[name] if name in environ else ''
env_paths = [path for path in value.split(os.pathsep) if path]
value_modified = False
for subfolder in subfolders:
if subfolder:
if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
subfolder = subfolder[1:]
if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
subfolder = subfolder[:-1]
for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
path_to_remove = None
for env_path in env_paths:
env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
if env_path_clean == path_to_find:
path_to_remove = env_path
break
if path_to_remove:
env_paths.remove(path_to_remove)
value_modified = True
new_value = os.pathsep.join(env_paths)
return new_value if value_modified else None
def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
"""
Based on CMAKE_PREFIX_PATH return all catkin workspaces.
:param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
"""
# get all cmake prefix paths
env_name = 'CMAKE_PREFIX_PATH'
value = environ[env_name] if env_name in environ else ''
paths = [path for path in value.split(os.pathsep) if path]
# remove non-workspace paths
workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
return workspaces
def prepend_env_variables(environ, env_var_subfolders, workspaces):
"""Generate shell code to prepend environment variables for the all workspaces."""
lines = []
lines.append(comment('prepend folders of workspaces to environment variables'))
paths = [path for path in workspaces.split(os.pathsep) if path]
prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
subfolder = env_var_subfolders[key]
prefix = _prefix_env_variable(environ, key, paths, subfolder)
lines.append(prepend(environ, key, prefix))
return lines
def _prefix_env_variable(environ, name, paths, subfolders):
"""
Return the prefix to prepend to the environment variable NAME.
Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
"""
value = environ[name] if name in environ else ''
environ_paths = [path for path in value.split(os.pathsep) if path]
checked_paths = []
for path in paths:
if not isinstance(subfolders, list):
subfolders = [subfolders]
for subfolder in subfolders:
path_tmp = path
if subfolder:
path_tmp = os.path.join(path_tmp, subfolder)
# skip nonexistent paths
if not os.path.exists(path_tmp):
continue
# exclude any path already in env and any path we already added
if path_tmp not in environ_paths and path_tmp not in checked_paths:
checked_paths.append(path_tmp)
prefix_str = os.pathsep.join(checked_paths)
if prefix_str != '' and environ_paths:
prefix_str += os.pathsep
return prefix_str
def assignment(key, value):
if not IS_WINDOWS:
return 'export %s="%s"' % (key, value)
else:
return 'set %s=%s' % (key, value)
def comment(msg):
if not IS_WINDOWS:
return '# %s' % msg
else:
return 'REM %s' % msg
def prepend(environ, key, prefix):
if key not in environ or not environ[key]:
return assignment(key, prefix)
if not IS_WINDOWS:
return 'export %s="%s$%s"' % (key, prefix, key)
else:
return 'set %s=%s%%%s%%' % (key, prefix, key)
def find_env_hooks(environ, cmake_prefix_path):
"""Generate shell code with found environment hooks for the all workspaces."""
lines = []
lines.append(comment('found environment hooks in workspaces'))
generic_env_hooks = []
generic_env_hooks_workspace = []
specific_env_hooks = []
specific_env_hooks_workspace = []
generic_env_hooks_by_filename = {}
specific_env_hooks_by_filename = {}
generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
# remove non-workspace paths
workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
for workspace in reversed(workspaces):
env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
if os.path.isdir(env_hook_dir):
for filename in sorted(os.listdir(env_hook_dir)):
if filename.endswith('.%s' % generic_env_hook_ext):
# remove previous env hook with same name if present
if filename in generic_env_hooks_by_filename:
i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
generic_env_hooks.pop(i)
generic_env_hooks_workspace.pop(i)
# append env hook
generic_env_hooks.append(os.path.join(env_hook_dir, filename))
generic_env_hooks_workspace.append(workspace)
generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
# remove previous env hook with same name if present
if filename in specific_env_hooks_by_filename:
i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
specific_env_hooks.pop(i)
specific_env_hooks_workspace.pop(i)
# append env hook
specific_env_hooks.append(os.path.join(env_hook_dir, filename))
specific_env_hooks_workspace.append(workspace)
specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
env_hooks = generic_env_hooks + specific_env_hooks
env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
count = len(env_hooks)
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
for i in range(count):
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
return lines
def _parse_arguments(args=None):
parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
return parser.parse_known_args(args=args)[0]
if __name__ == '__main__':
try:
try:
args = _parse_arguments()
except Exception as e:
print(e, file=sys.stderr)
sys.exit(1)
if not args.local:
# environment at generation time
CMAKE_PREFIX_PATH = r'/opt/ros/melodic'.split(';')
else:
# don't consider any other prefix path than this one
CMAKE_PREFIX_PATH = []
# prepend current workspace if not already part of CPP
base_path = os.path.dirname(__file__)
# CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
# base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
if os.path.sep != '/':
base_path = base_path.replace(os.path.sep, '/')
if base_path not in CMAKE_PREFIX_PATH:
CMAKE_PREFIX_PATH.insert(0, base_path)
CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
environ = dict(os.environ)
lines = []
if not args.extend:
lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
print('\n'.join(lines))
# need to explicitly flush the output
sys.stdout.flush()
except IOError as e:
# and catch potential "broken pipe" if stdout is not writable
# which can happen when piping the output to a file but the disk is full
if e.errno == errno.EPIPE:
print(e, file=sys.stderr)
sys.exit(2)
raise
sys.exit(0)

16
MyCode/build/catkin_generated/installspace/env.sh
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@ -1,16 +0,0 @@
#!/usr/bin/env sh
# generated from catkin/cmake/templates/env.sh.in
if [ $# -eq 0 ] ; then
/bin/echo "Usage: env.sh COMMANDS"
/bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
exit 1
fi
# ensure to not use different shell type which was set before
CATKIN_SHELL=sh
# source setup.sh from same directory as this file
_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
. "$_CATKIN_SETUP_DIR/setup.sh"
exec "$@"

8
MyCode/build/catkin_generated/installspace/local_setup.bash
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@ -1,8 +0,0 @@
#!/usr/bin/env bash
# generated from catkin/cmake/templates/local_setup.bash.in
CATKIN_SHELL=bash
# source setup.sh from same directory as this file
_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local

9
MyCode/build/catkin_generated/installspace/local_setup.sh
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@ -1,9 +0,0 @@
#!/usr/bin/env sh
# generated from catkin/cmake/template/local_setup.sh.in
# since this file is sourced either use the provided _CATKIN_SETUP_DIR
# or fall back to the destination set at configure time
: ${_CATKIN_SETUP_DIR:=/home/test/My/install}
CATKIN_SETUP_UTIL_ARGS="--extend --local"
. "$_CATKIN_SETUP_DIR/setup.sh"
unset CATKIN_SETUP_UTIL_ARGS

8
MyCode/build/catkin_generated/installspace/local_setup.zsh
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@ -1,8 +0,0 @@
#!/usr/bin/env zsh
# generated from catkin/cmake/templates/local_setup.zsh.in
CATKIN_SHELL=zsh
# source setup.sh from same directory as this file
_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'

8
MyCode/build/catkin_generated/installspace/setup.bash
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@ -1,8 +0,0 @@
#!/usr/bin/env bash
# generated from catkin/cmake/templates/setup.bash.in
CATKIN_SHELL=bash
# source setup.sh from same directory as this file
_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
. "$_CATKIN_SETUP_DIR/setup.sh"

96
MyCode/build/catkin_generated/installspace/setup.sh
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@ -1,96 +0,0 @@
#!/usr/bin/env sh
# generated from catkin/cmake/template/setup.sh.in
# Sets various environment variables and sources additional environment hooks.
# It tries it's best to undo changes from a previously sourced setup file before.
# Supported command line options:
# --extend: skips the undoing of changes from a previously sourced setup file
# --local: only considers this workspace but not the chained ones
# In plain sh shell which doesn't support arguments for sourced scripts you can
# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
# since this file is sourced either use the provided _CATKIN_SETUP_DIR
# or fall back to the destination set at configure time
: ${_CATKIN_SETUP_DIR:=/home/test/My/install}
_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
unset _CATKIN_SETUP_DIR
if [ ! -f "$_SETUP_UTIL" ]; then
echo "Missing Python script: $_SETUP_UTIL"
return 22
fi
# detect if running on Darwin platform
_UNAME=`uname -s`
_IS_DARWIN=0
if [ "$_UNAME" = "Darwin" ]; then
_IS_DARWIN=1
fi
unset _UNAME
# make sure to export all environment variables
export CMAKE_PREFIX_PATH
if [ $_IS_DARWIN -eq 0 ]; then
export LD_LIBRARY_PATH
else
export DYLD_LIBRARY_PATH
fi
unset _IS_DARWIN
export PATH
export PKG_CONFIG_PATH
export PYTHONPATH
# remember type of shell if not already set
if [ -z "$CATKIN_SHELL" ]; then
CATKIN_SHELL=sh
fi
# invoke Python script to generate necessary exports of environment variables
# use TMPDIR if it exists, otherwise fall back to /tmp
if [ -d "${TMPDIR:-}" ]; then
_TMPDIR="${TMPDIR}"
else
_TMPDIR=/tmp
fi
_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
unset _TMPDIR
if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
echo "Could not create temporary file: $_SETUP_TMP"
return 1
fi
CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
_RC=$?
if [ $_RC -ne 0 ]; then
if [ $_RC -eq 2 ]; then
echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
else
echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
fi
unset _RC
unset _SETUP_UTIL
rm -f "$_SETUP_TMP"
unset _SETUP_TMP
return 1
fi
unset _RC
unset _SETUP_UTIL
. "$_SETUP_TMP"
rm -f "$_SETUP_TMP"
unset _SETUP_TMP
# source all environment hooks
_i=0
while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
unset _CATKIN_ENVIRONMENT_HOOKS_$_i
eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
# set workspace for environment hook
CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
. "$_envfile"
unset CATKIN_ENV_HOOK_WORKSPACE
_i=$((_i + 1))
done
unset _i
unset _CATKIN_ENVIRONMENT_HOOKS_COUNT

8
MyCode/build/catkin_generated/installspace/setup.zsh
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@ -1,8 +0,0 @@
#!/usr/bin/env zsh
# generated from catkin/cmake/templates/setup.zsh.in
CATKIN_SHELL=zsh
# source setup.sh from same directory as this file
_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'

26
MyCode/build/catkin_generated/order_packages.cmake
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@ -1,26 +0,0 @@
# generated from catkin/cmake/em/order_packages.cmake.em
set(CATKIN_ORDERED_PACKAGES "")
set(CATKIN_ORDERED_PACKAGE_PATHS "")
set(CATKIN_ORDERED_PACKAGES_IS_META "")
set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
list(APPEND CATKIN_ORDERED_PACKAGES "cv_bridge")
list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "my_cv_bridge")
list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
list(APPEND CATKIN_ORDERED_PACKAGES "image_geometry")
list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "image_geometry")
list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
list(APPEND CATKIN_ORDERED_PACKAGES "octomap_server")
list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "octomap_server")
list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
list(APPEND CATKIN_ORDERED_PACKAGES "sg-slam")
list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "sg-slam")
list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
set(CATKIN_MESSAGE_GENERATORS )
set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python2.7/dist-packages/catkin_pkg/templates/metapackage.cmake.in")

5
MyCode/build/catkin_generated/order_packages.py
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@ -1,5 +0,0 @@
# generated from catkin/cmake/template/order_packages.context.py.in
source_root_dir = '/home/test/My/src'
whitelisted_packages = ''.split(';') if '' != '' else []
blacklisted_packages = ''.split(';') if '' != '' else []
underlay_workspaces = '/opt/ros/melodic'.split(';') if '/opt/ros/melodic' != '' else []

16
MyCode/build/catkin_generated/setup_cached.sh
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@ -1,16 +0,0 @@
#!/usr/bin/env sh
# generated from catkin/python/catkin/environment_cache.py
# based on a snapshot of the environment before and after calling the setup script
# it emulates the modifications of the setup script without recurring computations
# new environment variables
# modified environment variables
export CMAKE_PREFIX_PATH="/home/test/My/devel:$CMAKE_PREFIX_PATH"
export LD_LIBRARY_PATH="/home/test/My/devel/lib:$LD_LIBRARY_PATH"
export PKG_CONFIG_PATH="/home/test/My/devel/lib/pkgconfig:$PKG_CONFIG_PATH"
export PWD='/home/test/My/build'
export PYTHONPATH="/home/test/My/devel/lib/python2.7/dist-packages:$PYTHONPATH"
export ROSLISP_PACKAGE_DIRECTORIES='/home/test/My/devel/share/common-lisp'
export ROS_PACKAGE_PATH="/home/test/My/src:$ROS_PACKAGE_PATH"

304
MyCode/build/catkin_generated/stamps/Project/_setup_util.py.stamp
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@ -1,304 +0,0 @@
#!/usr/bin/python2
# -*- coding: utf-8 -*-
# Software License Agreement (BSD License)
#
# Copyright (c) 2012, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
from __future__ import print_function
import argparse
import copy
import errno
import os
import platform
import sys
CATKIN_MARKER_FILE = '.catkin'
system = platform.system()
IS_DARWIN = (system == 'Darwin')
IS_WINDOWS = (system == 'Windows')
PATH_TO_ADD_SUFFIX = ['bin']
if IS_WINDOWS:
# while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
# since Windows finds dll's via the PATH variable, prepend it with path to lib
PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
# subfolder of workspace prepended to CMAKE_PREFIX_PATH
ENV_VAR_SUBFOLDERS = {
'CMAKE_PREFIX_PATH': '',
'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
'PATH': PATH_TO_ADD_SUFFIX,
'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
'PYTHONPATH': 'lib/python2.7/dist-packages',
}
def rollback_env_variables(environ, env_var_subfolders):
"""
Generate shell code to reset environment variables.
by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
This does not cover modifications performed by environment hooks.
"""
lines = []
unmodified_environ = copy.copy(environ)
for key in sorted(env_var_subfolders.keys()):
subfolders = env_var_subfolders[key]
if not isinstance(subfolders, list):
subfolders = [subfolders]
value = _rollback_env_variable(unmodified_environ, key, subfolders)
if value is not None:
environ[key] = value
lines.append(assignment(key, value))
if lines:
lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
return lines
def _rollback_env_variable(environ, name, subfolders):
"""
For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
:param subfolders: list of str '' or subfoldername that may start with '/'
:returns: the updated value of the environment variable.
"""
value = environ[name] if name in environ else ''
env_paths = [path for path in value.split(os.pathsep) if path]
value_modified = False
for subfolder in subfolders:
if subfolder:
if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
subfolder = subfolder[1:]
if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
subfolder = subfolder[:-1]
for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
path_to_remove = None
for env_path in env_paths:
env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
if env_path_clean == path_to_find:
path_to_remove = env_path
break
if path_to_remove:
env_paths.remove(path_to_remove)
value_modified = True
new_value = os.pathsep.join(env_paths)
return new_value if value_modified else None
def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
"""
Based on CMAKE_PREFIX_PATH return all catkin workspaces.
:param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
"""
# get all cmake prefix paths
env_name = 'CMAKE_PREFIX_PATH'
value = environ[env_name] if env_name in environ else ''
paths = [path for path in value.split(os.pathsep) if path]
# remove non-workspace paths
workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
return workspaces
def prepend_env_variables(environ, env_var_subfolders, workspaces):
"""Generate shell code to prepend environment variables for the all workspaces."""
lines = []
lines.append(comment('prepend folders of workspaces to environment variables'))
paths = [path for path in workspaces.split(os.pathsep) if path]
prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
subfolder = env_var_subfolders[key]
prefix = _prefix_env_variable(environ, key, paths, subfolder)
lines.append(prepend(environ, key, prefix))
return lines
def _prefix_env_variable(environ, name, paths, subfolders):
"""
Return the prefix to prepend to the environment variable NAME.
Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
"""
value = environ[name] if name in environ else ''
environ_paths = [path for path in value.split(os.pathsep) if path]
checked_paths = []
for path in paths:
if not isinstance(subfolders, list):
subfolders = [subfolders]
for subfolder in subfolders:
path_tmp = path
if subfolder:
path_tmp = os.path.join(path_tmp, subfolder)
# skip nonexistent paths
if not os.path.exists(path_tmp):
continue
# exclude any path already in env and any path we already added
if path_tmp not in environ_paths and path_tmp not in checked_paths:
checked_paths.append(path_tmp)
prefix_str = os.pathsep.join(checked_paths)
if prefix_str != '' and environ_paths:
prefix_str += os.pathsep
return prefix_str
def assignment(key, value):
if not IS_WINDOWS:
return 'export %s="%s"' % (key, value)
else:
return 'set %s=%s' % (key, value)
def comment(msg):
if not IS_WINDOWS:
return '# %s' % msg
else:
return 'REM %s' % msg
def prepend(environ, key, prefix):
if key not in environ or not environ[key]:
return assignment(key, prefix)
if not IS_WINDOWS:
return 'export %s="%s$%s"' % (key, prefix, key)
else:
return 'set %s=%s%%%s%%' % (key, prefix, key)
def find_env_hooks(environ, cmake_prefix_path):
"""Generate shell code with found environment hooks for the all workspaces."""
lines = []
lines.append(comment('found environment hooks in workspaces'))
generic_env_hooks = []
generic_env_hooks_workspace = []
specific_env_hooks = []
specific_env_hooks_workspace = []
generic_env_hooks_by_filename = {}
specific_env_hooks_by_filename = {}
generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
# remove non-workspace paths
workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
for workspace in reversed(workspaces):
env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
if os.path.isdir(env_hook_dir):
for filename in sorted(os.listdir(env_hook_dir)):
if filename.endswith('.%s' % generic_env_hook_ext):
# remove previous env hook with same name if present
if filename in generic_env_hooks_by_filename:
i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
generic_env_hooks.pop(i)
generic_env_hooks_workspace.pop(i)
# append env hook
generic_env_hooks.append(os.path.join(env_hook_dir, filename))
generic_env_hooks_workspace.append(workspace)
generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
# remove previous env hook with same name if present
if filename in specific_env_hooks_by_filename:
i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
specific_env_hooks.pop(i)
specific_env_hooks_workspace.pop(i)
# append env hook
specific_env_hooks.append(os.path.join(env_hook_dir, filename))
specific_env_hooks_workspace.append(workspace)
specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
env_hooks = generic_env_hooks + specific_env_hooks
env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
count = len(env_hooks)
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
for i in range(count):
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
return lines
def _parse_arguments(args=None):
parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
return parser.parse_known_args(args=args)[0]
if __name__ == '__main__':
try:
try:
args = _parse_arguments()
except Exception as e:
print(e, file=sys.stderr)
sys.exit(1)
if not args.local:
# environment at generation time
CMAKE_PREFIX_PATH = r'/opt/ros/melodic'.split(';')
else:
# don't consider any other prefix path than this one
CMAKE_PREFIX_PATH = []
# prepend current workspace if not already part of CPP
base_path = os.path.dirname(__file__)
# CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
# base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
if os.path.sep != '/':
base_path = base_path.replace(os.path.sep, '/')
if base_path not in CMAKE_PREFIX_PATH:
CMAKE_PREFIX_PATH.insert(0, base_path)
CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
environ = dict(os.environ)
lines = []
if not args.extend:
lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
print('\n'.join(lines))
# need to explicitly flush the output
sys.stdout.flush()
except IOError as e:
# and catch potential "broken pipe" if stdout is not writable
# which can happen when piping the output to a file but the disk is full
if e.errno == errno.EPIPE:
print(e, file=sys.stderr)
sys.exit(2)
raise
sys.exit(0)

255
MyCode/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
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@ -1,255 +0,0 @@
# Software License Agreement (BSD License)
#
# Copyright (c) 2012, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
from __future__ import print_function
import os
import runpy
import sys
from argparse import ArgumentParser
setup_modules = []
try:
import distutils.core
setup_modules.append(distutils.core)
except ImportError:
pass
try:
import setuptools
setup_modules.append(setuptools)
except ImportError:
pass
assert setup_modules, 'Must have distutils or setuptools installed'
def _get_locations(pkgs, package_dir):
"""
Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs.
See http://docs.python.org/distutils/setupscript.html
:returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
"""
# package_dir contains a dict {package_name: relativepath}
# Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
#
# '' means where to look for any package unless a parent package
# is listed so package bar.pot is expected at lib2/bar/pot,
# whereas package sup.dee is expected at src/sup/dee
#
# if package_dir does not state anything about a package,
# setuptool expects the package folder to be in the root of the
# project
locations = {}
allprefix = package_dir.get('', '')
for pkg in pkgs:
parent_location = None
splits = pkg.split('.')
# we iterate over compound name from parent to child
# so once we found parent, children just append to their parent
for key_len in range(len(splits)):
key = '.'.join(splits[:key_len + 1])
if key not in locations:
if key in package_dir:
locations[key] = package_dir[key]
elif parent_location is not None:
locations[key] = os.path.join(parent_location, splits[key_len])
else:
locations[key] = os.path.join(allprefix, key)
parent_location = locations[key]
return locations
def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None):
"""
Generate lines to add to a cmake file which will set variables.
:param version: str, format 'int.int.int'
:param scripts: [list of str]: relative paths to scripts
:param package_dir: {modulename: path}
:param pkgs: [list of str] python_packages declared in catkin package
:param modules: [list of str] python modules
:param setup_module: str, setuptools or distutils
"""
prefix = '%s_SETUP_PY' % package_name
result = []
if setup_module:
result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module))
result.append(r'set(%s_VERSION "%s")' % (prefix, version))
result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
# Remove packages with '.' separators.
#
# setuptools allows specifying submodules in other folders than
# their parent
#
# The symlink approach of catkin does not work with such submodules.
# In the common case, this does not matter as the submodule is
# within the containing module. We verify this assumption, and if
# it passes, we remove submodule packages.
locations = _get_locations(pkgs, package_dir)
for pkgname, location in locations.items():
if '.' not in pkgname:
continue
splits = pkgname.split('.')
# hack: ignore write-combining setup.py files for msg and srv files
if splits[1] in ['msg', 'srv']:
continue
# check every child has the same root folder as its parent
root_name = splits[0]
root_location = location
for _ in range(len(splits) - 1):
root_location = os.path.dirname(root_location)
if root_location != locations[root_name]:
raise RuntimeError(
'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name]))
# If checks pass, remove all submodules
pkgs = [p for p in pkgs if '.' not in p]
resolved_pkgs = []
for pkg in pkgs:
resolved_pkgs += [locations[pkg]]
result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/')))
# skip modules which collide with package names
filtered_modules = []
for modname in modules:
splits = modname.split('.')
# check all parents too
equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
if any(equals_package):
continue
filtered_modules.append(modname)
module_locations = _get_locations(filtered_modules, package_dir)
result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/')))
return result
def _create_mock_setup_function(setup_module, package_name, outfile):
"""
Create a function to call instead of distutils.core.setup or setuptools.setup.
It just captures some args and writes them into a file that can be used from cmake.
:param package_name: name of the package
:param outfile: filename that cmake will use afterwards
:returns: a function to replace disutils.core.setup and setuptools.setup
"""
def setup(*args, **kwargs):
"""Check kwargs and write a scriptfile."""
if 'version' not in kwargs:
sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
raise RuntimeError('version not found in setup.py')
version = kwargs['version']
package_dir = kwargs.get('package_dir', {})
pkgs = kwargs.get('packages', [])
scripts = kwargs.get('scripts', [])
modules = kwargs.get('py_modules', [])
unsupported_args = [
'entry_points',
'exclude_package_data',
'ext_modules ',
'ext_package',
'include_package_data',
'namespace_packages',
'setup_requires',
'use_2to3',
'zip_safe']
used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
if used_unsupported_args:
sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name))
result = generate_cmake_file(package_name=package_name,
version=version,
scripts=scripts,
package_dir=package_dir,
pkgs=pkgs,
modules=modules,
setup_module=setup_module)
with open(outfile, 'w') as out:
out.write('\n'.join(result))
return setup
def main():
"""Script main, parses arguments and invokes Dummy.setup indirectly."""
parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
parser.add_argument('package_name', help='Name of catkin package')
parser.add_argument('setupfile_path', help='Full path to setup.py')
parser.add_argument('outfile', help='Where to write result to')
args = parser.parse_args()
# print("%s" % sys.argv)
# PACKAGE_NAME = sys.argv[1]
# OUTFILE = sys.argv[3]
# print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
# file=sys.stderr)
# print("executing %s" % args.setupfile_path)
# be sure you're in the directory containing
# setup.py so the sys.path manipulation works,
# so the import of __version__ works
os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
# patch setup() function of distutils and setuptools for the
# context of evaluating setup.py
backup_modules = {}
try:
for module in setup_modules:
backup_modules[id(module)] = module.setup
module.setup = _create_mock_setup_function(
setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile)
runpy.run_path(args.setupfile_path)
finally:
for module in setup_modules:
module.setup = backup_modules[id(module)]
if __name__ == '__main__':
main()

70
MyCode/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
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@ -1,70 +0,0 @@
# generated from catkin/cmake/em/order_packages.cmake.em
@{
import os
try:
from catkin_pkg.cmake import get_metapackage_cmake_template_path
except ImportError as e:
raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
try:
from catkin_pkg.topological_order import topological_order
except ImportError as e:
raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
try:
from catkin_pkg.package import InvalidPackage
except ImportError as e:
raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
# vars defined in order_packages.context.py.in
try:
ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces)
except InvalidPackage as e:
print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"'))
ordered_packages = []
fatal_error = False
}@
set(CATKIN_ORDERED_PACKAGES "")
set(CATKIN_ORDERED_PACKAGE_PATHS "")
set(CATKIN_ORDERED_PACKAGES_IS_META "")
set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
@[for path, package in ordered_packages]@
@[if path is None]@
message(FATAL_ERROR "Circular dependency in subset of packages:\n@package")
@{
fatal_error = True
}@
@[elif package.name != 'catkin']@
list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)")
list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))")
list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))")
@{
package.evaluate_conditions(os.environ)
try:
build_type = package.get_build_type()
except InvalidPackage:
build_type = None
}@
@[if build_type is None]@
message(FATAL_ERROR "Only one <build_type> element is permitted for package '@(package.name)'.")
@{
fatal_error = True
}@
@[else]@
list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(package.get_build_type())")
@[end if]@
@{
deprecated = [e for e in package.exports if e.tagname == 'deprecated']
}@
@[if deprecated]@
message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')")
@[end if]@
@[end if]@
@[end for]@
@[if not fatal_error]@
@{
message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]]
}@
set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators)))
@[end if]@
set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))")

48
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@ -1,48 +0,0 @@
<?xml version="1.0"?>
<?xml-model
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>catkin</name>
<version>0.7.29</version>
<description>Low-level build system macros and infrastructure for ROS.</description>
<maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
<license>BSD</license>
<url type="website">http://wiki.ros.org/catkin</url>
<url type="bugtracker">https://github.com/ros/catkin/issues</url>
<url type="repository">https://github.com/ros/catkin</url>
<author>Troy Straszheim</author>
<author>Morten Kjaergaard</author>
<author>Brian Gerkey</author>
<author>Dirk Thomas</author>
<depend condition="$ROS_PYTHON_VERSION == 2">python-argparse</depend>
<depend condition="$ROS_PYTHON_VERSION == 2" version_gt="0.4.3">python-catkin-pkg</depend>
<depend condition="$ROS_PYTHON_VERSION == 3" version_gt="0.4.3">python3-catkin-pkg</depend>
<depend condition="$ROS_PYTHON_VERSION == 2">python-empy</depend>
<depend condition="$ROS_PYTHON_VERSION == 3">python3-empy</depend>
<buildtool_depend>cmake</buildtool_depend>
<buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
<buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
<buildtool_export_depend>cmake</buildtool_export_depend>
<buildtool_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_export_depend>
<build_export_depend>google-mock</build_export_depend>
<build_export_depend>gtest</build_export_depend>
<build_export_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</build_export_depend>
<build_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</build_export_depend>
<test_depend condition="$ROS_PYTHON_VERSION == 2">python-mock</test_depend>
<test_depend condition="$ROS_PYTHON_VERSION == 3">python3-mock</test_depend>
<test_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</test_depend>
<test_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</test_depend>
<export>
<rosdoc config="rosdoc.yaml"/>
<architecture_independent/>
</export>
</package>

2
MyCode/build/catkin_make.cache
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@ -1,2 +0,0 @@
image_geometry:my_cv_bridge:octomap_server:sg-slam
-DCATKIN_DEVEL_PREFIX=/home/test/My/devel -DCMAKE_INSTALL_PREFIX=/home/test/My/install -G Unix Makefiles

150
MyCode/build/cmake_install.cmake
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@ -1,150 +0,0 @@
# Install script for directory: /home/test/My/src
# Set the install prefix
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
set(CMAKE_INSTALL_PREFIX "/home/test/My/install")
endif()
string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
# Set the install configuration name.
if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
if(BUILD_TYPE)
string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
else()
set(CMAKE_INSTALL_CONFIG_NAME "")
endif()
message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
endif()
# Set the component getting installed.
if(NOT CMAKE_INSTALL_COMPONENT)
if(COMPONENT)
message(STATUS "Install component: \"${COMPONENT}\"")
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
else()
set(CMAKE_INSTALL_COMPONENT)
endif()
endif()
# Install shared libraries without execute permission?
if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
set(CMAKE_INSTALL_SO_NO_EXE "1")
endif()
# Is this installation the result of a crosscompile?
if(NOT DEFINED CMAKE_CROSSCOMPILING)
set(CMAKE_CROSSCOMPILING "FALSE")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
endif()
if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin")
file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "")
endif()
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
"/home/test/My/install/_setup_util.py")
if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
endif()
if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
endif()
file(INSTALL DESTINATION "/home/test/My/install" TYPE PROGRAM FILES "/home/test/My/build/catkin_generated/installspace/_setup_util.py")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
"/home/test/My/install/env.sh")
if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
endif()
if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
endif()
file(INSTALL DESTINATION "/home/test/My/install" TYPE PROGRAM FILES "/home/test/My/build/catkin_generated/installspace/env.sh")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
"/home/test/My/install/setup.bash;/home/test/My/install/local_setup.bash")
if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
endif()
if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
endif()
file(INSTALL DESTINATION "/home/test/My/install" TYPE FILE FILES
"/home/test/My/build/catkin_generated/installspace/setup.bash"
"/home/test/My/build/catkin_generated/installspace/local_setup.bash"
)
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
"/home/test/My/install/setup.sh;/home/test/My/install/local_setup.sh")
if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
endif()
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# CMAKE generated file: DO NOT EDIT!
# Generated by "Unix Makefiles" Generator, CMake Version 3.10
# compile CXX with /usr/bin/c++
CXX_FLAGS = -fPIC -Wall -Wshadow -DGTEST_HAS_PTHREAD=1 -fexceptions -Wextra -Wno-unused-parameter -Wno-missing-field-initializers
CXX_DEFINES = -DGTEST_CREATE_SHARED_LIBRARY=1 -Dgmock_EXPORTS
CXX_INCLUDES = -I/usr/src/googletest/googlemock/include -I/usr/src/googletest/googlemock -I/usr/src/googletest/googletest/include -I/usr/src/googletest/googletest

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