Moved param manager to library in rosplane package

rosplane/CMakeLists.txt

@@ -33,59 +33,75 @@ find_package(Eigen3 3.3 REQUIRED NO_MODULE)
 find_package(rosflight_msgs REQUIRED)
 pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
 
-ament_export_dependencies(rclcpp rclpy)
-ament_export_include_directories(include)
-
-#install(DIRECTORY originalFiles DESTINATION share/${PROJECT_NAME}/)
-include_directories(  #use this if you need .h files for include statements.  The include will need to have the directories where each .h is respectively.
+include_directories(
   include
+  include/param_manager
   ${EIGEN3_INCLUDE_DIRS}
   ${GAZEBO_INCLUDE_DIRS}
   ${YAML_CPP_INCLUDEDIR}
 )
 
+### EXTRA FILES TO INSTALL ###
+
 install(DIRECTORY launch params DESTINATION share/${PROJECT_NAME}/)
 
-### START OF REAL EXECUTABLES ###
+### LIBRARIES ###
+
+# Param Manager
+add_library(param_manager
+  include/param_manager/param_manager.hpp
+  src/param_manager/param_manager.cpp
+)
+ament_target_dependencies(param_manager rclcpp)
+ament_export_targets(param_manager HAS_LIBRARY_TARGET)
+install(DIRECTORY include/param_manager DESTINATION include)
+install(TARGETS param_manager
+  EXPORT param_manager
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+### START OF EXECUTABLES ###
 
 # Controller
 add_executable(rosplane_controller
   src/controller_base.cpp
   src/controller_state_machine.cpp
   src/controller_successive_loop.cpp
-  src/controller_total_energy.cpp
-  src/param_manager.cpp)
+  src/controller_total_energy.cpp)
 ament_target_dependencies(rosplane_controller rosplane_msgs rosflight_msgs rclcpp rclpy Eigen3)
+target_link_libraries(rosplane_controller param_manager)
 install(TARGETS
   rosplane_controller
   DESTINATION lib/${PROJECT_NAME})
 
-
 # Follower
 add_executable(rosplane_path_follower
   src/path_follower_example.cpp
-  src/path_follower_base.cpp
-  src/param_manager.cpp)
+  src/path_follower_base.cpp)
 ament_target_dependencies(rosplane_path_follower rosplane_msgs rclcpp rclpy Eigen3)
+target_link_libraries(rosplane_path_follower param_manager)
 install(TARGETS
   rosplane_path_follower
   DESTINATION lib/${PROJECT_NAME})
 
 # Manager
 add_executable(rosplane_path_manager
   src/path_manager_base.cpp
-  src/path_manager_example.cpp
-  src/param_manager.cpp)
+  src/path_manager_example.cpp)
 ament_target_dependencies(rosplane_path_manager rosplane_msgs rclcpp rclpy Eigen3)
+target_link_libraries(rosplane_path_manager param_manager)
 install(TARGETS
   rosplane_path_manager
   DESTINATION lib/${PROJECT_NAME})
 
 # Planner
 add_executable(rosplane_path_planner
-  src/path_planner.cpp
-  src/param_manager.cpp)
+  src/path_planner.cpp)
 target_link_libraries(rosplane_path_planner
+  param_manager
   ${YAML_CPP_LIBRARIES}
 )
 ament_target_dependencies(rosplane_path_planner rosplane_msgs rosflight_msgs std_srvs rclcpp rclpy Eigen3)
@@ -96,9 +112,9 @@ install(TARGETS
 # Estimator
 add_executable(rosplane_estimator_node
   src/estimator_base.cpp
-  src/estimator_example.cpp
-  src/param_manager.cpp)
+  src/estimator_example.cpp)
 ament_target_dependencies(rosplane_estimator_node rosplane_msgs rosflight_msgs rclcpp Eigen3)
+target_link_libraries(rosplane_estimator_node param_manager)
 install(TARGETS
   rosplane_estimator_node
   DESTINATION lib/${PROJECT_NAME})

rosplane_extra/CMakeLists.txt

@@ -19,44 +19,23 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 # find dependencies
-find_package(rosplane)
+find_package(rosplane REQUIRED)
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_srvs REQUIRED)
 find_package(rosplane_msgs REQUIRED)
 find_package(rosflight_msgs REQUIRED)
 
-ament_export_dependencies(rclcpp)
-ament_export_include_directories(include)
-
 include_directories(include)
 
-install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
-
-### START OF REAL EXECUTABLES ###
-
 # Input Mapper
 add_executable(input_mapper
-  src/input_mapper.cpp
-  src/param_manager.cpp)
-ament_target_dependencies(input_mapper rosplane_msgs rosflight_msgs rclcpp std_srvs)
-install(TARGETS
+  src/input_mapper.cpp)
+ament_target_dependencies(input_mapper rosplane_msgs rosflight_msgs rclcpp std_srvs rosplane)
+install(
+  TARGETS
   input_mapper
-  DESTINATION lib/${PROJECT_NAME})
-
-#### END OF EXECUTABLES ###
-
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
+  DESTINATION lib/${PROJECT_NAME}
+)
 
 ament_package()

rosplane_extra/include/input_mapper.hpp

@@ -7,7 +7,7 @@
 #include <rosplane_msgs/msg/controller_commands.hpp>
 #include <rosplane_msgs/msg/state.hpp>
 #include <std_srvs/srv/trigger.hpp>
-#include <param_manager.hpp>
+#include <param_manager/param_manager.hpp>
 
 namespace rosplane
 {

rosplane_extra/package.xml

@@ -12,6 +12,7 @@
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
+  <depend>rosplane</depend>
   <depend>rosplane_msgs</depend>
   <depend>rosflight_msgs</depend>