From 0a8f9806af7b22f0ebe62b0d33b1a4ea03878dbe Mon Sep 17 00:00:00 2001
From: Thomas Moulard <thomas.moulard@gmail.com>
Date: Mon, 14 Nov 2011 16:18:42 +0100
Subject: [PATCH] Share node handle between modules.
---
CMakeLists.txt | 48 +++++++++++++++++-----------------------------
src/ros_export.cpp | 12 +-----------
src/ros_import.cpp | 12 +-----------
3 files changed, 20 insertions(+), 52 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4047ae5..b60760d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,71 +3,59 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
include(FindPkgConfig)
-# Set the build type. Options are:
-# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
-# Debug : w/ debug symbols, w/o optimization
-# Release : w/o debug symbols, w/ optimization
-# RelWithDebInfo : w/ debug symbols, w/ optimization
-# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
+set(ROS_BUILD_TYPE RelWithDebInfo)
rosbuild_init()
-#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-#uncomment if you have defined messages
rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
rosbuild_add_boost_directories()
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
-
pkg_check_modules(JRL_MAL REQUIRED jrl-mal)
pkg_check_modules(DYNAMIC_GRAPH REQUIRED dynamic-graph)
pkg_check_modules(SOT_CORE REQUIRED sot-core)
-rosbuild_add_library(ros_import
- src/sot_to_ros.cpp
- src/ros_import.cpp src/ros_import.hh src/converter.hh src/sot_to_ros.hh)
+rosbuild_add_library(ros_bridge
+ src/converter.hh
+ src/ros_init.hh src/ros_init.cpp
+ src/sot_to_ros.hh src/sot_to_ros.cpp
+ )
+
+rosbuild_add_library(ros_import src/ros_import.cpp src/ros_import.hh)
rosbuild_add_compile_flags(ros_import ${JRL_MAL_CFLAGS} ${DYNAMIC_GRAPH_CFLAGS}
${SOT_CORE_CFLAGS})
rosbuild_add_link_flags(ros_import ${JRL_MAL_LDFLAGS} ${DYNAMIC_GRAPH_LDFLAGS}
${SOT_CORE_LDFLAGS})
+target_link_libraries(ros_import ros_bridge)
target_link_libraries(ros_import
${JRL_MAL_LIBRARIES} ${DYNAMIC_GRAPH_LIBRARIES} ${SOT_CORE_LIBRARIES})
-rosbuild_add_library(ros_export
- src/sot_to_ros.cpp
- src/ros_export.cpp src/ros_export.hh src/converter.hh src/sot_to_ros.hh)
+rosbuild_add_library(ros_export src/ros_export.cpp src/ros_export.hh)
rosbuild_add_compile_flags(ros_export ${JRL_MAL_CFLAGS} ${DYNAMIC_GRAPH_CFLAGS}
${SOT_CORE_CFLAGS})
rosbuild_add_link_flags(ros_export ${JRL_MAL_LDFLAGS} ${DYNAMIC_GRAPH_LDFLAGS}
${SOT_CORE_LDFLAGS})
+target_link_libraries(ros_export ros_bridge)
target_link_libraries(ros_export
${JRL_MAL_LIBRARIES} ${DYNAMIC_GRAPH_LIBRARIES} ${SOT_CORE_LIBRARIES})
rosbuild_add_library(ros_joint_state
- src/ros_joint_state.cpp src/ros_joint_state.hh src/converter.hh src/sot_to_ros.hh)
-rosbuild_add_compile_flags(ros_joint_state ${JRL_MAL_CFLAGS} ${DYNAMIC_GRAPH_CFLAGS}
+ src/ros_joint_state.cpp src/ros_joint_state)
+rosbuild_add_compile_flags(ros_joint_state
+ ${JRL_MAL_CFLAGS} ${DYNAMIC_GRAPH_CFLAGS}
${SOT_CORE_CFLAGS})
-rosbuild_add_link_flags(ros_joint_state ${JRL_MAL_LDFLAGS} ${DYNAMIC_GRAPH_LDFLAGS}
- ${SOT_CORE_LDFLAGS})
+rosbuild_add_link_flags(ros_joint_state ${JRL_MAL_LDFLAGS}
+ ${DYNAMIC_GRAPH_LDFLAGS} ${SOT_CORE_LDFLAGS})
+target_link_libraries(ros_joint_state ros_bridge)
target_link_libraries(ros_joint_state
${JRL_MAL_LIBRARIES} ${DYNAMIC_GRAPH_LIBRARIES} ${SOT_CORE_LIBRARIES})
+INSTALL(TARGETS ros_bridge DESTINATION lib)
INSTALL(TARGETS ros_import DESTINATION lib)
INSTALL(TARGETS ros_export DESTINATION lib)
INSTALL(TARGETS ros_joint_state DESTINATION lib)
diff --git a/src/ros_export.cpp b/src/ros_export.cpp
index f5f6e53..3f86275 100644
--- a/src/ros_export.cpp
+++ b/src/ros_export.cpp
@@ -9,6 +9,7 @@
#include <dynamic-graph/factory.h>
+#include "ros_init.hh"
#include "ros_export.hh"
namespace dynamicgraph
@@ -112,17 +113,6 @@ namespace dynamicgraph
} // end of errorEstimator.
} // end of namespace command.
-
- const char* rosInit()
- {
- int argc = 1;
- char* arg0 = strdup("ros_export");
- char* argv[] = {arg0, 0};
- ros::init(argc, argv, "ros_export");
- free (arg0);
- return "dynamic_graph";
- }
-
RosExport::RosExport (const std::string& n)
: dynamicgraph::Entity(n),
nh_ (rosInit ()),
diff --git a/src/ros_import.cpp b/src/ros_import.cpp
index 556c69c..1a8af28 100644
--- a/src/ros_import.cpp
+++ b/src/ros_import.cpp
@@ -13,6 +13,7 @@
#include <dynamic-graph/factory.h>
#include <dynamic-graph/command.h>
+#include "ros_init.hh"
#include "ros_import.hh"
namespace dynamicgraph
@@ -115,17 +116,6 @@ namespace dynamicgraph
} // end of errorEstimator.
} // end of namespace command.
-
- const char* rosInit()
- {
- int argc = 1;
- char* arg0 = strdup("ros_import");
- char* argv[] = {arg0, 0};
- ros::init(argc, argv, "ros_import");
- free (arg0);
- return "dynamic_graph";
- }
-
RosImport::RosImport (const std::string& n)
: dynamicgraph::Entity(n),
nh_ (rosInit ()),
--
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