ros-industrial · Levi-Armstrong · Jul 22, 2020 · Jul 7, 2020 · Jul 7, 2020 · Jul 8, 2020
diff --git a/.travis.yml b/.travis.yml
@@ -11,6 +11,8 @@ env:
   global:
     - NOT_TEST_BUILD=true
     - UPSTREAM_WORKSPACE='dependencies_ros1.rosinstall'
+    - ROSDEP_SKIP_KEYS='iwyu cmake_common_scripts'
+    - ADDITIONAL_DEBS='iwyu'
 
 matrix:
   include:

diff --git a/dependencies_ros1.rosinstall b/dependencies_ros1.rosinstall
@@ -1,2 +1,3 @@
 # PCL ros tools, this is required because using custom version of PCL and VTK
 - git: {local-name: perception_pcl, uri: 'https://github.com/ros-perception/perception_pcl.git', version: 1.7.1}
+- git: {local-name: cmake_common_scripts, uri: 'https://github.com/ros-industrial/cmake_common_scripts.git', version: master}
diff --git a/mesh_segmenter/CMakeLists.txt b/mesh_segmenter/CMakeLists.txt
@@ -13,6 +13,7 @@ else()
 endif()
 
 find_package(catkin REQUIRED)
+find_package(vtk_viewer REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS
@@ -21,6 +22,7 @@ catkin_package(
     ${PROJECT_NAME}
   DEPENDS
     VTK
+    vtk_viewer
 )
 
 include_directories(
@@ -34,6 +36,7 @@ add_library(${PROJECT_NAME}
 target_link_libraries(${PROJECT_NAME}
     ${catkin_LIBRARIES}
     ${VTK_LIBRARIES}
+    noether::vtk_viewer
 )
 add_dependencies(${PROJECT_NAME}
   ${catkin_EXPORTED_TARGETS}
@@ -58,7 +61,7 @@ install(DIRECTORY include/${PROJECT_NAME}/
 ## Testing ##
 #############
 if(CATKIN_ENABLE_TESTING)
-  find_package(catkin REQUIRED COMPONENTS vtk_viewer)
+  find_package(vtk_viewer REQUIRED)
   include_directories(
     include
     ${catkin_INCLUDE_DIRS}

diff --git a/mesh_segmenter/package.xml b/mesh_segmenter/package.xml
@@ -8,6 +8,6 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <test_depend>vtk_viewer</test_depend>
+  <depend>vtk_viewer</depend>
 
 </package>
diff --git a/mesh_segmenter/src/mesh_segmenter.cpp b/mesh_segmenter/src/mesh_segmenter.cpp
@@ -12,24 +12,10 @@
 
 #include <mesh_segmenter/mesh_segmenter.h>
 
-#include <log4cxx/basicconfigurator.h>
-#include <log4cxx/patternlayout.h>
-#include <log4cxx/consoleappender.h>
-
-log4cxx::LoggerPtr createConsoleLogger(const std::string& logger_name)
-{
-  using namespace log4cxx;
-  PatternLayoutPtr pattern_layout(new PatternLayout("[\%-5p] [\%c](L:\%L): \%m\%n"));
-  ConsoleAppenderPtr console_appender(new ConsoleAppender(pattern_layout));
-  log4cxx::LoggerPtr logger(Logger::getLogger(logger_name));
-  logger->addAppender(console_appender);
-  logger->setLevel(Level::getInfo());
-  return logger;
-}
+#include <console_bridge/console.h>
 
 namespace mesh_segmenter
 {
-static log4cxx::LoggerPtr SEGMENTATION_LOGGER = createConsoleLogger("SegmentationLogger");
 
 void MeshSegmenter::setInputMesh(vtkSmartPointer<vtkPolyData> mesh)
 {
@@ -48,9 +34,9 @@ std::vector<vtkSmartPointer<vtkPolyData> > MeshSegmenter::getMeshSegments()
   vtkSmartPointer<vtkPolyData> input_copy = vtkSmartPointer<vtkPolyData>::New();
   input_copy->DeepCopy(input_mesh_);
   std::vector<vtkSmartPointer<vtkPolyData> > meshes;
-  for (int i = 0; i < included_indices_.size(); ++i)
+  for (std::size_t i = 0; i < included_indices_.size(); ++i)
   {
-    LOG4CXX_INFO(SEGMENTATION_LOGGER, "Segment " << i << " size: " << included_indices_.at(i)->GetNumberOfIds());
+    CONSOLE_BRIDGE_logInform(("Segment " + std::to_string(i) + " size: " + std::to_string(included_indices_.at(i)->GetNumberOfIds())).c_str());
 
     vtkSmartPointer<vtkPolyData> mesh = vtkSmartPointer<vtkPolyData>::New();
     // Create new pointer to a new copy of input_mesh_
@@ -72,7 +58,7 @@ std::vector<vtkSmartPointer<vtkPolyData> > MeshSegmenter::getMeshSegments()
 
     if (mesh->GetNumberOfCells() <= 1)
     {
-      LOG4CXX_WARN(SEGMENTATION_LOGGER, "NOT ENOUGH CELLS FOR SEGMENTATION");
+      CONSOLE_BRIDGE_logWarn("NOT ENOUGH CELLS FOR SEGMENTATION");
       continue;
     }
     meshes.push_back(mesh);
@@ -138,10 +124,10 @@ void MeshSegmenter::segmentMesh()
   }
   included_indices_.push_back(edge_cells);
 
-  LOG4CXX_INFO(SEGMENTATION_LOGGER, "Found " << included_indices_.size() << " segments");
-  LOG4CXX_INFO(SEGMENTATION_LOGGER, "Total mesh size: " << size);
-  LOG4CXX_INFO(SEGMENTATION_LOGGER, "Used cells size: " << used_cells->GetNumberOfIds());
-  LOG4CXX_INFO(SEGMENTATION_LOGGER, "Edge cells size: " << edge_cells->GetNumberOfIds());
+  CONSOLE_BRIDGE_logInform("Found %d segments", included_indices_.size());
+  CONSOLE_BRIDGE_logInform("Total mesh size: %d", size);
+  CONSOLE_BRIDGE_logInform("Used cells size: %d", used_cells->GetNumberOfIds());
+  CONSOLE_BRIDGE_logInform("Edge cells size: %d",  edge_cells->GetNumberOfIds());
 }
 
 vtkSmartPointer<vtkIdList> MeshSegmenter::segmentMesh(int start_cell)

diff --git a/noether/CMakeLists.txt b/noether/CMakeLists.txt
@@ -31,9 +31,10 @@ find_package(catkin REQUIRED COMPONENTS
   pcl_conversions
   roscpp
   tool_path_planner
-  vtk_viewer
 )
 
+find_package(vtk_viewer REQUIRED)
+
 find_package(noether_filtering)
 if(NOT noether_filtering_FOUND)
   message(WARNING "noether_filtering not found. mesh_filter_server will not be compiled")
@@ -53,10 +54,10 @@ catkin_package(
     pcl_conversions
     roscpp
     tool_path_planner
-    vtk_viewer
   DEPENDS
     VTK
     PCL
+    vtk_viewer
 )
 
 include_directories(include ${catkin_INCLUDE_DIRS})
@@ -68,6 +69,7 @@ add_executable(surface_raster_planner_server
 target_link_libraries(surface_raster_planner_server
   ${catkin_LIBRARIES}
   ${VTK_LIBRARIES}
+  noether::vtk_viewer
 )
 
 add_executable(surface_raster_planner_application
@@ -76,6 +78,7 @@ add_executable(surface_raster_planner_application
 target_link_libraries(surface_raster_planner_application
   ${catkin_LIBRARIES}
   ${VTK_LIBRARIES}
+  noether::vtk_viewer
 )
 
 add_executable(segmentation_server
@@ -84,6 +87,7 @@ add_executable(segmentation_server
 target_link_libraries(segmentation_server
   ${catkin_LIBRARIES}
   ${VTK_LIBRARIES}
+  noether::vtk_viewer
 )
 #There needs to be a better pathing to the library
 add_executable(convex_hull_node
@@ -94,6 +98,7 @@ add_executable(convex_hull_node
 target_link_libraries(convex_hull_node  
   ${catkin_LIBRARIES}
   ${VTK_LIBRARIES}
+  noether::vtk_viewer
 )
 
 if(noether_filtering_FOUND)
@@ -103,6 +108,7 @@ if(noether_filtering_FOUND)
   target_link_libraries(mesh_filter_server PUBLIC
     ${catkin_LIBRARIES}
     noether_filtering::noether_filtering
+    noether::vtk_viewer
   )
 endif()
 
@@ -111,13 +117,15 @@ add_executable(edge_generator_server
 )
 target_link_libraries(edge_generator_server 
   ${catkin_LIBRARIES}
+  noether::vtk_viewer
 )
 
 add_executable(halfedge_boundary_finder_server
   src/halfedge_boundary_finder_server.cpp
 )
 target_link_libraries(halfedge_boundary_finder_server 
   ${catkin_LIBRARIES}
+  noether::vtk_viewer
 )
 
 #############

diff --git a/noether/src/surface_raster_planner_application.cpp b/noether/src/surface_raster_planner_application.cpp
@@ -8,6 +8,7 @@
 #include <vtkPointData.h>
 #include <ros/ros.h>
 #include <ros/file_log.h>
+#include <console_bridge/console.h>
 
 namespace noether {
 
@@ -148,7 +149,10 @@ int main(int argc, char **argv)
   pnh.param<double>("centroid_y", center[1], 0.0);
   pnh.param<double>("centroid_z", center[2], 0.0);
 
-  vtk_viewer::VTK_LOGGER->setLevel(console_debug_on ? log4cxx::Level::getDebug(): log4cxx::Level::getInfo());
+  if (console_debug_on)
+    console_bridge::setLogLevel(console_bridge::LogLevel::CONSOLE_BRIDGE_LOG_DEBUG);
+  else
+    console_bridge::setLogLevel(console_bridge::LogLevel::CONSOLE_BRIDGE_LOG_INFO);
 
   // load tool config
   tool_path_planner::ProcessTool tool = loadTool(pnh);

diff --git a/noether_examples/CMakeLists.txt b/noether_examples/CMakeLists.txt
@@ -32,9 +32,10 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   roslib
   tool_path_planner
-  vtk_viewer
 )
 
+find_package(vtk_viewer REQUIRED)
+
 catkin_package(
   INCLUDE_DIRS
     include
@@ -48,10 +49,10 @@ catkin_package(
     roscpp
     roslib
     tool_path_planner
-    vtk_viewer
   DEPENDS
     VTK
     PCL
+    vtk_viewer
 )
 
 include_directories(
@@ -61,23 +62,23 @@ include_directories(
 )
 
 add_executable(mesh_segmenter_client_node src/mesh_segmenter_client.cpp)
-target_link_libraries(mesh_segmenter_client_node ${catkin_LIBRARIES} ${VTK_LIBRARIES})
+target_link_libraries(mesh_segmenter_client_node ${catkin_LIBRARIES} ${VTK_LIBRARIES} noether::vtk_viewer)
 list (APPEND PACKAGE_TARGETS mesh_segmenter_client_node)
 
 add_executable(mesh_segmenter_node src/mesh_segmenter_node.cpp)
-target_link_libraries(mesh_segmenter_node ${catkin_LIBRARIES} ${VTK_LIBRARIES})
+target_link_libraries(mesh_segmenter_node ${catkin_LIBRARIES} ${VTK_LIBRARIES} noether::vtk_viewer)
 list (APPEND PACKAGE_TARGETS mesh_segmenter_node)
 
 add_executable(mesh_filtering_client src/mesh_filtering_client.cpp)
-target_link_libraries(mesh_filtering_client ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries(mesh_filtering_client ${catkin_LIBRARIES} ${PCL_LIBRARIES} noether::vtk_viewer)
 list (APPEND PACKAGE_TARGETS mesh_filtering_client)
 
 add_executable(edge_generator_client src/edge_generator_client.cpp)
-target_link_libraries(edge_generator_client ${catkin_LIBRARIES})
+target_link_libraries(edge_generator_client ${catkin_LIBRARIES} noether::vtk_viewer)
 list (APPEND PACKAGE_TARGETS edge_generator_client)
 
 add_executable(halfedge_finder_node  src/halfedge_finder_node.cpp)
-target_link_libraries(halfedge_finder_node ${catkin_LIBRARIES})
+target_link_libraries(halfedge_finder_node ${catkin_LIBRARIES} noether::vtk_viewer)
 list (APPEND PACKAGE_TARGETS halfedge_finder_node)
 
 #############

diff --git a/noether_filtering/package.xml b/noether_filtering/package.xml
@@ -7,7 +7,7 @@
   <license>Apache 2.0</license>
   <author email="[email protected]">Jorge Nicho</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <depend>libconsole-bridge-dev</depend>
   <depend>pluginlib</depend>
   <depend>libpcl-all-dev</depend>
   <export>

diff --git a/path_sequence_planner/CMakeLists.txt b/path_sequence_planner/CMakeLists.txt
@@ -15,16 +15,18 @@ endif()
 
 find_package(catkin REQUIRED COMPONENTS
     tool_path_planner
-    vtk_viewer
 )
 
+find_package(vtk_viewer REQUIRED)
+
 catkin_package(
   INCLUDE_DIRS
     include
   LIBRARIES
     simple_path_sequence_planner
   CATKIN_DEPENDS
     tool_path_planner
+  DEPENDS
     vtk_viewer
 )
 
@@ -39,6 +41,7 @@ add_library(simple_path_sequence_planner
 target_link_libraries(simple_path_sequence_planner
   ${catkin_LIBRARIES}
   ${VTK_LIBRARIES}
+  noether::vtk_viewer
 )
 
 #############

diff --git a/path_sequence_planner/test/utest.cpp b/path_sequence_planner/test/utest.cpp
@@ -148,7 +148,7 @@ TEST(IntersectTest, TestCase1)
 
   #ifdef NDEBUG
   // release build stuff goes here
-  LOG4CXX_ERROR(vtk_viewer::VTK_LOGGER,"noether/path_sequence_planner test: visualization is only available in debug mode");
+  CONSOLE_BRIDGE_logError("noether/path_sequence_planner test: visualization is only available in debug mode");
   #else
   // Debug-specific code goes here
   viz.renderDisplay();

diff --git a/tool_path_planner/CMakeLists.txt b/tool_path_planner/CMakeLists.txt
@@ -15,9 +15,10 @@ find_package(catkin REQUIRED COMPONENTS
   rosconsole
   roslib
   shape_msgs
-  vtk_viewer
 )
 
+find_package(vtk_viewer REQUIRED)
+
 find_package(VTK REQUIRED NO_MODULE)
 if(VTK_FOUND AND ("${VTK_VERSION}" VERSION_LESS 7.1))
   message(FATAL_ERROR "The minimum required version of VTK is 7.1, but found ${VTK_VERSION}")
@@ -47,11 +48,11 @@ catkin_package(
     noether_msgs
     rosconsole
     shape_msgs
-    vtk_viewer
   DEPENDS
     EIGEN3
     PCL
     VTK
+    vtk_viewer
 )
 
 include_directories(
@@ -71,6 +72,7 @@ target_link_libraries(${PROJECT_NAME}
     ${catkin_LIBRARIES}
     ${PCL_LIBRARIES}
     ${VTK_LIBRARIES}
+    noether::vtk_viewer
 )
 add_dependencies(${PROJECT_NAME}
   ${catkin_EXPORTED_TARGETS}

diff --git a/tool_path_planner/include/tool_path_planner/raster_tool_path_planner.h b/tool_path_planner/include/tool_path_planner/raster_tool_path_planner.h
@@ -29,8 +29,6 @@
 #include <vtkKdTreePointLocator.h>
 #include <vtkCellLocator.h>
 #include <vtkModifiedBSPTree.h>
-#include <log4cxx/logger.h>
-#include <log4cxx/basicconfigurator.h>
 #include <vtk_viewer/vtk_viewer.h>
 #include "tool_path_planner/tool_path_planner_base.h"
 
@@ -39,9 +37,6 @@ namespace tool_path_planner
   class RasterToolPathPlanner : public ToolPathPlannerBase
   {
   public:
-
-    static log4cxx::LoggerPtr RASTER_PATH_PLANNER_LOGGER;
-
     /**
      * @brief constructor
      * @param use_ransac set flag to use ransac plane estimation to determine path normals