Docker-Compose root src fix & New Catkin WS

- Change docker-compose to point to rrrobot_ws and ariac_ws in root src folder
- Add CMakeLists.txt for ariac_ws
This commit is contained in:
Sravan Balaji
2020-04-20 18:49:40 -04:00
parent dc0914abaa
commit d2f09fb729
2 changed files with 71 additions and 3 deletions

View File

@@ -60,7 +60,7 @@ services:
# Mount gazebo folder on host to app folder in container
volumes:
#- .docker_env/gazebo/.gazebo:/root/.gazebo
- ../rrrobot_ws:/app/rrrobot_ws
- ../src/rrrobot_ws:/app/rrrobot_ws
# Set DISPLAY variable and network mode for GUIs
environment:
- DISPLAY=${IP_ADDRESS}:0.0
@@ -77,12 +77,13 @@ services:
build: ./gear
# Mount gear folder on host to app folder in container
volumes:
- ../rrrobot_ws:/app/rrrobot_ws
- ../src/rrrobot_ws:/app/rrrobot_ws
- ../src/ariac_ws:/app/ariac_ws
# Set DISPLAY variable and network mode for GUIs
environment:
- DISPLAY=${IP_ADDRESS}:0.0
# Set working directory in container to app folder
working_dir: /app/rrrobot_ws
working_dir: /app
hostname: "rrrobot-env"
networks:
- ros

View File

@@ -0,0 +1,67 @@
# toplevel CMakeLists.txt for a catkin workspace
# catkin/cmake/toplevel.cmake
cmake_minimum_required(VERSION 3.0.2)
set(CATKIN_TOPLEVEL TRUE)
# search for catkin within the workspace
set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
execute_process(COMMAND ${_cmd}
RESULT_VARIABLE _res
OUTPUT_VARIABLE _out
ERROR_VARIABLE _err
OUTPUT_STRIP_TRAILING_WHITESPACE
ERROR_STRIP_TRAILING_WHITESPACE
)
if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
# searching fot catkin resulted in an error
string(REPLACE ";" " " _cmd_str "${_cmd}")
message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
endif()
# include catkin from workspace or via find_package()
if(_res EQUAL 0)
set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
# include all.cmake without add_subdirectory to let it operate in same scope
include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
add_subdirectory("${_out}")
else()
# use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
# or CMAKE_PREFIX_PATH from the environment
if(NOT DEFINED CMAKE_PREFIX_PATH)
if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
if(NOT WIN32)
string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
else()
set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
endif()
endif()
endif()
# list of catkin workspaces
set(catkin_search_path "")
foreach(path ${CMAKE_PREFIX_PATH})
if(EXISTS "${path}/.catkin")
list(FIND catkin_search_path ${path} _index)
if(_index EQUAL -1)
list(APPEND catkin_search_path ${path})
endif()
endif()
endforeach()
# search for catkin in all workspaces
set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
find_package(catkin QUIET
NO_POLICY_SCOPE
PATHS ${catkin_search_path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
if(NOT catkin_FOUND)
message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
endif()
endif()
catkin_workspace()