git commit -m "first commit"

2026-05-28 10:29:58 +07:00
commit 167c52aeb6
2048 changed files with 740251 additions and 0 deletions
--- a/navigations/geometry2/tf2_ros/CMakeLists.txt
+++ b/navigations/geometry2/tf2_ros/CMakeLists.txt
@@ -0,0 +1,153 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(tf2_ros)
+
+if(NOT ANDROID)
+set(TF2_PY tf2_py)
+endif()
+
+find_package(catkin REQUIRED COMPONENTS
+  actionlib
+  actionlib_msgs
+  geometry_msgs
+  message_filters
+  roscpp
+  rosgraph
+  rospy
+  tf2
+  tf2_msgs
+  ${TF2_PY}
+)
+find_package(Boost REQUIRED COMPONENTS thread)
+
+catkin_python_setup()
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS
+  actionlib
+  actionlib_msgs
+  geometry_msgs
+  message_filters
+  roscpp
+  rosgraph
+  tf2
+  tf2_msgs
+  ${TF2_PY}
+)
+
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+# tf2_ros library
+add_library(${PROJECT_NAME}
+  src/buffer.cpp
+  src/transform_listener.cpp
+  src/buffer_client.cpp
+  src/buffer_server.cpp
+  src/transform_broadcaster.cpp
+  src/static_transform_broadcaster.cpp
+)
+add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+
+# buffer_server executable
+add_executable(${PROJECT_NAME}_buffer_server src/buffer_server_main.cpp)
+add_dependencies(${PROJECT_NAME}_buffer_server ${catkin_EXPORTED_TARGETS})
+target_link_libraries(${PROJECT_NAME}_buffer_server
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
+)
+set_target_properties(${PROJECT_NAME}_buffer_server
+  PROPERTIES OUTPUT_NAME buffer_server
+)
+
+# static_transform_publisher
+add_executable(${PROJECT_NAME}_static_transform_publisher
+  src/static_transform_broadcaster_program.cpp
+)
+add_dependencies(${PROJECT_NAME}_static_transform_publisher ${catkin_EXPORTED_TARGETS})
+target_link_libraries(${PROJECT_NAME}_static_transform_publisher
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+set_target_properties(${PROJECT_NAME}_static_transform_publisher
+  PROPERTIES OUTPUT_NAME static_transform_publisher
+)
+
+# Install library
+install(TARGETS
+  ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+# Install executable
+install(TARGETS
+  ${PROJECT_NAME}_buffer_server ${PROJECT_NAME}_static_transform_publisher
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+
+# Tests
+if(CATKIN_ENABLE_TESTING)
+
+# new requirements for testing
+find_package(catkin REQUIRED COMPONENTS
+  actionlib
+  actionlib_msgs
+  geometry_msgs
+  message_filters
+  roscpp
+  rosgraph
+  rospy
+  rostest
+  tf2
+  tf2_msgs
+  ${TF2_PY}
+)
+
+
+
+# tf2_ros_test_listener
+add_executable(${PROJECT_NAME}_test_listener EXCLUDE_FROM_ALL test/listener_unittest.cpp)
+add_dependencies(${PROJECT_NAME}_test_listener ${catkin_EXPORTED_TARGETS})
+add_executable(${PROJECT_NAME}_test_time_reset EXCLUDE_FROM_ALL test/time_reset_test.cpp)
+add_dependencies(${PROJECT_NAME}_test_time_reset ${catkin_EXPORTED_TARGETS})
+add_executable(${PROJECT_NAME}_test_message_filter EXCLUDE_FROM_ALL test/message_filter_test.cpp)
+add_dependencies(${PROJECT_NAME}_test_message_filter ${catkin_EXPORTED_TARGETS})
+
+target_link_libraries(${PROJECT_NAME}_test_listener
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  ${GTEST_LIBRARIES}
+)
+
+target_link_libraries(${PROJECT_NAME}_test_time_reset
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  ${GTEST_LIBRARIES}
+)
+
+target_link_libraries(${PROJECT_NAME}_test_message_filter
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  ${GTEST_LIBRARIES}
+)
+
+add_dependencies(tests ${PROJECT_NAME}_test_listener)
+add_dependencies(tests ${PROJECT_NAME}_test_time_reset)
+add_dependencies(tests ${PROJECT_NAME}_test_message_filter)
+
+add_rostest(test/transform_listener_unittest.launch)
+add_rostest(test/transform_listener_time_reset_test.launch)
+add_rostest(test/message_filter_test.launch)
+
+endif()