facontidavide · jjd9 · Dec 17, 2023 · Dec 17, 2023 · Dec 17, 2023 · Dec 17, 2023
diff --git a/3rdparty/cxxopt/cxxopts.hpp → Bonxai/3rdparty/cxxopt/cxxopts.hpp b/3rdparty/cxxopt/cxxopts.hpp → Bonxai/3rdparty/cxxopt/cxxopts.hpp
diff --git a/CMakeLists.txt → Bonxai/CMakeLists.txt b/CMakeLists.txt → Bonxai/CMakeLists.txt
@@ -50,40 +50,20 @@ find_package(ament_cmake QUIET)
 
 if ( ament_cmake_FOUND )
 
-    project(bonxai_ros)
+  message(STATUS "Building with colcon")
 
-    # Add colcon-specific configuration here
-    message(STATUS "Building with colcon")
+  set(dependencies
+    PCL
+    octomap
+    Eigen3
+  )
 
-    find_package(ament_cmake_auto REQUIRED)
-    ament_auto_find_build_dependencies()
-
-    include_directories(bonxai_ros/include 3rdparty)
-
-    ament_auto_add_library(bonxai_server SHARED
-      bonxai_ros/src/bonxai_server.cpp
-    )
-
-    target_link_libraries(bonxai_server
-      bonxai_map
-      ${PCL_LIBRARIES}
-    )
-
-    rclcpp_components_register_node(bonxai_server
-      PLUGIN "bonxai_server::BonxaiServer"
-      EXECUTABLE bonxai_server_node
-    )
-
-
-    ament_auto_package(
-      INSTALL_TO_SHARE
-      bonxai_ros/launch 
-      bonxai_ros/rviz 
-      bonxai_ros/params 
-    )
+  ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+  ament_export_dependencies(${dependencies})
+  ament_package()
 
 else()
 
   message(STATUS "Building with cmake")
 
-endif()
+endif()
diff --git a/bonxai_core/CMakeLists.txt → Bonxai/bonxai_core/CMakeLists.txt b/bonxai_core/CMakeLists.txt → Bonxai/bonxai_core/CMakeLists.txt
@@ -9,8 +9,21 @@ target_include_directories(bonxai_core PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>)
 
+install(
+    DIRECTORY include/
+    DESTINATION include/
+)
+
+install(
+    TARGETS bonxai_core
+    EXPORT export_${PROJECT_NAME}
+    LIBRARY DESTINATION lib
+    ARCHIVE DESTINATION lib
+    RUNTIME DESTINATION bin
+)
+
+
 if(benchmark_FOUND)
     add_subdirectory(benchmark)
 endif()
 
-
diff --git a/bonxai_core/benchmark/CMakeLists.txt → Bonxai/bonxai_core/benchmark/CMakeLists.txt b/bonxai_core/benchmark/CMakeLists.txt → Bonxai/bonxai_core/benchmark/CMakeLists.txt
diff --git a/bonxai_core/benchmark/benchmark_bonxai.cpp → ...onxai_core/benchmark/benchmark_bonxai.cpp b/bonxai_core/benchmark/benchmark_bonxai.cpp → ...onxai_core/benchmark/benchmark_bonxai.cpp
diff --git a/..._core/benchmark/benchmark_compression.cpp → ..._core/benchmark/benchmark_compression.cpp b/..._core/benchmark/benchmark_compression.cpp → ..._core/benchmark/benchmark_compression.cpp
diff --git a/bonxai_core/benchmark/benchmark_octomap.cpp → ...nxai_core/benchmark/benchmark_octomap.cpp b/bonxai_core/benchmark/benchmark_octomap.cpp → ...nxai_core/benchmark/benchmark_octomap.cpp
diff --git a/bonxai_core/benchmark/benchmark_utils.hpp → ...bonxai_core/benchmark/benchmark_utils.hpp b/bonxai_core/benchmark/benchmark_utils.hpp → ...bonxai_core/benchmark/benchmark_utils.hpp
diff --git a/bonxai_core/benchmark/get_memory.cpp → Bonxai/bonxai_core/benchmark/get_memory.cpp b/bonxai_core/benchmark/get_memory.cpp → Bonxai/bonxai_core/benchmark/get_memory.cpp
diff --git a/bonxai_core/include/bonxai/bonxai.hpp → Bonxai/bonxai_core/include/bonxai/bonxai.hpp b/bonxai_core/include/bonxai/bonxai.hpp → Bonxai/bonxai_core/include/bonxai/bonxai.hpp
diff --git a/bonxai_core/include/bonxai/serialization.hpp → ...xai_core/include/bonxai/serialization.hpp b/bonxai_core/include/bonxai/serialization.hpp → ...xai_core/include/bonxai/serialization.hpp
diff --git a/bonxai_map/CMakeLists.txt → Bonxai/bonxai_map/CMakeLists.txt b/bonxai_map/CMakeLists.txt → Bonxai/bonxai_map/CMakeLists.txt
@@ -16,8 +16,22 @@ target_link_libraries(bonxai_map PUBLIC
     bonxai_core
     ${PCL_LIBRARIES})
 
+install(
+    DIRECTORY include/
+    DESTINATION include/
+)
+
+install(
+    TARGETS bonxai_map
+    EXPORT export_${PROJECT_NAME}
+    LIBRARY DESTINATION lib
+    ARCHIVE DESTINATION lib
+    RUNTIME DESTINATION bin
+)
+
+
 ####################################################
 
 if(benchmark_FOUND AND octomap_FOUND)
     add_subdirectory(benchmark)
-endif()
+endif()
diff --git a/bonxai_map/benchmark/CMakeLists.txt → Bonxai/bonxai_map/benchmark/CMakeLists.txt b/bonxai_map/benchmark/CMakeLists.txt → Bonxai/bonxai_map/benchmark/CMakeLists.txt
diff --git a/bonxai_map/benchmark/benchmark_kitti.cpp → .../bonxai_map/benchmark/benchmark_kitti.cpp b/bonxai_map/benchmark/benchmark_kitti.cpp → .../bonxai_map/benchmark/benchmark_kitti.cpp
diff --git a/...ai_map/benchmark/benchmark_pointcloud.cpp → ...ai_map/benchmark/benchmark_pointcloud.cpp b/...ai_map/benchmark/benchmark_pointcloud.cpp → ...ai_map/benchmark/benchmark_pointcloud.cpp
diff --git a/bonxai_map/include/bonxai_map/pcl_utils.hpp → ...nxai_map/include/bonxai_map/pcl_utils.hpp b/bonxai_map/include/bonxai_map/pcl_utils.hpp → ...nxai_map/include/bonxai_map/pcl_utils.hpp
diff --git a/.../include/bonxai_map/probabilistic_map.hpp → .../include/bonxai_map/probabilistic_map.hpp b/.../include/bonxai_map/probabilistic_map.hpp → .../include/bonxai_map/probabilistic_map.hpp
diff --git a/bonxai_map/src/pcl_utils.cpp → Bonxai/bonxai_map/src/pcl_utils.cpp b/bonxai_map/src/pcl_utils.cpp → Bonxai/bonxai_map/src/pcl_utils.cpp
diff --git a/bonxai_map/src/probabilistic_map.cpp → Bonxai/bonxai_map/src/probabilistic_map.cpp b/bonxai_map/src/probabilistic_map.cpp → Bonxai/bonxai_map/src/probabilistic_map.cpp
diff --git a/cmake/FindLZ4.cmake → Bonxai/cmake/FindLZ4.cmake b/cmake/FindLZ4.cmake → Bonxai/cmake/FindLZ4.cmake
diff --git a/examples/CMakeLists.txt → Bonxai/examples/CMakeLists.txt b/examples/CMakeLists.txt → Bonxai/examples/CMakeLists.txt
@@ -13,3 +13,10 @@ add_executable(test_serialization test_serialization.cpp)
 
 target_link_libraries(test_serialization PUBLIC
     bonxai_core)
+
+install(
+    TARGETS
+        bonxai_map_playground
+        test_serialization
+    RUNTIME DESTINATION lib/${PROJECT_NAME}
+)    
diff --git a/examples/bonxai_map_playground.cpp → Bonxai/examples/bonxai_map_playground.cpp b/examples/bonxai_map_playground.cpp → Bonxai/examples/bonxai_map_playground.cpp
diff --git a/examples/test_serialization.cpp → Bonxai/examples/test_serialization.cpp b/examples/test_serialization.cpp → Bonxai/examples/test_serialization.cpp
diff --git a/Bonxai/package.xml b/Bonxai/package.xml
@@ -0,0 +1,19 @@
+<package format="3">
+  <name>Bonxai</name>
+  <version>3.0.1</version>
+  <description>Core Bonxai functionality as a ros package</description>
+  <maintainer email="enrique.aleman1998@gmail.com">enrique</maintainer>
+  <license>MPL-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>eigen3</build_depend>
+  <build_depend>libpcl-dev</build_depend>
+  <build_depend>lz4</build_depend>
+  <build_depend>octomap</build_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>
diff --git a/bonxai_ros/README.md → Bonxai_ros/README.md b/bonxai_ros/README.md → Bonxai_ros/README.md
diff --git a/Bonxai_ros/bonxai_ros/CMakeLists.txt b/Bonxai_ros/bonxai_ros/CMakeLists.txt
@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.10.2)
+
+project(bonxai_ros)
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()
diff --git a/Bonxai_ros/bonxai_ros/package.xml b/Bonxai_ros/bonxai_ros/package.xml
@@ -0,0 +1,16 @@
+<package format="3">
+  <name>bonxai_ros</name>
+  <version>3.0.1</version>
+  <description>Metapackage for bonxai ros packages</description>
+  <maintainer email="enrique.aleman1998@gmail.com">enrique</maintainer>
+  <license>MPL-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>bonxai_server</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>
diff --git a/Bonxai_ros/bonxai_server/CMakeLists.txt b/Bonxai_ros/bonxai_server/CMakeLists.txt
@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 3.10)
+project(bonxai_server)
+
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+
+  message(STATUS "Setting build type to 'RelWithDebInfo' as none was specified.")
+
+  set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE
+      STRING "Choose the type of build." FORCE)
+  # Set the possible values of build type for cmake-gui
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
+    "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+endif()
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_FLAGS "-fno-omit-frame-pointer -g")
+
+#---- Use Address sanitizer if compiled in Debug mode ----
+option(BONXAI_SANITIZE "Add address sanitizer when compiling in Debug mode" ON)
+
+if(BONXAI_SANITIZE)
+    set (CMAKE_CXX_DEBUG_FLAGS "${CMAKE_CXX_DEBUG_FLAGS}  -fsanitize=address")
+    set (CMAKE_LINKER_DEBUG_FLAGS "${CMAKE_LINKER_DEBUG_FLAGS}  -fsanitize=address")
+endif()
+
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -fno-omit-frame-pointer)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+ament_auto_add_library(bonxai_server SHARED
+  src/bonxai_server.cpp
+)
+
+rclcpp_components_register_node(bonxai_server
+  PLUGIN "bonxai_server::BonxaiServer"
+  EXECUTABLE bonxai_server_node
+)
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch 
+  rviz 
+  params 
+)
diff --git a/bonxai_ros/include/bonxai_server.hpp → ...s/bonxai_server/include/bonxai_server.hpp b/bonxai_ros/include/bonxai_server.hpp → ...s/bonxai_server/include/bonxai_server.hpp
diff --git a/bonxai_ros/launch/bonxai_mapping.launch.py → ...ai_server/launch/bonxai_mapping.launch.py b/bonxai_ros/launch/bonxai_mapping.launch.py → ...ai_server/launch/bonxai_mapping.launch.py
@@ -8,7 +8,7 @@
 def generate_launch_description():
 
     # Current Package Name
-    package = "bonxai_ros"
+    package = "bonxai_server"
 
     bonxai_params = os.path.join(
         get_package_share_directory(package),

diff --git a/bonxai_ros/launch/bonxai_mapping.launch.xml → ...i_server/launch/bonxai_mapping.launch.xml b/bonxai_ros/launch/bonxai_mapping.launch.xml → ...i_server/launch/bonxai_mapping.launch.xml
@@ -1,5 +1,5 @@
 <launch>
-	<node pkg="bonxai_ros" exec="bonxai_server_node" name="bonxai_server">
+	<node pkg="bonxai_server" exec="bonxai_server_node" name="bonxai_server">
 
 		<!-- fVoxelGrid Resolution -->
 		<param name="resolution" value="0.02" />

diff --git a/package.xml → Bonxai_ros/bonxai_server/package.xml b/package.xml → Bonxai_ros/bonxai_server/package.xml
@@ -1,15 +1,15 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>bonxai_ros</name>
+  <name>bonxai_server</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>3D Probabilistic grid mapping server using Bonxai for the grid</description>
   <maintainer email="enrique.aleman1998@gmail.com">enrique</maintainer>
-  <license>TODO: License declaration</license>
+  <license>MPL-2.0</license>
 
-  <!-- <buildtool_depend>ament_cmake</buildtool_depend> -->
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <depend>Bonxai</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>pcl_conversions</depend>

diff --git a/bonxai_ros/params/bonxai_params.yaml → ...s/bonxai_server/params/bonxai_params.yaml b/bonxai_ros/params/bonxai_params.yaml → ...s/bonxai_server/params/bonxai_params.yaml
diff --git a/bonxai_ros/rviz/bonxai.rviz → Bonxai_ros/bonxai_server/rviz/bonxai.rviz b/bonxai_ros/rviz/bonxai.rviz → Bonxai_ros/bonxai_server/rviz/bonxai.rviz
diff --git a/bonxai_ros/src/bonxai_server.cpp → ...i_ros/bonxai_server/src/bonxai_server.cpp b/bonxai_ros/src/bonxai_server.cpp → ...i_ros/bonxai_server/src/bonxai_server.cpp
diff --git a/bonxai_ros/doc/bonxai_ros.drawio.png → Bonxai_ros/doc/bonxai_ros.drawio.png b/bonxai_ros/doc/bonxai_ros.drawio.png → Bonxai_ros/doc/bonxai_ros.drawio.png
diff --git a/bonxai_ros/doc/bonxai_ros_node.drawio.png → Bonxai_ros/doc/bonxai_ros_node.drawio.png b/bonxai_ros/doc/bonxai_ros_node.drawio.png → Bonxai_ros/doc/bonxai_ros_node.drawio.png
diff --git a/bonxai_ros/doc/nice_vis.gif → Bonxai_ros/doc/nice_vis.gif b/bonxai_ros/doc/nice_vis.gif → Bonxai_ros/doc/nice_vis.gif
diff --git a/README.md b/README.md
@@ -64,6 +64,36 @@ Octomap_IterateAllCells     698 us
 - **Update** means modifying the value of an already allocated VoxelGrid.
 - **IterateAllCells** will get the value and the coordinates of all the existing cells.
 
+# How to build it
+
+## Copy-paste
+
+If your goal is just to use the bonxai data structure in your project, you could copy `Bonxai/Bonxai/bonxai_core/include/bonxai.hpp` into your project. And then build your project normally.
+
+## Cmake Users
+
+If you want the functionality in bonxai_core and bonxai_map, and you want to run the examples and benchmarks, you can perform a cmake build.
+
+clone this repository.
+
+cd into Bonxai/Bonxai
+
+Do the cmake dance:
+
+mkdir build
+cmake ..
+make -j4
+
+## ROS2 / Colcon Users
+
+clone this repository into your ros_ws
+
+colcon build --symlink-install
+
+source the install/setup.bash in your workspace
+
+This will give access to the bonxai data structure via the Bonxai package as well as all the packages in Bonxai_ros.
+
 # How to use it
 
 The core of **Bonxai** is a header-only library that you can simply copy into your project
@@ -158,4 +188,3 @@ It is... complicated.
 If you need to store very sparse point clouds, you should expect Bonxai to use more memory (20-40% more).
 If the point cloud is relatively dense, Bonxai might use less memory than Octomap (less than half).
 
-