Merge branch 'feature/ros2' of github.com:snt-arg/s_graphs into featu…

…re/ros2

.gitmodules

@@ -9,27 +9,23 @@
 	path = utils/ndt_omp
 	url = https://github.com/koide3/ndt_omp.git
 	branch = master
-[submodule "utils/reasoning/graph_reasoning"]
-	path = utils/reasoning/graph_reasoning
-	url = https://github.com/snt-arg/graph_reasoning.git
+[submodule "utils/reasoning/situational_graphs_reasoning"]
+	path = utils/reasoning/situational_graphs_reasoning
+	url = https://github.com/snt-arg/situational_graphs_reasoning.git
 	branch = develop
-[submodule "utils/reasoning/graph_wrapper"]
-	path = utils/reasoning/graph_wrapper
-	url = https://github.com/snt-arg/graph_wrapper.git
+[submodule "utils/reasoning/situational_graphs_wrapper"]
+	path = utils/reasoning/situational_graphs_wrapper
+	url = https://github.com/snt-arg/situational_graphs_wrapper.git
 	branch = develop
-[submodule "utils/reasoning/graph_datasets"]
-	path = utils/reasoning/graph_datasets
-	url = https://github.com/snt-arg/graph_datasets.git
+[submodule "utils/reasoning/situational_graphs_datasets"]
+	path = utils/reasoning/situational_graphs_datasets
+	url = https://github.com/snt-arg/situational_graphs_datasets.git
 	branch = develop
-[submodule "utils/reasoning/graph_matching"]
-	path = utils/reasoning/graph_matching
-	url = https://github.com/snt-arg/graph_matching.git
-	branch = develop
-[submodule "utils/msgs/reasoning_msgs"]
-	path = utils/msgs/reasoning_msgs
-	url = https://github.com/snt-arg/reasoning_msgs.git
+[submodule "utils/msgs/situational_graphs_reasoning_msgs"]
+	path = utils/msgs/situational_graphs_reasoning_msgs
+	url = https://github.com/snt-arg/situational_graphs_reasoning_msgs.git
 	branch = main
-[submodule "utils/msgs/s_graphs_msgs"]
-	path = utils/msgs/s_graphs_msgs
-	url = https://github.com/snt-arg/s_graphs_msgs.git
+[submodule "utils/msgs/situational_graphs_msgs"]
+	path = utils/msgs/situational_graphs_msgs
+	url = https://github.com/snt-arg/situational_graphs_msgs
 	branch = main

.real_mprocs.yaml

@@ -4,7 +4,7 @@ procs:
     autostart: true
     stop: SIGINT
   s_graphs:
-    shell: 'bash -c "source ~/workspaces/s_graphs/install/setup.bash && ros2 launch s_graphs s_graphs_launch.py compute_odom:=false env:=real"'
+    shell: 'bash -c "source ~/workspaces/s_graphs/install/setup.bash && ros2 launch lidar_s_graphs s_graphs_launch.py compute_odom:=false env:=real"'
     autostart: true
   rviz:
     shell: 'bash -c "source ~/workspaces/s_graphs/install/setup.bash && rviz2 -d ~/workspaces/s_graphs/s_graphs/rviz/s_graphs_ros2.rviz"'

.rosinstall_ros2

@@ -7,27 +7,19 @@ repositories:
     type: git
     url: https://github.com/koide3/ndt_omp.git
     version: master
-  s_graphs_utils/reasoning/graph_reasoning:
+  s_graphs_utils/reasoning/situational_graphs_reasoning:
     type: git
-    url: https://github.com/snt-arg/graph_reasoning.git
+    url: https://github.com/snt-arg/situational_graphs_reasoning.git
     version: complete_gnn_architecture
-  s_graphs_utils/reasoning/graph_wrapper:
+  s_graphs_utils/reasoning/situational_graphs_datasets:
     type: git
-    url: https://github.com/snt-arg/graph_wrapper.git
-    version: develop
-  s_graphs_utils/reasoning/graph_datasets:
-    type: git
-    url: https://github.com/snt-arg/graph_datasets.git
+    url: https://github.com/snt-arg/situational_graphs_datasets.git
     version: graph_reasoning
-  s_graphs_utils/reasoning/graph_matching:
-    type: git
-    url: https://github.com/snt-arg/graph_matching.git
-    version: develop  
-  s_graphs_utils/msgs/reasoning_msgs:
+  s_graphs_utils/msgs/situational_graphs_reasoning_msgs:
     type: git
-    url: https://github.com/snt-arg/reasoning_msgs.git
+    url: https://github.com/snt-arg/situational_graphs_reasoning_msgs.git
     version: main
-  s_graphs_utils/msgs/s_graphs_msgs:
+  s_graphs_utils/msgs/situational_graphs_msgs:
     type: git
-    url: https://github.com/snt-arg/s_graphs_msgs.git
-    version: main  
+    url: https://github.com/snt-arg/situational_graphs_msgs.git
+    version: main  

.virtual_mprocs.yaml

@@ -1,11 +1,11 @@
 procs:
   rosbag:
-    shell: 'bash -c "source ~/workspaces/s_graphs/install/setup.bash && ros2 bag play ~/Downloads/virtual/stugalux_oetrange_f2_3r.db3"'
+    shell: 'bash -c "sleep 1 && source ~/workspaces/s_graphs/install/setup.bash && ros2 bag play ~/Downloads/virtual/stugalux_oetrange_f2_3r.db3"'
     autostart: true
     stop: SIGINT
   s_graphs:
-    shell: 'bash -c "source ~/workspaces/s_graphs/install/setup.bash && ros2 launch s_graphs s_graphs_launch.py compute_odom:=true env:=sim"'
+    shell: 'bash -c "source ~/workspaces/s_graphs/install/setup.bash && ros2 launch lidar_s_graphs s_graphs_launch.py compute_odom:=true env:=sim"'
     autostart: true
   rviz:
     shell: 'bash -c "source ~/workspaces/s_graphs/install/setup.bash && rviz2 -d ~/workspaces/s_graphs/s_graphs/rviz/s_graphs_ros2.rviz"'
-    autostart: true
+    autostart: true

.vscode/c_cpp_properties.json

@@ -3,7 +3,7 @@
     {
       "name": "Linux",
       "includePath": [
-        "${workspaceFolder}/**",
+        "${workspaceFolder}/install/**",
         "/opt/ros/foxy/include/**",
         "/usr/include/**",
         "/usr/local/include/**"

.vscode/settings.json

@@ -89,7 +89,7 @@
         "*.inc": "cpp",
         "nonlinearoptimization": "cpp"
     },
-    "C_Cpp.errorSquiggles": "enabled",
+    "C_Cpp.errorSquiggles": "disabled",
     "python.formatting.provider": "black",
     "python.analysis.extraPaths": [
         "${workspaceFolder}/install/s_graphs/lib/python3.8/site-packages",

s_graphs/CMakeLists.txt

@@ -1,6 +1,6 @@
 # SPDX-License-Identifier: BSD-2-Clause
 cmake_minimum_required(VERSION 3.5)
-project(s_graphs)
+project(lidar_s_graphs)
 
 # Can we use C++17 in indigo?
 add_definitions(-msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2)
@@ -41,10 +41,10 @@ find_package(tf2_ros REQUIRED)
 find_package(tf2_eigen REQUIRED)
 find_package(message_filters REQUIRED)
 find_package(geographic_msgs REQUIRED)
-find_package(reasoning_msgs REQUIRED)
+find_package(situational_graphs_reasoning_msgs REQUIRED)
 find_package(backward_ros REQUIRED)
 find_package(rviz_visual_tools REQUIRED)
-find_package(s_graphs_msgs REQUIRED)
+find_package(situational_graphs_msgs REQUIRED)
 
 
 find_package(PCL REQUIRED)
@@ -92,14 +92,14 @@ set(DEPENDENCIES
     tf2_ros
     tf2_eigen
     pcl_ros
-    reasoning_msgs
+    situational_graphs_reasoning_msgs
     visualization_msgs
     message_filters
     geographic_msgs
     nmea_msgs
     geodesy
     rviz_visual_tools
-    s_graphs_msgs)
+    situational_graphs_msgs)
 
 SET(G2O_COMMON_LIBS
   ${PCL_LIBRARIES}
@@ -120,40 +120,40 @@ FILE(GLOB_RECURSE S_GRAPHS_SOURCE_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/src/s_graphs/*.cpp
 )
 
-add_library(g2o_sgraphs
+add_library(g2o_${PROJECT_NAME}
   ${G2O_S_GRAPHS_SOURCE_FILES}
   )
-target_link_libraries(g2o_sgraphs
+target_link_libraries(g2o_${PROJECT_NAME}
                     ${G2O_COMMON_LIBS}
                     ${PCL_LIBRARIES}
                     )
 
-add_library(s_graphs_core_lib
+add_library(${PROJECT_NAME}_core_lib
     ${S_GRAPHS_SOURCE_FILES}
 )
-target_link_libraries(s_graphs_core_lib
-                      g2o_sgraphs
+target_link_libraries(${PROJECT_NAME}_core_lib
+                      g2o_${PROJECT_NAME}
                       ${G2O_COMMON_LIBS}
                       ${PCL_LIBRARIES}
                       )
-target_include_directories(s_graphs_core_lib
+target_include_directories(${PROJECT_NAME}_core_lib
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>)
-ament_target_dependencies(s_graphs_core_lib ${DEPENDENCIES})
+ament_target_dependencies(${PROJECT_NAME}_core_lib ${DEPENDENCIES})
 
 ament_export_targets(export_s_graph_lib HAS_LIBRARY_TARGET)
 ament_export_dependencies(${DEPENDENCIES})
 ament_export_include_directories(include)
-ament_export_libraries(s_graphs_core_lib)
+ament_export_libraries(${PROJECT_NAME}_core_lib)
 
 
 add_executable(s_graphs_node
   apps/s_graphs_node.cpp
 )
 ament_target_dependencies(s_graphs_node ${DEPENDENCIES})
 target_link_libraries(s_graphs_node
-  s_graphs_core_lib
+  ${PROJECT_NAME}_core_lib
 )
 
 # nodes
@@ -168,7 +168,7 @@ add_executable(s_graphs_room_segmentation_node
 )
 ament_target_dependencies(s_graphs_room_segmentation_node ${DEPENDENCIES})
 target_link_libraries(s_graphs_room_segmentation_node
-  s_graphs_core_lib
+  ${PROJECT_NAME}_core_lib
   ${PCL_LIBRARIES}
 )
 
@@ -177,15 +177,15 @@ add_executable(s_graphs_floor_plan_node
 )
 ament_target_dependencies(s_graphs_floor_plan_node ${DEPENDENCIES})
 target_link_libraries(s_graphs_floor_plan_node
-  s_graphs_core_lib
+  ${PROJECT_NAME}_core_lib
   ${PCL_LIBRARIES}
 )
 
 add_executable(s_graphs_scan_matching_odometry_node apps/scan_matching_odometry_node.cpp)
 ament_target_dependencies(s_graphs_scan_matching_odometry_node ${DEPENDENCIES})
 target_link_libraries(s_graphs_scan_matching_odometry_node
   ${PCL_LIBRARIES}
-  s_graphs_core_lib
+  ${PROJECT_NAME}_core_lib
 )
 
 #############
@@ -198,7 +198,7 @@ install(
 )
 
 install(
-  TARGETS s_graphs_core_lib g2o_sgraphs
+  TARGETS ${PROJECT_NAME}_core_lib g2o_${PROJECT_NAME}
   EXPORT export_s_graph_lib
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
@@ -240,14 +240,14 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 
   ament_add_gtest(testPlane test/testPlane.cpp)
-  target_link_libraries(testPlane s_graphs_core_lib ${PCL_LIBRARIES} ${G2O_LIBRARIES})
+  target_link_libraries(testPlane ${PROJECT_NAME}_core_lib ${PCL_LIBRARIES} ${G2O_LIBRARIES})
 
   ament_add_gtest(testRoom test/testRoom.cpp)
-  target_link_libraries(testRoom s_graphs_core_lib ${PCL_LIBRARIES} ${G2O_LIBRARIES})
+  target_link_libraries(testRoom ${PROJECT_NAME}_core_lib ${PCL_LIBRARIES} ${G2O_LIBRARIES})
 
   # ament_add_gtest(testRoomCentreCompute test/testRoomCentreCompute.cpp src/s_graphs/room_utils.cpp)
   ament_add_gtest(testRoomCentreCompute test/testRoomCentreCompute.cpp)
-  target_link_libraries(testRoomCentreCompute s_graphs_core_lib ${PCL_LIBRARIES} ${G2O_LIBRARIES})
+  target_link_libraries(testRoomCentreCompute ${PROJECT_NAME}_core_lib ${PCL_LIBRARIES} ${G2O_LIBRARIES})
 
   install(TARGETS
     testPlane testRoom testRoomCentreCompute DESTINATION test/${PROJECT_NAME})