diff --git a/INSTALL.md b/INSTALL.md index cbd6e943..d8561607 100644 --- a/INSTALL.md +++ b/INSTALL.md @@ -91,17 +91,17 @@ Cross-compiling isaac --------- -To cross-compile ISAAC, one must first cross compile the astobee code using the NASA_INSTALL instructions. +To cross-compile ISAAC, one must first cross compile the astobee code using the NASA_INSTALL instructions. Note that ASTROBEE_WS must be defined. A new catkin profile should be made to retain the configurations and easily switch between normal build. catkin profile add cross catkin profile set cross - catkin config --extend $ARMHF_CHROOT_DIR/opt/astrobee \ - --build-space $ARMHF_CHROOT_DIR/home/astrobee/isaac/build \ - --install-space $ARMHF_CHROOT_DIR/opt/isaac \ - --devel-space $ARMHF_CHROOT_DIR/home/astrobee/isaac/devel \ - --log-space $ARMHF_CHROOT_DIR/home/astrobee/isaac/logs \ + catkin config --extend $ASTROBEE_WS/armhf/opt/astrobee \ + --build-space armhf/build \ + --install-space armhf/opt/isaac \ + --devel-space armhf/devel \ + --log-space armhf/logs \ --whitelist isaac_astrobee_description isaac_util isaac_msgs inspection cargo isaac_hw_msgs wifi isaac gs_action_helper \ --install \ --cmake-args -DCMAKE_TOOLCHAIN_FILE=$ISAAC_WS/src/scripts/build/isaac_cross.cmake \ diff --git a/RELEASE.md b/RELEASE.md index 7e628ffd..55540d42 100644 --- a/RELEASE.md +++ b/RELEASE.md @@ -1,5 +1,11 @@ # Releases +## Release 0.2.4 + + * Inspection tool improvements + * Better CI + * Small bug fixes + ## Release 0.2.3 * Panorama picture taking mode supported diff --git a/debian/changelog b/debian/changelog index 1ddfd3e3..c7b1fd46 100644 --- a/debian/changelog +++ b/debian/changelog @@ -1,4 +1,12 @@ -isaac (0.2.3) UNRELEASED; urgency=medium +isaac (0.2.4) testing; urgency=medium + + * Inspection tool improvements + * Better CI + * Small bug fixes + + -- Marina Moreira Fri, 11 Feb 2022 13:57:38 -0800 + +isaac (0.2.3) testing; urgency=medium * Panorama picture taking mode supported * Cargo transport simulation support diff --git a/debian/isaac0.postinst b/debian/isaac0.postinst index d0671567..2233df9d 100755 --- a/debian/isaac0.postinst +++ b/debian/isaac0.postinst @@ -2,7 +2,9 @@ if [ "$1" = "configure" ]; then chmod -R g+rwx /opt/isaac/env_wrapper.sh + chmod -R g+rwx /opt/isaac/share/inspection/resources if [ $(getent group users) ]; then chgrp -R users /opt/isaac/env_wrapper.sh + chgrp -R users /opt/isaac/share/inspection/resources fi fi diff --git a/debian/rules b/debian/rules index 74a13876..8a19d854 100755 --- a/debian/rules +++ b/debian/rules @@ -41,26 +41,24 @@ override_dh_auto_configure: catkin profile add debian --force && \ catkin profile set debian && \ catkin config \ - --extend $(ARMHF_CHROOT_DIR)/opt/astrobee \ - --build-space $(ARMHF_CHROOT_DIR)/home/astrobee/isaac/tmp/build \ - --install-space $(ARMHF_CHROOT_DIR)/home/astrobee/isaac/tmp/opt/isaac \ - --devel-space $(ARMHF_CHROOT_DIR)/home/astrobee/isaac/tmp/devel \ - --log-space $(ARMHF_CHROOT_DIR)/home/astrobee/isaac/tmp/logs \ + --extend $(ASTROBEE_WS)/armhf/opt/astrobee \ + --build-space debian/build \ + --install-space src/debian/tmp/opt/isaac \ + --devel-space debian/devel \ + --log-space debian/logs \ --whitelist isaac_astrobee_description isaac_util isaac_msgs inspection cargo isaac_hw_msgs wifi isaac gs_action_helper \ --install \ --cmake-args \ -DCMAKE_TOOLCHAIN_FILE=$(CMAKE_TOOLCHAIN_FILE) \ -DARMHF_CHROOT_DIR=$(ARMHF_CHROOT_DIR) \ - -DARMHF_TOOLCHAIN=$(ARMHF_TOOLCHAIN) && \ - catkin clean -y --force + -DARMHF_TOOLCHAIN=$(ARMHF_TOOLCHAIN) override_dh_auto_build: ; # the install command is already invoked in the build override_dh_auto_install: cd .. && \ - catkin build && \ - rsync --remove-source-files -azh $(ARMHF_CHROOT_DIR)/home/astrobee/isaac/tmp src/debian + catkin build # we don't test override_dh_auto_test: ; diff --git a/isaac.doxyfile b/isaac.doxyfile index 7634df31..ad6b0fc5 100644 --- a/isaac.doxyfile +++ b/isaac.doxyfile @@ -38,7 +38,7 @@ PROJECT_NAME = "ISAAC" # could be handy for archiving the generated documentation or if some version # control system is used. -PROJECT_NUMBER = 0.2.3 +PROJECT_NUMBER = 0.2.4 # Using the PROJECT_BRIEF tag one can provide an optional one line description # for a project that appears at the top of each page and should give viewer a diff --git a/isaac/launch/isaac_astrobee.launch b/isaac/launch/isaac_astrobee.launch index 5f41d84b..c03b154c 100644 --- a/isaac/launch/isaac_astrobee.launch +++ b/isaac/launch/isaac_astrobee.launch @@ -71,10 +71,12 @@ name="ROSCONSOLE_CONFIG_FILE" value="$(find astrobee)/resources/logging.config"/> + - - + diff --git a/scripts/build/build_debian.sh b/scripts/build/build_debian.sh index 26ead5dc..d4607783 100755 --- a/scripts/build/build_debian.sh +++ b/scripts/build/build_debian.sh @@ -20,11 +20,11 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" -# if [ -n "$(git status --porcelain)" ]; then -# echo "You should not build Debians for a dirty source tree!" -# echo "Make sure all your changes are committed AND pushed to the server..." -# exit -1 -# fi +if [ -n "$(git status --porcelain)" ]; then + echo "You should not build Debians for a dirty source tree!" + echo "Make sure all your changes are committed AND pushed to the server..." + exit -1 +fi EXTRA_FLAGS="-b -a armhf" if [[ $* == *--config* ]]; then @@ -33,5 +33,5 @@ fi pushd $DIR/../.. export CMAKE_TOOLCHAIN_FILE=${DIR}/isaac_cross.cmake -DEB_BUILD_OPTIONS="parallel=8" debuild -e ARMHF_CHROOT_DIR -e ARMHF_TOOLCHAIN -e CMAKE_TOOLCHAIN_FILE -e CMAKE_PREFIX_PATH -us -uc $EXTRA_FLAGS +DEB_BUILD_OPTIONS="parallel=8" debuild -e ASTROBEE_WS -e ARMHF_CHROOT_DIR -e ARMHF_TOOLCHAIN -e CMAKE_TOOLCHAIN_FILE -e CMAKE_PREFIX_PATH -us -uc $EXTRA_FLAGS popd > /dev/null diff --git a/scripts/build/isaac_cross.cmake b/scripts/build/isaac_cross.cmake index c24b9874..d96a2087 100644 --- a/scripts/build/isaac_cross.cmake +++ b/scripts/build/isaac_cross.cmake @@ -52,8 +52,10 @@ SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) # If this is not done, the resulting rpath will not look for them in the chroot # environment. # Also, RTI DDS is included once for the libraries and once for the headers. +execute_process(COMMAND catkin locate -i OUTPUT_VARIABLE CATKIN_INSTALL_PATH OUTPUT_STRIP_TRAILING_WHITESPACE) +execute_process(COMMAND catkin locate -d OUTPUT_VARIABLE CATKIN_DEVEL_PATH OUTPUT_STRIP_TRAILING_WHITESPACE) SET(CMAKE_FIND_ROOT_PATH - ${ARM_CHROOT_DIR}) + ${ARM_CHROOT_DIR} ${CATKIN_INSTALL_PATH} ${CATKIN_DEVEL_PATH} $ENV{ASTROBEE_WS}/armhf/opt/astrobee) SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY BOTH) SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE BOTH) @@ -68,7 +70,8 @@ IF( DEFINED EXTRA_ROOT_PATH ) SET(CMAKE_FIND_ROOT_PATH ${EXTRA_ROOT_PATH} ${CMAKE_FIND_ROOT_PATH}) ENDIF( DEFINED EXTRA_ROOT_PATH ) -SET(catkin2_DIR ${CMAKE_SOURCE_DIR}/cmake) +execute_process(COMMAND catkin locate -s OUTPUT_VARIABLE CATKIN_SRC_PATH OUTPUT_STRIP_TRAILING_WHITESPACE) +SET(catkin2_DIR ${CATKIN_SRC_PATH}/cmake) # needed for gflag to compile... SET( THREADS_PTHREAD_ARG