Merge branch 'devel' for v1.9.6 release

ahornung · ahornung · commit c4a4304895f6 · 2021-01-23T23:10:30.000+01:00
diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
@@ -0,0 +1,33 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: CI
+
+# This determines when this workflow is run
+on: [push, pull_request] # on all pushes and PRs
+
+jobs:
+  CI:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: melodic}
+          - {ROS_DISTRO: noetic}
+          - {ROS_DISTRO: foxy}
+          - {ROS_DISTRO: rolling}
+    env:
+      CCACHE_DIR: /github/home/.ccache # Enable ccache
+      PRERELEASE: true # always run the prerelease tests
+      BUILDER: colcon
+      # CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Debug'
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      # This step will fetch/store the directory used by ccache before/after the ci run
+      - uses: actions/cache@v2
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+      # Run industrial_ci
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{ matrix.env }}
diff --git a/dynamicEDT3D/CMakeLists.txt b/dynamicEDT3D/CMakeLists.txt
@@ -7,7 +7,7 @@ include(GNUInstallDirs)
 # version (e.g. for packaging)
 set(DYNAMICEDT3D_MAJOR_VERSION 1)
 set(DYNAMICEDT3D_MINOR_VERSION 9)
-set(DYNAMICEDT3D_PATCH_VERSION 5)
+set(DYNAMICEDT3D_PATCH_VERSION 6)
 set(DYNAMICEDT3D_VERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION}.${DYNAMICEDT3D_PATCH_VERSION})
 set(DYNAMICEDT3D_SOVERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION})
 
diff --git a/dynamicEDT3D/package.xml b/dynamicEDT3D/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>dynamic_edt_3d</name>
-  <version>1.9.5</version>
+  <version>1.9.6</version>
   <description> The dynamicEDT3D library implements an inrementally updatable Euclidean distance transform (EDT) in 3D. It comes with a wrapper to use the OctoMap 3D representation and hooks into the change detection of the OctoMap library to propagate changes to the EDT.</description>
 
   <author email="sprunkc@informatik.uni-freiburg.de">Christoph Sprunk</author>
diff --git a/octomap/CHANGELOG.txt b/octomap/CHANGELOG.txt
@@ -1,3 +1,11 @@
+v1.9.6: 2021-01-23
+==================
+- Fixed ifstream >> byte with c++17
+- strict warnings_as_errors compiler options and corresponding fixes
+- octovis: Fixed qmake command to build libQGLViewer with Qt5.
+- octovis: adapted to be compatible with libQGLViewer >= 2.7.0
+- octovis: use -fPIC with all compilers
+
 v1.9.5: 2020-03-25
 ==================
 - octovis: Update ROS dependencies to Qt5
diff --git a/octomap/CMakeLists.txt b/octomap/CMakeLists.txt
@@ -7,7 +7,7 @@ include(GNUInstallDirs)
 # version (e.g. for packaging)
 set(OCTOMAP_MAJOR_VERSION 1)
 set(OCTOMAP_MINOR_VERSION 9)
-set(OCTOMAP_PATCH_VERSION 5)
+set(OCTOMAP_PATCH_VERSION 6)
 set(OCTOMAP_VERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION}.${OCTOMAP_PATCH_VERSION})
 set(OCTOMAP_SOVERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION})
 if(COMMAND cmake_policy)
diff --git a/octomap/CMakeModules/CompilerSettings.cmake b/octomap/CMakeModules/CompilerSettings.cmake
@@ -10,7 +10,7 @@ MESSAGE (STATUS "${PROJECT_NAME} building as ${CMAKE_BUILD_TYPE}")
 # COMPILER FLAGS
 IF (CMAKE_COMPILER_IS_GNUCC)
   SET (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wno-error ")
-  SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-error ")
+  SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -Wextra -Wpedantic")
   SET (CMAKE_CXX_FLAGS_RELEASE "-O3 -funroll-loops -DNDEBUG")
   SET (CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
   # Shared object compilation under 64bit (vtable)
diff --git a/octomap/include/octomap/MapCollection.hxx b/octomap/include/octomap/MapCollection.hxx
@@ -312,7 +312,7 @@ namespace octomap {
   }
 
   template <class MAPNODE>
-  bool MapCollection<MAPNODE>::readTagValue(std::string tag, std::ifstream& infile, std::string* value) {
+  bool MapCollection<MAPNODE>::readTagValue(std::string /*tag*/, std::ifstream& infile, std::string* value) {
     std::string line;
     while( getline(infile, line) ){
       if(line.length() != 0 && line[0] != '#')
diff --git a/octomap/include/octomap/OcTreeBase.h b/octomap/include/octomap/OcTreeBase.h
@@ -51,7 +51,7 @@ namespace octomap {
     std::string getTreeType() const {return "OcTreeBase";}
   };
 
-  };
+}
 
 
 #endif
diff --git a/octomap/include/octomap/math/Pose6D.h b/octomap/include/octomap/math/Pose6D.h
@@ -68,7 +68,9 @@ namespace octomath {
      */
     Pose6D(float x, float y, float z, double roll, double pitch, double yaw);
 
+    Pose6D(const Pose6D& other);
     Pose6D& operator= (const Pose6D& other);
+
     bool operator==(const Pose6D& other) const;
     bool operator!=(const Pose6D& other) const;
 
diff --git a/octomap/package.xml b/octomap/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>octomap</name>
-  <version>1.9.5</version>
+  <version>1.9.6</version>
   <description>The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
   http://octomap.github.io for details.</description>
 
diff --git a/octomap/src/ColorOcTree.cpp b/octomap/src/ColorOcTree.cpp
@@ -91,7 +91,7 @@ namespace octomap {
   ColorOcTree::ColorOcTree(double in_resolution)
   : OccupancyOcTreeBase<ColorOcTreeNode>(in_resolution) {
     colorOcTreeMemberInit.ensureLinking();
-  };
+  }
 
   ColorOcTreeNode* ColorOcTree::setNodeColor(const OcTreeKey& key,
                                              uint8_t r,
diff --git a/octomap/src/OcTree.cpp b/octomap/src/OcTree.cpp
@@ -39,7 +39,7 @@ namespace octomap {
 	OcTree::OcTree(double in_resolution)
 		: OccupancyOcTreeBase<OcTreeNode>(in_resolution) {
 		ocTreeMemberInit.ensureLinking();
-	};
+	}
 
   OcTree::OcTree(std::string _filename)
     : OccupancyOcTreeBase<OcTreeNode> (0.1)  { // resolution will be set according to tree file
diff --git a/octomap/src/binvox2bt.cpp b/octomap/src/binvox2bt.cpp
@@ -56,9 +56,9 @@
 using namespace std;
 using namespace octomap;
 
-#if __cplusplus < 201500L
+namespace octomap {
  typedef unsigned char byte;
-#endif
+}
 
 int main(int argc, char **argv)
 {
@@ -229,8 +229,8 @@ int main(int argc, char **argv)
         cout.flush();
 
         // read voxel data
-        byte value;
-        byte count;
+        octomap::byte value;
+        octomap::byte count;
         int index = 0;
         int end_index = 0;
         unsigned nr_voxels = 0;
diff --git a/octomap/src/edit_octree.cpp b/octomap/src/edit_octree.cpp
@@ -41,9 +41,6 @@
 using namespace std;
 using namespace octomap;
 
-#if __cplusplus < 201500L
-  typedef unsigned char byte;
-#endif
 
 int main(int argc, char **argv)
 {
diff --git a/octomap/src/intersection_example.cpp b/octomap/src/intersection_example.cpp
@@ -40,7 +40,7 @@
 using namespace std;
 using namespace octomap;
 
-int main(int argc, char** argv) {
+int main(int /*argc*/, char** /*argv*/) {
 
   cout << "generating example map" << endl;
 
diff --git a/octomap/src/math/Pose6D.cpp b/octomap/src/math/Pose6D.cpp
@@ -55,13 +55,18 @@ namespace octomath {
   Pose6D::~Pose6D() {
   }
 
+  Pose6D::Pose6D(const Pose6D& other) :
+    translation(other.trans()),
+    rotation(other.rot())
+  { }
+
   Pose6D& Pose6D::operator= (const Pose6D& other) {
     translation = other.trans();
     rotation = other.rot();
     return *this;
   }
 
-
+  
   Pose6D Pose6D::inv() const {
     Pose6D result(*this);
     result.rot() = rot().inv().normalized();
diff --git a/octomap/src/normals_example.cpp b/octomap/src/normals_example.cpp
@@ -49,7 +49,7 @@ void print_query_info(point3d query, OcTreeNode* node) {
     cout << "occupancy probability at " << query << ":\t is unknown" << endl;    
 }
 
-int main(int argc, char** argv) {
+int main(int /*argc*/, char** /*argv*/) {
 
   cout << endl;
   cout << "generating example map" << endl;
diff --git a/octomap/src/simple_example.cpp b/octomap/src/simple_example.cpp
@@ -46,7 +46,7 @@ void print_query_info(point3d query, OcTreeNode* node) {
     cout << "occupancy probability at " << query << ":\t is unknown" << endl;    
 }
 
-int main(int argc, char** argv) {
+int main(int /*argc*/, char** /*argv*/) {
 
   cout << endl;
   cout << "generating example map" << endl;
diff --git a/octomap/src/testing/color_tree_histogram.cpp b/octomap/src/testing/color_tree_histogram.cpp
@@ -5,7 +5,7 @@ using namespace std;
 using namespace octomap;
 
 
-int main(int argc, char** argv) {
+int main(int /*argc*/, char** argv) {
 
   std::string filename(argv[1]);
 
diff --git a/octomap/src/testing/test_changedkeys.cpp b/octomap/src/testing/test_changedkeys.cpp
@@ -53,7 +53,7 @@ void printChanges(OcTree& tree){
 
 
 
-int main(int argc, char** argv) {
+int main(int /*argc*/, char** /*argv*/) {
 
 
   //##############################################################
diff --git a/octomap/src/testing/test_color_tree.cpp b/octomap/src/testing/test_color_tree.cpp
@@ -17,7 +17,7 @@ void print_query_info(point3d query, ColorOcTreeNode* node) {
 }
 
 
-int main(int argc, char** argv) {
+int main(int /*argc*/, char** /*argv*/) {
 
   double res = 0.05;  // create empty tree with resolution 0.05 (different from default 0.1 for test)
   ColorOcTree tree (res);
diff --git a/octomap/src/testing/test_mapcollection.cpp b/octomap/src/testing/test_mapcollection.cpp
@@ -25,7 +25,7 @@ OcTree* generateSphereTree(point3d origin, float radius){
 	return tree;
 }
 
-int main(int argc, char** argv) {
+int main(int /*argc*/, char** argv) {
 
   // //Generate a MapCollection
   // MapCollection<MapNode<OcTree> > coll;
diff --git a/octomap/src/testing/test_pruning.cpp b/octomap/src/testing/test_pruning.cpp
@@ -6,7 +6,7 @@ using namespace std;
 using namespace octomap;
 using namespace octomath;
 
-int main(int argc, char** argv) {
+int main(int /*argc*/, char** /*argv*/) {
     float res = 0.01f;
     OcTree tree(res);
     
diff --git a/octomap/src/testing/test_raycasting.cpp b/octomap/src/testing/test_raycasting.cpp
@@ -10,7 +10,7 @@ using namespace octomath;
 
 
 
-int main(int argc, char** argv) {
+int main(int /*argc*/, char** /*argv*/) {
 
 
 
diff --git a/octovis/CMakeLists.txt b/octovis/CMakeLists.txt
@@ -7,7 +7,7 @@ include(GNUInstallDirs)
 # # version (e.g. for packaging)
 set(OCTOVIS_MAJOR_VERSION 1)
 set(OCTOVIS_MINOR_VERSION 9)
-set(OCTOVIS_PATCH_VERSION 5)
+set(OCTOVIS_PATCH_VERSION 6)
 set(OCTOVIS_VERSION ${OCTOVIS_MAJOR_VERSION}.${OCTOVIS_MINOR_VERSION}.${OCTOVIS_PATCH_VERSION})
 set(OCTOVIS_SOVERSION ${OCTOVIS_MAJOR_VERSION}.${OCTOVIS_MINOR_VERSION})
 # get rid of a useless warning:
diff --git a/octovis/CMakeModules/CompilerSettings.cmake b/octovis/CMakeModules/CompilerSettings.cmake
@@ -21,8 +21,6 @@ IF (CMAKE_COMPILER_IS_GNUCC)
   SET (CMAKE_CXX_FLAGS_RELEASE "-O3 -funroll-loops -DNDEBUG") #sse3 disabled for compatibility
 #  SET (CMAKE_CXX_FLAGS_RELEASE "-O3 -funroll-loops -DNDEBUG -msse3 -mssse3")
   SET (CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
-  # Shared object compilation under 64bit (vtable)
-  ADD_DEFINITIONS(-fPIC)  
   # IF(OCTOMAP_OMP)
   #   SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fopenmp")
   #   SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -fopenmp")
@@ -36,5 +34,8 @@ set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
 set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
 set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
+# enables -fPIC in applicable compilers
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
 # no prefix needed for python modules
 set(CMAKE_SHARED_MODULE_PREFIX "")
diff --git a/octovis/CMakeModules/FindQGLViewer.cmake b/octovis/CMakeModules/FindQGLViewer.cmake
@@ -83,7 +83,7 @@ IF(BUILD_LIB_FROM_SOURCE)
 	MESSAGE(STATUS "\t generating Makefile using qmake") 
 	EXECUTE_PROCESS(
 	  WORKING_DIRECTORY ${QGLVIEWER_BASE_DIR}
-	  COMMAND qmake-qt4
+	  COMMAND qmake
 	  OUTPUT_QUIET
 	  )
       ENDIF(QMAKE-QT4)
diff --git a/octovis/package.xml b/octovis/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>octovis</name>
-  <version>1.9.5</version>
+  <version>1.9.6</version>
   <description>octovis is visualization tool for the OctoMap library based on Qt and libQGLViewer. See
   http://octomap.github.io for details.</description>
 
diff --git a/octovis/src/ViewerGui.cpp b/octovis/src/ViewerGui.cpp
diff --git a/octovis/src/ViewerWidget.cpp b/octovis/src/ViewerWidget.cpp

Original file line number	Diff line number	Diff line change
`@@ -312,7 +312,7 @@ namespace octomap {`
`312`	`312`	`}`
`313`	`313`
`314`	`314`	`template <class MAPNODE>`
`315`		`- bool MapCollection<MAPNODE>::readTagValue(std::string tag, std::ifstream& infile, std::string* value) {`
	`315`	`+ bool MapCollection<MAPNODE>::readTagValue(std::string /tag/, std::ifstream& infile, std::string* value) {`
`316`	`316`	`std::string line;`
`317`	`317`	`while( getline(infile, line) ){`
`318`	`318`	`if(line.length() != 0 && line[0] != '#')`
-Original file line number
+Diff line change
     std::string getTreeType() const {return "OcTreeBase";}
   };
 -  };
 +}
 #endif