Vi catkin

.gitignore

@@ -9,3 +9,4 @@ bot2-procman/python/src/bot_procman/build_prefix.py
 pod-build
 bot2-lcmgl/python/src/bot_lcmgl/__init__.py
 bot2-procman/python/src/bot_procman/__init__.py
+bot2-procman/python/src/bot_procman/*_t.py

Makefile

@@ -1,49 +1,49 @@
+# Default pod makefile distributed with pods version: 12.11.14
 
-# support only a few flags that might be passed through:
-#   BUILD_PREFIX, BUILD_TYPE, CMAKE_FLAGS*
-CMAKE_FLAGS+=$(strip $(CMAKE_FLAGS1) $(CMAKE_FLAGS2) $(CMAKE_FLAGS3) $(CMAKE_FLAGS4) $(CMAKE_FLAGS5) $(CMAKE_FLAGS6) $(CMAKE_FLAGS7) $(CMAKE_FLAGS8) $(CMAKE_FLAGS9) $(CMAKE_FLAGS10) $(CMAKE_FLAGS11) $(CMAKE_FLAGS12) $(CMAKE_FLAGS13) $(CMAKE_FLAGS14) $(CMAKE_FLAGS15) $(CMAKE_FLAGS16) $(CMAKE_FLAGS17) $(CMAKE_FLAGS18) $(CMAKE_FLAGS19) $(CMAKE_FLAGS20))
-ifneq "$(BUILD_PREFIX)" ""
-  CMAKE_FLAGS+=-DCMAKE_INSTALL_PREFIX="$(BUILD_PREFIX)"
+default_target: all
+
+# Default to a less-verbose build.  If you want all the gory compiler output,
+# run "make VERBOSE=1"
+$(VERBOSE).SILENT:
+
+# Figure out where to build the software.
+#   Use BUILD_PREFIX if it was passed in.
+#   If not, search up to four parent directories for a 'build' directory.
+#   Otherwise, use ./build.
+ifeq "$(BUILD_PREFIX)" ""
+BUILD_PREFIX:=$(shell for pfx in ./ .. ../.. ../../.. ../../../..; do d=`pwd`/$$pfx/build;\
+               if [ -d $$d ]; then echo $$d; exit 0; fi; done; echo `pwd`/build)
 endif
+# create the build directory if needed, and normalize its path name
+BUILD_PREFIX:=$(shell mkdir -p $(BUILD_PREFIX) && cd $(BUILD_PREFIX) && echo `pwd`)
+
+# Default to a release build.  If you want to enable debugging flags, run
+# "make BUILD_TYPE=Debug"
 ifeq "$(BUILD_TYPE)" ""
-  BUILD_TYPE="Release"
+BUILD_TYPE="Release"
 endif
-CMAKE_FLAGS+=-DCMAKE_BUILD_TYPE=$(BUILD_TYPE)
-CMAKE_CONFIG=--config $(BUILD_TYPE)
 
-.PHONY: all
-all: configure
-	cmake --build pod-build $(CMAKE_CONFIG) --target all
+all: pod-build/Makefile
+	$(MAKE) -C pod-build all install
 
-pod-build:
-	cmake -E make_directory pod-build
+pod-build/Makefile:
+	$(MAKE) configure
 
 .PHONY: configure
-configure: pod-build
-	@echo Configuring with CMAKE_FLAGS: $(CMAKE_FLAGS)
-	@cd pod-build && cmake $(CMAKE_FLAGS) ..
-
-.PHONY: options
-options: configure
-ifeq ($(OS),Windows_NT)
-	cmake-gui pod-build
-else
-	ccmake pod-build
-endif
+configure:
+	@echo "\nBUILD_PREFIX: $(BUILD_PREFIX)\n\n"
 
-.PHONY: clean
-clean:
-	cmake --build pod-build --target clean
-	cmake -E remove_directory pod-build
-	cmake -E remove_directory build
+	# create the temporary build directory if needed
+	@mkdir -p pod-build
 
-# other (custom) targets are passed through to the cmake-generated Makefile
-%::
-	cmake --build pod-build $(CMAKE_CONFIG) --target $@
-
-# Default to a less-verbose build.  If you want all the gory compiler output,
-# run "make VERBOSE=1"
-$(VERBOSE).SILENT:
+	# run CMake to generate and configure the build scripts
+	@cd pod-build && cmake -DCMAKE_INSTALL_PREFIX=$(BUILD_PREFIX) \
+		   -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) ..
 
+clean:
+	-if [ -e pod-build/install_manifest.txt ]; then rm -f `cat pod-build/install_manifest.txt`; fi
+	-if [ -d pod-build ]; then $(MAKE) -C pod-build clean; rm -rf pod-build; fi
 
-### rules specific to this project (everything above is the generic pods makefile wrapper of a cmake project)
+# other (custom) targets are passed through to the cmake-generated Makefile 
+%::
+	$(MAKE) -C pod-build $@

README

@@ -84,6 +84,17 @@ Requirements
   the Pods core policy. If no other "build" directory is found, it will default to:
   libbot2/build/  
 
+Catkin
+======
+libbot now supports catkin.
+
+Please add/remove any/all lcm types, executables and libraries to respective the catkin cmake files (catkin/...).
+
+To build:
+1. Clone the code into a catkin workspace (catkin_tools environmnet is recommended).
+2. Use rosdep to install dependencies (see https://bitbucket.org/vivan/lcm_catkin for catkin-compatible lcm)
+2. Compile the workspace: 'catkin build -s' or 'catkin_make' (depending on which tools you use).
+
 Uninstallation
 ==============
 

bot2-core/CMakeLists.txt

@@ -4,8 +4,4 @@ set(POD_NAME bot2-core)
 
 include(cmake/pods.cmake)
 
-#include(cmake/lcmtypes.cmake)
-#lcmtypes_build(C_AGGREGATE_HEADER bot_core.h CPP_AGGREGATE_HEADER bot_core.hpp)
-
 add_subdirectory(src/bot_core)
-#add_subdirectory(java)

bot2-core/Makefile

@@ -1,4 +1,4 @@
-# Default pod makefile distributed with pods version: 12.09.21
+# Default pod makefile distributed with pods version: 12.11.14
 
 default_target: all