Fix catkin package definitions

.travis/test.sh

@@ -2,14 +2,32 @@
 
 set -o errexit
 
-pip install gh-pr-comment
+pip install gh-pr-comment catkin_lint
 
 source /opt/ros/${ROS_DISTRO}/setup.bash
 
 set -o verbose
 
 cd /catkin_ws
 
+
+pkgs=`find . -name package.xml | xargs -n1 dirname`
+catkin_lint $pkgs \
+  || (gh-pr-comment "[#${TRAVIS_BUILD_NUMBER}] FAILED on ${ROS_DISTRO}" \
+      "<details><summary>catkin_lint failed</summary>
+
+\`\`\`
+`catkin_lint $pkgs 2>&1`
+\`\`\`
+</details>"; false)
+
+
+sed -i -e '5a set(CMAKE_C_FLAGS "-Wall -Werror -O2")' \
+  /opt/ros/${ROS_DISTRO}/share/catkin/cmake/toplevel.cmake
+sed -i -e '5a set(CMAKE_CXX_FLAGS "-Wall -Werror -O2")' \
+  /opt/ros/${ROS_DISTRO}/share/catkin/cmake/toplevel.cmake
+
+
 mkdir -p /catkin_ws/build/mcl_3dl/test/
 mv /catkin_ws/src/mcl_3dl/.cached-dataset/* /catkin_ws/build/mcl_3dl/test/
 ls -lh /catkin_ws/build/mcl_3dl/test/

CMakeLists.txt

@@ -72,7 +72,6 @@ set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O1")
 
 
 include_directories(${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${PCL_INCLUDE_DIR} include)
-link_directories(${Boost_LIBRARY_DIRS} ${PCL_LIBRARY_DIRS})
 add_definitions(${PCL_DEFINITIONS})
 
 # Binary installed pcl provided by Linux distro is built with -march=native
@@ -87,6 +86,7 @@ add_dependencies(mcl_3dl ${catkin_EXPORTED_TARGETS})
 
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
+  find_package(rosunit REQUIRED)
   add_subdirectory(test)
 
   find_package(roslint REQUIRED)

package.xml

@@ -2,18 +2,18 @@
 <package format="2">
   <name>mcl_3dl</name>
   <version>0.1.3</version>
-  <description>The mcl_3dl package</description>
+  <description>3-D/6-DOF localization for mobile robots with 3-D LIDAR(s)</description>
 
   <maintainer email="[email protected]">Atsushi Watanabe</maintainer>
   <license>BSD</license>
   <author email="[email protected]">Atsushi Watanabe</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>cmake_modules</build_depend>
   <depend>roscpp</depend>
   <test_depend>roslint</test_depend>
   <test_depend>rostest</test_depend>
+  <test_depend>rosunit</test_depend>
 
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>

test/CMakeLists.txt

@@ -1,7 +1,3 @@
-cmake_minimum_required(VERSION 2.8.3)
-
-find_package(catkin REQUIRED COMPONENTS roscpp rostest nav_msgs tf)
-
 catkin_add_gtest(test_vec3 src/test_vec3.cpp)
 target_link_libraries(test_vec3 ${catkin_LIBRARIES})
 catkin_add_gtest(test_quat src/test_quat.cpp)
@@ -23,7 +19,7 @@ target_link_libraries(performance_raycast ${catkin_LIBRARIES} ${Boost_LIBRARIES}
 add_rostest_gtest(test_transform_failure tests/transform_rostest.test
     src/test_transform_failure.cpp)
 target_link_libraries(test_transform_failure ${catkin_LIBRARIES})
-add_dependencies(test_transform_failure mcl_3dl)
+add_dependencies(test_transform_failure ${PROJECT_NAME})
 
 if(MCL_3DL_EXTRA_TESTS)
 
@@ -61,9 +57,8 @@ if(MCL_3DL_EXTRA_TESTS)
         mcl_3dl
       )
 
-else(MCL_3DL_EXTRA_TESTS)
+else()
 
   message("To perform extra heavy tests for mcl_3dl, use -DMCL_3DL_EXTRA_TESTS:=ON")
 
-endif(MCL_3DL_EXTRA_TESTS)
-
+endif()