compile ros_comm and run roscpp tests (there are some non-critical fa…

…ilures)

Issues:
- some roswtf tests fail - not sure what the problem is

- Due to use of global variables there are issues with destruction of
global objects in various translation units, during the process
shutdown. This is related to Subscriber and Publisher and happens only
in executables where they are defined as global variables outside of
main. Example: some topic_tools components such as throttle

This is most likely related to the fact that now various components are
statically linked instead of dynamically. And for instance if an
executable depends on rosconsole, and we define a publisher as a global
object, when the program exits, the publisher is getting destroyed, but
other global variables get destroyed before that:

> Core was generated by `devel/lib/topic_tools/throttle messages /input 5'.
> Program terminated with signal SIGABRT, Aborted.
> #0  0x00007f277238c428 in __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:54
> 54      ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
> [Current thread is 1 (Thread 0x7f2773b90780 (LWP 24620))]
> (gdb) bt
> #0  0x00007f277238c428 in __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:54
> ros#1  0x00007f277238e02a in __GI_abort () at abort.c:89
> ros#2  0x00007f2772ccf7dd in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#3  0x00007f2772ccd6b6 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#4  0x00007f2772ccd701 in std::terminate() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#5  0x00007f2772cce23f in __cxa_pure_virtual () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#6  0x0000000000719a64 in boost::system::error_code::message[abi:cxx11]() const (this=0x1fb5f00)
>     at .../include/boost/system/error_code.hpp:477
> ros#7  0x000000000071a0ed in boost::system::system_error::what (this=0x1fb5ef0) at .../include/boost/system/system_error.hpp:70
> ros#8  0x00007f2772ccf805 in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#9  0x00007f2772ccd6b6 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#10 0x00007f2772ccc6a9 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#11 0x00007f2772ccd005 in __gxx_personality_v0 () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
> ros#12 0x00007f2772730f83 in ?? () from /lib/x86_64-linux-gnu/libgcc_s.so.1
> ros#13 0x00007f2772731487 in _Unwind_Resume () from /lib/x86_64-linux-gnu/libgcc_s.so.1
> ros#14 0x000000000071a557 in boost::mutex::lock (this=0xbb7fa0 <ros::console::g_locations_mutex>)
>     at .../include/boost/thread/pthread/mutex.hpp:119
> ros#15 0x000000000071c723 in boost::unique_lock<boost::mutex>::lock (this=0x7fff031f4950)
>     at .../include/boost/thread/lock_types.hpp:346
> ros#16 0x000000000071bdeb in boost::unique_lock<boost::mutex>::unique_lock (this=0x7fff031f4950, m_=...)
>     at .../include/boost/thread/lock_types.hpp:124
> ros#17 0x0000000000718dae in ros::console::initializeLogLocation (loc=0xbb5c70 <ros::Publisher::Impl::~Impl()::__rosconsole_define_location__loc>, name="ros.roscpp",
>     level=ros::console::levels::Debug) at .../ros_comm/tools/rosconsole/src/rosconsole/rosconsole.cpp:632
> ros#18 0x00000000007278b6 in ros::Publisher::Impl::~Impl (this=0x1fb6730, __in_chrg=<optimised out>) at .../ros_comm/clients/roscpp/src/libros/publisher.cpp:40
> ros#19 0x00000000007299a9 in boost::detail::sp_ms_deleter<ros::Publisher::Impl>::destroy (this=0x1fb6728)
>     at .../include/boost/smart_ptr/make_shared_object.hpp:59
> ros#20 0x0000000000729b14 in boost::detail::sp_ms_deleter<ros::Publisher::Impl>::operator() (this=0x1fb6728)
>     at .../include/boost/smart_ptr/make_shared_object.hpp:93
> ros#21 0x0000000000729a53 in boost::detail::sp_counted_impl_pd<ros::Publisher::Impl*, boost::detail::sp_ms_deleter<ros::Publisher::Impl> >::dispose (this=0x1fb6710)
>     at .../include/boost/smart_ptr/detail/sp_counted_impl.hpp:172
> ros#22 0x0000000000707ab5 in boost::detail::sp_counted_base::release (this=0x1fb6710)
>     at .../include/boost/smart_ptr/detail/sp_counted_base_std_atomic.hpp:110
> ros#23 0x0000000000707b41 in boost::detail::shared_count::~shared_count (this=0xbb7d28 <g_pub+8>, __in_chrg=<optimised out>)
>     at .../include/boost/smart_ptr/detail/shared_count.hpp:426
> ros#24 0x0000000000707ef4 in boost::shared_ptr<ros::Publisher::Impl>::~shared_ptr (this=0xbb7d20 <g_pub>, __in_chrg=<optimised out>)
>     at .../include/boost/smart_ptr/shared_ptr.hpp:341
> ros#25 0x0000000000727bce in ros::Publisher::~Publisher (this=0xbb7d20 <g_pub>, __in_chrg=<optimised out>)
>     at .../ros_comm/clients/roscpp/src/libros/publisher.cpp:74
> ros#26 0x00007f2772390ff8 in __run_exit_handlers (status=0, listp=0x7f277271b5f8 <__exit_funcs>, run_list_atexit=run_list_atexit@entry=true) at exit.c:82
> ros#27 0x00007f2772391045 in __GI_exit (status=<optimised out>) at exit.c:104
> ros#28 0x00007f2772377837 in __libc_start_main (main=0x706886 <main(int, char**)>, argc=4, argv=0x7fff031f4bf8, init=<optimised out>, fini=<optimised out>, rtld_fini=<optimised out>,
>     stack_end=0x7fff031f4be8) at ../csu/libc-start.c:325
> ros#29 0x0000000000705bc9 in _start ()

CMakeLists.txt

@@ -7,20 +7,39 @@ HunterGate(
 )
 
 project(ros_comm)
-hunter_add_package(Boost COMPONENTS regex system chrono signals thread)
+hunter_add_package(Boost
+    COMPONENTS date_time filesystem program_options regex system chrono signals thread)
+hunter_add_package(BZip2)
 hunter_add_package(lz4)
 hunter_add_package(catkin)
 hunter_add_package(roscpp_core)
 hunter_add_package(ros)
 hunter_add_package(message_generation)
 hunter_add_package(ros_comm_msgs)
+hunter_add_package(ros-cmake_modules)
 
 find_package(Boost CONFIG REQUIRED
-    COMPONENTS regex system chrono signals thread)
+    COMPONENTS date_time filesystem program_options regex system chrono signals thread)
 
+add_subdirectory(tools/rosgraph)
+add_subdirectory(tools/roslaunch)
+add_subdirectory(tools/rosmaster)
+add_subdirectory(tools/rosparam)
 add_subdirectory(utilities/xmlrpcpp)
-add_subdirectory(tools/rostest)
-add_subdirectory(utilities/roswtf)
-add_subdirectory(utilities/roslz4)
 add_subdirectory(tools/rosconsole)
 add_subdirectory(clients/roscpp)
+add_subdirectory(clients/rospy)
+add_subdirectory(utilities/roslz4)
+add_subdirectory(tools/rostest)
+add_subdirectory(tools/rosnode)
+add_subdirectory(tools/rosbag_storage)
+add_subdirectory(tools/topic_tools)
+add_subdirectory(tools/rosbag)
+add_subdirectory(tools/rostopic)
+add_subdirectory(tools/rosmsg)
+add_subdirectory(tools/rosout)
+add_subdirectory(tools/rosservice)
+add_subdirectory(utilities/roswtf)
+add_subdirectory(ros_comm)
+
+add_subdirectory(test/test_roscpp)

clients/roscpp/CMakeLists.txt

@@ -129,6 +129,13 @@ add_library(roscpp
 
 add_dependencies(roscpp ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
+target_include_directories(roscpp PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<BUILD_INTERFACE:${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/ros>
+  $<BUILD_INTERFACE:${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}>
+  $<INSTALL_INTERFACE:include>
+)
+
 target_link_libraries(roscpp
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}

test/test_roscpp/test/CMakeLists.txt

@@ -1,6 +1,6 @@
 catkin_add_gtest(${PROJECT_NAME}-test_version test_version.cpp)
 if(TARGET ${PROJECT_NAME}-test_version)
-  target_link_libraries(${PROJECT_NAME}-test_version)
+  target_link_libraries(${PROJECT_NAME}-test_version ${catkin_LIBRARIES})
 endif()
 
 catkin_add_gtest(${PROJECT_NAME}-test_header test_header.cpp)

tools/rosbag/CMakeLists.txt

@@ -6,8 +6,8 @@ if(NOT WIN32)
 endif()
 
 find_package(catkin REQUIRED COMPONENTS rosbag_storage rosconsole roscpp std_srvs topic_tools xmlrpcpp)
-find_package(Boost REQUIRED COMPONENTS date_time regex program_options filesystem)
-find_package(BZip2 REQUIRED)
+find_package(Boost CONFIG REQUIRED COMPONENTS date_time regex program_options filesystem)
+find_package(BZip2 CONFIG REQUIRED)
 
 catkin_python_setup()
 
@@ -18,6 +18,7 @@ include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}
   ${BZIP2_INCLUDE_DIR}
 )
 
+set(PROJECT_INSTALLSPACE_LIBRARIES ros::rosbag)
 catkin_package(
   LIBRARIES rosbag
   INCLUDE_DIRS include
@@ -28,8 +29,13 @@ add_library(rosbag
   src/recorder.cpp
   src/time_translator.cpp)
 
-target_link_libraries(rosbag ${catkin_LIBRARIES} ${Boost_LIBRARIES}
-  ${BZIP2_LIBRARIES}
+target_link_libraries(rosbag ${catkin_LIBRARIES} Boost::date_time Boost::regex
+    Boost::program_options Boost::filesystem BZip2::bz2
+)
+
+target_include_directories(rosbag PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
 )
 
 add_executable(record src/record.cpp)
@@ -42,9 +48,14 @@ install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h")
 install(TARGETS rosbag
+  EXPORT ${PROJECT_NAME}Targets
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+install(EXPORT ${PROJECT_NAME}Targets
+    DESTINATION share/${PROJECT_NAME}/cmake
+    NAMESPACE ros::
+    FILE ${PROJECT_NAME}Targets.cmake)
 install(TARGETS record play
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

tools/rosbag_storage/CMakeLists.txt

@@ -8,21 +8,21 @@ endif()
 
 find_package(console_bridge REQUIRED)
 find_package(catkin REQUIRED COMPONENTS cpp_common roscpp_serialization roscpp_traits rostime roslz4)
-find_package(Boost REQUIRED COMPONENTS date_time filesystem program_options regex)
-find_package(BZip2 REQUIRED)
+find_package(Boost CONFIG REQUIRED COMPONENTS date_time filesystem program_options regex)
+find_package(BZip2 CONFIG REQUIRED)
 
+set(PROJECT_INSTALLSPACE_LIBRARIES ros::rosbag_storage)
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES rosbag_storage
   CATKIN_DEPENDS roslz4
-  DEPENDS console_bridge Boost
+  DEPENDS console_bridge "Boost COMPONENTS date_time filesystem program_options regex"
 )
 
 # Support large bags (>2GB) on 32-bit systems
 add_definitions(-D_FILE_OFFSET_BITS=64)
 
 include_directories(include ${catkin_INCLUDE_DIRS} ${console_bridge_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${BZIP2_INCLUDE_DIR})
-add_definitions(${BZIP2_DEFINITIONS})
 
 add_library(rosbag_storage
   src/bag.cpp
@@ -38,13 +38,24 @@ add_library(rosbag_storage
   src/uncompressed_stream.cpp
 )
 
-target_link_libraries(rosbag_storage ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${BZIP2_LIBRARIES} ${console_bridge_LIBRARIES})
+target_link_libraries(rosbag_storage ${catkin_LIBRARIES} ${Boost_LIBRARIES} BZip2::bz2 ${console_bridge_LIBRARIES})
+
+target_include_directories(rosbag_storage PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
 
 install(TARGETS rosbag_storage
+  EXPORT ${PROJECT_NAME}Targets
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
+install(EXPORT ${PROJECT_NAME}Targets
+    DESTINATION share/${PROJECT_NAME}/cmake
+    NAMESPACE ros::
+    FILE ${PROJECT_NAME}Targets.cmake
+)
 
 install(DIRECTORY include/
   DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}

tools/topic_tools/CMakeLists.txt

@@ -24,6 +24,7 @@ add_service_files(DIRECTORY srv
 
 generate_messages(DEPENDENCIES std_msgs)
 
+set(PROJECT_INSTALLSPACE_LIBRARIES ros::topic_tools)
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES topic_tools
@@ -34,6 +35,10 @@ catkin_add_env_hooks(20.transform SHELLS bash DIRECTORY ${CMAKE_CURRENT_SOURCE_D
 
 add_library(topic_tools src/shape_shifter.cpp src/parse.cpp)
 target_link_libraries(topic_tools ${catkin_LIBRARIES})
+target_include_directories(topic_tools PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
 
 add_executable(switch_mux src/switch_mux.cpp)
 target_link_libraries(switch_mux topic_tools ${catkin_LIBRARIES})
@@ -56,9 +61,15 @@ add_executable(throttle src/throttle.cpp)
 target_link_libraries(throttle topic_tools ${catkin_LIBRARIES})
 
 install(TARGETS topic_tools
+  EXPORT ${PROJECT_NAME}Targets
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+install(EXPORT ${PROJECT_NAME}Targets
+    DESTINATION share/${PROJECT_NAME}/cmake
+    NAMESPACE ros::
+    FILE ${PROJECT_NAME}Targets.cmake
+)
 
 install(TARGETS switch_mux mux demux relay drop throttle
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
@@ -88,9 +99,8 @@ if(CATKIN_ENABLE_TESTING)
   endif()
 
   if(GTEST_FOUND)
-    include_directories(${GTEST_INCLUDE_DIRS})
     add_executable(${PROJECT_NAME}-test_shapeshifter EXCLUDE_FROM_ALL test/test_shapeshifter.cpp)
-    target_link_libraries(${PROJECT_NAME}-test_shapeshifter ${GTEST_LIBRARIES} topic_tools)
+    target_link_libraries(${PROJECT_NAME}-test_shapeshifter GTest::main topic_tools)
   endif()
   if(TARGET tests)
     add_dependencies(tests ${PROJECT_NAME}-test_shapeshifter)

utilities/roslz4/CMakeLists.txt

@@ -9,7 +9,7 @@ catkin_python_setup()
 
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES ros::roslz4
+  LIBRARIES roslz4
   DEPENDS lz4)
 
 include_directories(include ${lz4_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
@@ -21,6 +21,11 @@ set_source_files_properties(
   src/lz4s.c src/xxhash.c
 PROPERTIES COMPILE_DEFINITIONS "XXH_NAMESPACE=ROSLZ4_")
 target_link_libraries(roslz4 lz4::lz4 ${catkin_LIBRARIES})
+target_include_directories(roslz4 PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+
 
 if(NOT ANDROID)
 # Python bindings