diff --git a/nav2_voxel_grid/CHANGELOG.rst b/nav2_voxel_grid/CHANGELOG.rst
deleted file mode 100644
index cebb2a37cdd26526874b53c924908faef8be869b..0000000000000000000000000000000000000000
--- a/nav2_voxel_grid/CHANGELOG.rst
+++ /dev/null
@@ -1,87 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package voxel_grid
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-1.16.2 (2018-07-31)
--------------------
-
-1.16.1 (2018-07-28)
--------------------
-
-1.16.0 (2018-07-25)
--------------------
-
-1.15.2 (2018-03-22)
--------------------
-* Merge pull request `#673 <https://github.com/ros-planning/navigation/issues/673>`_ from ros-planning/email_update_lunar
- update maintainer email (lunar)
-* Merge pull request `#649 <https://github.com/ros-planning/navigation/issues/649>`_ from aaronhoy/lunar_add_ahoy
- Add myself as a maintainer.
-* Contributors: Aaron Hoy, Michael Ferguson
-
-1.15.1 (2017-08-14)
--------------------
-
-1.15.0 (2017-08-07)
--------------------
-* convert packages to format2
-* Fix CMakeLists + package.xmls (`#548 <https://github.com/ros-planning/navigation/issues/548>`_)
-* Contributors: Martin G眉nther, Mikael Arguedas
-
-1.14.0 (2016-05-20)
--------------------
-
-1.13.1 (2015-10-29)
--------------------
-
-1.13.0 (2015-03-17)
--------------------
-
-1.12.0 (2015-02-04)
--------------------
-* update maintainer email
-* Contributors: Michael Ferguson
-
-1.11.15 (2015-02-03)
---------------------
-* Add ARCHIVE_DESTINATION for static builds
-* Contributors: Gary Servin
-
-1.11.14 (2014-12-05)
---------------------
-* remove old test code
-* fixup voxel_grid.h formatting (whitespace changes ONLY)
-* Contributors: Michael Ferguson
-
-1.11.13 (2014-10-02)
---------------------
-
-1.11.12 (2014-10-01)
---------------------
-
-1.11.11 (2014-07-23)
---------------------
-
-1.11.10 (2014-06-25)
---------------------
-
-1.11.9 (2014-06-10)
--------------------
-
-1.11.8 (2014-05-21)
--------------------
-
-1.11.7 (2014-05-21)
--------------------
-* uses %u instead of %d for unsigned int
-* Contributors: enriquefernandez
-
-1.11.5 (2014-01-30)
--------------------
-* Misc. other commits from Groovy Branch
-* check for CATKIN_ENABLE_TESTING
-* Change maintainer from Hersh to Lu
-
-1.11.4 (2013-09-27)
--------------------
-* Package URL Updates
diff --git a/nav2_voxel_grid/CMakeLists.txt b/nav2_voxel_grid/CMakeLists.txt
index 192849a8f03248b31ab338a3d806890ffb8196e1..aab8f2da23b8f30d1e6cf3f3eb1e2648830ecc8e 100644
--- a/nav2_voxel_grid/CMakeLists.txt
+++ b/nav2_voxel_grid/CMakeLists.txt
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.5)
-project(voxel_grid)
+project(nav2_voxel_grid)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
@@ -7,30 +7,29 @@ if(NOT CMAKE_CXX_STANDARD)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
- add_compile_options(-Wall -Wextra -Wpedantic)
+ add_compile_options(-Wall -Wextra -Wpedantic -Werror)
endif()
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
include_directories(
- include
- ${rclcpp_INCLUDE_DIRS})
+ include)
add_library(voxel_grid src/voxel_grid.cpp)
-target_link_libraries(voxel_grid ${rclcpp_LIBRARIES})
-ament_export_dependencies(
+set(dependencies
rclcpp
)
-ament_export_include_directories(include)
-ament_export_libraries(voxel_grid)
-ament_package()
+ament_target_dependencies(voxel_grid
+ ${dependencies}
+)
install(TARGETS voxel_grid
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
+ RUNTIME DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY include/
@@ -38,10 +37,15 @@ install(DIRECTORY include/
)
if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ ament_lint_auto_find_test_dependencies()
+
find_package(ament_cmake_gtest REQUIRED)
- ament_add_gtest(voxel_grid_tests test/voxel_grid_tests.cpp)
- target_link_libraries(voxel_grid_tests
- voxel_grid
- ${rclcpp_LIBRARIES}
- )
+ add_subdirectory(test)
endif()
+
+ament_export_dependencies(rclcpp)
+ament_export_include_directories(include)
+ament_export_libraries(voxel_grid)
+
+ament_package()
diff --git a/nav2_voxel_grid/package.xml b/nav2_voxel_grid/package.xml
index 70ca7f1ecb2df811f7e773c545ab4d4b04240da8..1936c378d34255b1f0e290b263edf620f951913f 100644
--- a/nav2_voxel_grid/package.xml
+++ b/nav2_voxel_grid/package.xml
@@ -1,24 +1,23 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
- <name>voxel_grid</name>
- <version>1.16.2</version>
- <description>
+<package format="3">
+ <name>nav2_voxel_grid</name>
+ <version>0.1.0</version>
+ <description>
+ voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.
+ </description>
+ <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
+ <license>BSD</license>
- voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures.
+ <buildtool_depend>ament_cmake</buildtool_depend>
- </description>
- <author>Eitan Marder-Eppstein, Eric Berger</author>
- <author>contradict@gmail.com</author>
- <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
- <license>BSD</license>
- <url>http://wiki.ros.org/voxel_grid</url>
+ <depend>rclcpp</depend>
- <buildtool_depend>ament_cmake</buildtool_depend>
- <depend>rclcpp</depend>
- <test_depend>ament_cmake_gtest</test_depend>
+ <test_depend>ament_lint_common</test_depend>
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_cmake_gtest</test_depend>
- <export>
- <build_type>ament_cmake</build_type>
- </export>
+ <export>
+ <build_type>ament_cmake</build_type>
+ </export>
</package>
diff --git a/nav2_voxel_grid/test/CMakeLists.txt b/nav2_voxel_grid/test/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eb68ad8b3ae380eba6d379a11b0fa9bc673f93b8
--- /dev/null
+++ b/nav2_voxel_grid/test/CMakeLists.txt
@@ -0,0 +1,2 @@
+ament_add_gtest(voxel_grid_tests voxel_grid_tests.cpp)
+target_link_libraries(voxel_grid_tests voxel_grid)