amrl_shared_lib

Shared library for all AMRL C++ projects

ROS1/ROS2 Compatibility ✅

This library is fully cross-compatible between ROS1 and ROS2. The compatibility is achieved through:

1. Conditional Compilation: Uses #ifdef ROS2 preprocessor directives to include appropriate headers and use correct APIs
2. Type Aliases: Provides unified type names that map to the correct ROS1 or ROS2 message types
3. Abstraction Macros: Logging and timing functions are abstracted through macros that call the appropriate ROS1/ROS2 functions
4. Optional ROS Dependency: The core library functionality is completely independent of ROS - ROS features are only in the ros/ directory

Build

1. Install dependencies:

   sudo apt-get install libgtest-dev libgoogle-glog-dev cmake build-essential
   

2. Compile:

   make -j`nproc`
   

Usage in Parent Projects

This library is designed to be used as a git submodule in larger projects. Here's how to integrate it:

1. Add as Submodule

In your parent project, add this as a git submodule:

git submodule add git@github.com:umass-amrl/amrl_shared_lib.git src/shared

Or using HTTPS:

git submodule add https://github.com/ut-amrl/amrl_shared_lib.git src/shared

2. Basic CMakeLists.txt Setup

In your parent project's main CMakeLists.txt:

# Include and build amrl_shared_lib (order matters)
INCLUDE_DIRECTORIES(src/shared)
ADD_SUBDIRECTORY(src/shared)

# Your executable
ADD_EXECUTABLE(my-program src/main.cc)
TARGET_LINK_LIBRARIES(my-program amrl_shared_lib)

3. ROS Integration

To use ROS features, add automatic ROS detection to your parent project's CMakeLists.txt:

# Auto-detect ROS version from environment
if("$ENV{ROS_VERSION}" STREQUAL "2")
    # ROS2 setup
    find_package(rclcpp REQUIRED)
    find_package(std_msgs REQUIRED)
    find_package(geometry_msgs REQUIRED)
    ament_target_dependencies(my-program rclcpp std_msgs geometry_msgs)
    add_compile_definitions(ROS2)
else()
    # ROS1 setup
    find_package(catkin REQUIRED COMPONENTS roscpp std_msgs geometry_msgs)
    target_link_libraries(my-program ${catkin_LIBRARIES})
endif()

# Standard amrl_shared_lib setup
INCLUDE_DIRECTORIES(src/shared)
ADD_SUBDIRECTORY(src/shared)
ADD_EXECUTABLE(my-program src/main.cc)
TARGET_LINK_LIBRARIES(my-program amrl_shared_lib)

Advanced Configuration

To change the name of the shared library, set AMRL_LIBRARY_NAME prior to the INCLUDE_DIRECTORIES call in Step 2, e.g.:

SET(AMRL_LIBRARY_NAME "alternate_link_name"
    CACHE STRING "Name of compiled library")

To generate the unit tests for the shared library, set GENERATE_SHARED_LIB_UNITTESTS to ON prior to the INCLUDE_DIRECTORIES call in Step 2, e.g.:

SET(GENERATE_SHARED_LIB_UNITTESTS ON)