diff --git a/.gitignore b/.gitignore index 50961af..0076d34 100644 --- a/.gitignore +++ b/.gitignore @@ -15,3 +15,4 @@ build build.log build-log.xml docs.iml +*.log diff --git a/CMakeLists.txt b/CMakeLists.txt index 89e8d52..2782398 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,9 @@ project(tf2_android) find_package(catkin REQUIRED rosjava_build_tools) -catkin_android_setup(assembleRelease publishToMavenLocal) +catkin_android_setup(assembleRelease uploadArchives) catkin_package() +install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_MAVEN_DESTINATION}/org/ros/tf2/ + DESTINATION ${CATKIN_GLOBAL_MAVEN_DESTINATION}/org/ros/tf2/) diff --git a/build.gradle b/build.gradle index 2caef15..4547da4 100644 --- a/build.gradle +++ b/build.gradle @@ -15,53 +15,51 @@ */ task wrapper(type: Wrapper) { - gradleVersion = '1.8' + gradleVersion = "2.2.1" } -allprojects { - group 'org.ros.tf2' - version = '0.0.0-SNAPSHOT' +buildscript { + apply from: "https://github.com/talregev/rosjava_mvn_repo/raw/master/buildscript.gradle" + //noinspection GroovyAssignabilityCheck + dependencies { + classpath "com.android.tools.build:gradle:1.0.1" + } } -ext.androidBuildToolsVersion = "17" +apply plugin: "catkin" -subprojects { - buildscript { - repositories { - mavenCentral() - } - dependencies { - classpath 'com.android.tools.build:gradle:0.6.+' - } - } - - apply plugin: 'maven' +allprojects { repositories { - mavenLocal() maven { - url 'https://github.com/rosjava/rosjava_mvn_repo/raw/master' + url "http://www.github.com/talregev/rosjava_mvn_repo/raw/master" } } - configurations.add('compile') { - exclude group: 'junit' - exclude group: 'xml-apis' - } + group 'org.ros.tf2' + version = project.catkin.pkg.version +} - uploadArchives { - repositories { - mavenDeployer { - repository url: 'file://' + new File(System.getProperty('user.home'), '.m2/repository').absolutePath - } - } - } +ext.androidBuildToolsVersion = "21.1.2" + +subprojects { + + apply plugin: 'ros-android' task publishToMavenLocal() << { description = 'installs .aar files to the local maven repository.' } - afterEvaluate { Project project -> - if (plugins.findPlugin('android-library')) { - publishToMavenLocal.dependsOn('uploadArchives') + + afterEvaluate { project -> + android { + buildToolsVersion androidBuildToolsVersion + packagingOptions { + /* https://github.com/rosjava/android_core/issues/194 */ + exclude 'META-INF/LICENSE.txt' + exclude 'META-INF/NOTICE.txt' + exclude 'lib/armeabi/libtf2_ros.so' + } } } } + +defaultTasks 'assembleRelease', 'uploadArchives' \ No newline at end of file diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties index a7ae643..2babd02 100644 --- a/gradle/wrapper/gradle-wrapper.properties +++ b/gradle/wrapper/gradle-wrapper.properties @@ -1,6 +1,6 @@ -#Wed Sep 25 14:10:30 PDT 2013 +#Wed Feb 04 07:50:41 IST 2015 distributionBase=GRADLE_USER_HOME distributionPath=wrapper/dists zipStoreBase=GRADLE_USER_HOME zipStorePath=wrapper/dists -distributionUrl=http\://services.gradle.org/distributions/gradle-1.8-all.zip +distributionUrl=https\://services.gradle.org/distributions/gradle-2.2.1-all.zip diff --git a/insert_benchmark/build.gradle b/insert_benchmark/build.gradle index 8210e5b..82c5fe4 100644 --- a/insert_benchmark/build.gradle +++ b/insert_benchmark/build.gradle @@ -18,10 +18,9 @@ dependencies { compile project(':tf2_ros') } -apply plugin: 'android' +apply plugin: 'com.android.application' android { compileSdkVersion 10 - buildToolsVersion androidBuildToolsVersion } diff --git a/insert_benchmark/src/main/AndroidManifest.xml b/insert_benchmark/src/main/AndroidManifest.xml index a879d24..df4ab9e 100644 --- a/insert_benchmark/src/main/AndroidManifest.xml +++ b/insert_benchmark/src/main/AndroidManifest.xml @@ -1,13 +1,16 @@ - - + + + android:icon="@mipmap/ic_launcher" + tools:replace="android:icon" + android:allowBackup="true"> diff --git a/insert_benchmark/src/main/java/org/ros/tf2/insert_benchmark/BenchmarkActivity.java b/insert_benchmark/src/main/java/org/ros/tf2/insert_benchmark/BenchmarkActivity.java index 2e33f12..152d63a 100644 --- a/insert_benchmark/src/main/java/org/ros/tf2/insert_benchmark/BenchmarkActivity.java +++ b/insert_benchmark/src/main/java/org/ros/tf2/insert_benchmark/BenchmarkActivity.java @@ -1,19 +1,21 @@ package org.ros.tf2.insert_benchmark; import android.app.Activity; -import android.os.Bundle; import android.os.AsyncTask; -import android.util.Log; +import android.os.Bundle; import android.view.View; import android.widget.Button; import android.widget.EditText; import android.widget.TextView; -import java.util.ArrayList; +import org.ros.message.Duration; +import org.ros.message.MessageFactory; +import org.ros.message.Time; +import org.ros.node.NodeConfiguration; +import org.ros.tf2_ros.Buffer; + import java.util.List; import java.util.Random; -import java.util.UUID; -import java.util.Vector; import geometry_msgs.Quaternion; import geometry_msgs.Transform; @@ -21,12 +23,6 @@ import geometry_msgs.Vector3; import tf2_msgs.TFMessage; -import org.ros.tf2_ros.Buffer; -import org.ros.message.Duration; -import org.ros.message.MessageFactory; -import org.ros.message.Time; -import org.ros.node.NodeConfiguration; - public class BenchmarkActivity extends Activity { private volatile boolean mRunBenchmark = false; diff --git a/insert_benchmark/src/main/res/drawable-hdpi/ic_launcher.png b/insert_benchmark/src/main/res/mipmap-hdpi/ic_launcher.png similarity index 100% rename from insert_benchmark/src/main/res/drawable-hdpi/ic_launcher.png rename to insert_benchmark/src/main/res/mipmap-hdpi/ic_launcher.png diff --git a/insert_benchmark/src/main/res/drawable-ldpi/ic_launcher.png b/insert_benchmark/src/main/res/mipmap-ldpi/ic_launcher.png similarity index 100% rename from insert_benchmark/src/main/res/drawable-ldpi/ic_launcher.png rename to insert_benchmark/src/main/res/mipmap-ldpi/ic_launcher.png diff --git a/insert_benchmark/src/main/res/drawable-mdpi/ic_launcher.png b/insert_benchmark/src/main/res/mipmap-mdpi/ic_launcher.png similarity index 100% rename from insert_benchmark/src/main/res/drawable-mdpi/ic_launcher.png rename to insert_benchmark/src/main/res/mipmap-mdpi/ic_launcher.png diff --git a/insert_benchmark/src/main/res/drawable-xhdpi/ic_launcher.png b/insert_benchmark/src/main/res/mipmap-xhdpi/ic_launcher.png similarity index 100% rename from insert_benchmark/src/main/res/drawable-xhdpi/ic_launcher.png rename to insert_benchmark/src/main/res/mipmap-xhdpi/ic_launcher.png diff --git a/lookup_benchmark/build.gradle b/lookup_benchmark/build.gradle index 8210e5b..82c5fe4 100644 --- a/lookup_benchmark/build.gradle +++ b/lookup_benchmark/build.gradle @@ -18,10 +18,9 @@ dependencies { compile project(':tf2_ros') } -apply plugin: 'android' +apply plugin: 'com.android.application' android { compileSdkVersion 10 - buildToolsVersion androidBuildToolsVersion } diff --git a/lookup_benchmark/src/main/AndroidManifest.xml b/lookup_benchmark/src/main/AndroidManifest.xml index d5f62f8..90efcf8 100644 --- a/lookup_benchmark/src/main/AndroidManifest.xml +++ b/lookup_benchmark/src/main/AndroidManifest.xml @@ -1,13 +1,16 @@ - - + + + android:icon="@mipmap/ic_launcher" + tools:replace="android:icon" + android:allowBackup="true"> diff --git a/lookup_benchmark/src/main/java/org/ros/tf2/lookup_benchmark/BenchmarkActivity.java b/lookup_benchmark/src/main/java/org/ros/tf2/lookup_benchmark/BenchmarkActivity.java index adc8ea8..e2effb5 100644 --- a/lookup_benchmark/src/main/java/org/ros/tf2/lookup_benchmark/BenchmarkActivity.java +++ b/lookup_benchmark/src/main/java/org/ros/tf2/lookup_benchmark/BenchmarkActivity.java @@ -1,22 +1,22 @@ package org.ros.tf2.lookup_benchmark; import android.app.Activity; -import android.os.Bundle; import android.os.AsyncTask; -import android.os.Looper; +import android.os.Bundle; import android.view.View; import android.widget.Button; import android.widget.EditText; import android.widget.TextView; -import java.util.Random; - -import geometry_msgs.TransformStamped; -import org.ros.tf2_ros.Buffer; import org.ros.message.Duration; import org.ros.message.MessageFactory; import org.ros.message.Time; import org.ros.node.NodeConfiguration; +import org.ros.tf2_ros.Buffer; + +import java.util.Random; + +import geometry_msgs.TransformStamped; public class BenchmarkActivity extends Activity { diff --git a/lookup_benchmark/src/main/res/drawable-hdpi/ic_launcher.png b/lookup_benchmark/src/main/res/mipmap-hdpi/ic_launcher.png similarity index 100% rename from lookup_benchmark/src/main/res/drawable-hdpi/ic_launcher.png rename to lookup_benchmark/src/main/res/mipmap-hdpi/ic_launcher.png diff --git a/lookup_benchmark/src/main/res/drawable-ldpi/ic_launcher.png b/lookup_benchmark/src/main/res/mipmap-ldpi/ic_launcher.png similarity index 100% rename from lookup_benchmark/src/main/res/drawable-ldpi/ic_launcher.png rename to lookup_benchmark/src/main/res/mipmap-ldpi/ic_launcher.png diff --git a/lookup_benchmark/src/main/res/drawable-mdpi/ic_launcher.png b/lookup_benchmark/src/main/res/mipmap-mdpi/ic_launcher.png similarity index 100% rename from lookup_benchmark/src/main/res/drawable-mdpi/ic_launcher.png rename to lookup_benchmark/src/main/res/mipmap-mdpi/ic_launcher.png diff --git a/lookup_benchmark/src/main/res/drawable-xhdpi/ic_launcher.png b/lookup_benchmark/src/main/res/mipmap-xhdpi/ic_launcher.png similarity index 100% rename from lookup_benchmark/src/main/res/drawable-xhdpi/ic_launcher.png rename to lookup_benchmark/src/main/res/mipmap-xhdpi/ic_launcher.png diff --git a/ndk_library_scripts/get_ndk.sh b/ndk_library_scripts/get_ndk.sh index d798e87..0bd0967 100755 --- a/ndk_library_scripts/get_ndk.sh +++ b/ndk_library_scripts/get_ndk.sh @@ -11,7 +11,7 @@ if [ $# != 1 ] || [ $1 == '-h' ] || [ $1 == '--help' ]; then fi prefix=$(cd $1 && pwd) -URL=http://dl.google.com/android/ndk/android-ndk-r9-$system.tar.bz2 +URL=http://dl.google.com/android/ndk/android-ndk-r10d-$system.tar.bz2 download_bz2 $URL $prefix diff --git a/tf2_ros/build.gradle b/tf2_ros/build.gradle index 2267a90..b81d9ed 100644 --- a/tf2_ros/build.gradle +++ b/tf2_ros/build.gradle @@ -27,15 +27,18 @@ tasks.withType(JavaCompile) { } dependencies { - compile 'ros.android_core:android_gingerbread_mr1:0.0.0-SNAPSHOT' - compile 'com.github.rosjava.android_extras:gingerbread:0.1.0' - compile 'ros.rosjava_core:rosjava:0.0.0-SNAPSHOT' + compile 'org.ros.android_core:android_gingerbread_mr1:[0.1,0.2)' + compile 'org.ros.rosjava_core:rosjava:[0.1,0.2)' + compile 'com.github.rosjava.android_extras:gingerbread:[0.1,0.2)' compile fileTree(dir: "$buildDir/native-libs", include: '*.jar') } -apply plugin: 'android-library' +apply plugin: 'com.android.library' android { compileSdkVersion 10 - buildToolsVersion androidBuildToolsVersion -} \ No newline at end of file + sourceSets.main { + jni.srcDirs = [] + jniLibs.srcDir 'src/main/libs' + } +} diff --git a/tf2_ros/src/main/java/org/ros/tf2_ros/Buffer.java b/tf2_ros/src/main/java/org/ros/tf2_ros/Buffer.java index ca0beca..f0f1130 100644 --- a/tf2_ros/src/main/java/org/ros/tf2_ros/Buffer.java +++ b/tf2_ros/src/main/java/org/ros/tf2_ros/Buffer.java @@ -1,16 +1,16 @@ package org.ros.tf2_ros; +import org.ros.message.Duration; +import org.ros.message.MessageFactory; +import org.ros.message.Time; +import org.ros.node.NodeConfiguration; + import geometry_msgs.Quaternion; import geometry_msgs.Transform; import geometry_msgs.TransformStamped; import geometry_msgs.Vector3; import std_msgs.Header; -import org.ros.message.Duration; -import org.ros.message.MessageFactory; -import org.ros.message.Time; -import org.ros.node.NodeConfiguration; - public class Buffer { static { System.loadLibrary("tf2_ros"); diff --git a/tf2_ros/src/main/java/org/ros/tf2_ros/TransformListener.java b/tf2_ros/src/main/java/org/ros/tf2_ros/TransformListener.java index 1f46eab..716c780 100644 --- a/tf2_ros/src/main/java/org/ros/tf2_ros/TransformListener.java +++ b/tf2_ros/src/main/java/org/ros/tf2_ros/TransformListener.java @@ -1,6 +1,5 @@ package org.ros.tf2_ros; -import geometry_msgs.TransformStamped; import org.ros.message.Duration; import org.ros.message.MessageListener; import org.ros.namespace.GraphName; @@ -10,6 +9,8 @@ import java.util.List; +import geometry_msgs.TransformStamped; + public class TransformListener extends AbstractNodeMain { private Buffer mBuffer; diff --git a/tf2_test/build.gradle b/tf2_test/build.gradle index 239df91..f25cb0c 100644 --- a/tf2_test/build.gradle +++ b/tf2_test/build.gradle @@ -18,10 +18,9 @@ dependencies { compile project(':tf2_ros') } -apply plugin: 'android' +apply plugin: 'com.android.application' android { compileSdkVersion 10 - buildToolsVersion androidBuildToolsVersion } diff --git a/tf2_test/src/main/AndroidManifest.xml b/tf2_test/src/main/AndroidManifest.xml index 354d658..d421052 100644 --- a/tf2_test/src/main/AndroidManifest.xml +++ b/tf2_test/src/main/AndroidManifest.xml @@ -1,11 +1,17 @@ - - - + + + + > diff --git a/tf2_test/src/main/java/org/ros/tf2/tf2_test/PermuteOption.java b/tf2_test/src/main/java/org/ros/tf2/tf2_test/PermuteOption.java index aef4306..d204be3 100644 --- a/tf2_test/src/main/java/org/ros/tf2/tf2_test/PermuteOption.java +++ b/tf2_test/src/main/java/org/ros/tf2/tf2_test/PermuteOption.java @@ -1,7 +1,6 @@ package org.ros.tf2.tf2_test; import java.util.Iterator; -import java.util.ListIterator; import java.util.Vector; public class PermuteOption { diff --git a/tf2_test/src/main/java/org/ros/tf2/tf2_test/Tf2Test.java b/tf2_test/src/main/java/org/ros/tf2/tf2_test/Tf2Test.java index 7b16e5c..e9446ab 100644 --- a/tf2_test/src/main/java/org/ros/tf2/tf2_test/Tf2Test.java +++ b/tf2_test/src/main/java/org/ros/tf2/tf2_test/Tf2Test.java @@ -7,8 +7,6 @@ import android.widget.Button; import android.widget.TextView; -import org.apache.http.util.ExceptionUtils; - public class Tf2Test extends Activity { diff --git a/tf_broadcaster_app/build.gradle b/tf_broadcaster_app/build.gradle index c44d075..37015f0 100644 --- a/tf_broadcaster_app/build.gradle +++ b/tf_broadcaster_app/build.gradle @@ -18,9 +18,8 @@ dependencies { compile project(':tf2_ros') } -apply plugin: 'android' +apply plugin: 'com.android.application' android { compileSdkVersion 10 - buildToolsVersion androidBuildToolsVersion } \ No newline at end of file diff --git a/tf_broadcaster_app/src/main/AndroidManifest.xml b/tf_broadcaster_app/src/main/AndroidManifest.xml index 0bcb99c..cec6794 100644 --- a/tf_broadcaster_app/src/main/AndroidManifest.xml +++ b/tf_broadcaster_app/src/main/AndroidManifest.xml @@ -1,16 +1,19 @@ - - + + + android:icon="@mipmap/ic_launcher" + tools:replace="android:icon" + android:allowBackup="true"> diff --git a/tf_broadcaster_app/src/main/java/org/ros/tf2/tf_broadcaster_app/TfBroadcasterApp.java b/tf_broadcaster_app/src/main/java/org/ros/tf2/tf_broadcaster_app/TfBroadcasterApp.java index cf23e0d..e7a1417 100644 --- a/tf_broadcaster_app/src/main/java/org/ros/tf2/tf_broadcaster_app/TfBroadcasterApp.java +++ b/tf_broadcaster_app/src/main/java/org/ros/tf2/tf_broadcaster_app/TfBroadcasterApp.java @@ -11,13 +11,15 @@ import org.ros.message.Time; import org.ros.node.NodeConfiguration; import org.ros.node.NodeMainExecutor; -import org.ros.tf2_ros.TransformBroadcaster; import org.ros.tf2_ros.StaticTransformBroadcaster; -import static java.lang.Math.*; +import org.ros.tf2_ros.TransformBroadcaster; import geometry_msgs.Quaternion; import geometry_msgs.TransformStamped; +import static java.lang.Math.cos; +import static java.lang.Math.sin; + public class TfBroadcasterApp extends RosActivity { private final TransformBroadcaster mTB = new TransformBroadcaster(); diff --git a/tf_broadcaster_app/src/main/res/drawable-hdpi/ic_launcher.png b/tf_broadcaster_app/src/main/res/mipmap-hdpi/ic_launcher.png similarity index 100% rename from tf_broadcaster_app/src/main/res/drawable-hdpi/ic_launcher.png rename to tf_broadcaster_app/src/main/res/mipmap-hdpi/ic_launcher.png diff --git a/tf_broadcaster_app/src/main/res/drawable-ldpi/ic_launcher.png b/tf_broadcaster_app/src/main/res/mipmap-ldpi/ic_launcher.png similarity index 100% rename from tf_broadcaster_app/src/main/res/drawable-ldpi/ic_launcher.png rename to tf_broadcaster_app/src/main/res/mipmap-ldpi/ic_launcher.png diff --git a/tf_broadcaster_app/src/main/res/drawable-mdpi/ic_launcher.png b/tf_broadcaster_app/src/main/res/mipmap-mdpi/ic_launcher.png similarity index 100% rename from tf_broadcaster_app/src/main/res/drawable-mdpi/ic_launcher.png rename to tf_broadcaster_app/src/main/res/mipmap-mdpi/ic_launcher.png diff --git a/tf_broadcaster_app/src/main/res/drawable-xhdpi/ic_launcher.png b/tf_broadcaster_app/src/main/res/mipmap-xhdpi/ic_launcher.png similarity index 100% rename from tf_broadcaster_app/src/main/res/drawable-xhdpi/ic_launcher.png rename to tf_broadcaster_app/src/main/res/mipmap-xhdpi/ic_launcher.png diff --git a/tf_echo/build.gradle b/tf_echo/build.gradle index 8080464..b160b30 100644 --- a/tf_echo/build.gradle +++ b/tf_echo/build.gradle @@ -18,9 +18,8 @@ dependencies { compile project(':tf2_ros') } -apply plugin: 'android' +apply plugin: 'com.android.application' android { compileSdkVersion 10 - buildToolsVersion androidBuildToolsVersion } \ No newline at end of file diff --git a/tf_echo/src/main/AndroidManifest.xml b/tf_echo/src/main/AndroidManifest.xml index 320099c..48c609f 100644 --- a/tf_echo/src/main/AndroidManifest.xml +++ b/tf_echo/src/main/AndroidManifest.xml @@ -1,16 +1,19 @@ - - + + + android:icon="@mipmap/ic_launcher" + tools:replace="android:icon" + android:allowBackup="true"> diff --git a/tf_echo/src/main/java/org/ros/tf/tf_echo/TFEchoActivity.java b/tf_echo/src/main/java/org/ros/tf/tf_echo/TFEchoActivity.java index ee3662b..783cce3 100644 --- a/tf_echo/src/main/java/org/ros/tf/tf_echo/TFEchoActivity.java +++ b/tf_echo/src/main/java/org/ros/tf/tf_echo/TFEchoActivity.java @@ -1,25 +1,18 @@ package org.ros.tf.tf_echo; -import android.content.Context; import android.os.Bundle; import android.os.Handler; -import android.os.Message; -import android.util.Log; import android.widget.EditText; import android.widget.TextView; -import android.widget.Toast; -import org.ros.android.MessageCallable; +import org.ros.address.InetAddressFactory; import org.ros.android.RosActivity; import org.ros.message.Time; import org.ros.node.NodeConfiguration; import org.ros.node.NodeMainExecutor; -import org.ros.address.InetAddressFactory; import org.ros.tf2_ros.Buffer; import org.ros.tf2_ros.TransformListener; -import java.util.TimerTask; - import geometry_msgs.Quaternion; import geometry_msgs.Transform; import geometry_msgs.TransformStamped; diff --git a/tf_echo/src/main/res/drawable-hdpi/ic_launcher.png b/tf_echo/src/main/res/mipmap-hdpi/ic_launcher.png similarity index 100% rename from tf_echo/src/main/res/drawable-hdpi/ic_launcher.png rename to tf_echo/src/main/res/mipmap-hdpi/ic_launcher.png diff --git a/tf_echo/src/main/res/drawable-ldpi/ic_launcher.png b/tf_echo/src/main/res/mipmap-ldpi/ic_launcher.png similarity index 100% rename from tf_echo/src/main/res/drawable-ldpi/ic_launcher.png rename to tf_echo/src/main/res/mipmap-ldpi/ic_launcher.png diff --git a/tf_echo/src/main/res/drawable-mdpi/ic_launcher.png b/tf_echo/src/main/res/mipmap-mdpi/ic_launcher.png similarity index 100% rename from tf_echo/src/main/res/drawable-mdpi/ic_launcher.png rename to tf_echo/src/main/res/mipmap-mdpi/ic_launcher.png