Remove unused ROS1 code from carma-utils

.sonarqube/sonar-scanner.properties

@@ -30,43 +30,24 @@ sonar.scm.enabled=true
 sonar.scm.provider=git
 
 # Modules
-sonar.modules= cav_driver_utils, \
-  socketcan_bridge, \
-  socketcan_interface, \
-  carma_utils, \
+sonar.modules= carma_utils, \
   wgs84_utils, \
-  motion_predict, \
-  uncertainty_tools
+  motion_predict
 
-cav_driver_utils.sonar.projectBaseDir=/opt/carma/src/carma-utils/cav_driver_utils
-socketcan_bridge.sonar.projectBaseDir=/opt/carma/src/carma-utils/socketcan_bridge
-socketcan_interface.sonar.projectBaseDir=/opt/carma/src/carma-utils/socketcan_interface
 carma_utils.sonar.projectBaseDir=/opt/carma/src/carma-utils/carma_utils
 wgs84_utils.sonar.projectBaseDir=/opt/carma/src/carma-utils/wgs84_utils
 motion_predict.sonar.projectBaseDir=/opt/carma/src/carma-utils/motion_predict
-uncertainty_tools.sonar.projectBaseDir=/opt/carma/src/carma-utils/uncertainty_tools
 
 # C++ Package differences
 # Sources
-cav_driver_utils.sonar.sources = src
-cav_driver_utils.sonar.exclusions=test/**
-socketcan_bridge.sonar.sources = src
-socketcan_bridge.sonar.exclusions=test/**
-socketcan_interface.sonar.sources = src
-socketcan_interface.sonar.exclusions=test/**
 carma_utils.sonar.sources = src
 carma_utils.sonar.exclusions=test/**
 wgs84_utils.sonar.sources = src
 wgs84_utils.sonar.exclusions=test/**
 motion_predict.sonar.sources = src
 motion_predict.sonar.exclusions=test/**
-uncertainty_tools.sonar.sources = src
-uncertainty_tools.sonar.exclusions=test/**
 
 # Tests
 sonar.cfamily.gcov.reportsPath=/opt/carma/coverage_reports/gcov
-socketcan_bridge.sonar.tests=test
-socketcan_interface.sonar.tests=test
 carma_utils.sonar.tests=test
 motion_predict.sonar.tests=test
-uncertainty_tools.sonar.tests=test

bsm_helper/CMakeLists.txt

@@ -16,104 +16,42 @@ cmake_minimum_required(VERSION 3.5)
 project(bsm_helper)
 
 find_package(carma_cmake_common REQUIRED)
+carma_check_ros_version(2)
 carma_package()
 
-find_package(ros_environment REQUIRED)
-set(ROS_VERSION $ENV{ROS_VERSION})
+find_package(ament_cmake_auto REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+ament_auto_find_build_dependencies()
 
-if(${ROS_VERSION} EQUAL 1) # ROS 1
 
-  ## Find catkin macros and libraries
-  find_package(catkin REQUIRED COMPONENTS
-
-    roscpp
-  )
-  ## System dependencies are found with CMake's conventions
-  find_package(Eigen3 REQUIRED)
-
-  ## The catkin_package macro generates cmake config files for your package
-  catkin_package(
-  INCLUDE_DIRS include
-    LIBRARIES bsm_helper
-    CATKIN_DEPENDS  roscpp
-    DEPENDS EIGEN3 # Eigen is a special case where is needs to be in caps here but not in find_package
-  )
-
-  ## Specify additional locations of header files
-  include_directories(
+# Includes
+include_directories(
   include
-    ${catkin_INCLUDE_DIRS}
-    ${EIGEN3_INCLUDE_DIRS}
-  )
-
-  ## Declare a C++ library
-  add_library(bsm_helper
-        src/bsm_helper.cpp
-  )
-
-  ## Add cmake target dependencies of the library
-  add_dependencies(bsm_helper ${catkin_EXPORTED_TARGETS})
-
+)
 
-  ## Specify libraries to link a library or executable target against
-  target_link_libraries(bsm_helper ${catkin_LIBRARIES})
+# Build
+ament_auto_add_library(bsm_helper SHARED
+  src/bsm_helper.cpp
+)
 
+ament_export_include_directories(include)
+ament_export_libraries(bsm_helper)
 
-  ## Mark executables for installation
-  install(TARGETS bsm_helper
-          ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-          LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-          RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  )
-
+if(BUILD_TESTING)
 
-  ## Mark cpp header files for installation
-  install(DIRECTORY include/${PROJECT_NAME}/
-          DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  )
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
 
-  ## Testing
-  catkin_add_gmock(${PROJECT_NAME}-test 
-    test/main.cpp 
+  ament_add_gtest(${PROJECT_NAME}-test
+    test/main.cpp
     test/test_bsm_helper.cpp
-    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/test # Add test directory as working directory for unit tests
   )
-  target_link_libraries(${PROJECT_NAME}-test bsm_helper ${catkin_LIBRARIES})
-
-else() # ROS 2
-
-  find_package(ament_cmake_auto REQUIRED)
-  find_package(ament_cmake_python REQUIRED)
-  ament_auto_find_build_dependencies()
-
-
-  # Includes
-  include_directories(
-    include
-  )
-
-  # Build
-  ament_auto_add_library(bsm_helper
-    src/bsm_helper.cpp
-  )
-
-  if(BUILD_TESTING)
-
-    find_package(ament_lint_auto REQUIRED)
-    ament_lint_auto_find_test_dependencies()
-
-    ament_add_gtest(${PROJECT_NAME}-test 
-      test/main.cpp 
-      test/test_bsm_helper.cpp
-    )
-
-    ament_target_dependencies(${PROJECT_NAME}-test ${${PROJECT_NAME}_FOUND_TEST_DEPENDS})
-
-    target_link_libraries(${PROJECT_NAME}-test bsm_helper)
 
-  endif()
+  ament_target_dependencies(${PROJECT_NAME}-test ${${PROJECT_NAME}_FOUND_TEST_DEPENDS})
 
-  ament_auto_package()
+  target_link_libraries(${PROJECT_NAME}-test bsm_helper)
 
 endif()
 
+# Install
+ament_auto_package()

bsm_helper/package.xml

@@ -5,18 +5,15 @@
   <description>The bsm_helper package</description>
   <maintainer email="[email protected]">carma</maintainer>
   <license>Apache2</license>
-  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
-  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_auto</buildtool_depend>
-
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <build_depend>carma_cmake_common</build_depend>
-
-  <depend condition="$ROS_VERSION == 1">roscpp</depend>
-  <depend condition="$ROS_VERSION == 2">rclcpp</depend>
 
-  <test_depend condition="$ROS_VERSION == 2">ament_lint_auto</test_depend>
-  <test_depend condition="$ROS_VERSION == 2">ament_cmake_gtest</test_depend>
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
 
   <export>
-    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>