Remove ROS from core entirely

[anathan]

:+1:

[kubark42]

There seem to be several issues related to this:

https://github.com/ethz-asl/ethzasl_msf/issues/89 https://github.com/ethz-asl/ethzasl_msf/issues/134 https://github.com/ethz-asl/ethzasl_msf/issues/140

Would the maintainers be interested in supporting an effort to have a build flag configure ROS vs. non-ROS? It would be good to have a free-standing app build be officially supported. I'm happy to look into doing the work to get this to compile if it fits into your vision.

[simonlynen]

Yes, having a non Ros version would be great. If you have time to develop this I am happy to review.

[kubark42]

That's great! Just to be sure we're on the same page, this will take a fair amount of project maintainer commitment in the form of support and advice. Sounds good?

P.S. Is there an IRC chatroom where real-time discussions happen?

[lifangda01]

Is there any update on non-ROS development?

[jy723]

Is there any update on non-ROS development?

[sxsong1207]

Hi, every one. I have made a ros-free version of msf. But I cannot create pull-request as they are entirely different with origin package version. I have published it on my git repo here

@jy723 @lifangda01 @simonlynen @kubark42

[lingerer]

Hi, every one. I have made a ros-free version of msf. But I cannot create pull-request as they are entirely different with origin package version. I have published it on my git repo here

@jy723 @lifangda01 @simonlynen @kubark42

I tried your forked under vs2017,and will failed on add #include "pose_sensormanager_noros.h"

[sxsong1207]

Hi, every one. I have made a ros-free version of msf. But I cannot create pull-request as they are entirely different with origin package version. I have published it on my git repo here @jy723 @lifangda01 @simonlynen @kubark42

I tried your forked under vs2017,and will failed on add #include "pose_sensormanager_noros.h"

Could you give more detail? Have you compiled the library successful? (without TEST)

[lingerer]

the lib is fine.but when I add this header to an empty cpp file,it will failed.I'm not sure is your problem or vs2017's fault.

[sxsong1207]

Can you build internal executable with my cmake?

Shaun Song

On Jan 9, 2019, at 10:56 PM, lingerer notifications@github.com wrote:

the lib is fine.but when I add this header to an empty cpp file,it will failed.I'm not sure is your problem or vs2017's fault.

— You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

[lingerer]

Can you build internal executable with my cmake? Shaun Song … On Jan 9, 2019, at 10:56 PM, lingerer @.***> wrote: the lib is fine.but when I add this header to an empty cpp file,it will failed.I'm not sure is your problem or vs2017's fault. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

I will try it.

[lingerer]

Can you build internal executable with my cmake? Shaun Song … On Jan 9, 2019, at 10:56 PM, lingerer @.***> wrote: the lib is fine.but when I add this header to an empty cpp file,it will failed.I'm not sure is your problem or vs2017's fault. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

I tried on ubuntu and it failed on the same way. You can just add an empty cpp file in the lib project and add #include "pose_sensormanager_noros.h" to ensure the compiler check. I have send a mail to your github profile labled address with the error message.

[sxsong1207]

Still no incoming email. I almost forget how to use this library. But you mean you just include manager and no other headers else? Such as StateDefine and handlers?

Shaun Song

On Jan 10, 2019, at 12:13 AM, lingerer notifications@github.com wrote:

Can you build internal executable with my cmake? Shaun Song … On Jan 9, 2019, at 10:56 PM, lingerer @.***> wrote: the lib is fine.but when I add this header to an empty cpp file,it will failed.I'm not sure is your problem or vs2017's fault. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

I tried on ubuntu and it failed on the same way. You can just add an empty cpp file in the lib project and add #include "pose_sensormanager_noros.h" to ensure the compiler check. I have send a mail to your github profile labled address with the error message.

— You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

[lingerer]

Still no incoming email. I almost forget how to use this library. But you mean you just include manager and no other headers else? Such as StateDefine and handlers? Shaun Song … On Jan 10, 2019, at 12:13 AM, lingerer @.> wrote: Can you build internal executable with my cmake? Shaun Song … On Jan 9, 2019, at 10:56 PM, lingerer @.> wrote: the lib is fine.but when I add this header to an empty cpp file,it will failed.I'm not sure is your problem or vs2017's fault. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread. I tried on ubuntu and it failed on the same way. You can just add an empty cpp file in the lib project and add #include "pose_sensormanager_noros.h" to ensure the compiler check. I have send a mail to your github profile labled address with the error message. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

Yes,just one line: #include "pose_sensormanager_noros.h"

[sxsong1207]

Why do you think this should be work?

It’s just one of all essential headers, you missed others which are also important.

Pls check demos that you can learn how to use the lib.

Shaun Song

On Jan 10, 2019, at 12:34 AM, lingerer notifications@github.com wrote:

Still no incoming email. I almost forget how to use this library. But you mean you just include manager and no other headers else? Such as StateDefine and handlers? Shaun Song … On Jan 10, 2019, at 12:13 AM, lingerer @.> wrote: Can you build internal executable with my cmake? Shaun Song … On Jan 9, 2019, at 10:56 PM, lingerer @.> wrote: the lib is fine.but when I add this header to an empty cpp file,it will failed.I'm not sure is your problem or vs2017's fault. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread. I tried on ubuntu and it failed on the same way. You can just add an empty cpp file in the lib project and add #include "pose_sensormanager_noros.h" to ensure the compiler check. I have send a mail to your github profile labled address with the error message. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

Yes,just one line:

include "pose_sensormanager_noros.h"

— You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

[lingerer]

Why do you think this should be work? It’s just one of all essential headers, you missed others which are also important. Pls check demos that you can learn how to use the lib. Shaun Song … On Jan 10, 2019, at 12:34 AM, lingerer @.> wrote: Still no incoming email. I almost forget how to use this library. But you mean you just include manager and no other headers else? Such as StateDefine and handlers? Shaun Song … On Jan 10, 2019, at 12:13 AM, lingerer @.> wrote: Can you build internal executable with my cmake? Shaun Song … On Jan 9, 2019, at 10:56 PM, lingerer @.***> wrote: the lib is fine.but when I add this header to an empty cpp file,it will failed.I'm not sure is your problem or vs2017's fault. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread. I tried on ubuntu and it failed on the same way. You can just add an empty cpp file in the lib project and add #include "pose_sensormanager_noros.h" to ensure the compiler check. I have send a mail to your github profile labled address with the error message. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread. Yes,just one line: #include "pose_sensormanager_noros.h" — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

OK.I see you don't unserstand what happen.Compiler won't check header file when build a library when your library config only contain some cpp file.I add a cpp file and just add one include code is to make compiler to check the header. Why ? Because the same error occoured in outside excutable project which include the header,and the header file is the core of your implement.

[lingerer]

Why do you think this should be work? It’s just one of all essential headers, you missed others which are also important. Pls check demos that you can learn how to use the lib. Shaun Song … On Jan 10, 2019, at 12:34 AM, lingerer @.> wrote: Still no incoming email. I almost forget how to use this library. But you mean you just include manager and no other headers else? Such as StateDefine and handlers? Shaun Song … On Jan 10, 2019, at 12:13 AM, lingerer @.> wrote: Can you build internal executable with my cmake? Shaun Song … On Jan 9, 2019, at 10:56 PM, lingerer @.***> wrote: the lib is fine.but when I add this header to an empty cpp file,it will failed.I'm not sure is your problem or vs2017's fault. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread. I tried on ubuntu and it failed on the same way. You can just add an empty cpp file in the lib project and add #include "pose_sensormanager_noros.h" to ensure the compiler check. I have send a mail to your github profile labled address with the error message. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread. Yes,just one line: #include "pose_sensormanager_noros.h" — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

I tried under ubuntu and ros,the msf project is fine,your fork with main will error like this attachment: error.txt

I remove all your test to make it quiker.

[sxsong1207]

Did you notice this error?

94: error: no matching function for call to ‘boost::fusion::vector<msf_core::StateVar_T<Eigen::Matrix<double, 3, 1, 0, 3, 1>, 0, 0, 0>, msf_core::StateVar_T<Eigen::Matrix<double, 3, 1, 0, 3, 1>, 1, 0, 0>, I think it major reason of failed of compile. Template param looks messed up, due to charset or sth? And this lib require boost 158, just in case, I think you have proper boost.

Shaun Song

On Jan 10, 2019, at 5:05 AM, lingerer notifications@github.com wrote:

Why do you think this should be work? It’s just one of all essential headers, you missed others which are also important. Pls check demos that you can learn how to use the lib. Shaun Song … On Jan 10, 2019, at 12:34 AM, lingerer @.> wrote: Still no incoming email. I almost forget how to use this library. But you mean you just include manager and no other headers else? Such as StateDefine and handlers? Shaun Song … On Jan 10, 2019, at 12:13 AM, lingerer @.> wrote: Can you build internal executable with my cmake? Shaun Song … On Jan 9, 2019, at 10:56 PM, lingerer @.***> wrote: the lib is fine.but when I add this header to an empty cpp file,it will failed.I'm not sure is your problem or vs2017's fault. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread. I tried on ubuntu and it failed on the same way. You can just add an empty cpp file in the lib project and add #include "pose_sensormanager_noros.h" to ensure the compiler check. I have send a mail to your github profile labled address with the error message. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread. Yes,just one line: #include "pose_sensormanager_noros.h" — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

I tried under ubuntu and ros,the msf project is fine,your fork with main will error like this attachment: error.txt

I remove all your test to make it quiker.

— You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

[lingerer]

Did you notice this error? 94: error: no matching function for call to ‘boost::fusion::vector<msf_core::StateVar_T<Eigen::Matrix<double, 3, 1, 0, 3, 1>, 0, 0, 0>, msf_core::StateVar_T<Eigen::Matrix<double, 3, 1, 0, 3, 1>, 1, 0, 0>, I think it major reason of failed of compile. Template param looks messed up, due to charset or sth? And this lib require boost 158, just in case, I think you have proper boost. Shaun Song … On Jan 10, 2019, at 5:05 AM, lingerer @.> wrote: Why do you think this should be work? It’s just one of all essential headers, you missed others which are also important. Pls check demos that you can learn how to use the lib. Shaun Song … On Jan 10, 2019, at 12:34 AM, lingerer @.> wrote: Still no incoming email. I almost forget how to use this library. But you mean you just include manager and no other headers else? Such as StateDefine and handlers? Shaun Song … On Jan 10, 2019, at 12:13 AM, lingerer @.> wrote: Can you build internal executable with my cmake? Shaun Song … On Jan 9, 2019, at 10:56 PM, lingerer @.> wrote: the lib is fine.but when I add this header to an empty cpp file,it will failed.I'm not sure is your problem or vs2017's fault. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread. I tried on ubuntu and it failed on the same way. You can just add an empty cpp file in the lib project and add #include "pose_sensormanager_noros.h" to ensure the compiler check. I have send a mail to your github profile labled address with the error message. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread. Yes,just one line: #include "pose_sensormanager_noros.h" — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread. I tried under ubuntu and ros,the msf project is fine,your fork with main will error like this attachment: error.txt I remove all your test to make it quiker. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

I found why but can't find the right fixed under vs 2017,I will post in another issue.

[lingerer]

Did you notice this error? 94: error: no matching function for call to ‘boost::fusion::vector<msf_core::StateVar_T<Eigen::Matrix<double, 3, 1, 0, 3, 1>, 0, 0, 0>, msf_core::StateVar_T<Eigen::Matrix<double, 3, 1, 0, 3, 1>, 1, 0, 0>, I think it major reason of failed of compile. Template param looks messed up, due to charset or sth? And this lib require boost 158, just in case, I think you have proper boost. Shaun Song … On Jan 10, 2019, at 5:05 AM, lingerer @.> wrote: Why do you think this should be work? It’s just one of all essential headers, you missed others which are also important. Pls check demos that you can learn how to use the lib. Shaun Song … On Jan 10, 2019, at 12:34 AM, lingerer @.> wrote: Still no incoming email. I almost forget how to use this library. But you mean you just include manager and no other headers else? Such as StateDefine and handlers? Shaun Song … On Jan 10, 2019, at 12:13 AM, lingerer @.> wrote: Can you build internal executable with my cmake? Shaun Song … On Jan 9, 2019, at 10:56 PM, lingerer @.> wrote: the lib is fine.but when I add this header to an empty cpp file,it will failed.I'm not sure is your problem or vs2017's fault. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread. I tried on ubuntu and it failed on the same way. You can just add an empty cpp file in the lib project and add #include "pose_sensormanager_noros.h" to ensure the compiler check. I have send a mail to your github profile labled address with the error message. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread. Yes,just one line: #include "pose_sensormanager_noros.h" — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread. I tried under ubuntu and ros,the msf project is fine,your fork with main will error like this attachment: error.txt I remove all your test to make it quiker. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

I worked it out， see #173

[jy723]

@sxsong1207 Thank you.I compiled your project successfully in ubuntu 16.04

[albertchang1989]

@jy723 still using catkin to compile?