added buildfarm files

.gitignore

-# Compiled source #
-###################
+*~
\ No newline at end of file
-*.com
-*.class
-*.dll
-*.exe
-*.o
-*.so
-
-# Packages #
-############
-# it's better to unpack these files and commit the raw source
-# git has its own built in compression methods
-*.7z
-*.dmg
-*.gz
-*.iso
-*.jar
-*.rar
-*.tar
-*.zip
-
-# Logs and databases #
-######################
-*.log
-*.sql
-*.sqlite
-
-# OS generated files #
-######################
-.DS_Store
-.DS_Store?
-._*
-.Spotlight-V100
-.Trashes
-ehthumbs.db
-Thumbs.
-
-# Models #
-*.pyc
-*.meta
-*.ckpt*
-
-#Documentation
-documentation/

.gitlab-ci.yml

+stages:
+  - dev-build
+  - night-build
+  - release-build
+  
+# Ubuntu 16.04
+ubuntu-xenial-test:
+  image: ubuntu:xenial
+  variables:
+    CI_ROS_DISTRO: kinetic
+    UBUNTU_DISTRO: xenial
+
+  before_script:
+    - echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+    - apt-get update
+    - apt-get install -qq -y apt-transport-https sed wget unzip > /dev/null
+    - source .gitlab-ci/prepare.sh
+    - chmod +x setup.sh
+    - ./setup.sh $UBUNTU_DISTRO $CI_ROS_DISTRO  > /dev/null
+    - setup_apt ${UBUNTU_DISTRO}
+    - apt-get install -qq -y python-catkin-tools > /dev/null
+    - rosdep update 2> /dev/null
+    - add_aass_yaml
+    - rosdep install --from-paths . -i -y -r --rosdistro $CI_ROS_DISTRO 2> /dev/null
+
+
+  stage: dev-build
+  script:
+    - old_dir=`pwd`
+    - mkdir -p /tmp/src
+    - cp  -r * /tmp/src/
+    - cd /tmp/
+    - source /opt/ros/${CI_ROS_DISTRO}/setup.sh
+    - catkin init
+    - catkin build
+    - cd $old_dir
+    - rm -rf /tmp/src
+
+
+# Ubuntu 16.04 debian package generation
+ubuntu-xenial-build-package-nightbuild:
+  image: ubuntu:xenial
+  variables:
+    CI_ROS_DISTRO: kinetic
+    UBUNTU_DISTRO: xenial
+
+  before_script:
+    - echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+    - echo $CI_ROS_DISTRO
+    - echo ${CI_ROS_DISTRO}
+    - apt-get update
+    - apt-get install -qq -y apt-transport-https sed wget unzip > /dev/null
+    - source .gitlab-ci/prepare.sh
+    - chmod +x setup.sh
+    - ./setup.sh $UBUNTU_DISTRO $CI_ROS_DISTRO > /dev/null
+    - setup_apt ${UBUNTU_DISTRO}
+    - apt-get install -q -y python-bloom devscripts debhelper > /dev/null
+    - apt-get install -f -y > /dev/null
+    - rosdep update 2> /dev/null
+    - add_aass_yaml
+    - rosdep install --from-paths . -i -y -r --rosdistro $CI_ROS_DISTRO  2> /dev/null
+
+
+  stage: night-build
+  script:
+    - ls *
+    - rm -rf build
+    - source .gitlab-ci/release.sh
+    - show_info
+    - mkdir .build
+    - release_package
+    - mv .build build
+    
+  when: on_success
+  
+# The files which are to be made available in GitLab
+  artifacts:
+    paths:
+      - build/*
+
+# Ubuntu 16.04 debian package generation
+ubuntu-xenial-build-package-release:
+  image: ubuntu:xenial
+  variables:
+    CI_ROS_DISTRO: kinetic
+    UBUNTU_DISTRO: xenial
+
+  before_script:
+    - echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+    - echo $CI_ROS_DISTRO
+    - echo ${CI_ROS_DISTRO}
+    - apt-get update
+    - apt-get install -qq -y apt-transport-https sed wget unzip > /dev/null
+    - source .gitlab-ci/prepare.sh
+    - chmod +x setup.sh
+    - ./setup.sh $UBUNTU_DISTRO $CI_ROS_DISTRO > /dev/null
+    - setup_apt ${UBUNTU_DISTRO}
+    - apt-get install -q -y python-bloom devscripts debhelper > /dev/null
+    - apt-get install -f -y  > /dev/null
+    - rosdep update 2> /dev/null
+    - rosdep install --from-paths . -i -y -r --rosdistro $CI_ROS_DISTRO  2> /dev/null
+    - add_ndt_core_yaml
+
+  stage: release-build
+  script:
+    - ls *
+    - rm -rf build
+    - source .gitlab-ci/release.sh
+    - show_info
+    - mkdir .build
+    - release_package
+    - mv .build build
+    
+  only:
+    - tags
+  when: on_success
+  
+# The files which are to be made available in GitLab
+  artifacts:
+    paths:
+      - build/*
+

.gitlab-ci/prepare.sh

+#!/bin/bash
+
+add_aass_yaml() {
+    echo "Here adding aass dependencies.";
+    echo "yaml https://gitsvn-nt.oru.se/software/aass_rosdep/raw/master/kinetic.yml" | tee /etc/ros/rosdep/sources.list.d/50-aass.list
+    rosdep update > /dev/null
+}
+
+setup_apt() {
+    echo "Adding aass packages";
+    wget -O - http://130.243.98.216/repos/apt/conf/public.gpg.key | apt-key add -
+    echo "deb http://130.243.98.216/repos/apt/debian xenial main" >> /etc/apt/sources.list
+    apt-get update > /dev/null
+}

.gitlab-ci/release.sh

+#!/bin/bash
+
+release_dependency_packages() {
+    for i in "graph_map  graph_localization ndt_calibration ndt_evaluation"; do
+	create_debian_package "$i"
+	dpkg -i ros-*_amd64.deb > /dev/null
+    done
+    move_debian_packages
+}
+
+release_meta_package() {
+    
+    create_debian_package "<meta package>"
+    dpkg -i ros-*_amd64.deb > /dev/null
+    move_debian_packages
+}
+
+create_debian_package() {
+    cd $1
+    if [ -f .done ]; then
+	echo "Package $1 was already build. Skipping..."
+    else
+	echo "generating debian package for $1"
+	bloom-generate rosdebian --os-name ubuntu --os-version $UBUNTU_DISTRO --ros-distro $CI_ROS_DISTRO &&\
+	    sed -i 's/dh  $@/dh  $@ --parallel/' debian/rules
+	debuild -rfakeroot -us -uc -b -j8 > /dev/null
+	touch .done
+    fi
+    cd ..
+}
+
+move_debian_packages() {
+    mv *deb .build/
+}
+
+release_package() {
+    release_dependency_packages
+    #release_meta_package
+}
+
+show_info() {
+    echo $UBUNTU_DISTRO
+    echo $CI_ROS_DISTRO
+}
+
+

README.md

+# Releasing your code via aass build farm
+## Repository preparation
+
+1. Copy content of this repository into the root directory of your package
+2. Modify line 13 in .gitlab-ci/release.sh. Replace <meta package> with the name of your meta package.
+3. Modify line 4 in .gitlab-ci/release.sh. Replace <Topological order of packages> with the topological order of packages in your meta package. (You can use catkin_topological_order to check it.)
+4. In tab Setting->General of your project add tag ros
+
+## Add dependencies
+
+1. Add all your packages to the list in https://gitsvn-nt.oru.se/software/aass_rosdep.
\ No newline at end of file

graph_map/src/graph_map/graph_map_navigator.cpp

@@ -118,8 +118,6 @@ namespace perception_oru{
       double distance=(Tnow.translation()-close_nodes[i]->GetPose().translation()).norm();
       //double score = close_nodes[i]->GetMap()->Score(scan, Trobot_local);
       double overlap = close_nodes[i]->GetMap()->Overlap(scan,Trobot_local);
-      //NDTMap *source_ndt = boost::dynamic_pointer_cast<NDTMapType>(scan)->GetNDTMap();
-      //GraphPlot::PlotNDT(source_ndt, "world", "l2_measure", close_nodes[i]->GetPose()*Trobot_local);
       cout<<"node id: "<<close_nodes[i]->GetId()<<", overlap="<<overlap<<endl;
       if(overlap > max_overlap){
         max_overlap = overlap;

setup.sh

+#!/bin/bash
+
+if [ $# -eq 0 ]
+then
+    # No arguments supplied
+    ubuntu_version_name="xenial"
+    ros_version="kinetic"
+
+elif [ $# -eq 2 ]
+then
+    ubuntu_version_name=${1}
+    ros_version=${2}
+
+else
+    echo "ERROR: Wrong usage"
+    echo "Usage: $0 ubuntu_code_name ros_code_name eg. $0 xenial kinetic"
+    exit 1
+
+fi
+
+echo "Installing Dependencies (Ubuntu ${ubuntu_version_name} using ROS ${ros_version})..."
+echo "If you want to change this you can pass in the codename of the Ubuntu release. Eg. $0 xenial kinetic for 16.04 with ROS kinetic"
+
+if [ ! -f /etc/apt/sources.list.d/ros-latest.list ]; then
+    sh -c 'echo "deb http://packages.ros.org/ros/ubuntu '${ubuntu_version_name}' main" > /etc/apt/sources.list.d/ros-latest.list'
+fi
+
+wget http://packages.ros.org/ros.key -O - | apt-key add -
+apt-get update -qq > /dev/null
+apt-get install -qq -y python-rosdep build-essential cmake > /dev/null
+rosdep init > /dev/null
+
+rosdep update 2> /dev/null
+rosdep install -q --from-paths . -i -y -r --rosdistro ${ros_version} 2> /dev/null