update cmake and .github ci

.github/workflows/build_ros1.yml

@@ -0,0 +1,72 @@
+name: C/C++ CI
+
+on:
+  push:
+    branches: [ master, develop_v2.4.1 ]
+  pull_request:
+
+jobs:
+  build:
+    name: "ROS1 Ubuntu 16.04"
+    runs-on: ubuntu-latest
+    steps:
+      - name: Build docker image
+        run: docker build -t local < Dockerfile_ros1_16_04
+      - name: Run build
+        run: docker run -it -v $PWD:/catkin_ws/src -w/catkin_ws catkin build
+
+
+#    runs-on: ${{ matrix.os }}
+#    if: "!contains(github.event.head_commit.message, 'skip ci')"
+#    strategy:
+#      fail-fast: false
+#      matrix:
+#        os: [ ubuntu-16.04, ubuntu-18.04, ubuntu-20.04 ]
+#        compiler: [ "/usr/bin/g++" ]
+#    steps:
+#      - uses: actions/checkout@v2
+#      - name: Checkout submodules
+#        uses: textbook/git-checkout-submodule-action@master
+#
+#      - name: Install apt dependencies (ubuntu-16.04)
+#        if: matrix.os == 'ubuntu-16.04'
+#        run: |
+#          sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' &&
+#          sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 &&
+#          curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add - &&
+#          sudo apt update && sudo apt -y install build-essential ros-kinetic-desktop python-catkin-pkg python-catkin-tools libeigen3-dev git &&
+#          touch ~/.bashrc && echo "alias source_ros1=\"source /opt/ros/kinetic/setup.bash\"" >> ~/.bashrc
+#
+#      - name: Install apt dependencies (ubuntu-18.04)
+#        if: matrix.os == 'ubuntu-18.04'
+#        run: |
+#          sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' &&
+#          sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 &&
+#          curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add - &&
+#          sudo apt update && sudo apt -y install build-essential ros-melodic-desktop python-catkin-pkg python-catkin-tools libeigen3-dev git &&
+#          touch ~/.bashrc && echo "alias source_ros1=\"source /opt/ros/melodic/setup.bash\"" >> ~/.bashrc
+#
+#      - name: Install apt dependencies (ubuntu-20.04)
+#        if: matrix.os == 'ubuntu-20.04'
+#        run: |
+#          sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' &&
+#          sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 &&
+#          curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add - &&
+#          sudo apt update && sudo apt -y install build-essential ros-noetic-desktop python3-catkin-pkg python3-catkin-tools python3-osrf-pycommon libeigen3-dev git &&
+#          touch ~/.bashrc && echo "alias source_ros1=\"source /opt/ros/noetic/setup.bash\"" >> ~/.bashrc
+#
+#      - name: Create ROS1 catkin workspace and compile
+#        run: |
+#          export REPO=$(basename $GITHUB_REPOSITORY) &&
+#          cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
+#          mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ &&
+#          source_ros1 && echo "ros version: $ROS_DISTRO" &&
+#          catkin build -j2 --no-status
+#
+#      - name: Run simulation dataset
+#        run: |
+#          source $GITHUB_WORKSPACE/devel/setup.bash &&
+#          roscore &
+#          export REPO=$(basename $GITHUB_REPOSITORY) &&
+#          source $GITHUB_WORKSPACE/devel/setup.bash &&
+#          rosrun ov_msckf run_simulation _sim_traj_path:=$GITHUB_WORKSPACE/src/$REPO/ov_data/sim/udel_gore.txt

ov_core/CMakeLists.txt

@@ -26,15 +26,19 @@ else ()
     add_definitions(-DENABLE_ARUCO_TAGS=1)
 endif ()
 
-# check if we have our python libs files
-# sudo apt-get install python-matplotlib python-numpy python2.7-dev
-find_package(PythonLibs 2.7)
+# check if we have our python libs files (will search for python3 then python2 installs)
+# sudo apt-get install python-matplotlib python-numpy python-dev
+# https://cmake.org/cmake/help/latest/module/FindPython.html
+# https://stackoverflow.com/a/34580995/7718197
+find_package(Python COMPONENTS Interpreter Development)
 option(DISABLE_MATPLOTLIB "Disable or enable matplotlib plot scripts in ov_eval" OFF)
-if (PYTHONLIBS_FOUND AND NOT DISABLE_MATPLOTLIB)
+if (Python_FOUND AND NOT DISABLE_MATPLOTLIB)
     add_definitions(-DHAVE_PYTHONLIBS=1)
-    message(STATUS "PYTHON VERSION: " ${PYTHONLIBS_VERSION_STRING})
-    message(STATUS "PYTHON INCLUDE: " ${PYTHON_INCLUDE_DIRS})
-    message(STATUS "PYTHON LIBRARIES: " ${PYTHON_LIBRARIES})
+    message(STATUS "PYTHON VERSION: " ${Python_VERSION})
+    message(STATUS "PYTHON INCLUDE: " ${Python_INCLUDE_DIRS})
+    message(STATUS "PYTHON LIBRARIES: " ${Python_LIBRARIES})
+    include_directories(${Python_INCLUDE_DIRS})
+    list(APPEND thirdparty_libraries ${Python_LIBRARIES})
 endif ()
 
 # We need c++14 for ROS2, thus just require it for everybody