Initial commit

.gitignore

+.catkin_tools
+.catkin_workspace
+.vscode
+build*
+devel*
+logs
\ No newline at end of file

src/CMakeLists.txt

+/opt/ros/melodic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file

src/gl3w_ros/CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(gl3w_ros)
+add_compile_options(-std=c++11)
+
+#######################
+## Find Dependencies ##
+#######################
+
+
+# find conan packages
+if(NOT EXISTS "${CMAKE_BINARY_DIR}/conan.cmake")
+  message(STATUS "Downloading conan.cmake from https://github.com/conan-io/cmake-conan")
+  file(DOWNLOAD "https://raw.githubusercontent.com/conan-io/cmake-conan/v0.13/conan.cmake"
+                "${CMAKE_BINARY_DIR}/conan.cmake")
+endif()
+include(${CMAKE_BINARY_DIR}/conan.cmake)
+conan_cmake_run(CONANFILE conanfile.txt
+  BUILD missing)
+set(CMAKE_MODULE_PATH ${CMAKE_BINARY_DIR} ${CMAKE_MODULE_PATH})
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp)
+find_package(gl3w REQUIRED)
+find_package(glfw REQUIRED)
+
+#############
+## Package ##
+#############
+
+catkin_package(
+ INCLUDE_DIRS include
+ LIBRARIES ${PROJECT_NAME}
+ CATKIN_DEPENDS roscpp)
+
+###########
+## Build ##
+###########
+
+add_library(${PROJECT_NAME})
+target_sources(${PROJECT_NAME} PRIVATE 
+  src/gl3w_ros.cpp) 
+target_include_directories(${PROJECT_NAME} PUBLIC 
+  include)
+target_link_libraries(${PROJECT_NAME} PRIVATE
+  gl3w::gl3w
+  glfw::glfw)
+
+add_executable(${PROJECT_NAME}_node)
+target_sources(${PROJECT_NAME}_node PRIVATE
+  src/gl3w_ros_node.cpp)
+target_link_libraries(${PROJECT_NAME}_node PRIVATE
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES})
+include_directories(${catkin_INCLUDE_DIRS})
+
+#############
+## Install ##
+#############
+
+# Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+# # Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.hpp"
+# )

src/gl3w_ros/conanfile.txt

+[requires]
+gl3w/0.2@tuebel/testing 
+glfw/3.2.1@bincrafters/stable
+
+[generators]
+cmake_find_package
+
+[options]
+*:shared=True
\ No newline at end of file

src/gl3w_ros/include/gl3w_ros/gl3w_ros.hpp

+#pragma once
+
+namespace gl3w_ros
+{
+class Gl3wRos
+{
+public:
+  /*!
+  \returns EXIT_SUCCESS if gl3w has been found and a context could be created
+  */
+  int test();
+};
+} // namespace gl3w_ros
\ No newline at end of file

src/gl3w_ros/package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>gl3w_ros</name>
+  <version>0.0.0</version>
+  <description>The gl3w_ros package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="tim@todo.todo">tim</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/gl3w_ros</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/gl3w_ros/src/gl3w_ros.cpp

+#include <gl3w_ros/gl3w_ros.hpp>
+#include <GL/gl3w.h>
+#include <GLFW/glfw3.h>
+#include <iostream>
+
+namespace gl3w_ros
+{
+int Gl3wRos::test()
+{
+   int glfw_res = glfwInit();
+  if (glfw_res == GLFW_FALSE)
+  {
+    std::cout << "failed to init glfw"
+              << "\n";
+    return EXIT_FAILURE;
+  }
+  else
+  {
+    std::cout << "succeeded to init glfw"
+              << "\n";
+  }
+  // compability requirements
+  glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+  glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 2);
+  glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
+  glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
+  glfwWindowHint(GLFW_RESIZABLE, GL_FALSE);
+  auto window = glfwCreateWindow(640, 480, "test_package", NULL, NULL);
+  if (!window)
+  {
+    std::cout << "failed to create glfw context\n";
+    return EXIT_FAILURE;
+  }
+  else
+  {
+    std::cout << "succeeded to create glfw context\n";
+  }
+  glfwMakeContextCurrent(window);
+  int success = gl3wInit();
+  if (gl3wInit())
+  {
+    std::cout << "failed to init gl3w " << success << "\n";
+    glfwDestroyWindow(window);
+    glfwTerminate();
+    return EXIT_FAILURE;
+  }
+  if (!gl3wIsSupported(4, 2))
+  {
+    std::cout << "succeeded to init gl3w\n";
+    glfwDestroyWindow(window);
+    glfwTerminate();
+    return EXIT_SUCCESS;
+  }
+}
+} // namespace gl3w_ros
\ No newline at end of file

src/gl3w_ros/src/gl3w_ros_node.cpp

+#include <gl3w_ros/gl3w_ros.hpp>
+#include <ros/ros.h>
+
+/*!
+Simple application that only prints if gl3w has been loaded
+*/
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "gl3w_ros_node");
+  ros::NodeHandle node_handle;
+  gl3w_ros::Gl3wRos gl_ros;
+  int success = gl_ros.test();
+  if(success == EXIT_SUCCESS){
+    ROS_INFO("Succeeded to load OpenGL");
+  }else{
+    ROS_ERROR("Failed to load OpenGL");
+  }
+  return success;
+}

src/use_gl3w_ros/CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(use_gl3w_ros)
+add_compile_options(-std=c++11)
+
+#######################
+## Find Dependencies ##
+#######################
+
+find_package(catkin REQUIRED COMPONENTS
+  gl3w_ros)
+
+#############
+## Package ##
+#############
+
+catkin_package(
+ INCLUDE_DIRS include
+ LIBRARIES use_gl3w_ros
+ CATKIN_DEPENDS gl3w_ros)
+
+###########
+## Build ##
+###########
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS})
+add_library(${PROJECT_NAME}
+  src/use_gl3w_ros.cpp)
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  ${CONAN_LIBS}
+  ${catkin_LIBRARIES})
+
+add_executable(${PROJECT_NAME}_node src/use_gl3w_ros_node.cpp)
+target_link_libraries(${PROJECT_NAME}_node PRIVATE
+  ${PROJECT_NAME})
+
+#############
+## Install ##
+#############
+
+# Mark executables and/or libraries for installation
+install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.hpp"
+)

src/use_gl3w_ros/include/use_gl3w_ros/use_gl3w_ros.hpp

+#pragma once
+#include <gl3w_ros/gl3w_ros.hpp>
+
+namespace use_gl3w_ros
+{
+class UseGl3wRos
+{
+public:
+  /*!
+  \returns EXIT_SUCCESS if gl3w has been found and a context could be created
+  */
+  int test();
+
+private:
+  gl3w_ros::Gl3wRos gl_ros;
+};
+} // namespace use_gl3w_ros
\ No newline at end of file

src/use_gl3w_ros/package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>use_gl3w_ros</name>
+  <version>0.0.0</version>
+  <description>The use_gl3w_ros package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="tim@todo.todo">tim</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/gl3w_ros</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>gl3w_ros</depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/use_gl3w_ros/src/use_gl3w_ros.cpp

+#include <use_gl3w_ros/use_gl3w_ros.hpp>
+
+namespace use_gl3w_ros
+{
+int UseGl3wRos::test()
+{
+  return gl_ros.test();
+}
+} // namespace gl3w_ros
\ No newline at end of file

src/use_gl3w_ros/src/use_gl3w_ros_node.cpp

+#include <use_gl3w_ros/use_gl3w_ros.hpp>
+#include <ros/ros.h>
+
+/*!
+Simple application that only prints if gl3w has been loaded
+*/
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "gl3w_ros_node");
+  ros::NodeHandle node_handle;
+  use_gl3w_ros::UseGl3wRos gl_ros;
+  int success = gl_ros.test();
+  if(success == EXIT_SUCCESS){
+    ROS_INFO("Succeeded to load OpenGL");
+  }else{
+    ROS_ERROR("Failed to load OpenGL");
+  }
+  return success;
+}