.gitignore

@@ -76,3 +76,5 @@ etc/python/dist/*
 data/RobotAPI/ArVizStorage/
 
 .vscode/
+.clang-format
+.clang-tidy

.gitlab-ci.yml

+stages:
+  - build-and-test
+  - deploy
+  - post-deploy-test
+
+
+.build-and-test:
+
+  cache:
+    # https://docs.gitlab.com/ee/ci/caching/#share-caches-across-jobs-in-different-branches
+    key: one-key-to-rule-them-all
+    paths:
+      - .apt
+      - .ccache
+
+  before_script:
+    # Apt cache configuration.
+    - rm -rf /var/cache/apt/archives || true
+    - rm -f /etc/apt/apt.conf.d/docker-clean  # Remove docker-clean script to avoid cache deletion.
+    - mkdir .apt || true
+    - ln -s "$CI_PROJECT_DIR/.apt" /var/cache/apt/archives
+
+    # Update apt info.
+    - apt-get update
+
+    # Ccache configuration and introspection.
+    - apt-get install ccache --yes
+    - ccache --set-config=cache_dir="$CI_PROJECT_DIR/.ccache"
+    - ccache --max-size=20G
+    - ccache --show-stats
+
+    # Activate Axii.
+    - source /axii/scripts/install_axii.sh
+    - _axii_auto_env_refresh
+
+  script:
+    - echo "ArmarX Workspace = '$ARMARX_WORKSPACE'"
+
+    # Use workspace configuration from project.
+    - cp "$CI_PROJECT_DIR/.gitlab/ci/armarx-workspace.json" "$ARMARX_WORKSPACE/armarx-workspace.json"
+    - cat "$ARMARX_WORKSPACE/armarx-workspace.json"
+
+    - axii workspace env
+    - _axii_auto_env_refresh
+
+    - echo "Workspace information:"
+    - axii workspace list-modules
+    - axii workspace list-modules --deps
+    - axii workspace info
+
+    - export PROJECT_MODULE="armarx/RobotAPI"
+    - export PROJECT_PATH_IN_WORKSPACE="$armarx__RobotAPI__PATH"
+
+    # Symlink project directory into Axii workspace.
+    - mkdir -p "$(dirname $PROJECT_PATH_IN_WORKSPACE)"
+    - ln -s "$CI_PROJECT_DIR" "$PROJECT_PATH_IN_WORKSPACE"
+
+    # Fix "CMake Error in CMakeLists.txt: Imported target "VirtualRobot" includes non-existent path "/usr/lib/include"
+    # (caused by at least dmp)
+    - mkdir -p /usr/lib/include
+
+    # Upgrade.
+    - axii workspace system --accept-apt-install
+    - axii workspace update --prefer-https
+    - axii workspace upgrade -m "$PROJECT_MODULE"
+
+    - ccache --show-stats
+
+    # Test.
+    # ToDo: Add and use `axii ws test -m "$PROJECT_MODULE"`
+    - cd "$PROJECT_PATH_IN_WORKSPACE/build"
+    - ctest --output-on-failure --output-junit "$CI_PROJECT_DIR/report.xml" .
+
+  artifacts:
+    reports:
+      junit: report.xml
+
+
+build-and-test-bionic:
+  stage: build-and-test
+  extends: .build-and-test
+
+  image: git.h2t.iar.kit.edu:5050/sw/armarx/armarx-gui:latest-bionic
+
+
+build-and-test-jammy:
+  stage: build-and-test
+  extends: .build-and-test
+
+  image: git.h2t.iar.kit.edu:5050/sw/armarx/armarx-gui:latest-jammy
+
+
+docker-bionic:
+  stage: deploy
+  needs: ["build-and-test-bionic"]
+  image:
+    name: gcr.io/kaniko-project/executor:v1.9.0-debug
+    entrypoint: [""]
+  script:
+    - /kaniko/executor
+      --context "${CI_PROJECT_DIR}"
+      --dockerfile "${CI_PROJECT_DIR}/docker/bionic"
+      --destination "${CI_REGISTRY_IMAGE}:latest-bionic"
+
+  rules:
+    - if: $CI_COMMIT_BRANCH == "master"
+
+
+docker-jammy:
+  stage: deploy
+  needs: ["build-and-test-jammy"]
+  image:
+    name: gcr.io/kaniko-project/executor:v1.9.0-debug
+    entrypoint: [""]
+  script:
+    - /kaniko/executor
+      --context "${CI_PROJECT_DIR}"
+      --dockerfile "${CI_PROJECT_DIR}/docker/jammy"
+      --destination "${CI_REGISTRY_IMAGE}:latest-jammy"
+
+  rules:
+    - if: $CI_COMMIT_BRANCH == "master"
+
+
+.test-docker-image-common:
+
+  before_script:
+    - source /axii/scripts/install_axii.sh
+    - _axii_auto_env_refresh
+
+  script:
+    - echo "ArmarX Workspace = '$ARMARX_WORKSPACE'"
+    - printenv
+
+    - axii workspace list-modules
+    - axii workspace list-modules --deps
+    - axii workspace info
+    - echo "RobotAPI directory = '$RobotAPI_DIR'"
+
+    - which armarx
+    - which armarx-package
+
+    - armarx switch docker_test --ice-host 127.0.0.1 --ice-port 10000 --ice-default-host 127.0.0.1 --mongo-host 127.0.0.1 --mongo-port 10001
+    - armarx profile
+    - armarx status || true
+
+    - cd $ArmarXGui_DIR
+    - ctest --output-on-failure .
+
+
+test-docker-image-bionic:
+  stage: post-deploy-test
+  needs: ["docker-bionic"]
+  extends: .test-docker-image-common
+
+  image: git.h2t.iar.kit.edu:5050/sw/armarx/robot-api:latest-bionic
+
+  rules:
+    - if: $CI_COMMIT_BRANCH == "master"
+
+
+test-docker-image-jammy:
+  stage: post-deploy-test
+  needs: ["docker-jammy"]
+  extends: .test-docker-image-common
+
+  image: git.h2t.iar.kit.edu:5050/sw/armarx/robot-api:latest-jammy
+
+  rules:
+    - if: $CI_COMMIT_BRANCH == "master"

.gitlab/CODEOWNERS

 # ARON
+##########################
 
-/source/RobotAPI/libraries/aron/ @fratty @dreher
+/source/RobotAPI/libraries/aron/ @plewnia @hyseni
 
-/source/RobotAPI/interface/aron/ @fratty @dreher
-/source/RobotAPI/interface/aron.ice @fratty @dreher
+/source/RobotAPI/interface/aron/ @plewnia @hyseni
+/source/RobotAPI/interface/aron.ice @plewnia @hyseni @dreher
 
 
 # ArMem
-/source/RobotAPI/components/armem/ @fratty @RainerKartmann @dreher
+##########################
 
-/source/RobotAPI/libraries/armem/ @fratty @RainerKartmann @dreher
-/source/RobotAPI/libraries/armem_robot_localization/ @FabianReister
-/source/RobotAPI/libraries/armem_robot_mapping/ @FabianReister
+/source/RobotAPI/components/armem/ @plewnia
+/source/RobotAPI/libraries/armem/ @plewnia
 
-/source/RobotAPI/interface/armem/ @fratty @RainerKartmann @dreher
-/source/RobotAPI/interface/armem.ice @fratty @RainerKartmann @dreher
+/source/RobotAPI/interface/armem/ @plewnia
+/source/RobotAPI/interface/armem.ice @plewnia @dreher
 
+
+# ArMem client / helper libraries
+##########################
+
+/source/RobotAPI/libraries/armem_grasping/ @hyseni @reister
+/source/RobotAPI/libraries/armem_gui/ @plewnia
+/source/RobotAPI/libraries/armem_index/ @plewnia
+/source/RobotAPI/libraries/armem_laser_scans/ @reister
+/source/RobotAPI/libraries/armem_locations/ @plewnia
+# /source/RobotAPI/libraries/armem_motions/
+# /source/RobotAPI/libraries/armem_mps/
+/source/RobotAPI/libraries/armem_objects/ @reister
+# /source/RobotAPI/libraries/armem_reasoning/ 
+/source/RobotAPI/libraries/armem_robot_state/ @reister
+# /source/RobotAPI/libraries/armem_skills see below
+# /source/RobotAPI/libraries/armem_system_state/ 
+# /source/RobotAPI/libraries/armem_vision/ 
+
+
+# Skill framework
+##########################
+
+/source/RobotAPI/interface/skills @meixner @rietsch
+/source/RobotAPI/libraries/skills @meixner @rietsch
+/source/RobotAPI/libraries/armem_skills @meixner @rietsch
+
+# ArViz
+##########################
+
+/source/RobotAPI/components/ArViz @daab @meixner
+
+
+# Others
+##########################
+
+/source/RobotAPI/libraries/ArmarXObjects @reister
+/source/RobotAPI/libraries/diffik @meixner
+/source/RobotAPI/libraries/natik @meixner

.gitlab/ci/armarx-workspace.json

+{
+  "modules": {
+    "tools/ccache/default": {},
+    "armarx/RobotAPI": {}
+  },
+  "global": {
+    "prepare": {
+      "cmake": {
+        "definitions": {
+          "CMAKE_BUILD_TYPE": "RelWithDebInfo",
+          "CMAKE_C_COMPILER_LAUNCHER": "$CCACHE",
+          "CMAKE_CXX_COMPILER_LAUNCHER": "$CCACHE"
+        }
+      }
+    }
+  }
+}

CMakeLists.txt

@@ -20,6 +20,7 @@ depends_on_armarx_package(ArmarXGui)
 find_package(DMP QUIET)
 find_package(OpenCV QUIET)
 find_package(IVT COMPONENTS ivt ivtopencv QUIET)
+find_package(manif QUIET)
 
 add_subdirectory(source)
 

README.md

+# RobotAPI
+
+[Online Documentation](https://armarx.humanoids.kit.edu/d4/da3/RobotAPI-Overview.html),
+in particular on
+[ARON ("ArmarX Object Notation") / IDF (Interpretable Data Format)](https://armarx.humanoids.kit.edu/d9/d51/aron.html)
+and
+[ArMem ("ArmarX Memory Framework")](https://armarx.humanoids.kit.edu/d5/d6e/memory_system.html)
\ No newline at end of file

README.txt

-Stub to make the package tool work.

data/RobotAPI/robots/Armar3/ArmarIII-Head.xml

@@ -114,6 +114,15 @@
         <CollisionModel>
             <File type="Inventor">convexModel/neck_yaw_link.wrl</File>
         </CollisionModel>
+        <PrimitiveModel>
+            <Primitives>
+                <Sphere radius="140">
+                    <Transform>
+                        <Translation x="40" y="0" z="180" />
+                    </Transform>
+                </Sphere>
+            </Primitives>
+        </PrimitiveModel>
 
         <Child name="Head_Tilt"/>
     </RobotNode>

data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml

@@ -33,6 +33,16 @@
     <CollisionModel>
       <File type="Inventor">convexModel/shoulder_l.wrl</File>
     </CollisionModel>
+    <PrimitiveModel>
+        <Primitives>
+            <Capsule height="80" radius="120">
+                <Transform>
+                    <Translation x="0" y="0" z="-90" />
+                    <rpy roll="90" pitch="0" yaw="00" unit="degree"/>
+                </Transform>
+            </Capsule>
+        </Primitives>
+    </PrimitiveModel>
     <Child name="Shoulder 2 L"/>
   </RobotNode>
 
@@ -60,6 +70,15 @@
     <CollisionModel>
       <File type="Inventor">convexModel/shoulder2_l_rot.wrl</File>
     </CollisionModel>
+    <PrimitiveModel>
+        <Primitives>
+            <Capsule height="310" radius="50">
+                <Transform>
+                    <Translation x="0" y="150" z="0" />
+                </Transform>
+            </Capsule>
+        </Primitives>
+    </PrimitiveModel>
     <Child name="Upperarm L"/>
   </RobotNode>
 
@@ -138,6 +157,16 @@
     <CollisionModel>
       <File type="Inventor">convexModel/underarm_l.wrl</File>
     </CollisionModel>
+    <PrimitiveModel>
+        <Primitives>
+            <Capsule height="240" radius="50">
+                <Transform>
+                    <Translation x="0" y="0" z="-110" />
+                    <rpy roll="90" pitch="0" yaw="0" unit="degree"/>
+                </Transform>
+            </Capsule>
+        </Primitives>
+    </PrimitiveModel>
     <Physics>
       <CoM location="VisualizationBBoxCenter"/>
       <Mass value="2.26566087" units="kg" />

data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml

@@ -34,6 +34,16 @@
 		<CollisionModel>
 			<File type="Inventor">convexModel/shoulder_r.wrl</File>
 		</CollisionModel>
+        <PrimitiveModel>
+            <Primitives>
+                <Capsule height="80" radius="120">
+                    <Transform>
+                        <Translation x="0" y="0" z="90" />
+                        <rpy roll="90" pitch="0" yaw="00" unit="degree"/>
+                    </Transform>
+                </Capsule>
+            </Primitives>
+        </PrimitiveModel>
 		<Child name="Shoulder 2 R"/>
 	</RobotNode>
 	
@@ -59,6 +69,15 @@
 		<CollisionModel>
 			<File type="Inventor">convexModel/shoulder2_r_rot.wrl</File>
 		</CollisionModel>
+        <PrimitiveModel>
+            <Primitives>
+                <Capsule height="310" radius="50">
+                    <Transform>
+                        <Translation x="0" y="150" z="0" />
+                    </Transform>
+                </Capsule>
+            </Primitives>
+        </PrimitiveModel>
 		<Child name="Upperarm R"/>
 	</RobotNode>
 	
@@ -133,6 +152,16 @@
  		<CollisionModel>
 			<File type="Inventor">convexModel/underarm_r.wrl</File>
 		</CollisionModel>
+        <PrimitiveModel>
+            <Primitives>
+                <Capsule height="240" radius="50">
+                    <Transform>
+                        <Translation x="0" y="0" z="-110" />
+                        <rpy roll="90" pitch="0" yaw="0" unit="degree"/>
+                    </Transform>
+                </Capsule>
+            </Primitives>
+        </PrimitiveModel>
 		<Physics>
             <CoM location="VisualizationBBoxCenter"/>
             <Mass value="2.26566087" units="kg" />

data/RobotAPI/robots/Armar3/ArmarIII.xml

@@ -70,6 +70,16 @@
 		<CollisionModel>
 			<File type="Inventor">convexModel/platform.wrl</File>
 		</CollisionModel>
+        <PrimitiveModel>
+            <Primitives>
+                <Capsule height="400" radius="390">
+                    <Transform>
+                        <Translation x="0" y="0" z="380" />
+                        <rpy roll="90" pitch="0" yaw="0" unit="degree"/>
+                    </Transform>
+                </Capsule>
+            </Primitives>
+        </PrimitiveModel>
 		<Child name="Laser Scanner Front"/>
 		<Child name="Laser Scanner Back Left"/>
 		<Child name="Laser Scanner Back Right"/>
@@ -175,6 +185,16 @@
 		<CollisionModel>
 			<File type="Inventor">convexModel/torso.wrl</File>
 		</CollisionModel>
+        <PrimitiveModel>
+            <Primitives>
+                <Capsule height="400" radius="210">
+                    <Transform>
+                        <Translation x="0" y="-40" z="225" />
+                        <rpy roll="90" pitch="0" yaw="0" unit="degree"/>
+                    </Transform>
+                </Capsule>
+            </Primitives>
+        </PrimitiveModel>
 		<Child name="Center of Arms"/>
 	</RobotNode>
 	

docker/armarx-workspace.json

+{
+  "modules": {
+    "armarx/RobotAPI": {}
+  },
+  "global": {
+    "prepare": {
+      "cmake": {
+        "definitions": {
+          "CMAKE_BUILD_TYPE": "RelWithDebInfo"
+        }
+      }
+    }
+  }
+}

docker/bionic

+FROM git.h2t.iar.kit.edu:5050/sw/armarx/armarx-gui:latest-bionic
+
+# Setup environment.
+SHELL ["/bin/bash", "-c"]
+
+# Setup apt environment.
+RUN apt-get -qq update
+
+# Setup repository in Docker.
+WORKDIR $ARMARX_WORKSPACE/armarx/RobotAPI
+COPY --chmod=755 . .
+
+# Use workspace config.
+COPY docker/armarx-workspace.json $ARMARX_WORKSPACE/armarx-workspace.json
+
+# Fix "CMake Error in CMakeLists.txt: Imported target "VirtualRobot" includes non-existent path "/usr/lib/include"
+# (caused by at least dmp)
+RUN mkdir -p /usr/lib/include
+
+# Run the upgrade.
+RUN axii workspace system --accept-apt-install
+# ToDo: Prevent this from updating the target itself.
+RUN axii workspace update --prefer-https
+RUN axii workspace upgrade

docker/jammy

+FROM git.h2t.iar.kit.edu:5050/sw/armarx/armarx-gui:latest-jammy
+
+# Setup environment.
+SHELL ["/bin/bash", "-c"]
+
+# Setup apt environment.
+RUN apt-get -qq update
+
+# Setup repository in Docker.
+WORKDIR $ARMARX_WORKSPACE/armarx/RobotAPI
+COPY --chmod=755 . .
+
+# Use workspace config.
+COPY docker/armarx-workspace.json $ARMARX_WORKSPACE/armarx-workspace.json
+
+# Run the upgrade.
+RUN axii workspace system --accept-apt-install
+# ToDo: Prevent this from updating the target itself.
+RUN axii workspace update --prefer-https
+RUN axii workspace upgrade

etc/cmake/FindNLOPT.cmake

-# Copyright (c) 2015, Georgia Tech Graphics Lab and Humanoid Robotics Lab
-# This file is provided under the "BSD-style" License
-
-# Find NLOPT
-#
-# This sets the following variables:
-# NLOPT_FOUND
-# NLOPT_INCLUDE_DIRS
-# NLOPT_LIBRARIES
-# NLOPT_DEFINITIONS
-# NLOPT_VERSION
-
-find_package(PkgConfig QUIET)
-
-# Check to see if pkgconfig is installed.
-pkg_check_modules(PC_NLOPT nlopt QUIET)
-
-# Definitions
-set(NLOPT_DEFINITIONS ${PC_NLOPT_CFLAGS_OTHER})
-
-# Include directories
-find_path(NLOPT_INCLUDE_DIRS
-    NAMES nlopt.h
-    HINTS ${PC_NLOPT_INCLUDEDIR}
-    PATHS "${CMAKE_INSTALL_PREFIX}/include")
-
-# Libraries
-find_library(NLOPT_LIBRARIES
-    NAMES nlopt nlopt_cxx
-    HINTS ${PC_NLOPT_LIBDIR})
-
-# Version
-set(NLOPT_VERSION ${PC_NLOPT_VERSION})
-
-# Set (NAME)_FOUND if all the variables and the version are satisfied.
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(NLOPT
-    FAIL_MESSAGE  DEFAULT_MSG
-    REQUIRED_VARS NLOPT_INCLUDE_DIRS NLOPT_LIBRARIES
-    VERSION_VAR   NLOPT_VERSION)
- 

etc/cmake/FindOptoForceOMD.cmake

-# - Try to find OptoForceOMD
-# Once done this will define
-#
-#  OptoForceOMD_FOUND - OptoForceOMD found
-#  OptoForceOMD_INCLUDE_DIR - the OptoForceOMD include directory
-#  OptoForceOMD_LIBRARIES - OptoForceOMD library
-#
-
-FIND_PATH(OptoForceOMD_INCLUDE_DIR NAMES opto.h
-  PATHS
-  $ENV{OptoForceOMD_DIR}/include/
-  $ENV{OptoForceOMD_DIR}/include/OptoForceOMD/
-  ${OptoForceOMD_DIR}/include/
-  ${OptoForceOMD_DIR}/include/OptoForceOMD/
-  ENV CPATH
-  /usr/include/OptoForceOMD/
-  /usr/local/include/OptoForceOMD/
-  /opt/local/include/OptoForceOMD/
-  NO_DEFAULT_PATH
-)
-
-
-FIND_LIBRARY(OptoForceOMD_LIBRARIES NAMES libOMD.so
-  PATHS
-  $ENV{OptoForceOMD_DIR}/lib
-  ${OptoForceOMD_DIR}/lib
-  ENV LD_LIBRARY_PATH
-  ENV LIBRARY_PATH
-  /usr/lib
-  /usr/local/lib
-  /opt/local/lib
-  NO_DEFAULT_PATH
-)
-
-include(FindPackageHandleStandardArgs)
-# handle the QUIETLY and REQUIRED arguments and set OODL_YOUBOT_FOUND to TRUE
-# if all listed variables are TRUE
-find_package_handle_standard_args(OptoForceOMD DEFAULT_MSG
-                                  OptoForceOMD_LIBRARIES OptoForceOMD_INCLUDE_DIR)
-
-set(OptoForceOMD_FOUND ${OPTOFORCEOMD_FOUND}) # CMake UPPERCASE-FUNTIME!
-
-#message( "OptoForceOMD_FOUND:" ${OptoForceOMD_FOUND})
-#message( "OPTOFORCEOMD_FOUND:" ${OPTOFORCEOMD_FOUND})
-#message( "OptoForceOMD_LIBRARIES:" ${OptoForceOMD_LIBRARIES})
-#message( "OptoForceOMD_INCLUDE_DIR:" ${OptoForceOMD_INCLUDE_DIR})
-
-# show the OptoForceOMD_INCLUDE_DIR and OptoForceOMD_LIBRARY_DIR variables only in the advanced view
-MARK_AS_ADVANCED(OptoForceOMD_INCLUDE_DIR OptoForceOMD_LIBRARIES)

etc/cmake/Findlibbson-1.0.cmake

-# see https://github.com/intersvyaz/zerod/blob/master/cmake/modules/FindLibbson.cmake
-# - Find libbson
-# Find the native libbson includes and library.
-# Once done this will define
-#
-#  LIBBSON_INCLUDE_DIRS - where to find bson.h, etc.
-#  LIBBSON_LIBRARIES    - List of libraries when using libbson.
-#  LIBBSON_FOUND        - True if libbson found.
-#
-#  LIBBSON_VERSION_STRING - The version of libbson found (x.y.z)
-#  LIBBSON_VERSION_MAJOR  - The major version
-#  LIBBSON_VERSION_MINOR  - The minor version
-#  LIBBSON_VERSION_MICRO  - The micro version
-
-FIND_PATH(LIBBSON_INCLUDE_DIR NAMES bson.h PATH_SUFFIXES libbson-1.0)
-FIND_LIBRARY(LIBBSON_LIBRARY  NAMES bson-1.0)
-
-MARK_AS_ADVANCED(LIBBSON_LIBRARY LIBBSON_INCLUDE_DIR)
-
-IF(LIBBSON_INCLUDE_DIR AND EXISTS "${LIBBSON_INCLUDE_DIR}/bson-version.h")
-    # Read and parse version header file for version number
-    file(READ "${LIBBSON_INCLUDE_DIR}/bson-version.h" _libbson_HEADER_CONTENTS)
-    IF(_libbson_HEADER_CONTENTS MATCHES ".*BSON_MAJOR_VERSION.*")
-                                #define BSON_MAJOR_VERSION
-        string(REGEX REPLACE ".*#define +BSON_MAJOR_VERSION +\\(([0-9]+)\\).*" "\\1" LIBBSON_VERSION_MAJOR "${_libbson_HEADER_CONTENTS}")
-        string(REGEX REPLACE ".*#define +BSON_MINOR_VERSION +\\(([0-9]+)\\).*" "\\1" LIBBSON_VERSION_MINOR "${_libbson_HEADER_CONTENTS}")
-        string(REGEX REPLACE ".*#define +BSON_MICRO_VERSION +\\(([0-9]+)\\).*" "\\1" LIBBSON_VERSION_MICRO "${_libbson_HEADER_CONTENTS}")
-    ELSE()
-       SET(LIBBSON_VERSION_MAJOR 0)
-       SET(LIBBSON_VERSION_MINOR 0)
-       SET(LIBBSON_VERSION_MICRO 0)
-    ENDIF()
-
-    SET(LIBBSON_VERSION_STRING "${LIBBSON_VERSION_MAJOR}.${LIBBSON_VERSION_MINOR}.${LIBBSON_VERSION_MICRO}")
-ENDIF()
-
-# handle the QUIETLY and REQUIRED arguments and set LIBBSON_FOUND to TRUE if
-# all listed variables are TRUE
-INCLUDE(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(libbson-1.0
-    REQUIRED_VARS LIBBSON_LIBRARY LIBBSON_INCLUDE_DIR
-    VERSION_VAR LIBBSON_VERSION_STRING
-)
-
-IF(LIBBSON_FOUND)
-    SET(LIBBSON_INCLUDE_DIRS ${LIBBSON_INCLUDE_DIR})
-    SET(LIBBSON_LIBRARIES ${LIBBSON_LIBRARY})
-ENDIF()

etc/cmake/Findlibmongoc-1.0

-# see https://github.com/intersvyaz/freeradius-mongodb/blob/master/cmake/modules/FindLibmongoc.cmake
-# - Find libmongoc
-# Find the native libmongoc includes and library.
-# Once done this will define
-#
-#  LIBMONGOC_INCLUDE_DIRS - where to find mongoc.h, etc.
-#  LIBMONGOC_LIBRARIES    - List of libraries when using libmongoc.
-#  LIBMONGOC_FOUND        - True if libmongoc found.
-#
-#  LIBMONGOC_VERSION_STRING - The version of libmongoc found (x.y.z)
-#  LIBMONGOC_VERSION_MAJOR  - The major version
-#  LIBMONGOC_VERSION_MINOR  - The minor version
-#  LIBMONGOC_VERSION_MICRO  - The micro version
-
-FIND_PATH(LIBMONGOC_INCLUDE_DIR NAMES mongoc.h PATH_SUFFIXES libmongoc-1.0)
-FIND_LIBRARY(LIBMONGOC_LIBRARY  NAMES mongoc-1.0)
-
-MARK_AS_ADVANCED(LIBMONGOC_LIBRARY LIBMONGOC_INCLUDE_DIR)
-
-IF(LIBMONGOC_INCLUDE_DIR AND EXISTS "${LIBMONGOC_INCLUDE_DIR}/mongoc-version.h")
-    # Read and parse version header file for version number
-    file(READ "${LIBMONGOC_INCLUDE_DIR}/mongoc-version.h" _libmongoc_HEADER_CONTENTS)
-    IF(_libmongoc_HEADER_CONTENTS MATCHES ".*MONGOC_MAJOR_VERSION.*")
-        string(REGEX REPLACE ".*#define +MONGOC_MAJOR_VERSION +\\(([0-9]+)\\).*" "\\1" LIBMONGOC_VERSION_MAJOR "${_libmongoc_HEADER_CONTENTS}")
-        string(REGEX REPLACE ".*#define +MONGOC_MINOR_VERSION +\\(([0-9]+)\\).*" "\\1" LIBMONGOC_VERSION_MINOR "${_libmongoc_HEADER_CONTENTS}")
-        string(REGEX REPLACE ".*#define +MONGOC_MICRO_VERSION +\\(([0-9]+)\\).*" "\\1" LIBMONGOC_VERSION_MICRO "${_libmongoc_HEADER_CONTENTS}")
-    ELSE()
-       SET(LIBMONGOC_VERSION_MAJOR 0)
-       SET(LIBMONGOC_VERSION_MINOR 0)
-       SET(LIBMONGOC_VERSION_MICRO 0)
-    ENDIF()
-
-    SET(LIBMONGOC_VERSION_STRING "${LIBMONGOC_VERSION_MAJOR}.${LIBMONGOC_VERSION_MINOR}.${LIBMONGOC_VERSION_MICRO}")
-ENDIF()
-
-# handle the QUIETLY and REQUIRED arguments and set LIBMONGOC_FOUND to TRUE if
-# all listed variables are TRUE
-INCLUDE(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(Libmongoc
-    REQUIRED_VARS LIBMONGOC_LIBRARY LIBMONGOC_INCLUDE_DIR
-    VERSION_VAR LIBMONGOC_VERSION_STRING
-)
-
-IF(LIBMONGOC_FOUND)
-    SET(LIBMONGOC_INCLUDE_DIRS ${LIBMONGOC_INCLUDE_DIR})
-    SET(LIBMONGOC_LIBRARIES ${LIBMONGOC_LIBRARY})
-ENDIF()

etc/cmake/Findsick_scan_base.cmake

-# - Try to find sick_scan_base
-# This module defines the following variables:
-# sick_scan_base_FOUND   : 1 if sick_scan_base was found, 0 otherwise
-# sick_scan_base_INCLUDE_DIRS: directory where the headers can be found
-
-include(FindPackageHandleStandardArgs)
-
-
-if (DEFINED ENV{sick_scan_base_DIR})
-	if(NOT DEFINED sick_scan_base_DIR)
-		set(sick_scan_base_DIR $ENV{sick_scan_base_DIR})
-	endif()
-endif()
-
-#if(NOT "$ENV{sick_scan_base_DIR}" EQUAL "")
-#    set(sick_scan_base_DIR $ENV{sick_scan_base_DIR} CACHE PATH "Path to sick_scan_base" FORCE)
-#endif()
-
-set(HEADER_SEARCH_PATHS
-    ${sick_scan_base_DIR}/include/
-    ${sick_scan_base_DIR}/include/sick_scan/
-    ${sick_scan_base_DIR}/include/tinyxml/
-    ${sick_scan_base_DIR}/roswrap/src/include/
-    ${sick_scan_base_DIR}/roswrap/src/rossimu/kinetic/include/
-    ${sick_scan_base_DIR}/roswrap/src/cfgsimu/
-    ENV CPATH
-    /usr/include/
-    #/opt/ros/melodic/include/
-    #/opt/ros/melodic/include/sick_scan/
-)
-
-#find_path(sick_scan_base_INCLUDE_DIR_7 NAMES sick_scan_common.h PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
-#if(sick_scan_base_INCLUDE_DIR_7)
-#    set(sick_scan_base_INCLUDE_DIRS ${sick_scan_base_INCLUDE_DIR_7})
-#endif()
-#find_library(sick_scan_base_LIBRARIES NAMES libsick_scan_lib.so PATHS /opt/ros/melodic/lib/ NO_DEFAULT_PATH)
-
-find_library(sick_scan_base_LIBRARIES NAMES libsick_scan_generic.so PATHS ${sick_scan_base_DIR}/build NO_DEFAULT_PATH)
-message(STATUS "sick_scan_base_LIBRARIES:${sick_scan_base_LIBRARIES}")
-
-find_path(sick_scan_base_INCLUDE_DIR_0 NAMES sick_scan/sick_scan_common_tcp.h PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
-find_path(sick_scan_base_INCLUDE_DIR_1 NAMES sick_generic_laser.h PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
-find_path(sick_scan_base_INCLUDE_DIR_2 NAMES tinystr.h PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
-find_path(sick_scan_base_INCLUDE_DIR_3 NAMES sick_scan/SickScanConfig.h PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
-find_path(sick_scan_base_INCLUDE_DIR_4 NAMES dynamic_reconfigure/config_tools.h PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
-find_path(sick_scan_base_INCLUDE_DIR_5 NAMES sick_scan/SickScanConfig.h PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
-find_path(sick_scan_base_INCLUDE_DIR_6 NAMES sick_scan/rosconsole_simu.hpp PATHS ${HEADER_SEARCH_PATHS} NO_DEFAULT_PATH)
-
-if(sick_scan_base_INCLUDE_DIR_0 AND sick_scan_base_INCLUDE_DIR_1 AND sick_scan_base_INCLUDE_DIR_2 AND sick_scan_base_INCLUDE_DIR_3 AND sick_scan_base_INCLUDE_DIR_4 AND sick_scan_base_INCLUDE_DIR_5 AND sick_scan_base_INCLUDE_DIR_6)
-    set(sick_scan_base_INCLUDE_DIRS ${sick_scan_base_INCLUDE_DIR_0} ${sick_scan_base_INCLUDE_DIR_1} ${sick_scan_base_INCLUDE_DIR_2} ${sick_scan_base_INCLUDE_DIR_3} ${sick_scan_base_INCLUDE_DIR_4} ${sick_scan_base_INCLUDE_DIR_5} ${sick_scan_base_INCLUDE_DIR_6})
-endif()
-
-
-message(STATUS "sick_scan_base_INCLUDE_DIRS:${sick_scan_base_INCLUDE_DIRS}")
-
-find_package_handle_standard_args(sick_scan_base DEFAULT_MSG sick_scan_base_INCLUDE_DIRS sick_scan_base_LIBRARIES)
-
-mark_as_advanced(sick_scan_base_INCLUDE_DIRS sick_scan_base_LIBRARIES)
-
-
-