Update Autonomy Lab link

(cherry picked from commit 116be443e7970de1574b5dc5f91e414828854c08)

.forgejo/workflows/package.yaml

@@ -0,0 +1,76 @@
+---
+name: Package
+
+on:
+  push:
+    tags:
+      - "*"
+
+jobs:
+  package:
+    strategy:
+      matrix:
+        platform:
+          - dpkg: arm64
+            runs-on: debian-12-arm64
+
+    runs-on: debian-12-arm64
+
+    steps:
+      - uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
+        with:
+          fetch-depth: 0
+
+      - name: Install dependencies
+        run: |
+          apt update
+          apt install -y \
+            build-essential cmake git libboost-system-dev libboost-thread-dev file libgtest-dev googletest
+
+      - uses: actions/checkout@v4
+
+      - name: configure
+        run: cmake -B build -DCMAKE_BUILD_TYPE=Release -DCPACK_DEBIAN_PACKAGE_RELEASE=compair1
+
+      - name: build
+        run: cmake --build build --config Release -j2
+
+      - name: test
+        working-directory: build
+        run: ctest -C Release
+
+      - name: build deb
+        working-directory: build
+        run: cpack --build . -G DEB
+
+      - name: get tag
+        run: |
+          echo "TAG=$(git describe --abbrev=0 --tags)-compair1" >>$GITHUB_ENV
+
+      # https://forgejo.org/docs/latest/user/packages/debian/#publish-a-package
+      - name: push deb to apt repository
+        env:
+          REPO: ${{ github.repository }}
+        run: |
+          url="${GITHUB_SERVER_URL}/api/packages/${{ github.repository_owner }}/debian/pool/bookworm/compair/upload"
+          urlBotball="${GITHUB_SERVER_URL}/api/packages/Botball/debian/pool/bookworm/wombatos/upload"
+
+          echo "api url: $url"
+          debfile="_packages/libcreate_${TAG}_${{ matrix.platform.dpkg }}.deb"
+
+          echo "uploading file: $debfile"
+          curl --fail-with-body \
+            -X PUT \
+            --user "oauth2:${{ secrets.PACKAGE_REGISTRY_TOKEN }}" \
+            --upload-file "$debfile" \
+            "$url"
+
+          echo "uploading file for WombatOs: $debfile"
+          curl --fail-with-body \
+            -X PUT \
+            --user "oauth2:${{ secrets.PACKAGE_REGISTRY_TOKEN }}" \
+            --upload-file "$debfile" \
+            "$urlBotball"
+
+          echo "final url: ${GITHUB_SERVER_URL}/${{ github.repository_owner }}/-/packages/debian/libcreate/${TAG}"
+          echo "final url for Botball: ${GITHUB_SERVER_URL}/Botball/-/packages/debian/libcreate/${TAG}"

.forgejo/workflows/test.yaml

@@ -0,0 +1,34 @@
+---
+name: Build and test
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+env:
+  BUILD_TYPE: Release
+
+jobs:
+  test:
+    runs-on: debian-12
+
+    steps:
+      - name: Install dependencies
+        run: |
+          apt update
+          apt install -y \
+            build-essential cmake git libboost-system-dev libboost-thread-dev file libgtest-dev googletest
+
+      - uses: actions/checkout@v4
+
+      - name: Configure CMake
+        run: cmake -B ${{ github.workspace }}/build -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }}
+
+      - name: Build
+        run: cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }}
+
+      - name: Test
+        working-directory: ${{ github.workspace }}/build
+        run: ctest -C ${{ env.BUILD_TYPE }}

.github/workflows/package.yaml

@@ -1,41 +0,0 @@
-name: Package
-
-on:
-  push:
-    tags:
-      - "*"
-
-jobs:
-  package:
-    runs-on: ubuntu-24.04
-    strategy:
-      matrix:
-        platform: [linux/arm64/v8]
-
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Set up QEMU
-        uses: docker/setup-qemu-action@v3
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-        with:
-          platforms: linux/arm64
-
-      - name: Prepare container
-        run: docker buildx build -f ci/Dockerfile . -t libcreate --platform ${{ matrix.platform }} --load
-      - name: Build
-        run: docker run --platform ${{ matrix.platform }} -v ./output:/libcreate/_packages libcreate
-      - name: Push deb to compREP
-        uses: cpina/github-action-push-to-another-repository@main
-        env:
-          SSH_DEPLOY_KEY: ${{ secrets.SSH_DEPLOY_KEY }}
-        with:
-          source-directory: "output/"
-          target-directory: "debs/complib/"
-          destination-github-username: "F-WuTS"
-          destination-repository-name: "compREP"
-          target-branch: master

.github/workflows/test.yaml

@@ -1,30 +0,0 @@
-name: Build and test
-
-on:
-  push:
-    branches: ["master"]
-  pull_request:
-
-env:
-  BUILD_TYPE: Release
-
-jobs:
-  test:
-    runs-on: ubuntu-24.04
-
-    steps:
-      - name: Install dependencies
-        run: |
-          sudo apt install build-essential cmake git libboost-system-dev libboost-thread-dev file libgtest-dev googletest
-
-      - uses: actions/checkout@v4
-
-      - name: Configure CMake
-        run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCMAKE_CXX_FLAGS="-Werror"
-
-      - name: Build
-        run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
-
-      - name: Test
-        working-directory: ${{github.workspace}}/build
-        run: ctest -C ${{env.BUILD_TYPE}}

.gitignore

@@ -0,0 +1,3 @@
+# CMake/CPack
+build/
+_packages/

CMakeLists.txt

@@ -15,7 +15,8 @@ include(Versioning)
 # After installation this project can be found by 'find_package' command:
 #
 #    find_package(libcreate REQUIRED)
-#    target_link_libraries(... libcreate)
+#    include_directores(${libcreate_INCLUDE_DIRS})
+#    target_link_libraries(... ${libcreate_LIBRARIES})
 #
 
 project(
@@ -23,6 +24,8 @@ project(
   VERSION ${TAG_VERSION_MAJOR}.${TAG_VERSION_MINOR}.${TAG_VERSION_PATCH}
 )
 
+add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+
 set(PACKAGE_VERSION ${TAG_VERSION_MAJOR}.${TAG_VERSION_MINOR}.${TAG_VERSION_PATCH})
 
 option(LIBCREATE_BUILD_TESTS "Enable the build of tests." ON)
@@ -57,8 +60,6 @@ add_library(${LIBRARY_NAME} SHARED
   src/types.cpp
 )
 
-target_compile_options(${LIBRARY_NAME} PRIVATE -Wall -Wextra -Wpedantic -Werror)
-
 # Manually link to thread library for build on ARM
 if(THREADS_HAVE_PTHREAD_ARG)
   set_property(TARGET ${LIBRARY_NAME} PROPERTY COMPILE_OPTIONS "-pthread")
@@ -99,10 +100,44 @@ endforeach()
 # Configuration #
 #################
 
-include(GNUInstallDirs)
-
 # set(CMAKE_INSTALL_PREFIX "/usr/") // complib needs  this, riplib doesn't
 
+# Install directories layout:
+#   * <prefix>/lib/
+#   * <prefix>/bin/
+#   * <prefix>/include/
+#   * <prefix>/lib/cmake/<PROJECT-NAME>
+#   * <prefix>/share/<PROJECT_NAME>
+set(LIB_INSTALL_DIR "lib")
+set(BIN_INSTALL_DIR "bin")
+set(INCLUDE_INSTALL_DIR "include")
+set(CONFIG_INSTALL_DIR "${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME}")
+set(SHARE_INSTALL_DIR "share/${PROJECT_NAME}")
+
+set(GENERATED_DIR "${CMAKE_CURRENT_BINARY_DIR}/generated")
+set(VERSION_CONFIG "${GENERATED_DIR}/${PROJECT_NAME}-config-version.cmake")
+set(PROJECT_CONFIG "${GENERATED_DIR}/${PROJECT_NAME}-config.cmake")
+set(TARGETS_EXPORT_NAME "${PROJECT_NAME}-targets")
+
+include(CMakePackageConfigHelpers)
+
+# Configure '<PROJECT-NAME>-config-version.cmake'
+write_basic_package_version_file(
+  "${VERSION_CONFIG}"
+  VERSION "${PACKAGE_VERSION}"
+  COMPATIBILITY SameMajorVersion
+)
+
+# Configure '<PROJECT-NAME>-config.cmake'
+configure_package_config_file(
+  "config.cmake.in"
+  "${PROJECT_CONFIG}"
+  INSTALL_DESTINATION "${CONFIG_INSTALL_DIR}"
+  PATH_VARS
+    INCLUDE_INSTALL_DIR
+    LIBRARY_NAME
+)
+
 ###########
 # Install #
 ###########
@@ -110,25 +145,37 @@ include(GNUInstallDirs)
 # Install targets
 install(
   TARGETS ${LIBRARY_NAME}
-    EXPORT ${LIBRARY_NAME}-config
+  EXPORT "${TARGETS_EXPORT_NAME}"
-    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+  LIBRARY DESTINATION "${LIB_INSTALL_DIR}"
-    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  ARCHIVE DESTINATION "${LIB_INSTALL_DIR}"
-    ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR})
+  RUNTIME DESTINATION "${BIN_INSTALL_DIR}"
+  INCLUDES DESTINATION "${INCLUDE_INSTALL_DIR}"
+)
+
+# Install headers
+install(
+  DIRECTORY include/
+  DESTINATION ${INCLUDE_INSTALL_DIR}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
 
 # Install config
 install(
-    EXPORT ${LIBRARY_NAME}-config
+  FILES "${PROJECT_CONFIG}" "${VERSION_CONFIG}"
-    NAMESPACE create::
+  DESTINATION "${CONFIG_INSTALL_DIR}"
-    DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${LIBRARY_NAME})
+)
 
-# Install headers
+# Install targets
-install(DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/include/${LIBRARY_NAME}/
+install(
-        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${LIBRARY_NAME})
+  EXPORT "${TARGETS_EXPORT_NAME}"
+  DESTINATION "${CONFIG_INSTALL_DIR}"
+)
 
 # Install package.xml (for catkin)
 install(
   FILES package.xml
-  DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}
+  DESTINATION ${SHARE_INSTALL_DIR}
 )
 
 ###########

README.md

@@ -7,7 +7,7 @@ C++ library for interfacing with iRobot's Create 1 and 2 as well as most models
   - [`V_1`](https://drive.google.com/file/d/0B9O4b91VYXMdUHlqNklDU09NU0k/view?usp=sharing&resourcekey=0-KxMpRPBMsGAj7eSYC_9ewA) (Roomba 400 series )
   - [`V_2`](https://drive.google.com/file/d/0B9O4b91VYXMdMmFPMVNDUEZ6d0U/view?usp=sharing&resourcekey=0-bqKH8xhtWdYtTik_LLWo9Q) (Create 1, Roomba 500 series)
   - [`V_3`](https://drive.google.com/file/d/0B9O4b91VYXMdSVk4amw1N09mQ3c/view?usp=sharing&resourcekey=0-rKvug2IzC7nj4zV31EJtww) (Create 2, Roomba 600-800 series)
-* Author: [Jacob Perron](http://jacobperron.ca) ([Autonomy Lab](http://autonomylab.org), [Simon Fraser University](http://www.sfu.ca))
+* Author: [Jacob Perron](http://jacobperron.ca) ([Autonomy Lab](https://autonomy.cs.sfu.ca), [Simon Fraser University](http://www.sfu.ca))
 * Contributors: [Mani Monajjemi](http:mani.im), [Ben Wolsieffer](https://github.com/lopsided98), [Josh Gadeken](https://github.com/process1183)
 
 ## Build Status ##

ci/Dockerfile

@@ -1,14 +0,0 @@
-FROM debian:bookworm
-
-RUN apt update && \
-    apt install -y \
-        build-essential cmake git file tree \
-        libboost-system-dev libboost-thread-dev \
-        libgtest-dev googletest && \
-    rm -rf /var/lib/apt/lists/*
-
-WORKDIR /libcreate
-COPY . .
-
-WORKDIR /libcreate/build
-ENTRYPOINT ["/bin/bash", "/libcreate/ci/entrypoint.sh"] 

ci/entrypoint.sh

@@ -1,15 +0,0 @@
-#!/usr/bin/env bash
-
-set -o errexit
-set -o nounset
-set -o pipefail
-
-cmake -B /libcreate/build -S /libcreate -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS='-Werror'
-cmake --build /libcreate/build --config Release
-ctest -C Release --output-on-failure
-cpack --build /libcreate/build -G DEB
-
-debs=(/libcreate/_packages/*.deb)
-cp "${debs[0]}" /tmp/libcreate.deb
-dpkg-deb -R /tmp/libcreate.deb /tmp/libcreate
-tree /tmp/libcreate

cmake/Packing.cmake

@@ -13,9 +13,6 @@ set(CPACK_VERBATIM_VARIABLES YES)
 set(CPACK_PACKAGE_INSTALL_DIRECTORY ${CPACK_PACKAGE_NAME})
 SET(CPACK_OUTPUT_FILE_PREFIX "${CMAKE_SOURCE_DIR}/_packages")
 
-# https://unix.stackexchange.com/a/11552/254512
-set(CPACK_PACKAGING_INSTALL_PREFIX "/opt/${CPACK_PACKAGE_NAME}")
-
 set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
 set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
 set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
@@ -41,6 +38,4 @@ set(
 # you'll get some-application_0.9.2_amd64.deb (note the underscores too)
 set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
 
-message(STATUS "Components to pack: ${CPACK_COMPONENTS_ALL}")
-
 include(CPack)

cmake/Versioning.cmake

@@ -8,7 +8,7 @@ if(GIT_EXECUTABLE)
         OUTPUT_STRIP_TRAILING_WHITESPACE
     )
 
-    if(DEFINED ENV{GITHUB_REF})
+    if(DEFINED ENV{GITHUB_REF} AND ENV{GITHUB_REF_TYPE} EQUAL "tag")
         set(TAG_VERSION $ENV{GITHUB_REF})
         message(STATUS "Extracted version from GITHUB_REF")
     endif()