swri-robotics · matt-attack · Jan 20, 2020 · Jan 20, 2020 · Jan 20, 2020 · Jan 20, 2020
diff --git a/.travis.yml b/.travis.yml
@@ -9,20 +9,36 @@ notifications:
     on_failure: always
 jobs:
   include:
-    - stage: build-shadow-fixed
+    - stage: build
       env: ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+      arch: amd64
+    - env: ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+      arch: arm64
     - env: ROS_DISTRO="melodic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
-    - stage: build-released
-      env: ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+      arch: amd64
+    - env: ROS_DISTRO="melodic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+      arch: arm64
+    - env: ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+      arch: amd64
+    - env: ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+      arch: arm64
+    - env: ROS_DISTRO="melodic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+      arch: amd64
     - env: ROS_DISTRO="melodic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-    - stage: lint
+      arch: arm64
+    - env: JOB="catkin_lint"
       sudo: false
       install: pip install --user -q catkin-lint
       script: catkin_lint -W2 --explain .
-      env: JOB="catkin_lint"
   allow_failures:
     - env: ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+      arch: amd64
+    - env: ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+      arch: arm64
+    - env: ROS_DISTRO="melodic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+      arch: amd64
     - env: ROS_DISTRO="melodic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+      arch: arm64
     - env: JOB="catkin_lint"
 matrix:
   allow_failures:
@@ -31,4 +47,4 @@ install:
   - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
 script: 
   - source .ci_config/travis.sh
-#  - source ./travis.sh  # Enable this when you have a package-local script 
+
diff --git a/mapviz/include/mapviz/map_canvas.h b/mapviz/include/mapviz/map_canvas.h
@@ -40,6 +40,7 @@
 
 // QT libraries
 #include <QGLWidget>
+#include <QGLFunctions>
 #include <QMouseEvent>
 #include <QWheelEvent>
 #include <QColor>
@@ -52,9 +53,13 @@
 
 #include <mapviz/mapviz_plugin.h>
 
+#ifdef __aarch64__
+#include <GL/gl.h>
+#endif
+
 namespace mapviz
 {
-  class MapCanvas : public QGLWidget
+  class MapCanvas : public QGLWidget, protected QGLFunctions
   {
     Q_OBJECT
 

diff --git a/mapviz/include/mapviz/mapviz_plugin.h b/mapviz/include/mapviz/mapviz_plugin.h
@@ -52,6 +52,10 @@
 
 #include "stopwatch.h"
 
+#ifdef __aarch64__
+#include <GL/gl.h>
+#endif
+
 namespace mapviz
 {
   class MapvizPlugin : public QObject

diff --git a/mapviz/src/map_canvas.cpp b/mapviz/src/map_canvas.cpp
@@ -28,9 +28,9 @@
 // *****************************************************************************
 
 
-#include <GL/glew.h>
-#include <GL/gl.h>
-#include <GL/glu.h>
+//#include <GL/glew.h>
+//#include <GL/gl.h>
+//#include <GL/glu.h>
 
 #include <mapviz/map_canvas.h>
 
@@ -96,7 +96,7 @@ MapCanvas::~MapCanvas()
 {
   if(pixel_buffer_size_ != 0)
   {
-    glDeleteBuffersARB(2, pixel_buffer_ids_);
+    glDeleteBuffers(2, pixel_buffer_ids_);
   }
 }
 
@@ -105,6 +105,10 @@ void MapCanvas::InitializeTf(boost::shared_ptr<tf::TransformListener> tf)
   tf_ = tf;
 }
 
+void* (*glMapBuffer)(GLenum target, GLenum buffer);
+
+void (*glUnmapBuffer)(GLenum target);
+
 void MapCanvas::InitializePixelBuffers()
 {
   if(has_pixel_buffers_)
@@ -115,15 +119,15 @@ void MapCanvas::InitializePixelBuffers()
     {
       if (pixel_buffer_size_ != 0)
       {
-        glDeleteBuffersARB(2, pixel_buffer_ids_);
+        glDeleteBuffers(2, pixel_buffer_ids_);
       }
 
-      glGenBuffersARB(2, pixel_buffer_ids_);
-      glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pixel_buffer_ids_[0]);
-      glBufferDataARB(GL_PIXEL_PACK_BUFFER_ARB, buffer_size, 0, GL_STREAM_READ_ARB);
-      glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pixel_buffer_ids_[1]);
-      glBufferDataARB(GL_PIXEL_PACK_BUFFER_ARB, buffer_size, 0, GL_STREAM_READ_ARB);
-      glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, 0);
+      glGenBuffers(2, pixel_buffer_ids_);
+      glBindBuffer(GL_PIXEL_PACK_BUFFER, pixel_buffer_ids_[0]);
+      glBufferData(GL_PIXEL_PACK_BUFFER, buffer_size, 0, GL_STREAM_READ);
+      glBindBuffer(GL_PIXEL_PACK_BUFFER, pixel_buffer_ids_[1]);
+      glBufferData(GL_PIXEL_PACK_BUFFER, buffer_size, 0, GL_STREAM_READ);
+      glBindBuffer(GL_PIXEL_PACK_BUFFER, 0);
 
       pixel_buffer_size_ = buffer_size;
     }
@@ -132,16 +136,19 @@ void MapCanvas::InitializePixelBuffers()
 
 void MapCanvas::initializeGL()
 {
-  GLenum err = glewInit();
-  if (GLEW_OK != err)
+  //GLenum err = glewInit();
+  if (false)//GLEW_OK != err)
   {
-    ROS_ERROR("Error: %s\n", glewGetErrorString(err));
+    //ROS_ERROR("Error: %s\n", glewGetErrorString(err));
   }
   else
   {
     // Check if pixel buffers are available for asynchronous capturing
     std::string extensions = (const char*)glGetString(GL_EXTENSIONS);
-    has_pixel_buffers_ = extensions.find("GL_ARB_pixel_buffer_object") != std::string::npos;
+    has_pixel_buffers_ = false;//extensions.find("GL_ARB_pixel_buffer_object") != std::string::npos;
+
+	// now load the extension...
+	//glMapBuffer = glXGetProcAddress("glMapBuffer");
   }
 
   glClearColor(0.58f, 0.56f, 0.5f, 1);
@@ -192,19 +199,19 @@ void MapCanvas::CaptureFrame(bool force)
     pixel_buffer_index_ = (pixel_buffer_index_ + 1) % 2;
     int32_t next_index = (pixel_buffer_index_ + 1) % 2;
 
-    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pixel_buffer_ids_[pixel_buffer_index_]);
+    glBindBuffer(GL_PIXEL_PACK_BUFFER, pixel_buffer_ids_[pixel_buffer_index_]);
     glReadPixels(0, 0, width(), height(), GL_BGRA, GL_UNSIGNED_BYTE, 0);
-    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, pixel_buffer_ids_[next_index]);
-    GLubyte* data = reinterpret_cast<GLubyte*>(glMapBufferARB(GL_PIXEL_PACK_BUFFER_ARB, GL_READ_ONLY_ARB));
+    glBindBuffer(GL_PIXEL_PACK_BUFFER, pixel_buffer_ids_[next_index]);
+    GLubyte* data = reinterpret_cast<GLubyte*>(glMapBuffer(GL_PIXEL_PACK_BUFFER, GL_READ_ONLY));
     if(data)
     {
       capture_buffer_.resize(pixel_buffer_size_);
 
       memcpy(&capture_buffer_[0], data, pixel_buffer_size_);
 
-      glUnmapBufferARB(GL_PIXEL_PACK_BUFFER_ARB);
+      glUnmapBuffer(GL_PIXEL_PACK_BUFFER);
     }
-    glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, 0);
+    glBindBuffer(GL_PIXEL_PACK_BUFFER, 0);
   }
   else
   {

diff --git a/mapviz_plugins/include/mapviz_plugins/pointcloud2_plugin.h b/mapviz_plugins/include/mapviz_plugins/pointcloud2_plugin.h
@@ -39,6 +39,7 @@
 #include <mapviz/mapviz_plugin.h>
 
 // QT libraries
+#include <QGLFunctions>
 #include <QGLWidget>
 #include <QColor>
 #include <QMutex>
@@ -51,7 +52,7 @@
 
 namespace mapviz_plugins
 {
-  class PointCloud2Plugin : public mapviz::MapvizPlugin
+  class PointCloud2Plugin : public mapviz::MapvizPlugin, protected QGLFunctions
   {
   Q_OBJECT
 

diff --git a/mapviz_plugins/src/occupancy_grid_plugin.cpp b/mapviz_plugins/src/occupancy_grid_plugin.cpp
@@ -27,7 +27,7 @@
 //
 // *****************************************************************************
 
-#include <GL/glew.h>
+//#include <GL/glew.h>
 
 #include <mapviz_plugins/occupancy_grid_plugin.h>
 #include <GL/glut.h>

diff --git a/mapviz_plugins/src/pointcloud2_plugin.cpp b/mapviz_plugins/src/pointcloud2_plugin.cpp
@@ -27,7 +27,7 @@
 //
 // *****************************************************************************
 
-#include <GL/glew.h>
+//#include <GL/glew.h>
 #include <mapviz_plugins/pointcloud2_plugin.h>
 
 // C++ standard libraries

diff --git a/multires_image/CMakeLists.txt b/multires_image/CMakeLists.txt
@@ -95,6 +95,7 @@ target_link_libraries(${PROJECT_NAME}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
   ${Qt_LIBRARIES}
+  ${OPENGL_gl_LIBRARY}
   ${GLU_LIBRARY}
 )
 

diff --git a/multires_image/src/QGLMap.cpp b/multires_image/src/QGLMap.cpp
@@ -29,6 +29,8 @@
 
 #include <multires_image/QGLMap.h>
 
+#include <GL/gl.h>
+
 // C++ standard libraries
 #include <cmath>
 

diff --git a/multires_image/src/multires_view.cpp b/multires_image/src/multires_view.cpp
@@ -33,6 +33,8 @@
 #include <cmath>
 #include <iostream>
 
+#include <GL/gl.h>
+
 #include <ros/ros.h>
 #include <swri_transform_util/transform_util.h>
 

diff --git a/multires_image/src/tile.cpp b/multires_image/src/tile.cpp
@@ -36,6 +36,7 @@
 #include <iostream>
 
 // QT libraries
+#include <GL/gl.h>
 #include <QGLWidget>
 #include <QFile>
 

diff --git a/multires_image/src/tile_view.cpp b/multires_image/src/tile_view.cpp
@@ -29,6 +29,8 @@
 
 #include <multires_image/tile_view.h>
 
+#include <GL/gl.h>
+
 // C++ standard libraries
 #include <cmath>
 #include <iostream>

diff --git a/tile_map/include/tile_map/tile_map_view.h b/tile_map/include/tile_map/tile_map_view.h
@@ -39,6 +39,8 @@
 
 #include <swri_transform_util/transform.h>
 
+#include <QGLFunctions>
+
 namespace tile_map
 {
   class TileSource;
@@ -58,7 +60,7 @@ namespace tile_map
     std::vector<tf::Vector3> points_t;
   };
 
-  class TileMapView
+  class TileMapView: protected QGLFunctions
   {
   public:
     TileMapView();

diff --git a/tile_map/src/texture_cache.cpp b/tile_map/src/texture_cache.cpp
@@ -33,12 +33,13 @@
 
 #include <boost/make_shared.hpp>
 
-#include <GL/glew.h>
-#include <GL/gl.h>
-#include <GL/glu.h>
+//#include <GL/glew.h>
+//#include <GL/gl.h>
+//#include <GL/glu.h>
 
 #include <ros/ros.h>
 
+#include <QGLFunctions>
 #include <QGLWidget>
 #include <QImage>
 
@@ -109,8 +110,8 @@ namespace tile_map
             ROS_ERROR("FAILED TO CREATE TEXTURE");
 
             GLenum err = glGetError();
-            const GLubyte *errString = gluErrorString(err);
-            ROS_ERROR("GL ERROR(%u): %s", err, errString);
+            //const GLubyte *errString = gluErrorString(err);
+            ROS_ERROR("GL ERROR(%u): %s", err, "unknown");
             return texture;
           }
 

diff --git a/tile_map/src/tile_map_view.cpp b/tile_map/src/tile_map_view.cpp
@@ -33,9 +33,7 @@
 
 #include <boost/make_shared.hpp>
 
-#include <GL/glew.h>
 #include <GL/gl.h>
-#include <GL/glu.h>
 
 #include <ros/ros.h>