From b0cf968c8acde21dfed401be97bf238144e0636a Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Tue, 20 Aug 2024 18:16:45 +0200
Subject: [PATCH 1/8] Make Bosch API optional in CMakeLists.txt

---
 mav_sensors_drivers/CMakeLists.txt | 41 ++++++++++++++++++++++++------
 1 file changed, 33 insertions(+), 8 deletions(-)

diff --git a/mav_sensors_drivers/CMakeLists.txt b/mav_sensors_drivers/CMakeLists.txt
index d7f7f23..2e04d8a 100644
--- a/mav_sensors_drivers/CMakeLists.txt
+++ b/mav_sensors_drivers/CMakeLists.txt
@@ -3,7 +3,11 @@ project(mav_sensors_drivers)
 
 add_compile_options(-std=c++17)
 
-find_package(catkin REQUIRED roscpp lpp mav_sensors_core)
+find_package(catkin REQUIRED COMPONENTS
+        roscpp
+        lpp
+        mav_sensors_core
+)
 
 catkin_package(
   INCLUDE_DIRS include lib/BMP3-Sensor-API lib/BMI08x-Sensor-API
@@ -17,28 +21,49 @@ add_compile_definitions(MODE_LPP)
 ## Build ##
 ###########
 
+if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/lib/BMP3-Sensor-API/)
+    set(MAV_SENSORS_BMP3_SUPPORT ON)
+    set(MAV_SENSORS_OPTIONAL_SRC_FILES ${MAV_SENSORS_OPTIONAL_SRC_FILES} src/barometer/bmp390.cpp)
+    set(MAV_SENSORS_OPTIONAL_INCLUDE_DIRS ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS} lib/BMP3-Sensor-API)
+    message(STATUS "Found BMP3-Sensor-API")
+else()
+    message(WARNING "BMP3-Sensor-API not found. BMP3 sensor will not be supported.")
+endif()
+
+if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/lib/BMI08x-Sensor-API/)
+    set(MAV_SENSORS_BMI08X_SUPPORT ON)
+    set(MAV_SENSORS_OPTIONAL_SRC_FILES ${MAV_SENSORS_OPTIONAL_SRC_FILES} src/imu/bmi088.cpp)
+    set(MAV_SENSORS_OPTIONAL_INCLUDE_DIRS ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS} lib/BMI08x-Sensor-API)
+    message(STATUS "Found BMI08x-Sensor-API")
+else()
+    message(WARNING "BMI08x-Sensor-API not found. BMI08x sensor will not be supported.")
+endif()
+
 include_directories(
- include 
- lib/BMP3-Sensor-API
- lib/BMI08x-Sensor-API
+ include
+ ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
 )
 
 add_library(${PROJECT_NAME}
         src/imu/adis16448.cpp
-        src/barometer/bmp390.cpp
-        src/imu/bmi088.cpp
-        src/radar/xwr18xx_mmw_demo.cpp)
+        src/radar/xwr18xx_mmw_demo.cpp
+        ${MAV_SENSORS_OPTIONAL_SRC_FILES})
 
+if (MAV_SENSORS_BMP3_SUPPORT)
 add_library(${PROJECT_NAME}_BMP3
         lib/BMP3-Sensor-API/bmp3.c)
+set(MAV_SENSOR_LIBRARIES ${MAV_SENSOR_LIBRARIES} ${PROJECT_NAME}_BMP3)
+endif()
 
+if (MAV_SENSORS_BMI08X_SUPPORT)
 add_library(${PROJECT_NAME}_BMI08x
         lib/BMI08x-Sensor-API/bmi08a.c
         lib/BMI08x-Sensor-API/bmi08g.c
         lib/BMI08x-Sensor-API/bmi08xa.c)
+endif()
 
-target_link_libraries(${PROJECT_NAME} PUBLIC ${PROJECT_NAME}_BMP3 ${catkin_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} PUBLIC ${MAV_SENSOR_LIBRARIES} ${catkin_LIBRARIES})
 
 install(TARGETS ${PROJECT_NAME}
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

From 45433d2e92f498739bb067116bdf09d979946e9b Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 21 Aug 2024 10:42:42 +0200
Subject: [PATCH 2/8] Added CI matrix configuration to test building with and
 without optional dependencies

---
 .github/workflows/ubuntu20_04.yml | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ubuntu20_04.yml b/.github/workflows/ubuntu20_04.yml
index df2bb4e..36924d1 100644
--- a/.github/workflows/ubuntu20_04.yml
+++ b/.github/workflows/ubuntu20_04.yml
@@ -15,6 +15,7 @@ jobs:
       matrix:
         rosdistro: ['noetic']
         gcc: ['8', '9', '10']
+        submodule: ['exclude', 'BMI08x-Sensor-API', 'BMP3-Sensor-API', 'all']
     container: ros:${{ matrix.rosdistro }}-ros-base-focal
     name: ROS ${{ matrix.rosdistro }} - GCC ${{ matrix.gcc }}
     steps:
@@ -45,8 +46,20 @@ jobs:
         token: ${{ secrets.PAT }}
         path: catkin_ws/src/mav_sensors
 
+    - name: Exclude submodules
+      if: matrix.submodule == 'exclude'
+      run: rm -rf mav_sensor_drivers/lib/*
+      shell: bash
+      working-directory: catkin_ws/src/mav_sensors
+
+    - name: Exclude submodules except ${{ matrix.submodule }}
+      if: matrix.submodule != 'exclude' && matrix.submodule != 'all'
+      run: find . -mindepth 1 -type d ! -name ${{ matrix.submodule }} -exec rm -rf {} +
+      working-directory: catkin_ws/src/mav_sensors/mav_sensor_drivers/lib
+      shell: bash
+
     - name: Build mav_sensors
-      run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && catkin build mav_sensors_demo && source ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash
+      run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && catkin build -v mav_sensors_demo --no-status && source ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash
       shell: bash
       working-directory: catkin_ws
 

From 8c0fbe2e1149943d6950fd84cd131651e0b3f0cb Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 21 Aug 2024 10:51:23 +0200
Subject: [PATCH 3/8] Fix paths

---
 .github/workflows/ubuntu20_04.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ubuntu20_04.yml b/.github/workflows/ubuntu20_04.yml
index 36924d1..26e0bd3 100644
--- a/.github/workflows/ubuntu20_04.yml
+++ b/.github/workflows/ubuntu20_04.yml
@@ -48,14 +48,14 @@ jobs:
 
     - name: Exclude submodules
       if: matrix.submodule == 'exclude'
-      run: rm -rf mav_sensor_drivers/lib/*
+      run: rm -rf mav_sensors_drivers/lib/*
       shell: bash
       working-directory: catkin_ws/src/mav_sensors
 
     - name: Exclude submodules except ${{ matrix.submodule }}
       if: matrix.submodule != 'exclude' && matrix.submodule != 'all'
       run: find . -mindepth 1 -type d ! -name ${{ matrix.submodule }} -exec rm -rf {} +
-      working-directory: catkin_ws/src/mav_sensors/mav_sensor_drivers/lib
+      working-directory: catkin_ws/src/mav_sensors/mav_sensors_drivers/lib
       shell: bash
 
     - name: Build mav_sensors

From 8013985a67d2483e9d4730219f0443fa47727888 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 21 Aug 2024 10:52:42 +0200
Subject: [PATCH 4/8] Added submodule to title

---
 .github/workflows/ubuntu20_04.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ubuntu20_04.yml b/.github/workflows/ubuntu20_04.yml
index 26e0bd3..8e8f74b 100644
--- a/.github/workflows/ubuntu20_04.yml
+++ b/.github/workflows/ubuntu20_04.yml
@@ -17,7 +17,7 @@ jobs:
         gcc: ['8', '9', '10']
         submodule: ['exclude', 'BMI08x-Sensor-API', 'BMP3-Sensor-API', 'all']
     container: ros:${{ matrix.rosdistro }}-ros-base-focal
-    name: ROS ${{ matrix.rosdistro }} - GCC ${{ matrix.gcc }}
+    name: ROS ${{ matrix.rosdistro }} - GCC ${{ matrix.gcc }} - Submodule ${{ matrix.submodule }}
     steps:
     - uses: actions/checkout@v4
       name: Checkout lpp

From 9ee987c30e93ec6eec90afa41689c46f46c47e45 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 21 Aug 2024 11:00:10 +0200
Subject: [PATCH 5/8] Fix catkin_package() in CMakeLists.txt

---
 mav_sensors_drivers/CMakeLists.txt | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/mav_sensors_drivers/CMakeLists.txt b/mav_sensors_drivers/CMakeLists.txt
index 2e04d8a..9c0ef8d 100644
--- a/mav_sensors_drivers/CMakeLists.txt
+++ b/mav_sensors_drivers/CMakeLists.txt
@@ -9,12 +9,6 @@ find_package(catkin REQUIRED COMPONENTS
         mav_sensors_core
 )
 
-catkin_package(
-  INCLUDE_DIRS include lib/BMP3-Sensor-API lib/BMI08x-Sensor-API
-  LIBRARIES ${PROJECT_NAME} ${PROJECT_NAME}_BMP3 ${PROJECT_NAME}_BMI08x
-  CATKIN_DEPENDS roscpp lpp mav_sensors_core
-)
-
 add_compile_definitions(MODE_LPP)
 
 ###########
@@ -39,6 +33,12 @@ else()
     message(WARNING "BMI08x-Sensor-API not found. BMI08x sensor will not be supported.")
 endif()
 
+catkin_package(
+        INCLUDE_DIRS include ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS}
+        LIBRARIES ${PROJECT_NAME} ${PROJECT_NAME}_BMP3 ${PROJECT_NAME}_BMI08x
+        CATKIN_DEPENDS roscpp lpp mav_sensors_core
+)
+
 include_directories(
  include
  ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS}

From 945afe23b48f9ff375bb2fe661f3a9d0ba4d646f Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 21 Aug 2024 11:15:25 +0200
Subject: [PATCH 6/8] Make submodules optional in mav_sensors_demo

---
 mav_sensors_demo/CMakeLists.txt | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/mav_sensors_demo/CMakeLists.txt b/mav_sensors_demo/CMakeLists.txt
index 0667cab..809c42f 100644
--- a/mav_sensors_demo/CMakeLists.txt
+++ b/mav_sensors_demo/CMakeLists.txt
@@ -29,8 +29,12 @@ include_directories(
 add_executable(${PROJECT_NAME}_xwr18xx_mmw_demo src/xwr18xx_mmw_demo_node.cpp)
 target_link_libraries(${PROJECT_NAME}_xwr18xx_mmw_demo ${catkin_LIBRARIES})
 
+if (MAV_SENSORS_BMI08X_SUPPORT)
 add_executable(${PROJECT_NAME}_bmi088_demo src/bmi088_demo.cpp)
 target_link_libraries(${PROJECT_NAME}_bmi088_demo ${catkin_LIBRARIES})
+endif ()
 
+if (MAV_SENSORS_BMP3_SUPPORT)
 add_executable(${PROJECT_NAME}_bmp390_demo src/bmp390_demo.cpp)
-target_link_libraries(${PROJECT_NAME}_bmp390_demo ${catkin_LIBRARIES})
\ No newline at end of file
+target_link_libraries(${PROJECT_NAME}_bmp390_demo ${catkin_LIBRARIES})
+endif ()
\ No newline at end of file

From 84c1f93849b215fcb3371806973154f790453c11 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 21 Aug 2024 11:15:37 +0200
Subject: [PATCH 7/8] Added MAV_SENSORS_OPTIONAL_LIBRARIES in catkin_package()
 in mav_sensors_drivers

---
 mav_sensors_drivers/CMakeLists.txt | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/mav_sensors_drivers/CMakeLists.txt b/mav_sensors_drivers/CMakeLists.txt
index 9c0ef8d..dc0c170 100644
--- a/mav_sensors_drivers/CMakeLists.txt
+++ b/mav_sensors_drivers/CMakeLists.txt
@@ -19,6 +19,7 @@ if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/lib/BMP3-Sensor-API/)
     set(MAV_SENSORS_BMP3_SUPPORT ON)
     set(MAV_SENSORS_OPTIONAL_SRC_FILES ${MAV_SENSORS_OPTIONAL_SRC_FILES} src/barometer/bmp390.cpp)
     set(MAV_SENSORS_OPTIONAL_INCLUDE_DIRS ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS} lib/BMP3-Sensor-API)
+    set(MAV_SENSORS_OPTIONAL_LIBRARIES ${MAV_SENSORS_OPTIONAL_LIBRARIES} ${PROJECT_NAME}_BMP3)
     message(STATUS "Found BMP3-Sensor-API")
 else()
     message(WARNING "BMP3-Sensor-API not found. BMP3 sensor will not be supported.")
@@ -28,6 +29,7 @@ if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/lib/BMI08x-Sensor-API/)
     set(MAV_SENSORS_BMI08X_SUPPORT ON)
     set(MAV_SENSORS_OPTIONAL_SRC_FILES ${MAV_SENSORS_OPTIONAL_SRC_FILES} src/imu/bmi088.cpp)
     set(MAV_SENSORS_OPTIONAL_INCLUDE_DIRS ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS} lib/BMI08x-Sensor-API)
+    set(MAV_SENSORS_OPTIONAL_LIBRARIES ${MAV_SENSORS_OPTIONAL_LIBRARIES} ${PROJECT_NAME}_BMI08x)
     message(STATUS "Found BMI08x-Sensor-API")
 else()
     message(WARNING "BMI08x-Sensor-API not found. BMI08x sensor will not be supported.")
@@ -35,7 +37,7 @@ endif()
 
 catkin_package(
         INCLUDE_DIRS include ${MAV_SENSORS_OPTIONAL_INCLUDE_DIRS}
-        LIBRARIES ${PROJECT_NAME} ${PROJECT_NAME}_BMP3 ${PROJECT_NAME}_BMI08x
+        LIBRARIES ${PROJECT_NAME} ${MAV_SENSORS_OPTIONAL_LIBRARIES}
         CATKIN_DEPENDS roscpp lpp mav_sensors_core
 )
 

From e2aaa84537e36ef6c66342bf2bcee92bfa982bfa Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 21 Aug 2024 11:39:28 +0200
Subject: [PATCH 8/8] Changed CI check name

---
 .github/workflows/ubuntu20_04.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ubuntu20_04.yml b/.github/workflows/ubuntu20_04.yml
index 8e8f74b..41147f8 100644
--- a/.github/workflows/ubuntu20_04.yml
+++ b/.github/workflows/ubuntu20_04.yml
@@ -17,7 +17,7 @@ jobs:
         gcc: ['8', '9', '10']
         submodule: ['exclude', 'BMI08x-Sensor-API', 'BMP3-Sensor-API', 'all']
     container: ros:${{ matrix.rosdistro }}-ros-base-focal
-    name: ROS ${{ matrix.rosdistro }} - GCC ${{ matrix.gcc }} - Submodule ${{ matrix.submodule }}
+    name: GCC ${{ matrix.gcc }} - Submodule ${{ matrix.submodule }} - ROS ${{ matrix.rosdistro }}
     steps:
     - uses: actions/checkout@v4
       name: Checkout lpp