apl-ocean-engineering · amarburg · Jan 28, 2026 · Jan 26, 2026 · Jan 27, 2026 · Jan 28, 2026
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -15,9 +15,11 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - {UPSTREAM_WORKSPACE: liboculus.repos, ROS_DISTRO: noetic}
-          - {UPSTREAM_WORKSPACE: liboculus.repos, ROS_DISTRO: kilted}
-          - {UPSTREAM_WORKSPACE: liboculus.repos, ROS_DISTRO: rolling}
+          - {ROS_DISTRO: noetic}
+          # We include humble because there are still 22.04 systems (Jetson) out there
+          - {ROS_DISTRO: humble}
+          - {ROS_DISTRO: kilted}
+          - {ROS_DISTRO: rolling}
 
     steps:
       - name: Checkout repository

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.14.4)
 project(liboculus)
 
 set(CMAKE_CXX_STANDARD 17)
@@ -9,113 +9,28 @@ add_compile_options(-std=c++17)
 list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
 
 set(oculus_SRCS
-    lib/DataRx.cpp
-    lib/SonarConfiguration.cpp
-    lib/SonarStatus.cpp
-    lib/StatusRx.cpp
-    lib/SonarPlayer.cpp
-    lib/OculusMessageHandler.cpp
-    lib/SimpleFireMessage.cpp
-    lib/IoServiceThread.cpp
+    src/DataRx.cpp
+    src/SonarConfiguration.cpp
+    src/SonarStatus.cpp
+    src/StatusRx.cpp
+    src/SonarPlayer.cpp
+    src/OculusMessageHandler.cpp
+    src/SimpleFireMessage.cpp
+    src/IoServiceThread.cpp
 )
 
 # ROS build, determine which version...
-# QUIET will squelch the warning if the package isn't found
-find_package(ros_environment QUIET)
+if(DEFINED ENV{ROS_DISTRO})
+    find_package(ros_environment)
 
-if(${ros_environment_FOUND})
     set(ROS_VERSION $ENV{ROS_VERSION})
 
     if(${ROS_VERSION} EQUAL 2)
-        # == ament/ROS2 section =================================
-
-        find_package(ament_cmake REQUIRED)
-        find_package(Boost REQUIRED COMPONENTS system)
-        find_package(g3log_ros REQUIRED)
-
-        add_library(oculus SHARED ${oculus_SRCS})
-        target_link_libraries(oculus PUBLIC Boost::system g3log_ros::g3log)
-
-        target_include_directories(
-            oculus
-            PUBLIC
-                "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-                "$<INSTALL_INTERFACE:include/>"
-        )
-
-        install(
-            TARGETS oculus
-            EXPORT export_${PROJECT_NAME}
-            ARCHIVE DESTINATION lib
-            LIBRARY DESTINATION lib
-            RUNTIME DESTINATION bin
-        )
-
-        install(
-            DIRECTORY include/
-            DESTINATION include
-            FILES_MATCHING
-            PATTERN "*.hpp"
-            PATTERN "*.h"
-            PATTERN ".git" EXCLUDE
-        )
-
-        ament_export_dependencies(g3log_ros)
-        ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-        ament_export_libraries(oculus)
-
-        ament_package()
+        message(NOTICE "!! Performing ROS2 build !!")
+        include(cmake/BuildROS2.cmake)
     elseif(${ROS_VERSION} EQUAL 1)
-        # Catkin/ROS1 section =====
-        find_package(catkin REQUIRED COMPONENTS g3log_ros)
-        find_package(Boost REQUIRED COMPONENTS system)
-
-        catkin_package(
-            CATKIN_DEPENDS g3log_ros
-            INCLUDE_DIRS include
-            LIBRARIES liboculus
-        )
-
-        add_library(liboculus ${oculus_SRCS})
-
-        include_directories(liboculus include ${catkin_INCLUDE_DIRS})
-
-        target_link_libraries(liboculus ${catkin_LIBRARIES})
-
-        install(
-            TARGETS liboculus
-            ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-            LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-            RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-        )
-
-        ## Install headers
-        install(
-            DIRECTORY include/${PROJECT_NAME}/
-            DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-            FILES_MATCHING
-            PATTERN "*.hpp"
-            PATTERN "*.h"
-            PATTERN ".git" EXCLUDE
-        )
-
-        if(CATKIN_ENABLE_TESTING)
-            add_definitions(
-                -DTEST_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/test/data"
-            )
-            include_directories(test/data/)
-
-            file(GLOB oculus_test_SRCS test/unit/*cpp)
-
-            catkin_add_gtest(oculus_test ${oculus_test_SRCS})
-
-            target_link_libraries(
-                oculus_test
-                ${catkin_LIBRARIES}
-                liboculus
-                Boost::system
-            )
-        endif()
+        message(NOTICE "!! Performing ROS1 build !!")
+        include(cmake/BuildROS1.cmake)
     else()
         message(
             "Unsure what sort of build to do.  Not in a ROS1 or ROS2 environment"

diff --git a/README.md b/README.md
@@ -5,7 +5,7 @@
 >
 > January 2026
 >
-> This is the primary, 'v3'  [`main` branch](https://github.com/apl-ocean-engineering/liboculus), which replaces G3Log with [`spdlog`](https://github.com/gabime/spdlog) along with other changes under the good.
+> This is the [main/`v3` branch](https://github.com/apl-ocean-engineering/liboculus), which replaces G3Log with [`spdlog`](https://github.com/gabime/spdlog) along with other changes under the good.
 >
 > The 'v2' branch of this liboculus; with a matching 'v2' branch for [oculus_sonar_driver](https://gitlab.com/apl-ocean-engineering/oculus_sonar_driver/-/commits/v2) includes a hybrid CMakeLists.txt which can build for ROS1, ROS2 or in a plain CMake environment.  G3Log is still used as the main logger.
 >
@@ -39,17 +39,6 @@ This is a hybrid repository which builds in either ROS1 or ROS2, though there ar
 
 We hope the code is still useful for others looking to talk to the Oculus.
 
-> [!NOTE] [fips](http://floooh.github.io/fips/) support has been removed from this branch.
-
-The primary dependency is on [g3log](https://github.com/KjellKod/g3log).
-* If using either ROS1 or ROS2, use the provided `liboculus.rosinstall` file:
-
-```
-cd <catkin_ws>/src`; `vcs import --recursive --input liboculus/liboculus.repos
-```
-
-The `main` branch of `g3log_ros` is also a ROS1-ROS2 hybrid.
-
 The (optional) test suite also requires Googletest and the (also optional)
 binary `oc_client` requires [CLI11](https://github.com/CLIUtils/CLI11).
 
@@ -68,6 +57,29 @@ make
 
 Note the `CMakelists.txt` attempts to auto-detect ROS.  Cmake build should be done in a session where ROS has not been loaded.
 
+## Logging
+
+> [!NOTE] [fips](http://floooh.github.io/fips/) support has been removed from this version.
+> [!NOTE] The dependency on [g3log](https://github.com/KjellKod/g3log) has been removed.
+
+Internally the library uses [spdlog](https://github.com/gabime/spdlog).  By default logger `"liboculus"` does not have any registered sinks and does not output to the console.
+
+If the calling application uses spdlog, either the library's logger can be reset:
+
+```
+liboculus::Logger::set_logger( spdlog::default_logger() );
+```
+
+or a sink can be added to the library's logger:
+
+```
+auto stdout_sink = std::make_shared<spdlog::sinks::stdout_color_sink_mt >();  liboculus::Logger::add_sink( stdout_sink );
+```
+
+
+
+
+
 ---
 ## oc_client binary
 
@@ -149,3 +161,7 @@ Other files/classes:
 This code is released under the [BSD 3-clause license](LICENSE).
 
 This repository contains one file provided by Blueprint as part of their free "Oculus Viewer" sample application: ([include/liboculus/thirdparty/Oculus/Oculus.h](thirdpart/Oculus/Oculus.h)).  It describes their protocol and data formats.   This file is distributed under [GPLv3](https://www.gnu.org/licenses/gpl-3.0.en.html).
+
+It includes the header-only version of [CLI11](https://github.com/CLIUtils/CLI11) at [`include/liboculus/thirdparty/CLI11/`](include/liboculus/thirdparty/CLI11/)
+
+It includes the header-only version of TartanLlama's [`expected` implementation](https://github.com/TartanLlama/expected) at [`include/liboculus/thirdparty/expected.hpp`](include/liboculus/thirdparty/expected.hpp)
diff --git a/cmake/BuildNonROS.cmake b/cmake/BuildNonROS.cmake
@@ -1,7 +1,5 @@
 # Specify the minimum version for CMake
 cmake_minimum_required(VERSION 3.8)
-
-# Project's name
 project(liboculus)
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -march=native -Wl,--no-as-needed")
@@ -13,36 +11,18 @@ set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/lib)
 # ###########################################
 # The following folders will be included  #
 # ###########################################
-include_directories(
-    "${PROJECT_SOURCE_DIR}/include/"
-    "${PROJECT_SOURCE_DIR}/thirdparty/"
-)
+include_directories("${PROJECT_SOURCE_DIR}/include/")
 
 # Threading
 find_package(Threads)
+find_package(spdlog)
+find_package(fmt)
 
 # Boost
 find_package(Boost 1.57 REQUIRED COMPONENTS system)
 include_directories(${Boost_INCLUDE_DIR})
 message("Boost_INCLUDE_DIR: " ${Boost_INCLUDE_DIR})
 
-# Install g3log as an external package
-include(cmake/IncludeProject.cmake)
-
-if(NOT GIT_TAG)
-    set(GIT_TAG "2.6")
-endif()
-
-include(ExternalProject)
-ExternalProject_Add(
-    g3log
-    GIT_REPOSITORY https://github.com/KjellKod/g3log
-    GIT_TAG ${GIT_TAG}
-    INSTALL_DIR "${CMAKE_CURRENT_BINARY_DIR}/install/g3log"
-    CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
-)
-
-ExternalProject_Get_Property(g3log install_dir)
 include_directories(${install_dir}/include/)
 
 # #####################
@@ -53,13 +33,17 @@ link_directories(${Boost_LIBRARY_DIRS})
 # Create Library
 add_library(oculus SHARED ${oculus_SRCS})
 set_target_properties(oculus PROPERTIES LIBRARY_OUTPUT_NAME oculus)
+target_link_libraries(oculus PUBLIC fmt::fmt spdlog::spdlog)
+
+add_executable(occlient ${PROJECT_SOURCE_DIR}/tools/oculus_client.cpp)
+target_link_libraries(occlient oculus)
 
 # =============================================
 # to allow find_package()
 # =============================================
 #
 # The following is borrowed heavily from:
-#   https://github.com/RossHartley/invariant-ekf
+# https://github.com/RossHartley/invariant-ekf
 # I am responsible for all mistakes
 #
 # the following case be used in an external project requiring oculus:
@@ -102,7 +86,7 @@ configure_file(
 
 message("PROJECT_BINARY_DIR: " ${PROJECT_BINARY_DIR})
 
-# # 2- installation build #
+# 2- installation build #
 
 # Change the include location for the case of an install location
 set(oculus_include_dirs ${CMAKE_INSTALL_PREFIX}/include ${EIGEN_INCLUDE_DIR})

diff --git a/cmake/BuildROS1.cmake b/cmake/BuildROS1.cmake
@@ -0,0 +1,46 @@
+# Catkin/ROS1 section =====
+find_package(Boost REQUIRED COMPONENTS system)
+
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES liboculus
+)
+
+add_library(liboculus ${oculus_SRCS})
+
+include_directories(liboculus include ${catkin_INCLUDE_DIRS})
+
+target_link_libraries(liboculus ${catkin_LIBRARIES})
+
+install(
+    TARGETS liboculus
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+## Install headers
+install(
+    DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+    FILES_MATCHING
+    PATTERN "*.hpp"
+    PATTERN "*.h"
+    PATTERN ".git" EXCLUDE
+)
+
+if(CATKIN_ENABLE_TESTING)
+    add_definitions(-DTEST_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/test/data")
+    include_directories(test/data/)
+
+    file(GLOB oculus_test_SRCS test/unit/*cpp)
+
+    catkin_add_gtest(oculus_test ${oculus_test_SRCS})
+
+    target_link_libraries(
+        oculus_test
+        ${catkin_LIBRARIES}
+        liboculus
+        Boost::system
+    )
+endif()
diff --git a/cmake/BuildROS2.cmake b/cmake/BuildROS2.cmake
@@ -0,0 +1,36 @@
+# == ament/ROS2 section =================================
+
+find_package(ament_cmake REQUIRED)
+find_package(Boost REQUIRED COMPONENTS system)
+
+add_library(oculus SHARED ${oculus_SRCS})
+target_link_libraries(oculus PUBLIC Boost::system)
+
+target_include_directories(
+    oculus
+    PUBLIC
+        "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+        "$<INSTALL_INTERFACE:include/>"
+)
+
+install(
+    TARGETS oculus
+    EXPORT export_${PROJECT_NAME}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+)
+
+install(
+    DIRECTORY include/
+    DESTINATION include
+    FILES_MATCHING
+    PATTERN "*.hpp"
+    PATTERN "*.h"
+    PATTERN ".git" EXCLUDE
+)
+
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_libraries(oculus)
+
+ament_package()