Merge pull request #24 from fmessmer/migrate_ipa320

reduce dependencies

Author: fmessmer

CMakeLists.txt

@@ -16,7 +16,7 @@ find_package(catkin REQUIRED COMPONENTS
 
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME} ipa_${PROJECT_NAME} roi_outlier_removal
+  LIBRARIES ipa_${PROJECT_NAME} roi_outlier_removal
   CATKIN_DEPENDS message_filters nodelet pcl_ros roscpp sensor_msgs tf tf2 tf2_geometry_msgs tf2_ros tf2_sensor_msgs
 )
 
@@ -34,12 +34,6 @@ target_link_libraries(frame_publisher_node frame_publisher ${catkin_LIBRARIES})
 add_library(roi_outlier_removal src/roi_outlier_removal_nodelet.cpp)
 target_link_libraries(roi_outlier_removal ${catkin_LIBRARIES})
 
-add_library(${PROJECT_NAME} src/${PROJECT_NAME}_nodelet.cpp)
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
-
-add_executable(${PROJECT_NAME}_node src/${PROJECT_NAME}_node.cpp)
-target_link_libraries(${PROJECT_NAME}_node ${PROJECT_NAME} ${catkin_LIBRARIES})
-
 add_library(ipa_${PROJECT_NAME} src/ipa_${PROJECT_NAME}_nodelet.cpp src/scan_outlier_removal_filter.cpp)
 target_link_libraries(ipa_${PROJECT_NAME} ${catkin_LIBRARIES})
 
@@ -50,8 +44,6 @@ install(TARGETS frame_publisher
                 frame_publisher_node
                 ipa_${PROJECT_NAME}
                 ipa_${PROJECT_NAME}_node
-                ${PROJECT_NAME}
-                ${PROJECT_NAME}_node
                 roi_outlier_removal
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

include/pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet.h

@@ -1,15 +1,3 @@
-<library path="lib/libpointcloud_to_laserscan">
-
-  <class name="pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet"
-	 type="pointcloud_to_laserscan::PointCloudToLaserScanNodelet"
-	 base_class_type="nodelet::Nodelet">
-    <description>
-      Nodelet to convert sensor_msgs/PointCloud2 to sensor_msgs/LaserScans.
-    </description>
-  </class>
-
-</library>
-
 <library path="lib/libipa_pointcloud_to_laserscan">
 
   <class name="pointcloud_to_laserscan/ipa_pointcloud_to_laserscan_nodelet"

launch/cob4_test_launch_nodelet.launch

@@ -1,5 +1,8 @@
 <?xml version="1.0"?>
-<package>
+<?xml-model
+  href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
     <name>pointcloud_to_laserscan</name>
     <version>1.3.5</version>
     <description>Converts a 3D Point Cloud into a 2D laser scan. This is useful for making devices like the Kinect appear like a laser scanner for 2D-based algorithms (e.g. laser-based SLAM).</description>
@@ -16,29 +19,16 @@
 
     <buildtool_depend>catkin</buildtool_depend>
 
-    <build_depend>message_filters</build_depend>
-    <build_depend>nodelet</build_depend>
-    <build_depend>roscpp</build_depend>
-    <build_depend>sensor_msgs</build_depend>
-    <build_depend>tf</build_depend>
-    <build_depend>tf2</build_depend>
-    <build_depend>tf2_ros</build_depend>
-    <build_depend>tf2_sensor_msgs</build_depend>
-    <build_depend>tf2_geometry_msgs</build_depend>
-    <build_depend>pcl_ros</build_depend>
-
-    <run_depend>message_filters</run_depend>
-    <run_depend>nodelet</run_depend>
-    <run_depend>roscpp</run_depend>
-    <run_depend>sensor_msgs</run_depend>
-    <run_depend>tf</run_depend>
-    <run_depend>tf2</run_depend>
-    <run_depend>tf2_ros</run_depend>
-    <run_depend>tf2_sensor_msgs</run_depend>
-    <run_depend>tf2_geometry_msgs</run_depend>
-    <run_depend>pcl_ros</run_depend>
-
-    <run_depend>openni2_launch</run_depend>
+    <depend>message_filters</depend>
+    <depend>nodelet</depend>
+    <depend>roscpp</depend>
+    <depend>sensor_msgs</depend>
+    <depend>tf</depend>
+    <depend>tf2</depend>
+    <depend>tf2_ros</depend>
+    <depend>tf2_sensor_msgs</depend>
+    <depend>tf2_geometry_msgs</depend>
+    <depend>pcl_ros</depend>
 
     <export>
         <nodelet plugin="${prefix}/nodelets.xml"/>