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author
David Gossow
committed
switched to catkin
1 parent 8e471f4 commit bd775f7

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5 files changed

+133
-115
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5 files changed

+133
-115
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‎CMakeLists.txt‎

Lines changed: 93 additions & 28 deletions
Original file line numberDiff line numberDiff line change
@@ -1,37 +1,102 @@
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cmake_minimum_required(VERSION 2.4.6)
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
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include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
4-
rosbuild_init()
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rosbuild_gensrv()
1+
cmake_minimum_required(VERSION 2.8.3)
2+
project(laser_assembler)
63

7-
rosbuild_add_boost_directories()
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##############################################################################
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# Find dependencies
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##############################################################################
87

9-
find_package(Eigen REQUIRED)
10-
include_directories(${EIGEN_INCLUDE_DIRS})
8+
set(THIS_PACKAGE_ROS_DEPS
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tf sensor_msgs message_filters roscpp laser_geometry filters)
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12-
rosbuild_add_executable(laser_scan_assembler_srv src/laser_scan_assembler_srv.cpp)
13-
rosbuild_link_boost(laser_scan_assembler_srv system signals)
14-
rosbuild_add_executable(point_cloud_assembler_srv src/point_cloud_assembler_srv.cpp)
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rosbuild_link_boost(point_cloud_assembler_srv signals)
16-
rosbuild_add_executable(laser_scan_assembler src/laser_scan_assembler.cpp)
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rosbuild_link_boost(laser_scan_assembler system signals)
18-
rosbuild_add_executable(point_cloud_assembler src/point_cloud_assembler.cpp)
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rosbuild_link_boost(point_cloud_assembler signals)
20-
rosbuild_add_executable(point_cloud2_assembler src/point_cloud2_assembler.cpp)
21-
rosbuild_link_boost(point_cloud2_assembler signals)
11+
find_package(catkin REQUIRED COMPONENTS
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${THIS_PACKAGE_ROS_DEPS}
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message_generation
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rostest)
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find_package(Boost REQUIRED COMPONENTS system signals)
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include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
2217

23-
rosbuild_add_executable(../test/dummy_scan_producer test/dummy_scan_producer.cpp)
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rosbuild_link_boost(../test/dummy_scan_producer thread signals)
18+
message("catkin_libs:::::::::::::::::::::::::::::::::::::::::::")
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message(${catkin_LIBRARIES})
2520

26-
rosbuild_add_executable(merge_clouds src/merge_clouds.cpp)
27-
rosbuild_link_boost(merge_clouds thread signals)
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##############################################################################
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# Build service definitions
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##############################################################################
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add_service_files(FILES
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AssembleScans.srv
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AssembleScans2.srv)
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29-
rosbuild_add_executable(../test/test_assembler test/test_assembler.cpp)
30-
rosbuild_add_gtest_build_flags(../test/test_assembler)
28+
generate_messages(DEPENDENCIES sensor_msgs std_msgs)
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32-
rosbuild_add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_laser_assembler.launch)
30+
##############################################################################
31+
# Define package
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##############################################################################
3333

34-
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
35-
add_subdirectory(examples)
34+
catkin_package(
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INCLUDE_DIRS include
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CATKIN_DEPENDS ${THIS_PACKAGE_ROS_DEPS} message_runtime
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DEPENDS
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)
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37-
rosbuild_make_distribution(1.5.5)
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##############################################################################
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# Build
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##############################################################################
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add_executable(laser_scan_assembler_srv src/laser_scan_assembler_srv.cpp)
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target_link_libraries(laser_scan_assembler_srv ${catkin_LIBRARIES} ${Boost_LIBRARIES})
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add_dependencies(laser_scan_assembler_srv ${PROJECT_NAME}_gencpp)
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48+
add_executable(laser_scan_assembler src/laser_scan_assembler.cpp)
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target_link_libraries(laser_scan_assembler ${catkin_LIBRARIES} ${Boost_LIBRARIES})
50+
add_dependencies(laser_scan_assembler ${PROJECT_NAME}_gencpp)
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52+
add_executable(merge_clouds src/merge_clouds.cpp)
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target_link_libraries(merge_clouds ${catkin_LIBRARIES} ${Boost_LIBRARIES})
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add_dependencies(merge_clouds ${PROJECT_NAME}_gencpp)
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56+
add_executable(point_cloud_assembler_srv src/point_cloud_assembler_srv.cpp)
57+
target_link_libraries(point_cloud_assembler_srv ${catkin_LIBRARIES} ${Boost_LIBRARIES})
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add_dependencies(point_cloud_assembler_srv ${PROJECT_NAME}_gencpp)
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60+
add_executable(point_cloud_assembler src/point_cloud_assembler.cpp)
61+
target_link_libraries(point_cloud_assembler ${catkin_LIBRARIES} ${Boost_LIBRARIES})
62+
add_dependencies(point_cloud_assembler ${PROJECT_NAME}_gencpp)
63+
64+
add_executable(point_cloud2_assembler src/point_cloud2_assembler.cpp)
65+
target_link_libraries(point_cloud2_assembler ${catkin_LIBRARIES} ${Boost_LIBRARIES})
66+
add_dependencies(point_cloud2_assembler ${PROJECT_NAME}_gencpp)
67+
68+
## unit testing
69+
70+
add_executable(periodic_snapshotter examples/periodic_snapshotter.cpp)
71+
target_link_libraries(periodic_snapshotter ${catkin_LIBRARIES} ${Boost_LIBRARIES})
72+
add_dependencies(periodic_snapshotter ${PROJECT_NAME}_gencpp)
73+
74+
add_executable(dummy_scan_producer test/dummy_scan_producer.cpp)
75+
target_link_libraries(dummy_scan_producer ${catkin_LIBRARIES} ${Boost_LIBRARIES})
76+
add_dependencies(dummy_scan_producer ${PROJECT_NAME}_gencpp)
77+
78+
catkin_add_gtest(test_assembler EXCLUDE_FROM_ALL test/test_assembler.cpp)
79+
target_link_libraries(test_assembler ${catkin_LIBRARIES} ${Boost_LIBRARIES})
80+
add_dependencies(test_assembler ${PROJECT_NAME}_gencpp)
81+
82+
add_rostest(test/test_laser_assembler.launch)
83+
84+
##############################################################################
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# Install
86+
##############################################################################
87+
88+
install(TARGETS
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laser_scan_assembler_srv
90+
laser_scan_assembler
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merge_clouds
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point_cloud_assembler_srv
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point_cloud_assembler
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point_cloud2_assembler
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
99+
100+
# Install headers
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})

‎cmake/FindEigen.cmake‎

Lines changed: 0 additions & 82 deletions
This file was deleted.

‎examples/CMakeLists.txt‎

Lines changed: 0 additions & 4 deletions
This file was deleted.

‎package.xml‎

Lines changed: 39 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,39 @@
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<package>
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<name>laser_assembler</name>
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4+
<description>
5+
Provides nodes to assemble point clouds from either LaserScan or PointCloud messages
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</description>
7+
8+
<version>1.6.8</version>
9+
10+
<author>Vijay Pradeep</author>
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<maintainer email="[email protected]">David Gossow</maintainer>
12+
13+
<license>BSD</license>
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<url>http://ros.org/wiki/laser_assembler</url>
15+
16+
<buildtool_depend>catkin</buildtool_depend>
17+
18+
<build_depend>message_generation</build_depend>
19+
<build_depend>sensor_msgs</build_depend>
20+
<build_depend>message_filters</build_depend>
21+
<build_depend>tf</build_depend>
22+
<build_depend>roscpp</build_depend>
23+
<build_depend>rostest</build_depend>
24+
<build_depend>filters</build_depend>
25+
<build_depend>laser_geometry</build_depend>
26+
<build_depend>pluginlib</build_depend>
27+
28+
<run_depend>message_runtime</run_depend>
29+
<run_depend>sensor_msgs</run_depend>
30+
<run_depend>message_filters</run_depend>
31+
<run_depend>roscpp</run_depend>
32+
<run_depend>tf</run_depend>
33+
<run_depend>filters</run_depend>
34+
<run_depend>laser_geometry</run_depend>
35+
<run_depend>pluginlib</run_depend>
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37+
<export>
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</export>
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</package>

‎src/point_cloud_assembler_srv.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -36,7 +36,7 @@
3636
#include "laser_assembler/base_assembler_srv.h"
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3838

39-
using namespace std ;
39+
using namespace std;
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4141
namespace laser_assembler
4242
{

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