diff --git a/caljob_creator/CMakeLists.txt b/caljob_creator/CMakeLists.txt index fd8333cd..696e3d92 100644 --- a/caljob_creator/CMakeLists.txt +++ b/caljob_creator/CMakeLists.txt @@ -1,9 +1,6 @@ cmake_minimum_required(VERSION 2.8.3) project(caljob_creator) -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS cv_bridge image_transport @@ -12,156 +9,43 @@ find_package(catkin REQUIRED COMPONENTS std_msgs tf ) -FIND_PACKAGE(OpenCV REQUIRED) -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) +find_package(OpenCV 2 REQUIRED) -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependencies might have been -## pulled in transitively but can be declared for certainty nonetheless: -## * add a build_depend tag for "message_generation" -## * add a run_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# sensor_msgs# std_msgs -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if you package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( -# INCLUDE_DIRS include -# LIBRARIES caljob_creator -# CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs -# DEPENDS system_lib + CATKIN_DEPENDS + cv_bridge + image_transport + roscpp + sensor_msgs + std_msgs + tf + DEPENDS + OpenCV ) -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -# include_directories(include) include_directories( + ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ) -## Declare a cpp library -# add_library(caljob_creator -# src/${PROJECT_NAME}/caljob_creator.cpp -# ) -## Declare a cpp executable add_executable(caljob_creator_node src/main.cpp) +add_dependencies(caljob_creator_node ${catkin_EXPORTED_TARGETS}) +target_link_libraries(caljob_creator_node ${OpenCV_LIBRARIES} ${catkin_LIBRARIES}) -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -# add_dependencies(caljob_creator_node caljob_creator_generate_messages_cpp) -## Specify libraries to link a library or executable target against -target_link_libraries(caljob_creator_node - ${catkin_LIBRARIES} +install( + TARGETS + caljob_creator_node + RUNTIME DESTINATION + ${CATKIN_PACKAGE_BIN_DESTINATION} ) -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS caljob_creator caljob_creator_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_caljob_creator.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +install( + DIRECTORY + launch + DESTINATION + ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/caljob_creator/package.xml b/caljob_creator/package.xml index a637bf8c..225349b1 100644 --- a/caljob_creator/package.xml +++ b/caljob_creator/package.xml @@ -1,63 +1,31 @@ caljob_creator - 0.0.0 - The caljob_creator package + 0.1.0 + + The calibration job creator. + + Chris Lewis + Chris Lewis + Apache2.0 + + http://wiki.ros.org/caljob_creator + https://github.com/ros-industrial/industrial_calibration/issues + https://github.com/ros-industrial/industrial_calibration - - - - jon - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - catkin + cv_bridge image_transport roscpp sensor_msgs std_msgs + tf + cv_bridge image_transport roscpp sensor_msgs std_msgs - - - - - - - - - - - \ No newline at end of file + tf + diff --git a/industrial_extrinsic_cal/CMakeLists.txt b/industrial_extrinsic_cal/CMakeLists.txt index 63e40b6f..e78d7c5e 100644 --- a/industrial_extrinsic_cal/CMakeLists.txt +++ b/industrial_extrinsic_cal/CMakeLists.txt @@ -1,229 +1,243 @@ cmake_minimum_required(VERSION 2.8.3) project(industrial_extrinsic_cal) -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS roscpp std_msgs cv_bridge tf roslint std_srvs roslib genmsg actionlib_msgs actionlib moveit_ros_planning_interface geometry_msgs sensor_msgs) - -# Opencv -FIND_PACKAGE(OpenCV REQUIRED) -IF (OPENCV_FOUND) - MESSAGE("-- Found OpenCV version ${OPENCV_VERSION}: ${OPENCV_INCLUDE_DIRS}") -ENDIF (OPENCV_FOUND) - -# Ceres -FIND_PACKAGE(Ceres REQUIRED) -IF (CERES_FOUND) - MESSAGE("-- Found Ceres version ${CERES_VERSION}: ${CERES_INCLUDE_DIRS}") -ENDIF (CERES_FOUND) - -SET (CMAKE_CXX_FLAGS -fPIC) - -# Eigen -#FIND_PACKAGE(Eigen REQUIRED) -#IF (EIGEN_FOUND) -# MESSAGE("-- Found Eigen version ${EIGEN_VERSION}: ${EIGEN_INCLUDE_DIRS}") -#ENDIF (EIGEN_FOUND) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/groovy/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -####################################### -## Declare ROS messages and services ## -####################################### - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder - add_service_files( - FILES - get_mutable_joint_states.srv - set_mutable_joint_states.srv - store_mutable_joint_states.srv - camera_observer_trigger.srv - user_accept.srv - calibrate.srv - covariance.srv - ) - -add_action_files(DIRECTORY action FILES manual_trigger.action robot_joint_values_trigger.action robot_pose_trigger.action manual_target_location.action calibration.action) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) +find_package(catkin REQUIRED COMPONENTS + actionlib + actionlib_msgs + cv_bridge + geometry_msgs + image_transport + message_generation + moveit_ros_planning_interface + rosconsole + roscpp + roslib + roslint + sensor_msgs + std_msgs + std_srvs + tf + tf_conversions +) + +#set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} "-fPIC") + + +find_package(Boost REQUIRED) + +find_package(Ceres REQUIRED) +message("-- Found Ceres version ${CERES_VERSION}: ${CERES_INCLUDE_DIRS}") + +find_package(OpenCV 2 REQUIRED) +message("-- Found OpenCV version ${OpenCV_VERSION}: ${OpenCV_INCLUDE_DIRS}") + +find_package(PkgConfig REQUIRED) +pkg_check_modules(yaml_cpp REQUIRED yaml-cpp) +if(NOT ${yaml_cpp_VERSION} VERSION_LESS "0.5") + add_definitions(-DHAVE_NEW_YAMLCPP) +endif() + +find_path( + yaml_cpp_INCLUDE_DIR + # bit of a trick + NAMES yaml-cpp/yaml.h + PATHS ${yaml_cpp_INCLUDE_DIRS} +) + +find_library( + yaml_cpp_LIBRARY + NAMES ${yaml_cpp_LIBRARIES} + PATHS ${yaml_cpp_LIBRARY_DIRS} +) + +#message("yaml_cpp_INCLUDE_DIRS: ${yaml_cpp_INCLUDE_DIRS}") +#message("yaml_cpp_INCLUDE_DIR: ${yaml_cpp_INCLUDE_DIR}") +#message("yaml_cpp_LIBRARY: ${yaml_cpp_LIBRARY}") + + +add_service_files( + FILES + calibrate.srv + camera_observer_trigger.srv + covariance.srv + get_mutable_joint_states.srv + set_mutable_joint_states.srv + store_mutable_joint_states.srv + user_accept.srv +) + +add_action_files( + DIRECTORY + action + FILES + calibration.action + manual_target_location.action + manual_trigger.action + robot_joint_values_trigger.action + robot_pose_trigger.action +) generate_messages( - DEPENDENCIES - std_msgs - geometry_msgs - actionlib_msgs + DEPENDENCIES + actionlib_msgs + geometry_msgs sensor_msgs + std_msgs ) -set(CMAKE_CXX_FLAGS ${CMAKE_CSS_FLAGS} "-fPIC") -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( - INCLUDE_DIRS include /usr/include/eigen3 -# LIBRARIES - CATKIN_DEPENDS roscpp std_msgs rosconsole std_srvs roslib -# DEPENDS + LIBRARIES + industrial_extrinsic_cal + INCLUDE_DIRS + include + CATKIN_DEPENDS + actionlib + actionlib_msgs + cv_bridge + geometry_msgs + image_transport + message_runtime + moveit_ros_planning_interface + rosconsole + roscpp + roslib + roslint + sensor_msgs + std_msgs + std_srvs + tf + tf_conversions + DEPENDS + Boost + CERES ) -########### -## Build ## -########### -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories(include -# ${catkin_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} -) -## Declare a cpp library -# For Example: -# add_library(industrial_extrinsic_cal src/${PROJECT_NAME}/industrial_extrinsic_cal.cpp) -# -add_library(industrial_extrinsic_cal - src/ros_camera_observer.cpp - src/camera_definition.cpp - src/target.cpp - src/observation_scene.cpp - src/observation_data_point.cpp - src/ceres_blocks.cpp - src/basic_types.cpp - src/ros_transform_interface.cpp - src/ceres_costs_utils.cpp - src/circle_detector.cpp - src/camera_yaml_parser.cpp - src/targets_yaml_parser.cpp - src/points_yaml_parser.cpp - src/caljob_yaml_parser.cpp - src/calibration_job_definition.cpp +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${CERES_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${yaml_cpp_INCLUDE_DIR} ) -## This insures the creation of headers for all ros messages, services and actions + +# target: main library +add_library( + industrial_extrinsic_cal + + src/basic_types.cpp + src/calibration_job_definition.cpp + src/caljob_yaml_parser.cpp + src/camera_definition.cpp + src/camera_yaml_parser.cpp + src/ceres_blocks.cpp + src/ceres_costs_utils.cpp + src/circle_detector.cpp + src/observation_data_point.cpp + src/observation_scene.cpp + src/points_yaml_parser.cpp + src/ros_camera_observer.cpp + src/ros_transform_interface.cpp + src/target.cpp + src/targets_yaml_parser.cpp +) add_dependencies(industrial_extrinsic_cal ${PROJECT_NAME}_generate_messages_cpp ${catkin_EXPORTED_TARGETS}) +target_link_libraries( + industrial_extrinsic_cal -## Declare a cpp executable -add_executable(manual_calt_adjust src/nodes/manual_calt_adjuster.cpp) -add_executable(nist_analysis src/nodes/nist_analysis.cpp) -add_executable(mono_ex_cal src/nodes/mono_ex_cal.cpp) -add_executable(service_node src/nodes/calibration_service.cpp ) -add_executable(trigger_service src/nodes/ros_scene_trigger_server.cpp) + ${yaml_cpp_LIBRARY} + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ${CERES_LIBRARIES} +) + + +# targets: other nodes +add_executable(camera_observer_scene_trigger src/nodes/camera_observer_scene_trigger.cpp) +add_executable(manual_calt_adjust src/nodes/manual_calt_adjuster.cpp) +add_executable(mono_ex_cal src/nodes/mono_ex_cal.cpp) +add_executable(mutable_joint_state_publisher src/nodes/mutable_joint_state_publisher.cpp) +add_executable(nist_analysis src/nodes/nist_analysis.cpp) add_executable(ros_robot_trigger_action_service src/nodes/ros_robot_scene_trigger_action_server.cpp) -add_executable(mutable_joint_state_publisher src/nodes/mutable_joint_state_publisher.cpp) -add_executable(camera_observer_scene_trigger src/nodes/camera_observer_scene_trigger.cpp) - -## These insure the message, action and service headers are created first -add_dependencies(service_node ${PROJECT_NAME}_generate_messages_cpp ) -add_dependencies(trigger_service ${PROJECT_NAME}_generate_messages_cpp ) -add_dependencies(ros_robot_trigger_action_service ${PROJECT_NAME}_generate_messages_cpp) -add_dependencies(mutable_joint_state_publisher ${PROJECT_NAME}_generate_messages_cpp) -add_dependencies(camera_observer_scene_trigger ${PROJECT_NAME}_generate_messages_cpp) - -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -# add_dependencies(industrial_extrinsic_cal_node industrial_extrinsic_cal_generate_messages_cpp) - -## Specify libraries to link a library or executable target against -target_link_libraries(manual_calt_adjust industrial_extrinsic_cal ${catkin_LIBRARIES} ) -target_link_libraries(nist_analysis industrial_extrinsic_cal ${catkin_LIBRARIES} ${CERES_LIBRARIES} ) -target_link_libraries(industrial_extrinsic_cal yaml-cpp ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${CERES_LIBRARIES}) -target_link_libraries(mono_ex_cal ${catkin_LIBRARIES} ${CERES_LIBRARIES} ) - -#target_link_libraries(test_obs industrial_extrinsic_cal yaml-cpp ${catkin_LIBRARIES} ${CERES_LIBRARIES}) -target_link_libraries(service_node industrial_extrinsic_cal ${CERES_LIBRARIES} ) -target_link_libraries(trigger_service ${catkin_LIBRARIES} ) -target_link_libraries(ros_robot_trigger_action_service ${catkin_LIBRARIES} ) -target_link_libraries(mutable_joint_state_publisher ${catkin_LIBRARIES} yaml-cpp ) -target_link_libraries(camera_observer_scene_trigger industrial_extrinsic_cal ${catkin_LIBRARIES} yaml-cpp ) -catkin_add_gtest(utest_inds_cal test/utest.cpp) -target_link_libraries(utest_inds_cal ${PROJECT_NAME} industrial_extrinsic_cal ${catkin_LIBRARIES} ${CERES_LIBRARIES}) - -add_dependencies(ros_robot_trigger_action_service ${catkin_EXPORTED_TARGETS}) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/groovy/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS industrial_extrinsic_cal industrial_extrinsic_cal_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_industrial_extrinsic_cal.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +add_executable(service_node src/nodes/calibration_service.cpp) +add_executable(trigger_service src/nodes/ros_scene_trigger_server.cpp) + +add_dependencies(camera_observer_scene_trigger ${catkin_EXPORTED_TARGETS} ${industrial_extrinsic_cal_EXPORTED_TARGETS}) +add_dependencies(mutable_joint_state_publisher ${catkin_EXPORTED_TARGETS} ${industrial_extrinsic_cal_EXPORTED_TARGETS}) +add_dependencies(ros_robot_trigger_action_service ${catkin_EXPORTED_TARGETS} ${industrial_extrinsic_cal_EXPORTED_TARGETS}) +add_dependencies(service_node ${catkin_EXPORTED_TARGETS} ${industrial_extrinsic_cal_EXPORTED_TARGETS}) +add_dependencies(trigger_service ${catkin_EXPORTED_TARGETS} ${industrial_extrinsic_cal_EXPORTED_TARGETS}) + +target_link_libraries(camera_observer_scene_trigger industrial_extrinsic_cal ${catkin_LIBRARIES} ${yaml_cpp_LIBRARY} ${CERES_LIBRARIES}) +target_link_libraries(manual_calt_adjust industrial_extrinsic_cal ${catkin_LIBRARIES}) +target_link_libraries(mono_ex_cal ${catkin_LIBRARIES} ${CERES_LIBRARIES}) +target_link_libraries(mutable_joint_state_publisher ${catkin_LIBRARIES} ${yaml_cpp_LIBRARY}) +target_link_libraries(nist_analysis industrial_extrinsic_cal ${catkin_LIBRARIES} ${CERES_LIBRARIES}) +target_link_libraries(ros_robot_trigger_action_service ${catkin_LIBRARIES}) +target_link_libraries(service_node industrial_extrinsic_cal ${CERES_LIBRARIES}) +#target_link_libraries(test_obs industrial_extrinsic_cal ${yaml_cpp_LIBRARY} ${catkin_LIBRARIES} ${CERES_LIBRARIES}) +target_link_libraries(trigger_service ${catkin_LIBRARIES}) + + +install( + TARGETS + camera_observer_scene_trigger + industrial_extrinsic_cal + manual_calt_adjust + mono_ex_cal + mutable_joint_state_publisher + nist_analysis + ros_robot_trigger_action_service + service_node + trigger_service + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install( + DIRECTORY + include/${PROJECT_NAME} + DESTINATION + ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +install( + DIRECTORY + config launch targets urdf yaml + DESTINATION + ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + + +if (CATKIN_ENABLE_TESTING) + catkin_add_gtest(utest_inds_cal test/utest.cpp) + + target_link_libraries( + utest_inds_cal + + industrial_extrinsic_cal + ${catkin_LIBRARIES} + ${CERES_LIBRARIES} + ) +endif() + ## ROSlint checks ## For more information see: http://wiki.ros.org/roslint ## ## CPPlint options justifications ## - whitespace/* - errors are ignored, it is assumed that the follwing eclipse -## format file has been applied: +## format file has been applied: ## http://wiki.ros.org/IDEs?action=AttachFile&do=get&target=ROS_format.xml ## - build/header_guard - #ifdef/#ifndef naming doesn't match ROS sytle ## - readability/stream - does not apply to logging (the typical use in ROS) ## - runtime/references - pass by reference is allowed for output parameters -set(ROSLINT_CPP_OPTS -"--filter=-whitespace,-build/header_guard,-build/include_order,-readability/streams,-runtime/references") -file(GLOB_RECURSE ${PROJECT_NAME}_LINT_SRCS +set(ROSLINT_CPP_OPTS + "--filter=-whitespace,-build/header_guard,-build/include_order,-readability/streams,-runtime/references") +file(GLOB_RECURSE ${PROJECT_NAME}_LINT_SRCS RELATIVE ${PROJECT_SOURCE_DIR} src/*.cpp include/*.h) roslint_cpp(${${PROJECT_NAME}_LINT_SRCS}) diff --git a/industrial_extrinsic_cal/package.xml b/industrial_extrinsic_cal/package.xml index ce0dbffb..8cfed513 100644 --- a/industrial_extrinsic_cal/package.xml +++ b/industrial_extrinsic_cal/package.xml @@ -1,75 +1,65 @@ industrial_extrinsic_cal - 0.0.0 - The industrial_extrinsic_cal package - - - - - clewis - - - - - - Apache - - - - - - - - - - - - + 0.1.0 + + Extrinsic calibration. + Chris Lewis + Chris Lewis + Apache2.0 + + http://wiki.ros.org/industrial_extrinsic_cal + https://github.com/ros-industrial/industrial_calibration/issues + https://github.com/ros-industrial/industrial_calibration - - - - - - - - - - - catkin - roscpp - std_msgs - rosconsole - std_srvs - roslib - roslint + pkg-config + actionlib actionlib_msgs + boost + cv_bridge geometry_msgs - sensor_msgs + image_transport + message_generation moveit_ros_planning_interface + rosconsole + roscpp + roslib + roslint + sensor_msgs + std_msgs + std_srvs + tf + tf_conversions + yaml-cpp - roscpp - std_msgs - rosconsole - std_srvs - roslib actionlib actionlib_msgs + camera_aravis + cv_bridge geometry_msgs - sensor_msgs + image_transport + image_view + message_runtime + motoman_driver + motoman_sia20d_support moveit_ros_planning_interface + nodelet + openni2_launch + robot_state_publisher + rosconsole + roscpp + roslib + roslint + rviz + sensor_msgs + std_msgs + std_srvs + tf + tf_conversions + yaml-cpp - - - - - - - - - + rosunit diff --git a/intrinsic_cal/CMakeLists.txt b/intrinsic_cal/CMakeLists.txt index 0e50c8be..eec39af8 100644 --- a/intrinsic_cal/CMakeLists.txt +++ b/intrinsic_cal/CMakeLists.txt @@ -1,182 +1,78 @@ cmake_minimum_required(VERSION 2.8.3) project(intrinsic_cal) -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS + geometry_msgs industrial_extrinsic_cal + message_generation + rosconsole roscpp - rospy - std_msgs - std_srvs roslib - genmsg - geometry_msgs + std_msgs + std_srvs +) + +find_package(Ceres REQUIRED) +message("-- Found Ceres version ${CERES_VERSION}: ${CERES_INCLUDE_DIRS}") + +#set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} "-fPIC") + + +add_service_files( + FILES + rail_ical_run.srv ) -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - -# Ceres -FIND_PACKAGE(Ceres REQUIRED) -IF (CERES_FOUND) - MESSAGE("-- Found Ceres version ${CERES_VERSION}: ${CERES_INCLUDE_DIRS}") -ENDIF (CERES_FOUND) - -SET (CMAKE_CXX_FLAGS -fPIC) - - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependencies might have been -## pulled in transitively but can be declared for certainty nonetheless: -## * add a build_depend tag for "message_generation" -## * add a run_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) -## Generate services in the 'srv' folder - add_service_files( - FILES - rail_ical_run.srv - ) - - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here - generate_messages( - DEPENDENCIES - std_msgs - geometry_msgs - ) -set(CMAKE_CXX_FLAGS ${CMAKE_CSS_FLAGS} "-fPIC") - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if you package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need +generate_messages( + DEPENDENCIES + geometry_msgs + std_msgs +) + + catkin_package( -# LIBRARIES intrinsic_cal - CATKIN_DEPENDS roscpp rospy std_msgs geometry_msgs -# DEPENDS system_lib + CATKIN_DEPENDS + geometry_msgs + industrial_extrinsic_cal + message_runtime + rosconsole + roscpp + roslib + std_msgs + std_srvs + DEPENDS + CERES ) -########### -## Build ## -########### -## Specify additional locations of header files -## Your package locations should be listed before other locations -# include_directories(include) include_directories( - ${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + ${CERES_INCLUDE_DIRS} ) -## Declare a cpp library -# add_library(intrinsic_cal -# src/${PROJECT_NAME}/intrinsic_cal.cpp -# ) -## Declare a cpp executable -#add_executable(create_ical_scenes src/create_ical_scenes.cpp) add_executable(rail_ical src/rail_cal.cpp) -add_dependencies( rail_ical ${PROJECT_NAME}_generate_messages_cpp) -target_link_libraries(rail_ical industrial_extrinsic_cal ${catkin_LIBRARIES} ) - -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -# add_dependencies(intrinsic_cal_node intrinsic_cal_generate_messages_cpp) -#add_dependencies(create_ical_scenes ${catkin_EXPORTED_TARGETS}) -## Specify libraries to link a library or executable target against -# target_link_libraries(intrinsic_cal_node -# ${catkin_LIBRARIES} -# ) -#target_link_libraries(create_ical_scenes ${catkin_LIBRARIES} ) -target_link_libraries(rail_ical ${catkin_LIBRARIES} ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS intrinsic_cal intrinsic_cal_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_intrinsic_cal.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +add_dependencies(rail_ical ${PROJECT_NAME}_generate_messages_cpp) +target_link_libraries(rail_ical ${catkin_LIBRARIES} ${CERES_LIBRARIES}) + + +install( + TARGETS + rail_ical + RUNTIME DESTINATION + ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install( + DIRECTORY + launch + DESTINATION + ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install( + FILES + asus_ir_cal.rviz + DESTINATION + ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/intrinsic_cal/package.xml b/intrinsic_cal/package.xml index c214b53f..0b8ea962 100644 --- a/intrinsic_cal/package.xml +++ b/intrinsic_cal/package.xml @@ -1,68 +1,38 @@ intrinsic_cal - 0.0.0 - The intrinsic_cal package + 0.1.0 + + Intrinsic calibration. + + Chris Lewis + Chris Lewis + Apache2.0 + + http://wiki.ros.org/intrinsic_cal + https://github.com/ros-industrial/industrial_calibration/issues + https://github.com/ros-industrial/industrial_calibration - - - - clewis - - - - - - Apache - - - - - - - - - - - - - - - - - - - - - - - - - catkin + + geometry_msgs industrial_extrinsic_cal + message_generation + rosconsole roscpp - rospy + roslib std_msgs - std_srvs - roslib - genmsg - geometry_msgs + std_srvs + + geometry_msgs + image_view industrial_extrinsic_cal + message_runtime + nodelet + rosconsole roscpp - rospy + roslib + rviz std_msgs - std_srvs - roslib - genmsg - geometry_msgs - - - - - - - - - - \ No newline at end of file + std_srvs + diff --git a/rgbd_depth_correction/CMakeLists.txt b/rgbd_depth_correction/CMakeLists.txt index d1e38628..c2fc1a3c 100644 --- a/rgbd_depth_correction/CMakeLists.txt +++ b/rgbd_depth_correction/CMakeLists.txt @@ -1,138 +1,117 @@ cmake_minimum_required(VERSION 2.8.3) project(rgbd_depth_correction) -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS + cv_bridge + geometry_msgs + industrial_extrinsic_cal + message_filters + nodelet pcl_conversions pcl_msgs pcl_ros + pluginlib roscpp - message_generation sensor_msgs + std_srvs + target_finder tf - geometry_msgs tf2_bullet - rospy - target_finder tf_conversions - nodelet - cv_bridge - industrial_extrinsic_cal ) -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) + find_package(Boost REQUIRED COMPONENTS thread) -# Ceres -FIND_PACKAGE(Ceres REQUIRED) -IF (CERES_FOUND) - MESSAGE("-- Found Ceres version ${CERES_VERSION}: ${CERES_INCLUDE_DIRS}") -ENDIF (CERES_FOUND) - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependencies might have been -## pulled in transitively but can be declared for certainty nonetheless: -## * add a build_depend tag for "message_generation" -## * add a run_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -#add_service_files( FILES) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# pcl_msgs# sensor_msgs# visualization_msgs -# ) -#generate_messages(DEPENDENCIES geometry_msgs sensor_msgs) - - -# macro definitions required by simple_message library -add_definitions(-DROS=1) #build using ROS libraries -#add_definitions(-DLINUXSOCKETS=1) #use linux sockets for communication - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if you package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need +find_package(Ceres REQUIRED) +message("-- Found Ceres version ${CERES_VERSION}: ${CERES_INCLUDE_DIRS}") + +find_package(PkgConfig REQUIRED) +pkg_check_modules(yaml_cpp REQUIRED yaml-cpp) +if(NOT ${yaml_cpp_VERSION} VERSION_LESS "0.5") + add_definitions(-DHAVE_NEW_YAMLCPP) +endif() + +# resolve include path +find_path( + yaml_cpp_INCLUDE_DIR + # bit of a trick + NAMES yaml-cpp/yaml.h + PATHS ${yaml_cpp_INCLUDE_DIRS} +) + +# determine absolute path to library +find_library( + yaml_cpp_LIBRARY + NAMES ${yaml_cpp_LIBRARIES} + PATHS ${yaml_cpp_LIBRARY_DIRS} +) + +#message("yaml_cpp_INCLUDE_DIRS: ${yaml_cpp_INCLUDE_DIRS}") +#message("yaml_cpp_INCLUDE_DIR: ${yaml_cpp_INCLUDE_DIR}") +#message("yaml_cpp_LIBRARY: ${yaml_cpp_LIBRARY}") + + catkin_package( - INCLUDE_DIRS include - LIBRARIES depth_calibration - CATKIN_DEPENDS message_runtime pcl_conversions pcl_msgs pcl_ros roscpp sensor_msgs - tf geometry_msgs nodelet - #DEPENDS system_lib + CATKIN_DEPENDS + cv_bridge + geometry_msgs + industrial_extrinsic_cal + message_filters + nodelet + pcl_conversions + pcl_msgs + pcl_ros + pluginlib + roscpp + sensor_msgs + std_srvs + target_finder + tf + tf2_bullet + tf_conversions + DEPENDS + Boost + CERES ) -########### -## Build ## -########### -## Specify additional locations of header files -## Your package locations should be listed before other locations -# include_directories(include) include_directories( include ${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS} + ${yaml_cpp_INCLUDE_DIR} ) -add_library(rgbd_depth_correction - src/depth_correction.cpp -) -target_link_libraries(rgbd_depth_correction ${catkin_LIBRARIES} ${CERES_LIBRARIES} yaml-cpp) -add_dependencies(rgbd_depth_correction ${PROJECT_NAME}_generate_messages_cpp) +add_library(rgbd_depth_correction src/depth_correction.cpp) +target_link_libraries(rgbd_depth_correction ${catkin_LIBRARIES} ${yaml_cpp_LIBRARY} ${CERES_LIBRARIES}) +add_dependencies(rgbd_depth_correction ${catkin_EXPORTED_TARGETS}) add_executable(depth_calibration src/depth_calibration.cpp) - -target_link_libraries(depth_calibration ${catkin_LIBRARIES} ${CERES_LIBRARIES} yaml-cpp) - -add_dependencies(depth_calibration ${PROJECT_NAME}_generate_messages_cpp) +target_link_libraries(depth_calibration ${catkin_LIBRARIES} ${yaml_cpp_LIBRARY} ${CERES_LIBRARIES}) +add_dependencies(depth_calibration ${catkin_EXPORTED_TARGETS}) +install( + TARGETS + depth_calibration + rgbd_depth_correction + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) +install( + FILES + nodelets.xml + DESTINATION + ${CATKIN_PACKAGE_SHARE_DESTINATION} +) +install( + DIRECTORY + config launch urdf yaml + DESTINATION + ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/rgbd_depth_correction/package.xml b/rgbd_depth_correction/package.xml index 4ba2529f..308d7700 100644 --- a/rgbd_depth_correction/package.xml +++ b/rgbd_depth_correction/package.xml @@ -1,51 +1,66 @@ rgbd_depth_correction - 0.0.0 - RGBD depth calibration and correction - - Alex K. Goins - Apache - - - + 0.1.0 + + RGBD depth calibration and correction. + Alex K. Goins + Alex K. Goins + Apache2.0 - message_generation - message_runtime + http://wiki.ros.org/rgbd_depth_correction + https://github.com/ros-industrial/industrial_calibration/issues + https://github.com/ros-industrial/industrial_calibration catkin pkg-config + + boost + cv_bridge + geometry_msgs + industrial_extrinsic_cal + message_filters + nodelet pcl_conversions pcl_msgs pcl_ros + pluginlib roscpp sensor_msgs - tf - geometry_msgs + std_srvs + target_finder tf2_bullet - rospy + tf tf_conversions - nodelet target_finder - cv_bridge + yaml-cpp + boost cv_bridge - target_finder - tf_conversions + geometry_msgs + image_view + industrial_extrinsic_cal + joint_state_publisher + message_filters + nodelet + openni2_launch pcl_conversions pcl_msgs pcl_ros + pluginlib + robot_state_publisher roscpp + rviz sensor_msgs - tf - geometry_msgs + std_srvs + target_finder tf2_bullet - rospy - nodelet + tf + tf_conversions + yaml-cpp - diff --git a/target_finder/CMakeLists.txt b/target_finder/CMakeLists.txt index 22034779..40c9c4b5 100644 --- a/target_finder/CMakeLists.txt +++ b/target_finder/CMakeLists.txt @@ -1,203 +1,90 @@ cmake_minimum_required(VERSION 2.8.3) project(target_finder) -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS + geometry_msgs industrial_extrinsic_cal - roscpp - rospy + message_generation rosconsole - std_msgs - cv_bridge - tf - std_srvs - roslib - geometry_msgs + roscpp + roslib sensor_msgs + std_msgs + std_srvs + tf +) + + +#set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} "-fPIC") + +find_package(Boost REQUIRED) + +find_package(Ceres REQUIRED) +message("-- Found Ceres version ${CERES_VERSION}: ${CERES_INCLUDE_DIRS}") + + +add_service_files( + FILES + target_locater.srv ) -set(CMAKE_CXX_FLAGS ${CMAKE_CSS_FLAGS} "-fPIC") - -# Opencv -FIND_PACKAGE(OpenCV REQUIRED) -IF (OPENCV_FOUND) - MESSAGE("-- Found OpenCV version ${OPENCV_VERSION}: ${OPENCV_INCLUDE_DIRS}") -ENDIF (OPENCV_FOUND) - -# Ceres -FIND_PACKAGE(Ceres REQUIRED) -IF (CERES_FOUND) - MESSAGE("-- Found Ceres version ${CERES_VERSION}: ${CERES_INCLUDE_DIRS}") -ENDIF (CERES_FOUND) - -# Eigen -#FIND_PACKAGE(Eigen REQUIRED) -#IF (EIGEN_FOUND) -# MESSAGE("-- Found Eigen version ${EIGEN_VERSION}: ${EIGEN_INCLUDE_DIRS}") -#ENDIF (EIGEN_FOUND) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependencies might have been -## pulled in transitively but can be declared for certainty nonetheless: -## * add a build_depend tag for "message_generation" -## * add a run_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder - add_service_files( - FILES - target_locater.srv - ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here generate_messages( - DEPENDENCIES - std_msgs - geometry_msgs + DEPENDENCIES + geometry_msgs sensor_msgs + std_msgs ) -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if you package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( - INCLUDE_DIRS include -# LIBRARIES - CATKIN_DEPENDS roscpp std_msgs rosconsole std_srvs roslib -# DEPENDS + CATKIN_DEPENDS + geometry_msgs + industrial_extrinsic_cal + message_runtime + rosconsole + roscpp + roslib + sensor_msgs + std_msgs + std_srvs + tf + DEPENDS + Boost + CERES ) -########### -## Build ## -########### -## Specify additional locations of header files -## Your package locations should be listed before other locations -# include_directories(include) include_directories( -# ${catkin_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} + include + ${catkin_INCLUDE_DIRS} + ${CERES_INCLUDE_DIRS} ) -## Declare a cpp library -# add_library(target_finder -# src/${PROJECT_NAME}/target_finder.cpp -# ) -## Declare a cpp executable add_executable(target_gen src/nodes/grid_generator.cpp) add_executable(call_service src/nodes/call_service.cpp) add_executable(target_locator_srv src/nodes/target_locator.cpp) +add_dependencies(call_service ${catkin_EXPORTED_TARGETS} ${target_finder_EXPORTED_TARGETS}) +add_dependencies(target_locator_srv ${catkin_EXPORTED_TARGETS} ${target_finder_EXPORTED_TARGETS}) + +target_link_libraries(target_gen ${catkin_LIBRARIES}) +target_link_libraries(call_service ${catkin_LIBRARIES}) +target_link_libraries(target_locator_srv ${catkin_LIBRARIES} ${CERES_LIBRARIES}) -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -# add_dependencies(target_finder_node target_finder_generate_messages_cpp) -add_dependencies(call_service ${PROJECT_NAME}_generate_messages_cpp ${catkin_EXPORTED_TARGETS}) -add_dependencies(target_locator_srv ${PROJECT_NAME}_generate_messages_cpp ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(target_finder_node -# ${catkin_LIBRARIES} -# ) -target_link_libraries(target_gen ${catkin_LIBRARIES} ) -target_link_libraries(call_service industrial_extrinsic_cal ${catkin_LIBRARIES} ) -target_link_libraries(target_locator_srv industrial_extrinsic_cal ${catkin_LIBRARIES} ${CERES_LIBRARIES} ) - - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS target_finder target_finder_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_target_finder.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) + +install( + TARGETS + call_service + target_gen + target_locator_srv + RUNTIME DESTINATION + ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install( + DIRECTORY + config launch + DESTINATION + ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/target_finder/package.xml b/target_finder/package.xml index e99eae81..364d837d 100644 --- a/target_finder/package.xml +++ b/target_finder/package.xml @@ -1,75 +1,43 @@ target_finder - 0.0.0 - The target_finder package + 0.1.0 + + The target finder. + + Chris Lewis + Chris Lewis + Apache2.0 + + http://wiki.ros.org/target_finder + https://github.com/ros-industrial/industrial_calibration/issues + https://github.com/ros-industrial/industrial_calibration - - - - clewis - - - - - - Apache - - - - - - - - - - - - - - - - - - - - - - - - - catkin + + boost + geometry_msgs industrial_extrinsic_cal - roscpp - rospy + message_generation rosconsole - std_msgs - cv_bridge - tf - std_srvs + roscpp roslib - geometry_msgs sensor_msgs + std_msgs + std_srvs + tf + + geometry_msgs + image_view industrial_extrinsic_cal - roscpp - rospy + message_runtime + nodelet rosconsole - std_msgs - cv_bridge - tf - std_srvs + roscpp roslib - geometry_msgs + rviz sensor_msgs - - - - - - - - - - - \ No newline at end of file + std_msgs + std_srvs + tf +