From 7581f15d4f89eaf103f1e6a0e0f6f93683104751 Mon Sep 17 00:00:00 2001
From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp>
Date: Thu, 10 Aug 2017 17:15:32 -0700
Subject: [PATCH] [industrial_extrinsic_cal] Add missing dependency: Eigen,
 suitsparse. Use libceres-dev binary.

FYI, on ROS Indigo there's a released pkg robot_calibration that uses libceres-dev availbale from system. See https://discourse.ros.org/t/ceres-package/872/7 for the detail.
---
 .travis.yml                             | 2 +-
 industrial_extrinsic_cal/CMakeLists.txt | 5 ++++-
 industrial_extrinsic_cal/package.xml    | 6 ++++++
 3 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index a9b96249..383f3876 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -30,5 +30,5 @@ install:
   - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
 
 script:
-  - source .travis_ceres.sh
+#  - source .travis_ceres.sh  # 20170811 No longer needed now binary of libceres-dev is available.
   - source .ci_config/travis.sh
diff --git a/industrial_extrinsic_cal/CMakeLists.txt b/industrial_extrinsic_cal/CMakeLists.txt
index 918db5a0..90626f18 100644
--- a/industrial_extrinsic_cal/CMakeLists.txt
+++ b/industrial_extrinsic_cal/CMakeLists.txt
@@ -25,6 +25,8 @@ find_package(Boost REQUIRED)
 find_package(Ceres REQUIRED)
 message("-- Found Ceres version ${CERES_VERSION}: ${CERES_INCLUDE_DIRS}")
 
+find_package(Eigen3 REQUIRED)
+
 find_package(OpenCV 2 REQUIRED)
 message("-- Found OpenCV version ${OpenCV_VERSION}: ${OpenCV_INCLUDE_DIRS}")
 
@@ -108,6 +110,7 @@ catkin_package(
   DEPENDS
     Boost
     CERES
+    EIGEN3
 )
 
 
@@ -116,11 +119,11 @@ include_directories(
   include
   ${catkin_INCLUDE_DIRS}
   ${CERES_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
   ${yaml_cpp_INCLUDE_DIR}
 )
 
-
 # target: main library
 add_library(
   industrial_extrinsic_cal
diff --git a/industrial_extrinsic_cal/package.xml b/industrial_extrinsic_cal/package.xml
index c496e0b2..eedc1288 100644
--- a/industrial_extrinsic_cal/package.xml
+++ b/industrial_extrinsic_cal/package.xml
@@ -20,8 +20,10 @@
   <build_depend>actionlib_msgs</build_depend>
   <build_depend>boost</build_depend>
   <build_depend>cv_bridge</build_depend>
+  <build_depend>eigen</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>image_transport</build_depend>
+  <build_depend>libceres-dev</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>moveit_ros_planning_interface</build_depend>
   <build_depend>rosconsole</build_depend>
@@ -31,6 +33,7 @@
   <build_depend>sensor_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>std_srvs</build_depend>
+  <build_depend>suitesparse</build_depend>
   <build_depend>tf</build_depend>
   <build_depend>tf_conversions</build_depend>
   <build_depend>yaml-cpp</build_depend>
@@ -38,9 +41,11 @@
   <run_depend>actionlib</run_depend>
   <run_depend>actionlib_msgs</run_depend>
   <run_depend>cv_bridge</run_depend>
+  <run_depend>eigen</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>image_view</run_depend>
+  <run_depend>libceres-dev</run_depend>
   <run_depend>message_runtime</run_depend>
   <run_depend>motoman_driver</run_depend>
   <run_depend>motoman_sia20d_support</run_depend>
@@ -56,6 +61,7 @@
   <run_depend>sensor_msgs</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>std_srvs</run_depend>
+  <run_depend>suitesparse</run_depend>
   <run_depend>tf</run_depend>
   <run_depend>tf_conversions</run_depend>
   <run_depend>yaml-cpp</run_depend>