catkinized version of perception_pcl for groovy

CMakeLists.txt

@@ -1,19 +1,27 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+cmake_minimum_required(VERSION 2.8)
 
-set(ROSPACK_MAKEDIST true)
+project(perception_pcl)
 
-# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of
-# directories (or patterns, but directories should suffice) that should
-# be excluded from the distro.  This is not the place to put things that
-# should be ignored everywhere, like "build" directories; that happens in
-# rosbuild/rosbuild.cmake.  Here should be listed packages that aren't
-# ready for inclusion in a distro.
-#
-# This list is combined with the list in rosbuild/rosbuild.cmake.  Note
-# that CMake 2.6 may be required to ensure that the two lists are combined
-# properly.  CMake 2.4 seems to have unpredictable scoping rules for such
-# variables.
-#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
+# Deal with catkin
+find_package(catkin REQUIRED)
+catkin_stack()
+
+# deal with ROS
+include_directories(${catkin_INCLUDE_DIRS})
+link_directories(${catkin_LIBRARY_DIRS})
+
+find_package(PCL)
+find_package(eigen)
+
+include_directories(SYSTEM ${PCL_INCLUDE_DIRS} ${eigen_INCLUDE_DIRS})
+include_directories(include)
+
+catkin_project(${PROJECT_NAME}
+  INCLUDE_DIRS include 
+  LIBRARIES pcl_ros_tf
+  DEPENDS  PCL eigen 
+)
+
+# ---[ Point Cloud Library - Transforms
+add_library (pcl_ros_tf src/transforms.cpp)
 
-rosbuild_make_distribution(1.6.0)

Makefile

@@ -1,122 +1 @@
-# CMAKE generated file: DO NOT EDIT!
-# Generated by "Unix Makefiles" Generator, CMake Version 2.8
-
-# Default target executed when no arguments are given to make.
-default_target: all
-.PHONY : default_target
-
-#=============================================================================
-# Special targets provided by cmake.
-
-# Disable implicit rules so canonical targets will work.
-.SUFFIXES:
-
-# Remove some rules from gmake that .SUFFIXES does not remove.
-SUFFIXES =
-
-.SUFFIXES: .hpux_make_needs_suffix_list
-
-# Suppress display of executed commands.
-$(VERBOSE).SILENT:
-
-# A target that is always out of date.
-cmake_force:
-.PHONY : cmake_force
-
-#=============================================================================
-# Set environment variables for the build.
-
-# The shell in which to execute make rules.
-SHELL = /bin/sh
-
-# The CMake executable.
-CMAKE_COMMAND = /usr/bin/cmake
-
-# The command to remove a file.
-RM = /usr/bin/cmake -E remove -f
-
-# The program to use to edit the cache.
-CMAKE_EDIT_COMMAND = /usr/bin/ccmake
-
-# The top-level source directory on which CMake was run.
-CMAKE_SOURCE_DIR = /home/kammerl/Documents/PCL/ros/branches/groovy/perception_pcl
-
-# The top-level build directory on which CMake was run.
-CMAKE_BINARY_DIR = /home/kammerl/Documents/PCL/ros/branches/groovy/perception_pcl
-
-#=============================================================================
-# Targets provided globally by CMake.
-
-# Special rule for the target edit_cache
-edit_cache:
-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake cache editor..."
-	/usr/bin/ccmake -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
-.PHONY : edit_cache
-
-# Special rule for the target edit_cache
-edit_cache/fast: edit_cache
-.PHONY : edit_cache/fast
-
-# Special rule for the target rebuild_cache
-rebuild_cache:
-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
-	/usr/bin/cmake -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
-.PHONY : rebuild_cache
-
-# Special rule for the target rebuild_cache
-rebuild_cache/fast: rebuild_cache
-.PHONY : rebuild_cache/fast
-
-# The main all target
-all: cmake_check_build_system
-	$(CMAKE_COMMAND) -E cmake_progress_start /home/kammerl/Documents/PCL/ros/branches/groovy/perception_pcl/CMakeFiles /home/kammerl/Documents/PCL/ros/branches/groovy/perception_pcl/CMakeFiles/progress.marks
-	$(MAKE) -f CMakeFiles/Makefile2 all
-	$(CMAKE_COMMAND) -E cmake_progress_start /home/kammerl/Documents/PCL/ros/branches/groovy/perception_pcl/CMakeFiles 0
-.PHONY : all
-
-# The main clean target
-clean:
-	$(MAKE) -f CMakeFiles/Makefile2 clean
-.PHONY : clean
-
-# The main clean target
-clean/fast: clean
-.PHONY : clean/fast
-
-# Prepare targets for installation.
-preinstall: all
-	$(MAKE) -f CMakeFiles/Makefile2 preinstall
-.PHONY : preinstall
-
-# Prepare targets for installation.
-preinstall/fast:
-	$(MAKE) -f CMakeFiles/Makefile2 preinstall
-.PHONY : preinstall/fast
-
-# clear depends
-depend:
-	$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
-.PHONY : depend
-
-# Help Target
-help:
-	@echo "The following are some of the valid targets for this Makefile:"
-	@echo "... all (the default if no target is provided)"
-	@echo "... clean"
-	@echo "... depend"
-	@echo "... edit_cache"
-	@echo "... rebuild_cache"
-.PHONY : help
-
-
-
-#=============================================================================
-# Special targets to cleanup operation of make.
-
-# Special rule to run CMake to check the build system integrity.
-# No rule that depends on this can have commands that come from listfiles
-# because they might be regenerated.
-cmake_check_build_system:
-	$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
-.PHONY : cmake_check_build_system
-
+include $(shell rospack find mk)/cmake.mk

pcl_ros/CMakeLists.txt

@@ -1,21 +0,0 @@
-cmake_minimum_required (VERSION 2.4.6)
-
-include ($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-rosbuild_init ()
-rosbuild_add_boost_directories ()
-add_definitions (-DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET)
-rosbuild_check_for_sse ()
-
-set (EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-include_directories (${CMAKE_CURRENT_BINARY_DIR})
-include_directories (src)
-
-# Uses Eigen
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
-find_package(Eigen REQUIRED)
-include_directories(${Eigen_INCLUDE_DIRS})
-include_directories(${EIGEN_INCLUDE_DIRS})
-
-# ---[ Point Cloud Library - Transforms
-rosbuild_add_library (pcl_ros_tf src/pcl_ros/transforms.cpp)
-rosbuild_add_compile_flags (pcl_ros_tf ${SSE_FLAGS})

pcl_ros/Makefile

@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake.mk

stack.xml

@@ -1,17 +0,0 @@
-<stack>
-  <description brief="Point Cloud Library">
-    This contains the Point Cloud Library (PCL), its
-    3rd party dependencies, and a ROS interface for PCL nodelets.
-  </description>
-  <author>Maintained by Open Perception</author>
-  <license>BSD</license>  
-  <review status="Doc reviewed" notes=""/>
-  <url>http://ros.org/wiki/perception_pcl</url>
-  <depend stack="nodelet_core" /> <!-- nodelet_topic_tools, nodelet -->
-  <depend stack="common_msgs" /> <!-- sensor_msgs, geometry_msgs -->
-  <depend stack="driver_common" /> <!-- dynamic_reconfigure -->
-  <depend stack="geometry" /> <!-- tf -->
-  <depend stack="ros" />
-  <depend stack="ros_comm" /> <!-- std_msgs, rosbag, roscpp, message_filters -->
-  <depend stack="common_rosdeps" /> <!-- eigen -->
-</stack>