From 33ae605cd16bba4da4f558da9c0834cb82d3409b Mon Sep 17 00:00:00 2001 From: jkammerl Date: Thu, 13 Sep 2012 13:26:12 +0000 Subject: [PATCH] catkinized version of perception_pcl for groovy --- CMakeLists.txt | 40 +++--- Makefile | 123 +----------------- {pcl_ros/cmake => cmake}/FindEigen.cmake | 0 .../pcl_ros/impl/transforms.hpp | 0 .../include => include}/pcl_ros/point_cloud.h | 0 .../include => include}/pcl_ros/publisher.h | 0 .../include => include}/pcl_ros/transforms.h | 0 pcl_ros/manifest.xml => manifest.xml | 0 pcl_ros/CMakeLists.txt | 21 --- pcl_ros/Makefile | 1 - {pcl_ros/src => src}/pcl_ros/transforms.cpp | 0 stack.xml | 17 --- 12 files changed, 25 insertions(+), 177 deletions(-) rename {pcl_ros/cmake => cmake}/FindEigen.cmake (100%) rename {pcl_ros/include => include}/pcl_ros/impl/transforms.hpp (100%) rename {pcl_ros/include => include}/pcl_ros/point_cloud.h (100%) rename {pcl_ros/include => include}/pcl_ros/publisher.h (100%) rename {pcl_ros/include => include}/pcl_ros/transforms.h (100%) rename pcl_ros/manifest.xml => manifest.xml (100%) delete mode 100644 pcl_ros/CMakeLists.txt delete mode 100644 pcl_ros/Makefile rename {pcl_ros/src => src}/pcl_ros/transforms.cpp (100%) delete mode 100644 stack.xml diff --git a/CMakeLists.txt b/CMakeLists.txt index 15d597ea..c531939b 100644 --- a/CMakeLists.txt +++ b/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) diff --git a/Makefile b/Makefile index 74a837e9..bbd3fc60 100644 --- a/Makefile +++ b/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 $(shell rospack find mk)/cmake.mk diff --git a/pcl_ros/cmake/FindEigen.cmake b/cmake/FindEigen.cmake similarity index 100% rename from pcl_ros/cmake/FindEigen.cmake rename to cmake/FindEigen.cmake diff --git a/pcl_ros/include/pcl_ros/impl/transforms.hpp b/include/pcl_ros/impl/transforms.hpp similarity index 100% rename from pcl_ros/include/pcl_ros/impl/transforms.hpp rename to include/pcl_ros/impl/transforms.hpp diff --git a/pcl_ros/include/pcl_ros/point_cloud.h b/include/pcl_ros/point_cloud.h similarity index 100% rename from pcl_ros/include/pcl_ros/point_cloud.h rename to include/pcl_ros/point_cloud.h diff --git a/pcl_ros/include/pcl_ros/publisher.h b/include/pcl_ros/publisher.h similarity index 100% rename from pcl_ros/include/pcl_ros/publisher.h rename to include/pcl_ros/publisher.h diff --git a/pcl_ros/include/pcl_ros/transforms.h b/include/pcl_ros/transforms.h similarity index 100% rename from pcl_ros/include/pcl_ros/transforms.h rename to include/pcl_ros/transforms.h diff --git a/pcl_ros/manifest.xml b/manifest.xml similarity index 100% rename from pcl_ros/manifest.xml rename to manifest.xml diff --git a/pcl_ros/CMakeLists.txt b/pcl_ros/CMakeLists.txt deleted file mode 100644 index 400c76e4..00000000 --- a/pcl_ros/CMakeLists.txt +++ /dev/null @@ -1,21 +0,0 @@ -cmake_minimum_required (VERSION 2.4.6) - -include ($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}) diff --git a/pcl_ros/Makefile b/pcl_ros/Makefile deleted file mode 100644 index bbd3fc60..00000000 --- a/pcl_ros/Makefile +++ /dev/null @@ -1 +0,0 @@ -include $(shell rospack find mk)/cmake.mk diff --git a/pcl_ros/src/pcl_ros/transforms.cpp b/src/pcl_ros/transforms.cpp similarity index 100% rename from pcl_ros/src/pcl_ros/transforms.cpp rename to src/pcl_ros/transforms.cpp diff --git a/stack.xml b/stack.xml deleted file mode 100644 index 9d5c90c1..00000000 --- a/stack.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - This contains the Point Cloud Library (PCL), its - 3rd party dependencies, and a ROS interface for PCL nodelets. - - Maintained by Open Perception - BSD - - http://ros.org/wiki/perception_pcl - - - - - - - -