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refactor naming and fix nodelet export

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This commit is contained in:
Paul Bovbel 2015-01-06 13:19:57 -05:00 committed by Paul Bovbel
parent a41d54b3eb
commit a70e770af5
9 changed files with 14 additions and 16 deletions
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15
pointcloud_to_laserscan/CMakeLists.txt
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@ -13,7 +13,7 @@ find_package(PCL REQUIRED)
catkin_package( catkin_package(
INCLUDE_DIRS include INCLUDE_DIRS include
LIBRARIES PointCloudToLaserScan PointCloudToLaserScanNodelet LIBRARIES pointcloud_to_laserscan
CATKIN_DEPENDS dynamic_reconfigure libpcl-all-dev message_filters nodelet pcl_ros roscpp sensor_msgs CATKIN_DEPENDS dynamic_reconfigure libpcl-all-dev message_filters nodelet pcl_ros roscpp sensor_msgs
) )
@ -22,16 +22,13 @@ include_directories(
${catkin_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}
) )
add_library(PointCloudToLaserScan src/PointCloudToLaserScanBase.cpp) add_library(pointcloud_to_laserscan src/pointcloud_to_laserscan_base.cpp src/pointcloud_to_laserscan_nodelet.cpp)
target_link_libraries(PointCloudToLaserScan ${catkin_LIBRARIES}) target_link_libraries(pointcloud_to_laserscan ${catkin_LIBRARIES})
add_library(PointCloudToLaserScanNodelet src/PointCloudToLaserScanNodelet.cpp) add_executable(pointcloud_to_laserscan_node src/pointcloud_to_laserscan_node.cpp)
target_link_libraries(PointCloudToLaserScanNodelet PointCloudToLaserScan ${catkin_LIBRARIES}) target_link_libraries(pointcloud_to_laserscan_node pointcloud_to_laserscan ${catkin_LIBRARIES})
add_executable(pointcloud_to_laserscan src/pointcloud_to_laserscan_node.cpp) install(TARGETS pointcloud_to_laserscan pointcloud_to_laserscan_node
target_link_libraries(pointcloud_to_laserscan PointCloudToLaserScan ${catkin_LIBRARIES})
install(TARGETS PointCloudToLaserScan PointCloudToLaserScanNodelet pointcloud_to_laserscan
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

0
pointcloud_to_laserscan/include/pointcloud_to_laserscan/PointCloudToLaserScanBase.h → pointcloud_to_laserscan/include/pointcloud_to_laserscan/pointcloud_to_laserscan_base.h
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2
pointcloud_to_laserscan/launch/sample_node.launch
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@ -10,7 +10,7 @@
</include> </include>
<!-- run pointcloud_to_laserscan node --> <!-- run pointcloud_to_laserscan node -->
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan" name="pointcloud_to_laserscan"> <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
<param name="use_inf" value="true"/> <param name="use_inf" value="true"/>
<param name="use_concurrency" value="true"/> <param name="use_concurrency" value="true"/>

2
pointcloud_to_laserscan/launch/sample_nodelet.launch
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@ -10,7 +10,7 @@
</include> </include>
<!-- push pointcloud_to_laserscan nodelet into sensor's nodelet manager--> <!-- push pointcloud_to_laserscan nodelet into sensor's nodelet manager-->
<node pkg="nodelet" type="nodelet" name="pointcloud_to_laserscan" args="load pointcloud_to_laserscan/PointCloudToLaserScanNodelet $(arg camera)_nodelet_manager"> <node pkg="nodelet" type="nodelet" name="pointcloud_to_laserscan" args="load pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet $(arg camera)_nodelet_manager">
<param name="use_inf" value="true"/> <param name="use_inf" value="true"/>
<param name="use_concurrency" value="true"/> <param name="use_concurrency" value="true"/>

4
pointcloud_to_laserscan/nodelets.xml
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@ -1,6 +1,6 @@
<library path="lib/libPointCloudToLaserScanNodelet"> <library path="lib/libpointcloud_to_laserscan">
<class name="pointcloud_to_laserscan/PointCloudToLaserScanNodelet" <class name="pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet"
type="pointcloud_to_laserscan::PointCloudToLaserScanNodelet" type="pointcloud_to_laserscan::PointCloudToLaserScanNodelet"
base_class_type="nodelet::Nodelet"> base_class_type="nodelet::Nodelet">
<description> <description>

1
pointcloud_to_laserscan/package.xml
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@ -30,5 +30,6 @@
<run_depend>sensor_msgs</run_depend> <run_depend>sensor_msgs</run_depend>
<export> <export>
<nodelet plugin="${prefix}/nodelets.xml"/>
</export> </export>
</package> </package>

2
pointcloud_to_laserscan/src/PointCloudToLaserScanBase.cpp → pointcloud_to_laserscan/src/pointcloud_to_laserscan_base.cpp
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@ -38,7 +38,7 @@
* Author: Paul Bovbel * Author: Paul Bovbel
*/ */
#include <pointcloud_to_laserscan/PointCloudToLaserScanBase.h> #include <pointcloud_to_laserscan/pointcloud_to_laserscan_base.h>
#include <sensor_msgs/LaserScan.h> #include <sensor_msgs/LaserScan.h>
#include <pcl_ros/transforms.h> #include <pcl_ros/transforms.h>
#include <math.h> #include <math.h>

2
pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp
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@ -39,7 +39,7 @@
*/ */
#include <ros/ros.h> #include <ros/ros.h>
#include <pointcloud_to_laserscan/PointCloudToLaserScanBase.h> #include <pointcloud_to_laserscan/pointcloud_to_laserscan_base.h>
int main(int argc, char **argv){ int main(int argc, char **argv){
ros::init(argc, argv, "pointcloud_to_laserscan"); ros::init(argc, argv, "pointcloud_to_laserscan");

2
pointcloud_to_laserscan/src/PointCloudToLaserScanNodelet.cpp → pointcloud_to_laserscan/src/pointcloud_to_laserscan_nodelet.cpp
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@ -38,7 +38,7 @@
* Author: Paul Bovbel * Author: Paul Bovbel
*/ */
#include <pointcloud_to_laserscan/PointCloudToLaserScanBase.h> #include <pointcloud_to_laserscan/pointcloud_to_laserscan_base.h>
#include <nodelet/nodelet.h> #include <nodelet/nodelet.h>