Add ros wapper
This commit is contained in:
John Zhao
parent
1888145885
commit
746c99cbca
8
.gitignore
vendored
8
.gitignore
vendored
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@ -11,3 +11,11 @@ _output/
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/*WARNING*
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/*ERROR*
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/*FATAL*
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# ros
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/wrappers/ros/build
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/wrappers/ros/devel
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/wrappers/ros/install
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/wrappers/ros/.catkin_workspace
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/wrappers/ros/src/CMakeLists.txt
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35
Makefile
35
Makefile
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@ -12,6 +12,7 @@ help:
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@echo " make test build test and run"
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@echo " make install install project"
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@echo " make samples build samples"
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@echo " make ros build ros wrapper"
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@echo " make clean|cleanall clean generated or useless things"
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.PHONY: help
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@ -89,9 +90,27 @@ samples: install
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.PHONY: samples
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# ros
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ros: install
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@$(call echo,Make $@)
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@cd ./wrappers/ros && catkin_make
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.PHONY: ros
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cleanros:
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@$(call echo,Make $@)
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@$(call rm,./wrappers/ros/build/)
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@$(call rm,./wrappers/ros/devel/)
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@$(call rm,./wrappers/ros/install/)
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@$(call rm,./wrappers/ros/.catkin_workspace)
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@$(call rm,./wrappers/ros/src/CMakeLists.txt)
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.PHONY: cleanros
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# clean
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clean:
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clean: cleanros
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@$(call echo,Make $@)
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@$(call rm,./_build/)
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@$(call rm,./_output/)
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@ -102,19 +121,19 @@ clean:
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@$(call rm,./test/_output/)
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@$(MAKE) cleanlog
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cleanall: clean
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@$(call rm,./doc/_output/)
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@$(call rm,./test/gtest/_build/)
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@$(call rm,./third_party/glog/_build/)
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@$(FIND) . -type f -name ".DS_Store" -print0 | xargs -0 rm -f
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cleanlog:
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@$(call rm_f,*INFO*)
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@$(call rm_f,*WARNING*)
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@$(call rm_f,*ERROR*)
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@$(call rm_f,*FATAL*)
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.PHONY: clean cleanall cleanlog
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cleanall: clean cleanlog
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@$(call rm,./doc/_output/)
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@$(call rm,./test/gtest/_build/)
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@$(call rm,./third_party/glog/_build/)
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@$(FIND) . -type f -name ".DS_Store" -print0 | xargs -0 rm -f
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.PHONY: clean cleanlog cleanall
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# others
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@ -1 +1,15 @@
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# Wrappers for MYNT® EYE SDK
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## MYNT EYE ROS Wrapper
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### Build
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```bash
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cd <sdk>
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make ros
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```
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### Run
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```bash
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```
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57
wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
Normal file
57
wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
Normal file
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@ -0,0 +1,57 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(mynt_eye_ros_wrapper)
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if(NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE Release)
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endif()
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function(checkPackage package customMessage)
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set(varName "${package}_FOUND")
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if (NOT "${${varName}}")
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string(REPLACE "_" "-" aptPackage ${package})
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if("${customMessage}" STREQUAL "")
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message(FATAL_ERROR "\n\n ${package} is missing, please try to install it with:\n sudo apt-get install ros-$(rosversion -d)-${aptPackage}\n\n")
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else()
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message(FATAL_ERROR "\n\n ${customMessage} \n\n")
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endif()
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endif()
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endfunction(checkPackage)
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find_package(catkin REQUIRED COMPONENTS
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cv_bridge
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image_transport
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nodelet
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roscpp
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sensor_msgs
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std_msgs
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)
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checkPackage("cv_bridge" "")
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checkPackage("image_transport" "")
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checkPackage("nodelet" "")
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checkPackage("roscpp" "")
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checkPackage("sensor_msgs" "")
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checkPackage("std_msgs" "")
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catkin_package(
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CATKIN_DEPENDS cv_bridge image_transport nodelet roscpp sensor_msgs std_msgs
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)
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# Build
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add_compile_options(-std=c++11)
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include_directories(
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# include
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${catkin_INCLUDE_DIRS}
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)
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# Install
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install(DIRECTORY launch
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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install(DIRECTORY rviz
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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41
wrappers/ros/src/mynt_eye_ros_wrapper/package.xml
Normal file
41
wrappers/ros/src/mynt_eye_ros_wrapper/package.xml
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@ -0,0 +1,41 @@
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<?xml version="1.0"?>
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<package format="2">
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<name>mynt_eye_ros_wrapper</name>
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<version>0.0.0</version>
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<description>The mynt eye ros wrapper package</description>
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<maintainer email="johnzhao@slightech.com">John Zhao</maintainer>
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<license>Slightech License</license>
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<!-- <url type="website">http://wiki.ros.org/mynt_eye_ros_wrapper</url> -->
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<author email="johnzhao@slightech.com">John Zhao</author>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>cv_bridge</build_depend>
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<build_depend>image_transport</build_depend>
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<build_depend>nodelet</build_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>sensor_msgs</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_export_depend>cv_bridge</build_export_depend>
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<build_export_depend>image_transport</build_export_depend>
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<build_export_depend>nodelet</build_export_depend>
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<build_export_depend>roscpp</build_export_depend>
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<build_export_depend>sensor_msgs</build_export_depend>
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<build_export_depend>std_msgs</build_export_depend>
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<exec_depend>cv_bridge</exec_depend>
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<exec_depend>image_transport</exec_depend>
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<exec_depend>nodelet</exec_depend>
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<exec_depend>roscpp</exec_depend>
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<exec_depend>sensor_msgs</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>
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